version: 66.06
glider: 139
mission: 8
dive: 402
start: 9 9 110 11 20 25
data:
$ID,139
$MISSION,8
$DIVE,402
$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,-2159384.5
$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
$GPS1,110949,2101.225,-15751.243,12,1.9,17,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-70.3
$GPS2,112007,2101.131,-15751.399,14,1.9,25,9.8
$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,49.6,17028,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.56,-58.4,0.0,0.0,0,82,0.00,0.00,-64.20,0.000,2,0.000,0.000,428,1694,2738,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.3,-3.4,12,110,12.45,2.40,-2.55,0.000,4,0.132,0.035,2755,3112,2871,0,0,0,0,0,0
$GC,188,-1.59,-58.4,26.7,-18.3,33,194,0.00,2.42,0.00,0.000,6,0.000,0.033,2755,1699,2873,0,0,0,0,0,0
$GC,396,-1.51,-58.4,63.3,-18.1,51,400,0.00,2.35,0.00,0.000,4,0.000,0.021,2755,3116,2873,0,0,0,0,0,0
$GC,450,-1.54,-58.4,73.0,-15.6,55,454,0.00,2.38,0.00,0.000,6,0.000,0.033,2754,1696,2873,0,0,0,0,0,0
$GC,711,-1.54,-58.4,113.5,-14.3,75,715,0.00,2.33,0.00,0.000,4,0.000,0.021,2755,3116,2874,0,0,0,0,0,0
$GC,808,-1.63,-58.4,127.0,-13.0,82,812,0.00,2.38,0.00,0.000,6,0.000,0.031,2754,1699,2874,0,0,0,0,0,0
$GC,1067,-1.63,-58.4,162.3,-13.2,102,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1699,2875,0,0,0,0,0,0
$GC,1319,-1.69,-58.4,192.6,-11.0,122,1320,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1699,2876,0,0,0,0,0,0
$GC,1582,-1.74,-58.4,223.3,-12.5,137,1587,0.15,2.35,0.00,0.000,4,0.058,0.025,2709,3118,2877,0,0,0,0,0,0
$GC,1629,-1.74,-58.4,230.0,-13.5,139,1633,0.00,2.40,0.00,0.000,6,0.000,0.032,2709,1691,2876,0,0,0,0,0,0
$GC,1957,-1.74,-58.4,277.1,-14.3,155,1961,0.00,2.38,0.00,0.000,4,0.000,0.025,2709,3111,2876,0,0,0,0,0,0
$GC,1994,-1.74,-58.4,282.8,-15.3,156,2000,0.00,2.42,0.00,0.000,6,0.000,0.039,2709,1703,2876,0,0,0,0,0,0
$GC,2327,-1.74,-58.4,317.2,-10.6,169,2331,0.00,2.33,0.00,0.000,4,0.000,0.026,2709,3110,2876,0,0,0,0,0,0
$GC,2432,-1.79,-58.4,328.1,-10.2,171,2436,0.00,2.40,0.00,0.000,6,0.000,0.035,2709,1694,2876,0,0,0,0,0,0
$GC,2747,-1.79,-58.4,363.2,-11.6,179,2749,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1693,2874,0,0,0,0,0,0
$GC,3073,-1.79,-58.4,400.7,-11.7,187,3078,0.00,2.38,0.00,0.000,4,0.000,0.029,2709,3108,2873,0,0,0,0,0,0
$GC,3129,-1.87,-58.4,408.1,-12.2,188,3134,0.00,2.40,0.00,0.000,6,0.000,0.039,2709,1703,2873,0,0,0,0,0,0
$GC,3444,-1.87,-58.4,443.4,-11.3,196,3447,0.00,2.38,0.00,0.000,4,0.000,0.031,2708,3109,2870,0,0,0,0,0,0
$GC,3514,-1.93,-58.4,449.9,-8.8,197,3518,0.00,2.10,0.00,0.000,3,0.000,0.038,2709,1881,2869,0,0,0,0,0,0
$STATE,3519,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3519,begin apogee
$GC,3525,-0.31,0.0,450.5,8.7,197,3579,1.50,0.00,49.12,0.821,6,0.081,0.000,3026,1696,2630,0,0,0,0,0,0
$STATE,3579,end apogee,CONTROL_FINISHED_OK
$STATE,3580,begin climb
$GC,3583,1.56,58.4,451.7,0.0,198,3638,1.77,0.00,50.72,0.805,6,0.030,0.000,3456,1696,2391,0,0,0,0,0,0
$GC,3955,1.28,86.0,437.1,5.4,208,3987,0.35,2.47,24.02,0.788,4,0.103,0.031,3384,3109,2278,0,0,0,0,0,0
$GC,4251,1.16,93.3,419.7,7.2,214,4265,0.15,2.42,7.35,0.666,6,0.120,0.038,3358,1698,2249,0,0,0,0,0,0
$GC,4600,1.09,108.8,397.3,6.5,223,4620,0.00,2.47,14.48,0.755,4,0.000,0.031,3358,3103,2185,0,0,0,0,0,0
$GC,4630,1.04,130.2,395.2,6.0,223,4659,0.15,2.45,20.67,0.772,6,0.117,0.038,3331,1700,2099,0,0,0,0,0,0
$GC,4972,1.04,130.2,366.8,8.7,232,4976,0.00,2.42,0.00,0.000,4,0.000,0.031,3331,3109,2093,0,0,0,0,0,0
$GC,4986,1.04,130.2,365.6,8.3,232,4990,0.00,2.42,0.00,0.000,6,0.000,0.038,3331,1697,2092,0,0,0,0,0,0
$GC,5300,1.05,135.8,342.3,7.4,240,5307,0.00,0.00,4.95,0.563,6,0.000,0.000,3331,1696,2076,0,0,0,0,0,0
$GC,5626,1.05,135.8,314.8,8.4,248,5630,0.00,2.45,0.00,0.000,4,0.000,0.054,3330,294,2074,0,0,0,0,0,0
$GC,5677,0.94,135.8,309.6,9.4,249,5682,0.12,2.35,0.00,0.000,6,0.117,0.025,3309,1725,2071,0,0,0,0,0,0
$GC,6002,1.01,157.2,286.6,6.0,261,6027,0.00,2.33,19.77,0.729,4,0.000,0.031,3308,3086,1989,0,0,0,0,0,0
$GC,6254,1.12,164.3,269.7,7.3,272,6268,0.15,2.40,7.88,0.627,6,0.061,0.038,3350,1699,1960,0,0,0,0,0,0
$GC,6586,1.12,164.3,236.8,9.7,288,6590,0.00,2.35,0.00,0.000,4,0.000,0.029,3350,3088,1956,0,0,0,0,0,0
$GC,6822,1.16,172.1,216.0,7.2,298,6838,0.00,2.38,8.07,0.600,6,0.000,0.036,3350,1690,1927,0,0,0,0,0,0
$GC,7150,1.16,172.1,183.6,10.8,318,7154,0.00,2.33,0.00,0.000,4,0.000,0.025,3350,3091,1924,0,0,0,0,0,0
$GC,7216,1.21,172.1,177.6,8.5,322,7224,0.00,2.40,0.00,0.000,6,0.000,0.035,3350,1701,1924,0,0,0,0,0,0
$GC,7476,1.21,172.1,157.2,8.1,343,7480,0.00,2.30,0.00,0.000,4,0.000,0.025,3349,3093,1924,0,0,0,0,0,0
$GC,7490,1.24,172.1,155.6,9.0,344,7494,0.00,2.38,0.00,0.000,6,0.000,0.033,3350,1696,1924,0,0,0,0,0,0
$GC,7752,1.27,175.0,134.0,7.6,364,7757,0.12,2.42,0.00,0.000,4,0.067,0.049,3387,296,1923,0,0,0,0,0,0
$GC,7855,1.13,175.0,123.4,10.3,371,7862,0.20,2.30,0.00,0.000,6,0.097,0.021,3348,1724,1921,0,0,0,0,0,0
$GC,8117,1.21,187.1,106.7,6.8,392,8136,0.00,2.25,13.60,0.551,4,0.000,0.022,3348,3078,1866,0,0,0,0,0,0
$GC,8229,1.35,200.3,99.2,6.7,400,8248,0.20,2.35,13.27,0.536,6,0.049,0.032,3404,1688,1813,0,0,0,0,0,0
$GC,8502,1.38,226.0,78.7,5.6,421,8528,0.00,0.00,23.25,0.539,6,0.000,0.000,3404,1688,1708,0,0,0,0,0,0
$GC,8779,1.38,226.0,55.4,9.6,443,8781,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,1688,1706,0,0,0,0,0,0
$GC,9031,1.38,226.0,28.2,10.5,465,9036,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,1688,1706,0,0,0,0,0,0
$GC,9233,1.34,226.0,5.2,11.4,511,9240,0.00,2.30,0.00,0.000,4,0.000,0.020,3404,3081,1706,0,0,0,0,0,0
$STATE,9254,end climb,SURFACE_DEPTH_REACHED
$STATE,9254,begin surface coast
$FINISH,1.1,1.023362
$STATE,9268,end surface coast,CONTROL_FINISHED_OK
$STATE,9268,begin surface
$SM_CCo,9293,104.85,0.483,0,0,957,410.14
$SM_GC,1.52,0.00,0.00,104.85,0.000,0.000,0.483,426,1691,957,-12.31,-0.25,410.14
$IRIDIUM_FIX,2054.83,-15754.77,041299,111136
$TT8_MAMPS,0.029146
$HUMID,55.11
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,34.651
$10V_AH,10.2,28.988
$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,29.975,90.375,257.175,104.850,0.000,67.635,62.200,276.229,4.500,0.000,25.241,1035.531,6241.909,425.957,1641.234,672.208,0.000,1147.645,0.000,1610.277,0.000,31.948,0.000
$DEVICE_MAMPS,131.924,62.894,820.690,483.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,348.527,331.409,732.753,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,28682,518
$CAP_FILE_SIZE,103674,0
$CFSIZE,260165632,192569344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090910,135825,2101.036,-15752.069,42,1.1,42,9.8