version: 66.06
glider: 139
mission: 9
dive: 231
start: 5 1 111 10 45 0
data:
$ID,139
$MISSION,9
$DIVE,231
$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,-2180379.8
$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,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,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
$GPS1,103825,2106.591,-15753.849,40,1.8,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-74.2
$GPS2,104407,2106.569,-15753.870,11,1.6,16,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.222,0.001
$KALMAN_X,-139494.0,450.7,522.4,132934.9,-3376.1
$KALMAN_Y,-17470.7,-283.6,53.8,9949.3,56.3
$MHEAD_RNG_PITCHd_Wd,80.0,18976,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,88,0.00,0.00,-69.80,0.000,2,0.000,0.000,430,2142,3106,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.4,-4.9,13,110,13.12,2.62,0.00,0.000,4,0.136,0.037,2870,678,3109,0,0,0,0,0,0
$GC,147,-1.19,-116.8,19.3,-20.5,24,154,0.00,2.40,0.00,0.000,6,0.000,0.021,2870,2059,3110,0,0,0,0,0,0
$GC,354,-1.19,-116.8,55.2,-17.0,49,358,0.00,2.47,0.00,0.000,4,0.000,0.043,2870,677,3111,0,0,0,0,0,0
$GC,409,-1.19,-116.8,63.8,-14.0,54,415,0.00,2.45,0.00,0.000,6,0.000,0.021,2870,2097,3111,0,0,0,0,0,0
$GC,671,-1.19,-116.8,99.5,-14.0,79,678,0.00,2.53,0.00,0.000,4,0.000,0.042,2870,682,3112,0,0,0,0,0,0
$GC,695,-1.19,-116.8,102.9,-14.0,81,699,0.00,2.40,0.00,0.000,6,0.000,0.021,2870,2102,3112,0,0,0,0,0,0
$GC,959,-1.19,-116.8,137.4,-11.7,105,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2103,3113,0,0,0,0,0,0
$GC,1220,-1.19,-116.8,170.3,-11.6,130,1221,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2103,3114,0,0,0,0,0,0
$GC,1475,-1.19,-116.8,199.5,-11.1,154,1480,0.00,2.47,0.00,0.000,4,0.000,0.038,2870,3494,3114,0,0,0,0,0,0
$GC,1527,-1.19,-116.8,205.1,-10.9,157,1531,0.00,2.45,0.00,0.000,6,0.000,0.033,2870,2080,3114,0,0,0,0,0,0
$GC,1854,-1.19,-116.8,230.7,-6.3,173,1858,0.00,2.47,0.00,0.000,4,0.000,0.044,2870,694,3114,0,0,0,0,0,0
$GC,1868,-1.19,-116.8,231.8,-6.4,173,1874,0.00,2.40,0.00,0.000,6,0.000,0.023,2870,2096,3114,0,0,0,0,0,0
$GC,2185,-1.19,-116.8,257.0,-9.4,189,2189,0.00,2.50,0.00,0.000,4,0.000,0.041,2870,3498,3114,0,0,0,0,0,0
$GC,2205,-1.19,-116.8,259.0,-9.2,190,2209,0.00,2.47,0.00,0.000,6,0.000,0.037,2870,2104,3114,0,0,0,0,0,0
$GC,2534,-1.19,-116.8,286.6,-9.5,206,2538,0.00,2.55,0.00,0.000,4,0.000,0.048,2870,688,3113,0,0,0,0,0,0
$GC,2693,-1.19,-116.8,301.7,-9.2,213,2697,0.00,2.45,0.00,0.000,6,0.000,0.025,2870,2109,3113,0,0,0,0,0,0
$GC,3038,-1.19,-116.8,331.1,-8.4,222,3039,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2109,3111,0,0,0,0,0,0
$GC,3363,-1.19,-116.8,356.7,-7.4,230,3368,0.00,2.53,0.00,0.000,4,0.000,0.049,2870,3496,3109,0,0,0,0,0,0
$GC,3389,-1.19,-116.8,358.3,-7.3,230,3393,0.00,2.50,0.00,0.000,6,0.000,0.042,2870,2096,3109,0,0,0,0,0,0
$GC,3729,-1.19,-116.8,384.6,-8.2,239,3734,0.00,2.60,0.00,0.000,4,0.000,0.054,2870,684,3106,0,0,0,0,0,0
$GC,3773,-1.19,-116.8,388.6,-9.7,240,3777,0.00,2.45,0.00,0.000,6,0.000,0.028,2870,2098,3106,0,0,0,0,0,0
$GC,4102,-1.19,-116.8,417.0,-8.3,248,4106,0.00,2.58,0.00,0.000,4,0.000,0.053,2869,684,3104,0,0,0,0,0,0
$GC,4116,-1.19,-116.8,418.5,-8.3,248,4120,0.00,2.47,0.00,0.000,6,0.000,0.030,2870,2099,3104,0,0,0,0,0,0
$GC,4466,-1.19,-116.8,447.9,-8.6,257,4467,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2100,3101,0,0,0,0,0,0
$STATE,4504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4504,begin apogee
$GC,4511,-0.31,0.0,451.3,8.4,258,4608,0.95,0.00,94.22,0.822,6,0.083,0.000,3066,1792,2635,0,0,0,0,0,0
$STATE,4609,end apogee,CONTROL_FINISHED_OK
$STATE,4609,begin climb
$GC,4612,1.19,116.8,454.4,0.0,260,4717,1.52,0.00,101.25,0.803,6,0.055,0.000,3399,1792,2157,0,0,0,0,0,0
$GC,5032,1.19,116.8,415.6,10.3,271,5036,0.00,2.65,0.00,0.000,4,0.000,0.064,3399,400,2146,0,0,0,0,0,0
$GC,5051,1.19,116.8,413.2,11.8,271,5055,0.00,2.47,0.00,0.000,6,0.000,0.028,3399,1802,2144,0,0,0,0,0,0
$GC,5396,1.19,116.8,380.8,9.3,280,5400,0.00,2.70,0.00,0.000,4,0.000,0.062,3399,396,2142,0,0,0,0,0,0
$GC,5448,1.19,116.8,374.5,12.0,281,5452,0.00,2.47,0.00,0.000,6,0.000,0.028,3398,1804,2139,0,0,0,0,0,0
$GC,5766,1.19,116.8,343.8,9.5,289,5770,0.00,2.67,0.00,0.000,4,0.000,0.061,3399,397,2138,0,0,0,0,0,0
$GC,5790,1.19,116.8,340.8,12.6,289,5794,0.00,2.47,0.00,0.000,6,0.000,0.028,3399,1802,2137,0,0,0,0,0,0
$GC,6130,1.19,116.8,299.9,12.3,298,6134,0.00,2.55,0.00,0.000,4,0.000,0.042,3399,3206,2137,0,0,0,0,0,0
$GC,6151,1.19,116.8,297.5,11.7,299,6156,0.00,2.58,0.00,0.000,6,0.000,0.046,3399,1804,2137,0,0,0,0,0,0
$GC,6482,1.19,116.8,260.3,11.2,315,6487,0.00,2.65,0.00,0.000,4,0.000,0.059,3399,390,2135,0,0,0,0,0,0
$GC,6573,1.19,116.8,250.5,10.7,319,6577,0.00,2.50,0.00,0.000,6,0.000,0.026,3399,1807,2132,0,0,0,0,0,0
$GC,6903,1.19,116.8,217.7,10.1,335,6908,0.00,2.67,0.00,0.000,4,0.000,0.057,3399,389,2133,0,0,0,0,0,0
$GC,6924,1.19,116.8,215.3,12.2,336,6928,0.00,2.47,0.00,0.000,6,0.000,0.025,3399,1810,2132,0,0,0,0,0,0
$GC,7250,1.19,116.8,179.7,9.9,360,7254,0.00,2.47,0.00,0.000,4,0.000,0.038,3399,3207,2132,0,0,0,0,0,0
$GC,7285,1.19,116.8,176.5,9.1,363,7289,0.00,2.55,0.00,0.000,6,0.000,0.041,3399,1799,2132,0,0,0,0,0,0
$GC,7550,1.20,122.2,157.1,7.8,387,7554,0.00,2.60,0.00,0.000,4,0.000,0.053,3399,389,2131,0,0,0,0,0,0
$GC,7576,1.20,122.2,154.6,9.3,389,7580,0.00,2.42,0.00,0.000,6,0.000,0.022,3400,1804,2130,0,0,0,0,0,0
$GC,7840,1.20,122.2,133.5,8.1,413,7845,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1808,2131,0,0,0,0,0,0
$GC,8102,1.21,127.9,112.6,7.8,438,8113,0.00,2.62,5.90,0.450,4,0.000,0.048,3399,390,2113,0,0,0,0,0,0
$GC,8135,1.21,129.0,110.0,8.0,441,8139,0.00,2.45,0.00,0.000,6,0.000,0.021,3399,1803,2112,0,0,0,0,0,0
$GC,8400,1.27,178.3,93.4,5.8,465,8455,0.00,2.70,44.67,0.548,4,0.000,0.048,3399,385,1906,0,0,0,0,0,0
$GC,8496,1.27,178.3,85.4,9.6,475,8502,0.00,2.47,0.00,0.000,6,0.000,0.020,3399,1804,1902,0,0,0,0,0,0
$GC,8758,1.27,178.3,61.0,9.9,500,8763,0.00,2.45,0.00,0.000,4,0.000,0.029,3399,3208,1902,0,0,0,0,0,0
$GC,8801,1.27,178.3,57.0,9.0,504,8805,0.00,2.55,0.00,0.000,6,0.000,0.037,3399,1792,1902,0,0,0,0,0,0
$GC,9066,1.28,185.3,34.4,7.7,528,9077,0.00,2.58,6.68,0.394,4,0.000,0.048,3399,389,1878,0,0,0,0,0,0
$GC,9133,1.28,185.3,28.6,8.1,537,9139,0.00,2.45,0.00,0.000,6,0.000,0.019,3399,1798,1875,0,0,0,0,0,0
$GC,9335,1.28,185.3,10.9,8.3,574,9342,0.00,2.47,0.00,0.000,4,0.000,0.029,3399,3190,1874,0,0,0,0,0,0
$GC,9366,1.28,185.3,8.3,8.4,580,9373,0.00,2.53,0.00,0.000,6,0.000,0.035,3399,1801,1875,0,0,0,0,0,0
$STATE,9442,end climb,SURFACE_DEPTH_REACHED
$STATE,9442,begin surface coast
$FINISH,0.8,1.023076
$STATE,9488,end surface coast,CONTROL_FINISHED_OK
$STATE,9488,begin surface
$SM_CCo,9512,71.72,0.459,0,0,1288,330.17
$SM_GC,1.81,0.00,0.00,71.72,0.000,0.000,0.459,429,2154,1288,-12.46,1.55,330.17
$IRIDIUM_FIX,2059.45,-15753.90,250700,080851
$TT8_MAMPS,0.029146
$HUMID,54.33
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.5,18.406
$10V_AH,10.6,17.785
$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,28.300,117.025,252.725,71.725,0.000,28.813,36.153,155.658,4.500,0.000,16.720,1101.281,6331.759,444.040,1600.871,450.355,33.353,1115.800,0.000,1581.569,0.000,29.260,0.000
$DEVICE_MAMPS,135.759,63.661,822.224,458.666,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,407.620,388.932,879.691,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355672
$DATA_FILE_SIZE,34954,602
$CAP_FILE_SIZE,97073,0
$CFSIZE,260165632,245325824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010511,132558,2106.533,-15753.722,15,2.2,34,9.8