version: 66.06
glider: 139
mission: 9
dive: 33
start: 4 8 111 10 33 59
data:
$ID,139
$MISSION,9
$DIVE,33
$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,110
$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,330
$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,-2175236.8
$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,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,94
$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
$GPS1,102831,2105.559,-15757.909,42,1.4,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-76.6
$GPS2,103343,2105.507,-15757.909,10,1.5,10,9.8
$SPEED_LIMITS,0.139,0.213
$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,78.9,25908,-17.6,-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,-1.23,-107.1,0.0,0.0,0,93,0.00,0.00,-69.75,0.000,6,0.000,0.000,432,2146,3071,0,0,0,0,0,0
$GC,97,-1.23,-107.1,2.9,-4.6,14,115,13.35,0.00,0.00,0.000,6,0.140,0.000,2862,2145,3074,0,0,0,0,0,0
$GC,316,-1.23,-107.1,44.2,-16.9,46,320,0.00,2.20,0.00,0.000,4,0.000,0.030,2862,3454,3075,0,0,0,0,0,0
$GC,403,-1.23,-107.1,58.4,-15.9,55,407,0.00,2.28,0.00,0.000,6,0.000,0.028,2862,2088,3075,0,0,0,0,0,0
$GC,665,-1.23,-107.1,95.9,-14.4,79,669,0.00,2.28,0.00,0.000,4,0.000,0.028,2862,3446,3076,0,0,0,0,0,0
$GC,795,-1.23,-107.1,113.7,-12.0,92,801,0.00,2.28,0.00,0.000,6,0.000,0.028,2862,2099,3076,0,0,0,0,0,0
$GC,1059,-1.23,-107.1,146.5,-13.0,117,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2099,3077,0,0,0,0,0,0
$GC,1320,-1.23,-107.1,175.3,-9.0,142,1325,0.00,2.38,0.00,0.000,4,0.000,0.040,2862,692,3078,0,0,0,0,0,0
$GC,1345,-1.23,-107.1,177.4,-9.8,144,1349,0.00,2.22,0.00,0.000,6,0.000,0.021,2863,2054,3078,0,0,0,0,0,0
$GC,1608,-1.23,-107.1,197.3,-6.1,168,1612,0.00,2.33,0.00,0.000,4,0.000,0.041,2862,690,3078,0,0,0,0,0,0
$GC,1713,-1.23,-107.1,205.7,-8.3,175,1717,0.00,2.30,0.00,0.000,6,0.000,0.023,2862,2104,3078,0,0,0,0,0,0
$GC,2028,-1.23,-107.1,231.8,-9.8,190,2033,0.00,2.40,0.00,0.000,4,0.000,0.041,2862,688,3079,0,0,0,0,0,0
$GC,2056,-1.23,-107.1,234.5,-10.2,191,2060,0.00,2.33,0.00,0.000,6,0.000,0.024,2862,2108,3079,0,0,0,0,0,0
$GC,2382,-1.23,-107.1,255.9,-6.0,207,2386,0.00,2.42,0.00,0.000,4,0.000,0.043,2862,694,3078,0,0,0,0,0,0
$GC,2429,-1.23,-107.1,259.4,-6.6,209,2433,0.00,2.30,0.00,0.000,6,0.000,0.025,2862,2102,3078,0,0,0,0,0,0
$GC,2755,-1.23,-107.1,283.5,-8.3,225,2756,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2103,3077,0,0,0,0,0,0
$GC,3062,-1.23,-107.1,310.0,-8.1,237,3066,0.00,2.42,0.00,0.000,4,0.000,0.047,2862,688,3076,0,0,0,0,0,0
$GC,3076,-1.23,-107.1,311.5,-8.9,237,3081,0.00,2.33,0.00,0.000,6,0.000,0.027,2862,2100,3076,0,0,0,0,0,0
$GC,3428,-1.23,-107.1,342.9,-9.3,246,3432,0.00,2.42,0.00,0.000,4,0.000,0.048,2861,689,3074,0,0,0,0,0,0
$GC,3595,-1.23,-107.1,355.4,-7.0,249,3599,0.00,2.35,0.00,0.000,6,0.000,0.028,2862,2111,3073,0,0,0,0,0,0
$GC,3931,-1.23,-107.1,371.7,-4.6,258,3932,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2111,3071,0,0,0,0,0,0
$GC,4256,-1.23,-107.1,388.2,-5.4,266,4260,0.00,2.45,0.00,0.000,4,0.000,0.050,2861,693,3069,0,0,0,0,0,0
$GC,4279,-1.23,-107.1,389.9,-6.8,266,4284,0.00,2.35,0.00,0.000,6,0.000,0.030,2862,2101,3069,0,0,0,0,0,0
$GC,4626,-1.23,-107.1,414.3,-7.2,275,4630,0.00,2.38,0.00,0.000,4,0.000,0.044,2862,3503,3066,0,0,0,0,0,0
$GC,4665,-1.23,-107.1,417.1,-7.4,275,4671,0.00,2.38,0.00,0.000,6,0.000,0.037,2862,2103,3066,0,0,0,0,0,0
$GC,4997,-1.23,-107.1,440.3,-6.7,284,5002,0.00,2.45,0.00,0.000,4,0.000,0.052,2862,694,3065,0,0,0,0,0,0
$GC,5026,-1.23,-107.1,441.8,-5.1,284,5030,0.00,2.35,0.00,0.000,6,0.000,0.031,2862,2108,3065,0,0,0,0,0,0
$STATE,5197,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5197,begin apogee
$GC,5203,-0.31,0.0,450.3,5.0,289,5294,1.02,0.00,87.43,0.832,6,0.088,0.000,3070,1845,2635,0,0,0,0,0,0
$STATE,5295,end apogee,CONTROL_FINISHED_OK
$STATE,5295,begin climb
$GC,5298,1.23,107.1,450.7,0.0,291,5402,1.55,2.58,93.60,0.812,4,0.061,0.061,3407,442,2197,0,0,0,0,0,0
$GC,5427,1.23,107.1,437.1,15.9,294,5431,0.00,2.42,0.00,0.000,6,0.000,0.031,3406,1855,2191,0,0,0,0,0,0
$GC,5754,1.23,107.1,395.6,12.7,302,5755,0.00,0.00,0.00,0.000,6,0.000,0.000,3407,1859,2184,0,0,0,0,0,0
$GC,6079,1.23,107.1,355.5,12.4,310,6083,0.00,2.55,0.00,0.000,4,0.000,0.060,3407,445,2182,0,0,0,0,0,0
$GC,6144,1.23,107.1,345.1,16.0,311,6149,0.00,2.35,0.00,0.000,6,0.000,0.031,3407,1852,2179,0,0,0,0,0,0
$GC,6489,1.23,107.1,300.4,12.8,320,6494,0.00,2.53,0.00,0.000,4,0.000,0.058,3406,445,2178,0,0,0,0,0,0
$GC,6559,1.23,107.1,289.2,16.5,322,6563,0.00,2.35,0.00,0.000,6,0.000,0.031,3407,1852,2176,0,0,0,0,0,0
$GC,6884,1.23,107.1,244.7,12.9,338,6888,0.00,2.40,0.00,0.000,4,0.000,0.039,3407,3251,2176,0,0,0,0,0,0
$GC,6921,1.23,107.1,240.0,12.3,339,6926,0.00,2.42,0.00,0.000,6,0.000,0.040,3407,1850,2176,0,0,0,0,0,0
$GC,7237,1.23,107.1,207.1,10.2,355,7242,0.00,2.47,0.00,0.000,4,0.000,0.056,3406,440,2175,0,0,0,0,0,0
$GC,7261,1.23,107.1,204.2,11.7,356,7265,0.00,2.33,0.00,0.000,6,0.000,0.028,3407,1857,2173,0,0,0,0,0,0
$GC,7595,1.23,107.1,170.0,11.5,385,7600,0.00,2.53,0.00,0.000,4,0.000,0.054,3407,433,2174,0,0,0,0,0,0
$GC,7756,1.23,107.1,149.4,11.8,402,7760,0.00,2.35,0.00,0.000,6,0.000,0.026,3407,1852,2172,0,0,0,0,0,0
$GC,8019,1.28,144.3,129.9,6.2,426,8054,0.00,0.00,29.23,0.597,6,0.000,0.000,3407,1857,2045,0,0,0,0,0,0
$GC,8310,1.28,144.3,106.8,9.7,454,8314,0.00,2.47,0.00,0.000,4,0.000,0.049,3407,433,2041,0,0,0,0,0,0
$GC,8345,1.28,144.3,103.0,11.0,457,8349,0.00,2.35,0.00,0.000,6,0.000,0.024,3407,1861,2039,0,0,0,0,0,0
$GC,8609,1.28,144.3,75.0,11.6,481,8613,0.00,2.47,0.00,0.000,4,0.000,0.048,3407,442,2039,0,0,0,0,0,0
$GC,8663,1.28,144.3,67.9,12.6,486,8670,0.00,2.33,0.00,0.000,6,0.000,0.022,3407,1855,2038,0,0,0,0,0,0
$GC,8925,1.28,144.3,42.9,8.5,511,8927,0.00,0.00,0.00,0.000,6,0.000,0.000,3407,1860,2038,0,0,0,0,0,0
$GC,9184,1.28,144.3,20.8,9.1,544,9190,0.00,2.47,0.00,0.000,4,0.000,0.047,3407,443,2038,0,0,0,0,0,0
$GC,9211,1.28,144.3,18.0,9.5,549,9218,0.00,2.30,0.00,0.000,6,0.000,0.021,3407,1856,2038,0,0,0,0,0,0
$STATE,9390,end climb,SURFACE_DEPTH_REACHED
$STATE,9390,begin surface coast
$FINISH,0.3,1.022369
$STATE,9424,end surface coast,CONTROL_FINISHED_OK
$STATE,9425,begin surface
$SM_CCo,9448,95.47,0.471,0,0,1288,330.17
$SM_GC,1.16,0.00,0.00,95.47,0.000,0.000,0.471,432,2137,1288,-12.46,1.05,330.17
$IRIDIUM_FIX,2057.14,-15820.93,020700,070722
$TT8_MAMPS,0.029146
$HUMID,53.62
$INTERNAL_PRESSURE,9.57698
$TCM_TEMP,21.20
$XPDR_PINGS,0
$24V_AH,23.3,2.858
$10V_AH,10.7,2.429
$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,28.725,96.050,210.250,95.475,0.000,23.660,33.173,144.555,4.500,0.000,10.237,1085.321,6318.743,390.389,1639.010,422.733,0.000,1088.546,0.000,1629.533,0.000,29.242,0.000
$DEVICE_MAMPS,140.361,61.360,832.195,470.938,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,399.006,378.703,850.256,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,31717,588
$CAP_FILE_SIZE,95069,0
$CFSIZE,260165632,255074304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080411,131356,2105.051,-15757.745,14,1.9,14,9.8