version: 66.06
glider: 139
mission: 9
dive: 88
start: 4 14 111 22 20 3
data:
$ID,139
$MISSION,9
$DIVE,88
$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,1
$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,-2176440.2
$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,3137
$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,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,82
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.30000001
$ROLL_ADJ_DBAND,1
$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
$GPS1,221306,2104.959,-15756.568,39,1.0,50,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-73.6
$GPS2,221913,2104.989,-15756.525,10,1.1,15,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.221,0.016
$KALMAN_X,-551.4,-551.4,-551.4,1930.9,-363.9
$KALMAN_Y,-55.8,-55.8,-55.8,96.0,-36.8
$MHEAD_RNG_PITCHd_Wd,76.2,23562,-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,-71.25,0.000,6,0.000,0.000,430,2154,3111,0,0,0,0,0,0
$GC,98,-1.19,-116.8,3.2,-5.1,14,117,13.25,2.17,0.00,0.000,4,0.137,0.027,2870,3462,3113,0,0,0,0,0,0
$GC,368,-1.19,-116.8,50.5,-17.1,59,373,0.00,2.30,0.00,0.000,6,0.000,0.028,2870,2080,3116,0,0,0,0,0,0
$GC,631,-1.19,-116.8,92.8,-16.0,83,635,0.00,2.33,0.00,0.000,4,0.000,0.029,2870,3464,3116,0,0,0,0,0,0
$GC,892,-1.19,-116.8,128.7,-11.9,111,897,0.00,2.28,0.00,0.000,6,0.000,0.026,2870,2094,3116,0,0,0,0,0,0
$GC,1155,-1.19,-116.8,155.6,-10.9,136,1159,0.00,2.28,0.00,0.000,4,0.000,0.029,2871,3463,3117,0,0,0,0,0,0
$GC,1420,-1.19,-116.8,181.2,-9.4,165,1424,0.00,2.25,0.00,0.000,6,0.000,0.027,2870,2098,3118,0,0,0,0,0,0
$GC,1681,-1.19,-116.8,209.3,-11.2,185,1683,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2098,3118,0,0,0,0,0,0
$GC,1988,-1.19,-116.8,237.7,-8.2,200,1989,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2098,3119,0,0,0,0,0,0
$GC,2299,-1.19,-116.8,262.3,-7.8,215,2300,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2097,3118,0,0,0,0,0,0
$GC,2606,-1.19,-116.8,290.6,-9.5,230,2610,0.00,2.30,0.00,0.000,4,0.000,0.034,2871,3458,3118,0,0,0,0,0,0
$GC,2732,-1.19,-116.8,302.0,-8.9,235,2736,0.00,2.25,0.00,0.000,6,0.000,0.030,2870,2103,3117,0,0,0,0,0,0
$GC,3063,-1.19,-116.8,330.1,-8.7,243,3064,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2102,3116,0,0,0,0,0,0
$GC,3388,-1.19,-116.8,352.3,-6.6,251,3393,0.00,2.42,0.00,0.000,4,0.000,0.046,2870,691,3115,0,0,0,0,0,0
$GC,3432,-1.19,-116.8,355.3,-6.3,252,3436,0.00,2.25,0.00,0.000,6,0.000,0.025,2870,2065,3114,0,0,0,0,0,0
$GC,3760,-1.19,-116.8,376.1,-6.8,260,3761,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2067,3112,0,0,0,0,0,0
$GC,4085,-1.19,-116.8,398.1,-6.9,268,4089,0.00,2.45,0.00,0.000,4,0.000,0.041,2870,3497,3109,0,0,0,0,0,0
$GC,4160,-1.19,-116.8,404.1,-7.7,269,4164,0.00,2.35,0.00,0.000,6,0.000,0.034,2870,2099,3109,0,0,0,0,0,0
$GC,4495,-1.19,-116.8,431.4,-8.1,278,4499,0.00,2.40,0.00,0.000,4,0.000,0.041,2870,3495,3107,0,0,0,0,0,0
$GC,4589,-1.19,-116.8,439.1,-7.3,280,4593,0.00,2.38,0.00,0.000,6,0.000,0.035,2870,2092,3106,0,0,0,0,0,0
$STATE,4746,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4746,begin apogee
$GC,4753,-0.31,0.0,450.1,6.8,284,4852,0.95,0.00,95.32,0.830,6,0.085,0.000,3065,1804,2635,0,0,0,0,0,0
$STATE,4852,end apogee,CONTROL_FINISHED_OK
$STATE,4853,begin climb
$GC,4855,1.19,116.8,452.1,0.0,286,4967,1.50,2.58,100.85,0.812,4,0.059,0.061,3392,394,2156,0,0,0,0,0,0
$GC,5001,1.19,116.8,439.0,13.2,289,5005,0.00,2.38,0.00,0.000,6,0.000,0.027,3392,1792,2151,0,0,0,0,0,0
$GC,5350,1.19,116.8,395.6,12.5,298,5355,0.00,2.53,0.00,0.000,4,0.000,0.058,3392,390,2144,0,0,0,0,0,0
$GC,5369,1.19,116.8,392.9,13.6,298,5374,0.00,2.40,0.00,0.000,6,0.000,0.028,3393,1824,2143,0,0,0,0,0,0
$GC,5714,1.19,116.8,350.7,12.0,307,5715,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1829,2141,0,0,0,0,0,0
$GC,6040,1.19,116.8,313.4,11.6,315,6044,0.00,2.55,0.00,0.000,4,0.000,0.058,3392,388,2139,0,0,0,0,0,0
$GC,6109,1.19,116.8,304.4,13.1,316,6114,0.00,2.35,0.00,0.000,6,0.000,0.028,3392,1786,2136,0,0,0,0,0,0
$GC,6435,1.19,116.8,269.2,11.3,331,6436,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1792,2136,0,0,0,0,0,0
$GC,6743,1.19,116.8,233.4,11.1,346,6747,0.00,2.40,0.00,0.000,4,0.000,0.032,3393,3218,2135,0,0,0,0,0,0
$GC,6761,1.19,116.8,231.2,11.1,346,6768,0.00,2.47,0.00,0.000,6,0.000,0.038,3392,1802,2135,0,0,0,0,0,0
$GC,7077,1.19,116.8,202.5,8.8,362,7078,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1803,2133,0,0,0,0,0,0
$GC,7394,1.19,116.8,175.7,8.9,390,7398,0.00,2.35,0.00,0.000,4,0.000,0.028,3393,3219,2133,0,0,0,0,0,0
$GC,7412,1.19,116.8,174.3,9.3,391,7417,0.00,2.42,0.00,0.000,6,0.000,0.033,3393,1788,2133,0,0,0,0,0,0
$GC,7676,1.19,116.8,151.9,9.2,415,7681,0.00,2.40,0.00,0.000,4,0.000,0.046,3392,378,2133,0,0,0,0,0,0
$GC,7692,1.19,116.8,149.9,10.0,416,7696,0.00,2.35,0.00,0.000,6,0.000,0.022,3393,1825,2131,0,0,0,0,0,0
$GC,7955,1.20,123.0,126.3,7.7,440,7959,0.00,2.25,0.00,0.000,4,0.000,0.028,3392,3196,2132,0,0,0,0,0,0
$GC,7974,1.21,130.4,124.6,7.7,442,7988,0.00,2.38,8.48,0.507,6,0.000,0.031,3392,1795,2102,0,0,0,0,0,0
$GC,8249,1.21,130.4,102.0,8.5,468,8254,0.00,2.42,0.00,0.000,4,0.000,0.046,3392,389,2100,0,0,0,0,0,0
$GC,8284,1.21,130.4,98.9,8.9,471,8289,0.00,2.28,0.00,0.000,6,0.000,0.020,3393,1805,2099,0,0,0,0,0,0
$GC,8549,1.24,153.8,77.1,6.9,495,8576,0.00,0.00,21.67,0.519,6,0.000,0.000,3392,1810,2007,0,0,0,0,0,0
$GC,8834,1.26,173.4,54.4,7.1,522,8857,0.00,2.50,18.12,0.491,4,0.000,0.046,3392,379,1927,0,0,0,0,0,0
$GC,8912,1.26,173.4,47.4,9.0,530,8919,0.00,2.33,0.00,0.000,6,0.000,0.019,3393,1785,1923,0,0,0,0,0,0
$GC,9176,1.28,186.5,27.2,7.4,558,9195,0.10,2.45,12.35,0.449,4,0.071,0.044,3431,382,1873,0,0,0,0,0,0
$GC,9207,1.28,186.5,24.3,8.8,563,9213,0.00,2.35,0.00,0.000,6,0.000,0.019,3431,1820,1870,0,0,0,0,0,0
$GC,9412,1.28,186.5,4.6,10.2,600,9418,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,1826,1869,0,0,0,0,0,0
$STATE,9428,end climb,SURFACE_DEPTH_REACHED
$STATE,9428,begin surface coast
$FINISH,0.4,1.012247
$STATE,9462,end surface coast,CONTROL_FINISHED_OK
$STATE,9462,begin surface
$SM_CCo,9486,73.20,0.463,0,0,1288,330.17
$SM_GC,1.09,0.00,0.00,73.20,0.000,0.000,0.463,430,2095,1288,-12.45,-0.14,330.17
$IRIDIUM_FIX,2057.14,-15753.90,080700,191918
$TT8_MAMPS,0.028379
$HUMID,53.07
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,22.10
$XPDR_PINGS,1
$24V_AH,23.4,7.174
$10V_AH,10.6,6.776
$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,28.725,81.425,256.800,73.200,0.000,26.290,42.903,178.643,4.750,0.000,15.804,1112.251,6257.107,387.304,1702.439,470.674,30.184,1105.968,0.000,1688.625,0.000,29.239,0.000
$DEVICE_MAMPS,137.293,60.593,829.894,462.501,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,412.619,396.104,900.281,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,34972,609
$CAP_FILE_SIZE,94240,0
$CFSIZE,260165632,252256256
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150411,010034,2104.606,-15756.657,13,4.7,32,9.8