version: 66.06
glider: 139
mission: 9
dive: 160
start: 4 23 111 5 38 1
data:
$ID,139
$MISSION,9
$DIVE,160
$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,-2178873
$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,17
$R_STBD_OVSHOOT,80
$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
$GPS1,053130,2109.405,-15752.901,43,1.3,48,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-73.8
$GPS2,053708,2109.427,-15753.004,16,1.3,16,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.161,0.152
$KALMAN_X,-73111.8,1048.7,-88.5,68060.9,-3019.0
$KALMAN_Y,-33696.9,297.7,245.6,30685.6,-1243.2
$MHEAD_RNG_PITCHd_Wd,36.8,18667,-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,-116.8,0.0,0.0,0,94,0.00,0.00,-70.95,0.000,6,0.000,0.000,427,2157,3111,0,0,0,0,0,0
$GC,98,-1.19,-116.8,3.3,-4.1,14,117,13.10,2.33,0.00,0.000,4,0.134,0.035,2870,3460,3114,0,0,0,0,0,0
$GC,170,-1.19,-116.8,22.3,-18.9,29,177,0.00,2.45,0.00,0.000,6,0.000,0.031,2869,2087,3115,0,0,0,0,0,0
$GC,372,-1.19,-116.8,55.8,-16.0,51,376,0.00,2.42,0.00,0.000,4,0.000,0.033,2869,3463,3115,0,0,0,0,0,0
$GC,425,-1.19,-116.8,63.5,-14.2,56,429,0.00,2.40,0.00,0.000,6,0.000,0.033,2870,2096,3116,0,0,0,0,0,0
$GC,688,-1.19,-116.8,102.8,-15.2,80,689,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2096,3116,0,0,0,0,0,0
$GC,941,-1.19,-116.8,138.8,-12.6,104,945,0.00,2.42,0.00,0.000,4,0.000,0.036,2870,3461,3116,0,0,0,0,0,0
$GC,1032,-1.19,-116.8,150.9,-12.6,113,1037,0.00,2.42,0.00,0.000,6,0.000,0.037,2869,2100,3116,0,0,0,0,0,0
$GC,1295,-1.19,-116.8,180.0,-9.4,138,1296,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2100,3118,0,0,0,0,0,0
$GC,1557,-1.19,-116.8,206.1,-9.5,160,1561,0.00,2.45,0.00,0.000,4,0.000,0.040,2870,3455,3117,0,0,0,0,0,0
$GC,1625,-1.19,-116.8,212.7,-10.3,163,1629,0.00,2.40,0.00,0.000,6,0.000,0.036,2869,2100,3118,0,0,0,0,0,0
$GC,1955,-1.19,-116.8,248.4,-10.9,179,1959,0.00,2.42,0.00,0.000,4,0.000,0.041,2870,3454,3118,0,0,0,0,0,0
$GC,1999,-1.19,-116.8,252.9,-10.2,181,2004,0.00,2.40,0.00,0.000,6,0.000,0.038,2870,2098,3118,0,0,0,0,0,0
$GC,2331,-1.19,-116.8,279.5,-7.1,197,2335,0.00,2.45,0.00,0.000,4,0.000,0.044,2869,3454,3117,0,0,0,0,0,0
$GC,2404,-1.19,-116.8,285.1,-8.6,200,2409,0.00,2.40,0.00,0.000,6,0.000,0.039,2870,2097,3117,0,0,0,0,0,0
$GC,2743,-1.19,-116.8,312.0,-9.2,214,2748,0.00,2.47,0.00,0.000,4,0.000,0.047,2869,3458,3116,0,0,0,0,0,0
$GC,2896,-1.19,-116.8,329.6,-11.3,217,2900,0.00,2.45,0.00,0.000,6,0.000,0.043,2869,2096,3115,0,0,0,0,0,0
$GC,3247,-1.19,-116.8,360.9,-7.6,226,3248,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2096,3114,0,0,0,0,0,0
$GC,3571,-1.19,-116.8,379.8,-6.2,234,3576,0.00,2.47,0.00,0.000,4,0.000,0.051,2869,3451,3112,0,0,0,0,0,0
$GC,3673,-1.19,-116.8,387.4,-7.3,236,3678,0.00,2.42,0.00,0.000,6,0.000,0.044,2869,2099,3111,0,0,0,0,0,0
$GC,3992,-1.19,-116.8,409.8,-6.8,244,3996,0.00,2.47,0.00,0.000,4,0.000,0.052,2870,3459,3109,0,0,0,0,0,0
$GC,4201,-1.19,-116.8,424.1,-6.4,248,4205,0.00,2.47,0.00,0.000,6,0.000,0.048,2870,2098,3108,0,0,0,0,0,0
$GC,4543,-1.19,-116.8,442.4,-5.1,257,4548,0.00,2.58,0.00,0.000,4,0.000,0.055,2870,689,3105,0,0,0,0,0,0
$GC,4635,-1.19,-116.8,448.2,-7.1,259,4639,0.00,2.40,0.00,0.000,6,0.000,0.030,2869,2055,3105,0,0,0,0,0,0
$STATE,4656,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4656,begin apogee
$GC,4663,-0.31,0.0,450.0,6.6,259,4762,0.93,0.00,95.18,0.820,6,0.084,0.000,3064,1792,2635,0,0,0,0,0,0
$STATE,4762,end apogee,CONTROL_FINISHED_OK
$STATE,4762,begin climb
$GC,4765,1.19,116.8,451.8,0.0,262,4876,1.52,2.67,101.60,0.801,4,0.055,0.061,3396,401,2157,0,0,0,0,0,0
$GC,4898,1.19,116.8,441.0,13.6,265,4902,0.00,2.53,0.00,0.000,6,0.000,0.026,3396,1812,2152,0,0,0,0,0,0
$GC,5211,1.19,116.8,401.6,12.3,273,5212,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1816,2145,0,0,0,0,0,0
$GC,5536,1.19,116.8,360.5,12.8,281,5541,0.00,2.55,0.00,0.000,4,0.000,0.049,3396,3195,2143,0,0,0,0,0,0
$GC,5574,1.19,116.8,355.4,13.2,281,5580,0.00,2.62,0.00,0.000,6,0.000,0.053,3396,1807,2143,0,0,0,0,0,0
$GC,5905,1.19,116.8,311.2,13.0,290,5910,0.00,2.65,0.00,0.000,4,0.000,0.061,3396,390,2139,0,0,0,0,0,0
$GC,5952,1.19,116.8,304.4,14.5,291,5957,0.00,2.47,0.00,0.000,6,0.000,0.027,3396,1797,2137,0,0,0,0,0,0
$GC,6280,1.19,116.8,270.4,8.6,306,6284,0.00,2.55,0.00,0.000,4,0.000,0.045,3396,3198,2136,0,0,0,0,0,0
$GC,6335,1.19,116.8,266.0,8.2,308,6340,0.00,2.60,0.00,0.000,6,0.000,0.048,3396,1802,2136,0,0,0,0,0,0
$GC,6652,1.19,116.8,233.6,11.5,323,6657,0.00,2.60,0.00,0.000,4,0.000,0.057,3395,390,2134,0,0,0,0,0,0
$GC,6667,1.19,116.8,231.6,11.5,323,6672,0.00,2.47,0.00,0.000,6,0.000,0.025,3396,1814,2133,0,0,0,0,0,0
$GC,6983,1.19,116.8,197.5,10.9,340,6987,0.00,2.47,0.00,0.000,4,0.000,0.040,3396,3197,2133,0,0,0,0,0,0
$GC,7000,1.19,116.8,195.8,10.5,341,7004,0.00,2.55,0.00,0.000,6,0.000,0.043,3396,1799,2133,0,0,0,0,0,0
$GC,7264,1.19,116.8,169.8,10.3,365,7268,0.00,2.58,0.00,0.000,4,0.000,0.054,3396,389,2133,0,0,0,0,0,0
$GC,7279,1.19,116.8,168.1,9.3,366,7284,0.00,2.45,0.00,0.000,6,0.000,0.022,3396,1809,2132,0,0,0,0,0,0
$GC,7543,1.22,133.3,147.3,7.3,390,7562,0.00,2.50,10.98,0.549,4,0.000,0.034,3396,3182,2090,0,0,0,0,0,0
$GC,7568,1.22,133.3,144.9,8.0,392,7574,0.00,2.55,0.00,0.000,6,0.000,0.038,3396,1802,2090,0,0,0,0,0,0
$GC,7830,1.22,133.3,120.8,9.4,417,7835,0.00,2.58,0.00,0.000,4,0.000,0.050,3396,388,2089,0,0,0,0,0,0
$GC,7856,1.22,133.3,118.2,10.5,419,7861,0.00,2.42,0.00,0.000,6,0.000,0.020,3396,1803,2087,0,0,0,0,0,0
$GC,8121,1.25,158.6,96.6,6.9,443,8150,0.00,2.47,23.17,0.537,4,0.000,0.030,3396,3191,1987,0,0,0,0,0,0
$GC,8162,1.26,173.3,93.5,7.3,447,8182,0.00,2.53,14.25,0.507,6,0.000,0.036,3396,1797,1927,0,0,0,0,0,0
$GC,8437,1.27,174.7,70.7,8.0,473,8442,0.00,2.55,0.00,0.000,4,0.000,0.049,3396,390,1924,0,0,0,0,0,0
$GC,8517,1.27,174.7,63.1,9.8,481,8522,0.00,2.42,0.00,0.000,6,0.000,0.019,3396,1807,1921,0,0,0,0,0,0
$GC,8782,1.27,179.9,40.2,7.8,505,8794,0.00,2.62,6.40,0.397,4,0.000,0.047,3396,391,1900,0,0,0,0,0,0
$GC,8832,1.27,179.9,35.2,10.3,510,8836,0.00,2.40,0.00,0.000,6,0.000,0.018,3396,1805,1898,0,0,0,0,0,0
$GC,9098,1.27,179.9,12.9,8.9,553,9104,0.00,2.62,0.00,0.000,4,0.000,0.047,3396,393,1898,0,0,0,0,0,0
$GC,9112,1.27,179.9,11.6,9.1,555,9119,0.00,2.42,0.00,0.000,6,0.000,0.018,3396,1808,1898,0,0,0,0,0,0
$STATE,9204,end climb,SURFACE_DEPTH_REACHED
$STATE,9204,begin surface coast
$FINISH,1.1,1.023316
$STATE,9245,end surface coast,CONTROL_FINISHED_OK
$STATE,9245,begin surface
$SM_CCo,9269,75.35,0.458,0,0,1288,330.17
$SM_GC,1.55,0.00,0.00,75.35,0.000,0.000,0.458,428,2107,1288,-12.46,0.20,330.17
$IRIDIUM_FIX,2101.76,-15750.89,170700,020213
$TT8_MAMPS,0.029146
$HUMID,54.21
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.5,12.762
$10V_AH,10.6,12.321
$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,28.200,115.500,251.575,75.350,0.000,30.024,33.243,156.009,4.500,0.000,16.652,1092.907,6028.997,426.049,1684.214,452.717,33.350,1143.833,0.000,1664.435,0.000,29.259,0.000
$DEVICE_MAMPS,134.225,61.360,819.923,457.899,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,391.779,376.127,852.656,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,31738,579
$CAP_FILE_SIZE,100025,0
$CFSIZE,260165632,248754176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,230411,081507,2110.004,-15752.849,42,1.0,42,9.8