version: 66.06
glider: 139
mission: 9
dive: 29
start: 4 7 111 23 43 33
data:
$ID,139
$MISSION,9
$DIVE,29
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,500
$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,187
$T_MISSION,200
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,51959
$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,350
$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,-2175158
$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,3140
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,227
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,1875
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,75
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,2635
$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,0.0043016663
$SEABIRD_T_H,0.00062182697
$SEABIRD_T_I,2.2485125e-05
$SEABIRD_T_J,2.3191574e-06
$SEABIRD_C_G,-10.411542
$SEABIRD_C_H,1.1792051
$SEABIRD_C_I,-0.0019162094
$SEABIRD_C_J,0.00023985174
$GPS1,233726,2107.438,-15758.723,8,1.8,8,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-74.6
$GPS2,234314,2107.422,-15758.757,14,1.9,14,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_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,86.4,27528,-16.8,-8.021
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.19,-116.8,0.0,0.0,0,95,0.00,0.00,-74.50,0.000,6,0.000,0.000,430,2130,3113,0,0,0,0,0,0
$GC,99,-1.19,-116.8,2.4,-3.6,14,117,13.40,2.25,0.00,0.000,4,0.140,0.028,2873,3472,3116,0,0,0,0,0,0
$GC,262,-1.19,-116.8,31.3,-14.1,50,269,0.00,2.35,0.00,0.000,6,0.000,0.029,2873,2094,3116,0,0,0,0,0,0
$GC,525,-1.19,-116.8,69.6,-14.9,75,529,0.00,2.30,0.00,0.000,4,0.000,0.031,2873,3468,3117,0,0,0,0,0,0
$GC,568,-1.19,-116.8,75.7,-13.9,79,572,0.00,2.30,0.00,0.000,6,0.000,0.029,2873,2091,3117,0,0,0,0,0,0
$GC,832,-1.19,-116.8,113.1,-13.7,103,836,0.00,2.33,0.00,0.000,4,0.000,0.031,2873,3469,3117,0,0,0,0,0,0
$GC,869,-1.19,-116.8,118.8,-13.9,106,876,0.00,2.33,0.00,0.000,6,0.000,0.028,2873,2096,3118,0,0,0,0,0,0
$GC,1133,-1.19,-116.8,148.7,-11.3,131,1137,0.00,2.40,0.00,0.000,4,0.000,0.041,2873,684,3118,0,0,0,0,0,0
$GC,1184,-1.19,-116.8,154.8,-10.4,136,1189,0.00,2.25,0.00,0.000,6,0.000,0.022,2873,2071,3118,0,0,0,0,0,0
$GC,1448,-1.19,-116.8,180.1,-9.2,160,1452,0.00,2.35,0.00,0.000,4,0.000,0.041,2873,682,3119,0,0,0,0,0,0
$GC,1519,-1.19,-116.8,187.4,-10.7,167,1523,0.00,2.33,0.00,0.000,6,0.000,0.023,2873,2098,3119,0,0,0,0,0,0
$GC,1789,-1.19,-116.8,209.5,-7.6,186,1793,0.00,2.40,0.00,0.000,4,0.000,0.041,2872,692,3119,0,0,0,0,0,0
$GC,1858,-1.19,-116.8,215.2,-8.3,189,1862,0.00,2.33,0.00,0.000,6,0.000,0.023,2873,2108,3119,0,0,0,0,0,0
$GC,2185,-1.19,-116.8,241.7,-8.0,205,2189,0.00,2.42,0.00,0.000,4,0.000,0.043,2873,689,3119,0,0,0,0,0,0
$GC,2205,-1.19,-116.8,243.7,-8.8,206,2209,0.00,2.33,0.00,0.000,6,0.000,0.025,2872,2099,3119,0,0,0,0,0,0
$GC,2534,-1.19,-116.8,275.2,-8.4,222,2538,0.00,2.40,0.00,0.000,4,0.000,0.038,2873,3501,3119,0,0,0,0,0,0
$GC,2648,-1.19,-116.8,285.0,-9.6,227,2652,0.00,2.35,0.00,0.000,6,0.000,0.032,2873,2099,3119,0,0,0,0,0,0
$GC,2976,-1.19,-116.8,308.7,-6.5,240,2980,0.00,2.38,0.00,0.000,4,0.000,0.038,2873,3496,3117,0,0,0,0,0,0
$GC,3014,-1.19,-116.8,311.5,-7.2,240,3019,0.00,2.35,0.00,0.000,6,0.000,0.034,2873,2099,3117,0,0,0,0,0,0
$GC,3345,-1.19,-116.8,335.3,-7.4,249,3349,0.00,2.42,0.00,0.000,4,0.000,0.049,2873,692,3115,0,0,0,0,0,0
$GC,3378,-1.19,-116.8,338.2,-8.6,249,3382,0.00,2.33,0.00,0.000,6,0.000,0.028,2873,2098,3115,0,0,0,0,0,0
$GC,3709,-1.19,-116.8,365.1,-7.6,257,3713,0.00,2.45,0.00,0.000,4,0.000,0.050,2872,693,3113,0,0,0,0,0,0
$GC,3779,-1.19,-116.8,371.4,-8.8,258,3783,0.00,2.35,0.00,0.000,6,0.000,0.030,2872,2099,3113,0,0,0,0,0,0
$GC,4120,-1.19,-116.8,396.8,-7.2,267,4124,0.00,2.42,0.00,0.000,4,0.000,0.044,2873,3509,3110,0,0,0,0,0,0
$GC,4134,-1.19,-116.8,397.9,-7.6,267,4139,0.00,2.42,0.00,0.000,6,0.000,0.038,2872,2095,3110,0,0,0,0,0,0
$GC,4484,-1.19,-116.8,423.9,-7.4,276,4485,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2094,3108,0,0,0,0,0,0
$GC,4809,-1.19,-116.8,448.1,-7.0,284,4811,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2094,3106,0,0,0,0,0,0
$STATE,4847,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4847,begin apogee
$GC,4854,-0.31,0.0,451.0,6.8,285,4952,0.98,0.00,95.30,0.836,6,0.091,0.000,3070,1869,2635,0,0,0,0,0,0
$STATE,4953,end apogee,CONTROL_FINISHED_OK
$STATE,4953,begin climb
$GC,4956,1.19,116.8,452.6,0.0,287,5062,1.52,0.00,102.43,0.813,6,0.060,0.000,3398,1870,2158,0,0,0,0,0,0
$GC,5375,1.19,116.8,405.3,12.2,298,5379,0.00,2.53,0.00,0.000,4,0.000,0.062,3397,476,2146,0,0,0,0,0,0
$GC,5412,1.19,116.8,400.4,12.9,298,5417,0.00,2.40,0.00,0.000,6,0.000,0.031,3398,1878,2144,0,0,0,0,0,0
$GC,5743,1.19,116.8,360.3,12.4,307,5747,0.00,2.53,0.00,0.000,4,0.000,0.061,3397,474,2142,0,0,0,0,0,0
$GC,5767,1.19,116.8,357.0,14.0,307,5771,0.00,2.40,0.00,0.000,6,0.000,0.031,3398,1879,2141,0,0,0,0,0,0
$GC,6107,1.19,116.8,312.1,12.9,316,6111,0.00,2.53,0.00,0.000,4,0.000,0.061,3397,472,2139,0,0,0,0,0,0
$GC,6200,1.19,116.8,298.8,14.5,318,6204,0.00,2.38,0.00,0.000,6,0.000,0.031,3398,1876,2137,0,0,0,0,0,0
$GC,6525,1.19,116.8,263.1,10.9,334,6526,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1881,2137,0,0,0,0,0,0
$GC,6835,1.19,116.8,227.9,12.0,349,6840,0.00,2.50,0.00,0.000,4,0.000,0.056,3398,474,2136,0,0,0,0,0,0
$GC,6880,1.19,116.8,221.8,15.1,351,6884,0.00,2.38,0.00,0.000,6,0.000,0.030,3398,1885,2134,0,0,0,0,0,0
$GC,7206,1.19,116.8,183.7,9.6,373,7210,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1888,2134,0,0,0,0,0,0
$GC,7467,1.19,116.8,158.5,11.1,398,7471,0.00,2.50,0.00,0.000,4,0.000,0.053,3397,471,2133,0,0,0,0,0,0
$GC,7556,1.19,116.8,147.0,13.1,407,7560,0.00,2.35,0.00,0.000,6,0.000,0.026,3398,1883,2132,0,0,0,0,0,0
$GC,7820,1.19,116.8,121.4,9.3,431,7825,0.00,2.47,0.00,0.000,4,0.000,0.051,3397,474,2132,0,0,0,0,0,0
$GC,7903,1.19,116.8,112.3,10.9,439,7908,0.00,2.30,0.00,0.000,6,0.000,0.025,3398,1878,2132,0,0,0,0,0,0
$GC,8164,1.19,116.8,87.9,8.6,464,8168,0.00,2.35,0.00,0.000,4,0.000,0.032,3398,3282,2132,0,0,0,0,0,0
$GC,8191,1.19,116.8,85.6,8.3,466,8198,0.00,2.40,0.00,0.000,6,0.000,0.033,3398,1886,2132,0,0,0,0,0,0
$GC,8456,1.19,116.9,66.4,8.0,491,8462,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1885,2132,0,0,0,0,0,0
$GC,8719,1.19,116.9,46.3,8.1,516,8720,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1885,2133,0,0,0,0,0,0
$GC,8974,1.19,116.9,26.2,8.1,544,8981,0.00,2.47,0.00,0.000,4,0.000,0.047,3397,460,2133,0,0,0,0,0,0
$GC,9014,1.19,116.9,23.0,8.2,552,9020,0.00,2.33,0.00,0.000,6,0.000,0.021,3398,1878,2133,0,0,0,0,0,0
$GC,9217,1.23,145.1,9.0,6.7,589,9240,0.00,0.00,21.08,0.468,6,0.000,0.000,3398,1884,2043,0,0,0,0,0,0
$STATE,9293,end climb,SURFACE_DEPTH_REACHED
$STATE,9293,begin surface coast
$FINISH,0.4,1.023509
$STATE,9333,end surface coast,CONTROL_FINISHED_OK
$STATE,9333,begin surface
$SM_CCo,9357,105.12,0.471,0,0,1207,350.04
$SM_GC,1.12,0.00,0.00,105.12,0.000,0.000,0.471,433,2139,1207,-12.46,1.10,350.04
$IRIDIUM_FIX,2059.45,-15758.18,010700,212107
$TT8_MAMPS,0.029146
$HUMID,53.50
$INTERNAL_PRESSURE,9.56722
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.3,2.564
$10V_AH,10.5,2.128
$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,28.675,96.025,218.800,105.125,0.000,29.318,42.517,159.880,4.500,0.000,15.085,1100.754,6197.210,443.578,1627.383,443.714,0.000,1098.814,0.000,1611.277,0.000,29.241,0.000
$DEVICE_MAMPS,140.361,62.127,836.030,470.938,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,413.390,398.038,935.020,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355712
$DATA_FILE_SIZE,34982,610
$CAP_FILE_SIZE,93637,0
$CFSIZE,260165632,255266816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080411,022236,2106.990,-15758.225,42,0.9,42,9.8