version: 66.06
glider: 139
mission: 8
dive: 333
start: 9 1 110 14 24 31
data:
$ID,139
$MISSION,8
$DIVE,333
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,600
$D_NO_BLEED,90
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,190
$T_MISSION,220
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,60
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52108
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21.25
$TGT_DEFAULT_LON,-158
$TGT_AUTO_DEFAULT,0
$SM_CC,410
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2157867.5
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,3100
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,227
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,1700
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,2630
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.705256
$PRESSURE_SLOPE,0.000116328
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043401681
$SEABIRD_T_H,0.00063043466
$SEABIRD_T_I,2.4021314e-05
$SEABIRD_T_J,2.5358199e-06
$SEABIRD_C_G,-9.8272314
$SEABIRD_C_H,1.0932546
$SEABIRD_C_I,-0.0012359815
$SEABIRD_C_J,0.00017717193
$GPS1,141907,2106.231,-15756.560,41,0.9,41,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-72.5
$GPS2,142414,2106.180,-15756.514,11,1.8,11,9.8
$SPEED_LIMITS,0.137,0.159
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,81.9,23501,-23.8,-7.895
$D_GRID,450
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.56,-58.4,0.0,0.0,0,82,0.00,0.00,-64.30,0.000,2,0.000,0.000,429,1720,2774,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.6,-4.4,12,110,12.48,2.38,-1.77,0.000,4,0.134,0.035,2753,3113,2872,0,0,0,0,0,0
$GC,160,-1.56,-58.4,23.7,-17.9,27,167,0.00,2.42,0.00,0.000,6,0.000,0.034,2752,1703,2874,0,0,0,0,0,0
$GC,360,-1.48,-58.4,62.8,-20.4,47,361,0.12,0.00,0.00,0.000,6,0.111,0.000,2776,1704,2874,0,0,0,0,0,0
$GC,614,-1.52,-58.4,100.5,-13.8,67,618,0.00,2.40,0.00,0.000,4,0.000,0.044,2776,295,2875,0,0,0,0,0,0
$GC,642,-1.52,-58.4,105.1,-14.2,69,647,0.00,2.30,0.00,0.000,6,0.000,0.018,2776,1736,2876,0,0,0,0,0,0
$GC,904,-1.58,-58.4,137.4,-12.3,89,908,0.00,2.17,0.00,0.000,4,0.000,0.021,2776,3081,2877,0,0,0,0,0,0
$GC,1066,-1.73,-58.4,155.9,-10.5,101,1072,0.22,2.30,0.00,0.000,6,0.044,0.031,2710,1696,2877,0,0,0,0,0,0
$GC,1331,-1.69,-58.4,192.4,-13.8,122,1335,0.10,2.28,0.00,0.000,4,0.116,0.023,2730,3079,2877,0,0,0,0,0,0
$GC,1517,-1.78,-58.4,214.1,-11.3,132,1521,0.00,2.33,0.00,0.000,6,0.000,0.031,2730,1695,2877,0,0,0,0,0,0
$GC,1844,-1.81,-58.4,254.4,-11.1,148,1848,0.12,2.30,0.00,0.000,4,0.064,0.025,2691,3085,2877,0,0,0,0,0,0
$GC,1876,-1.81,-58.4,258.8,-12.2,149,1881,0.00,2.33,0.00,0.000,6,0.000,0.033,2691,1694,2877,0,0,0,0,0,0
$GC,2192,-1.77,-58.4,297.1,-12.0,164,2197,0.12,2.33,0.00,0.000,4,0.107,0.025,2715,3082,2877,0,0,0,0,0,0
$GC,2308,-1.82,-58.4,310.1,-10.3,167,2312,0.00,2.30,0.00,0.000,6,0.000,0.034,2715,1700,2877,0,0,0,0,0,0
$GC,2649,-1.82,-58.4,345.7,-10.2,176,2653,0.00,2.28,0.00,0.000,4,0.000,0.027,2715,3077,2875,0,0,0,0,0,0
$GC,2709,-1.90,-58.4,352.1,-10.5,177,2714,0.12,2.33,0.00,0.000,6,0.067,0.037,2677,1700,2875,0,0,0,0,0,0
$GC,3026,-1.85,-58.4,386.6,-10.7,185,3027,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1698,2874,0,0,0,0,0,0
$GC,3349,-1.80,-58.4,420.8,-11.0,193,3354,0.15,2.33,0.00,0.000,4,0.101,0.031,2706,3079,2871,0,0,0,0,0,0
$GC,3403,-1.87,-58.4,426.3,-9.4,194,3407,0.00,2.35,0.00,0.000,6,0.000,0.040,2706,1697,2871,0,0,0,0,0,0
$STATE,3637,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3637,begin apogee
$GC,3643,-0.31,0.0,451.9,10.8,200,3696,1.55,0.00,49.03,0.832,6,0.081,0.000,3030,1697,2630,0,0,0,0,0,0
$STATE,3696,end apogee,CONTROL_FINISHED_OK
$STATE,3696,begin climb
$GC,3699,1.56,58.4,453.0,0.0,201,3754,1.75,0.00,50.22,0.821,6,0.030,0.000,3449,1697,2391,0,0,0,0,0,0
$GC,4070,1.35,129.4,451.5,1.5,210,4141,0.25,2.58,61.83,0.830,4,0.107,0.055,3397,300,2101,0,0,0,0,0,0
$GC,4235,1.06,129.4,436.6,13.1,213,4240,0.35,2.30,0.00,0.000,6,0.100,0.026,3330,1692,2094,0,0,0,0,0,0
$GC,4572,1.06,129.4,401.3,10.8,222,4576,0.00,2.38,0.00,0.000,4,0.000,0.032,3330,3090,2090,0,0,0,0,0,0
$GC,4600,1.06,129.4,398.2,11.0,222,4604,0.00,2.40,0.00,0.000,6,0.000,0.041,3330,1699,2090,0,0,0,0,0,0
$GC,4936,1.06,129.4,363.5,10.3,231,4940,0.00,2.38,0.00,0.000,4,0.000,0.033,3330,3088,2087,0,0,0,0,0,0
$GC,4979,1.06,129.4,359.5,9.8,232,4983,0.00,2.40,0.00,0.000,6,0.000,0.041,3330,1697,2087,0,0,0,0,0,0
$GC,5306,1.06,132.5,333.7,7.6,240,5310,0.00,2.47,0.00,0.000,4,0.000,0.055,3330,296,2084,0,0,0,0,0,0
$GC,5358,0.95,132.5,329.1,9.0,241,5364,0.12,2.33,0.00,0.000,6,0.120,0.028,3308,1709,2082,0,0,0,0,0,0
$GC,5678,1.01,144.0,306.6,6.9,249,5694,0.00,2.40,10.65,0.700,4,0.000,0.032,3308,3084,2041,0,0,0,0,0,0
$GC,5763,1.10,152.3,300.9,7.1,250,5779,0.15,2.38,8.90,0.669,6,0.062,0.039,3349,1700,2009,0,0,0,0,0,0
$GC,6108,1.07,154.9,272.7,7.7,266,6109,0.00,0.00,0.00,0.000,6,0.000,0.000,3349,1699,2006,0,0,0,0,0,0
$GC,6417,1.08,170.3,251.0,6.5,281,6439,0.00,0.00,17.02,0.700,6,0.000,0.000,3349,1699,1934,0,0,0,0,0,0
$GC,6750,1.08,170.3,222.9,8.9,297,6755,0.00,2.50,0.00,0.000,4,0.000,0.052,3348,290,1930,0,0,0,0,0,0
$GC,6796,0.99,170.3,218.4,11.0,299,6801,0.17,2.33,0.00,0.000,6,0.101,0.025,3315,1710,1928,0,0,0,0,0,0
$GC,7122,1.07,174.2,194.0,7.5,317,7124,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,1715,1927,0,0,0,0,0,0
$GC,7374,1.17,192.0,177.4,6.3,337,7403,0.17,2.55,19.25,0.635,4,0.054,0.048,3364,300,1846,0,0,0,0,0,0
$GC,7408,1.12,192.0,174.5,8.5,339,7413,0.00,2.28,0.00,0.000,6,0.000,0.022,3364,1705,1845,0,0,0,0,0,0
$GC,7669,1.12,192.0,148.3,10.6,359,7673,0.00,2.25,0.00,0.000,4,0.000,0.024,3364,3082,1843,0,0,0,0,0,0
$GC,7683,1.12,192.0,146.6,10.5,360,7687,0.00,2.35,0.00,0.000,6,0.000,0.033,3365,1690,1843,0,0,0,0,0,0
$GC,7941,1.12,192.0,121.6,9.0,380,7945,0.00,2.40,0.00,0.000,4,0.000,0.047,3364,297,1844,0,0,0,0,0,0
$GC,8036,1.03,192.0,112.5,9.4,387,8041,0.20,2.25,0.00,0.000,6,0.097,0.021,3325,1717,1841,0,0,0,0,0,0
$GC,8302,1.14,197.5,94.9,7.4,408,8318,0.10,2.53,5.65,0.447,4,0.074,0.046,3359,293,1824,0,0,0,0,0,0
$GC,8343,1.07,197.5,90.8,10.4,410,8350,0.10,2.28,0.00,0.000,6,0.078,0.020,3335,1703,1823,0,0,0,0,0,0
$GC,8605,1.20,207.8,71.4,7.0,431,8621,0.12,2.53,10.65,0.503,4,0.063,0.044,3376,289,1783,0,0,0,0,0,0
$GC,8751,1.16,207.8,58.0,8.3,441,8756,0.12,2.25,0.00,0.000,6,0.103,0.018,3351,1711,1779,0,0,0,0,0,0
$GC,9014,1.29,237.3,41.0,5.2,461,9047,0.12,2.50,26.48,0.511,4,0.063,0.045,3393,289,1661,0,0,0,0,0,0
$GC,9151,1.21,237.3,28.7,9.0,471,9158,0.12,2.25,0.00,0.000,6,0.077,0.018,3364,1697,1657,0,0,0,0,0,0
$GC,9354,1.30,237.9,11.5,7.8,517,9361,0.00,2.45,0.00,0.000,4,0.000,0.045,3363,295,1657,0,0,0,0,0,0
$GC,9381,1.32,249.7,9.6,6.8,522,9400,0.08,2.25,11.32,0.448,6,0.038,0.018,3399,1716,1611,0,0,0,0,0,0
$STATE,9439,end climb,SURFACE_DEPTH_REACHED
$STATE,9439,begin surface coast
$FINISH,0.8,0.998718
$STATE,9468,end surface coast,CONTROL_FINISHED_OK
$STATE,9469,begin surface
$SM_CCo,9491,91.68,0.483,0,0,958,410.14
$SM_GC,1.63,0.00,0.00,91.68,0.000,0.000,0.483,424,1715,958,-12.31,0.42,410.14
$IRIDIUM_FIX,2059.45,-15759.05,261199,111155
$TT8_MAMPS,0.028379
$HUMID,53.74
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.5,28.864
$10V_AH,10.3,23.943
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,31.700,99.025,271.000,91.675,0.000,24.648,28.034,132.135,4.500,0.000,11.693,1062.958,6320.949,414.944,1655.302,434.847,0.000,1156.340,0.000,1635.240,0.000,29.254,0.000
$DEVICE_MAMPS,134.225,55.224,832.195,483.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,363.404,344.311,787.766,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355724
$DATA_FILE_SIZE,28627,540
$CAP_FILE_SIZE,106694,0
$CFSIZE,260165632,196128768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010910,170507,2105.736,-15755.780,9,1.8,14,9.8