version: 66.06
glider: 139
mission: 9
dive: 154
start: 4 22 111 13 8 3
data:
$ID,139
$MISSION,9
$DIVE,154
$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,-2178754.5
$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,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,20
$R_STBD_OVSHOOT,79
$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
$GPS1,124636,2106.760,-15751.547,14,1.5,30,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-72.9
$GPS2,124636,2106.760,-15751.547,901,99.0,901,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.101,0.197
$KALMAN_X,-61859.6,356.0,894.4,57850.6,-5105.4
$KALMAN_Y,-29320.0,152.0,-38.0,20460.1,-2112.0
$MHEAD_RNG_PITCHd_Wd,17.4,15012,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,89,0.00,0.00,-70.20,0.000,2,0.000,0.000,425,2169,3111,0,0,0,0,0,0
$GC,92,-1.19,-116.8,3.0,-4.0,13,110,13.00,2.30,0.00,0.000,4,0.134,0.033,2870,3468,3113,0,0,0,0,0,0
$GC,247,-1.19,-116.8,33.1,-15.3,45,251,0.00,2.42,0.00,0.000,6,0.000,0.033,2870,2085,3115,0,0,0,0,0,0
$GC,509,-1.19,-116.8,77.0,-15.7,69,513,0.00,2.47,0.00,0.000,4,0.000,0.042,2869,688,3115,0,0,0,0,0,0
$GC,538,-1.19,-116.8,82.2,-17.7,71,543,0.00,2.33,0.00,0.000,6,0.000,0.021,2870,2059,3114,0,0,0,0,0,0
$GC,801,-1.19,-116.8,117.2,-12.1,96,805,0.00,2.42,0.00,0.000,4,0.000,0.041,2870,690,3115,0,0,0,0,0,0
$GC,872,-1.19,-116.8,127.8,-16.0,103,876,0.00,2.40,0.00,0.000,6,0.000,0.022,2870,2102,3115,0,0,0,0,0,0
$GC,1136,-1.19,-116.8,161.9,-10.9,127,1141,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2103,3115,0,0,0,0,0,0
$GC,1398,-1.19,-116.8,185.0,-6.9,152,1402,0.00,2.50,0.00,0.000,4,0.000,0.041,2870,3501,3116,0,0,0,0,0,0
$GC,1453,-1.19,-116.8,188.5,-6.1,157,1458,0.00,2.45,0.00,0.000,6,0.000,0.035,2870,2101,3116,0,0,0,0,0,0
$GC,1710,-1.19,-116.8,212.9,-10.2,176,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2101,3116,0,0,0,0,0,0
$GC,2020,-1.19,-116.8,244.8,-8.9,191,2025,0.00,2.47,0.00,0.000,4,0.000,0.042,2870,3498,3116,0,0,0,0,0,0
$GC,2090,-1.19,-116.8,250.4,-6.7,194,2095,0.00,2.45,0.00,0.000,6,0.000,0.037,2869,2102,3115,0,0,0,0,0,0
$GC,2415,-1.19,-116.8,275.2,-9.0,210,2419,0.00,2.53,0.00,0.000,4,0.000,0.047,2869,687,3115,0,0,0,0,0,0
$GC,2498,-1.19,-116.8,282.9,-9.0,213,2504,0.00,2.40,0.00,0.000,6,0.000,0.025,2870,2098,3114,0,0,0,0,0,0
$GC,2813,-1.19,-116.8,306.8,-7.8,227,2814,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2099,3114,0,0,0,0,0,0
$GC,3138,-1.19,-116.8,330.4,-7.8,235,3142,0.00,2.55,0.00,0.000,4,0.000,0.050,2870,3498,3112,0,0,0,0,0,0
$GC,3157,-1.19,-116.8,332.1,-8.7,235,3161,0.00,2.50,0.00,0.000,6,0.000,0.042,2870,2093,3112,0,0,0,0,0,0
$GC,3504,-1.19,-116.8,360.4,-8.2,244,3506,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2093,3110,0,0,0,0,0,0
$GC,3827,-1.19,-116.8,384.5,-7.2,252,3832,0.00,2.58,0.00,0.000,4,0.000,0.053,2869,685,3107,0,0,0,0,0,0
$GC,3842,-1.19,-116.8,385.5,-6.7,252,3847,0.00,2.45,0.00,0.000,6,0.000,0.028,2870,2108,3107,0,0,0,0,0,0
$GC,4192,-1.19,-116.8,407.3,-6.2,261,4197,0.00,2.55,0.00,0.000,4,0.000,0.054,2870,3503,3105,0,0,0,0,0,0
$GC,4207,-1.19,-116.8,408.3,-6.3,261,4211,0.00,2.53,0.00,0.000,6,0.000,0.045,2869,2095,3105,0,0,0,0,0,0
$GC,4557,-1.19,-116.8,429.9,-6.1,270,4562,0.00,2.55,0.00,0.000,4,0.000,0.052,2869,3497,3102,0,0,0,0,0,0
$GC,4572,-1.19,-116.8,430.8,-5.7,270,4576,0.00,2.53,0.00,0.000,6,0.000,0.045,2870,2094,3102,0,0,0,0,0,0
$GC,4922,-1.19,-116.8,448.9,-5.0,279,4926,0.00,2.58,0.00,0.000,4,0.000,0.054,2870,3501,3100,0,0,0,0,0,0
$STATE,4938,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4939,begin apogee
$GC,4948,-0.31,0.0,450.2,6.4,279,5049,0.93,0.00,93.80,0.823,6,0.086,0.000,3063,1808,2635,0,0,0,0,0,0
$STATE,5050,end apogee,CONTROL_FINISHED_OK
$STATE,5050,begin climb
$GC,5053,1.19,116.8,452.0,0.0,282,5165,1.50,2.80,100.72,0.804,4,0.057,0.064,3393,396,2156,0,0,0,0,0,0
$GC,5208,1.19,116.8,434.8,15.3,285,5212,0.00,2.53,0.00,0.000,6,0.000,0.028,3393,1799,2150,0,0,0,0,0,0
$GC,5548,1.19,116.8,388.7,13.4,294,5552,0.00,2.70,0.00,0.000,4,0.000,0.062,3393,393,2144,0,0,0,0,0,0
$GC,5567,1.19,116.8,385.9,13.7,294,5572,0.00,2.50,0.00,0.000,6,0.000,0.028,3393,1807,2143,0,0,0,0,0,0
$GC,5913,1.19,116.8,341.0,13.2,303,5917,0.00,2.70,0.00,0.000,4,0.000,0.061,3392,389,2140,0,0,0,0,0,0
$GC,5969,1.19,116.8,332.6,13.9,304,5973,0.00,2.53,0.00,0.000,6,0.000,0.028,3394,1797,2138,0,0,0,0,0,0
$GC,6283,1.19,116.8,296.8,10.9,312,6287,0.00,2.67,0.00,0.000,4,0.000,0.059,3393,389,2137,0,0,0,0,0,0
$GC,6297,1.19,116.8,294.9,11.0,312,6304,0.00,2.53,0.00,0.000,6,0.000,0.027,3393,1798,2136,0,0,0,0,0,0
$GC,6613,1.19,116.8,266.7,8.1,328,6614,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1803,2135,0,0,0,0,0,0
$GC,6924,1.19,116.8,240.7,8.9,343,6928,0.00,2.50,0.00,0.000,4,0.000,0.041,3394,3197,2134,0,0,0,0,0,0
$GC,6961,1.19,116.8,236.6,10.4,344,6968,0.00,2.60,0.00,0.000,6,0.000,0.045,3393,1804,2134,0,0,0,0,0,0
$GC,7277,1.19,116.8,199.5,11.7,360,7281,0.00,2.62,0.00,0.000,4,0.000,0.054,3393,385,2133,0,0,0,0,0,0
$GC,7313,1.19,116.8,194.5,13.5,363,7319,0.00,2.45,0.00,0.000,6,0.000,0.024,3393,1805,2131,0,0,0,0,0,0
$GC,7576,1.19,116.8,162.2,10.9,388,7581,0.00,2.62,0.00,0.000,4,0.000,0.052,3393,391,2131,0,0,0,0,0,0
$GC,7593,1.19,116.8,160.2,11.7,389,7598,0.00,2.42,0.00,0.000,6,0.000,0.023,3393,1805,2131,0,0,0,0,0,0
$GC,7858,1.19,116.8,136.0,8.5,413,7862,0.00,2.45,0.00,0.000,4,0.000,0.035,3394,3190,2131,0,0,0,0,0,0
$GC,7902,1.20,123.1,132.5,7.7,417,7907,0.00,2.55,0.00,0.000,6,0.000,0.040,3393,1791,2131,0,0,0,0,0,0
$GC,8167,1.28,188.9,117.8,5.0,441,8234,0.10,2.67,58.15,0.573,4,0.074,0.050,3429,395,1862,0,0,0,0,0,0
$GC,8270,1.28,188.9,108.2,12.8,452,8274,0.00,2.42,0.00,0.000,6,0.000,0.021,3430,1796,1858,0,0,0,0,0,0
$GC,8534,1.28,188.9,77.6,9.9,476,8538,0.00,2.60,0.00,0.000,4,0.000,0.049,3429,393,1857,0,0,0,0,0,0
$GC,8561,1.28,188.9,73.8,13.4,478,8568,0.00,2.45,0.00,0.000,6,0.000,0.020,3430,1802,1855,0,0,0,0,0,0
$GC,8824,1.28,188.9,42.1,13.0,503,8828,0.00,2.62,0.00,0.000,4,0.000,0.049,3430,392,1855,0,0,0,0,0,0
$GC,8903,1.28,188.9,30.7,14.2,511,8908,0.00,2.40,0.00,0.000,6,0.000,0.019,3430,1795,1854,0,0,0,0,0,0
$STATE,9156,end climb,SURFACE_DEPTH_REACHED
$STATE,9156,begin surface coast
$FINISH,0.9,1.010619
$STATE,9184,end surface coast,CONTROL_FINISHED_OK
$STATE,9184,begin surface
$SM_CCo,9208,69.82,0.466,0,0,1288,330.17
$SM_GC,1.53,0.00,0.00,69.82,0.000,0.000,0.466,428,2120,1288,-12.46,0.57,330.17
$IRIDIUM_FIX,2101.76,-15753.03,160700,101008
$TT8_MAMPS,0.028379
$HUMID,55.63
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.5,12.310
$10V_AH,10.5,11.863
$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,28.300,111.925,252.675,69.825,0.000,27.154,53.318,147.157,4.500,0.000,901.548,1026.287,6231.402,394.590,2397.357,465.076,33.348,1067.618,0.000,1503.090,0.000,29.251,0.000
$DEVICE_MAMPS,134.225,63.661,822.991,465.569,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,380.471,364.272,792.106,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,31739,562
$CAP_FILE_SIZE,94773,0
$CFSIZE,260165632,249040896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220411,154636,2106.988,-15752.744,191,1.9,195,9.8