version: 66.06
glider: 139
mission: 9
dive: 285
start: 5 7 111 20 3 49
data:
$ID,139
$MISSION,9
$DIVE,285
$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,-2181781.5
$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,18
$R_STBD_OVSHOOT,58
$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
$GPS1,194506,2108.289,-15754.534,13,1.6,29,9.8
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-72.0
$GPS2,200256,2108.336,-15754.680,11,1.7,11,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.212,-0.066
$KALMAN_X,-168171.0,-346.2,-474.6,162018.7,-666.1
$KALMAN_Y,-1201.2,-78.1,140.2,-3339.6,343.1
$MHEAD_RNG_PITCHd_Wd,97.4,20853,-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,12,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,88,0.00,0.00,-69.78,0.000,2,0.000,0.000,424,2112,3112,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.2,-3.2,13,110,13.15,2.45,0.00,0.000,4,0.136,0.033,2870,3491,3114,0,0,0,0,0,0
$GC,138,-1.19,-116.8,17.6,-27.0,22,145,0.00,2.50,0.00,0.000,6,0.000,0.032,2870,2095,3115,0,0,0,0,0,0
$GC,344,-1.19,-116.8,54.2,-17.2,47,348,0.00,2.42,0.00,0.000,4,0.000,0.031,2870,3483,3116,0,0,0,0,0,0
$GC,361,-1.19,-116.8,57.0,-17.4,48,366,0.00,2.42,0.00,0.000,6,0.000,0.033,2870,2097,3116,0,0,0,0,0,0
$GC,622,-1.19,-116.8,94.3,-13.8,72,627,0.00,2.50,0.00,0.000,4,0.000,0.040,2870,686,3116,0,0,0,0,0,0
$GC,632,-1.19,-116.8,95.7,-13.6,72,639,0.00,2.40,0.00,0.000,6,0.000,0.020,2870,2088,3116,0,0,0,0,0,0
$GC,897,-1.19,-116.8,129.7,-12.0,97,901,0.00,2.47,0.00,0.000,4,0.000,0.035,2870,3496,3116,0,0,0,0,0,0
$GC,1134,-1.19,-116.8,156.3,-9.5,122,1141,0.00,2.47,0.00,0.000,6,0.000,0.033,2870,2100,3116,0,0,0,0,0,0
$GC,1397,-1.19,-116.8,182.8,-10.4,147,1401,0.00,2.50,0.00,0.000,4,0.000,0.038,2870,3498,3117,0,0,0,0,0,0
$GC,1485,-1.19,-116.8,191.3,-8.6,156,1489,0.00,2.47,0.00,0.000,6,0.000,0.034,2869,2092,3117,0,0,0,0,0,0
$GC,1753,-1.19,-116.8,216.6,-10.2,173,1757,0.00,2.50,0.00,0.000,4,0.000,0.044,2869,688,3117,0,0,0,0,0,0
$GC,1797,-1.19,-116.8,221.2,-10.3,175,1801,0.00,2.40,0.00,0.000,6,0.000,0.023,2870,2100,3117,0,0,0,0,0,0
$GC,2128,-1.19,-116.8,257.5,-10.6,191,2129,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2101,3117,0,0,0,0,0,0
$GC,2437,-1.19,-116.8,286.0,-8.1,206,2438,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2102,3116,0,0,0,0,0,0
$GC,2764,-1.19,-116.8,316.2,-9.0,218,2768,0.00,2.53,0.00,0.000,4,0.000,0.045,2870,3497,3115,0,0,0,0,0,0
$GC,2808,-1.19,-116.8,320.4,-10.0,219,2812,0.00,2.47,0.00,0.000,6,0.000,0.040,2870,2100,3115,0,0,0,0,0,0
$GC,3135,-1.19,-116.8,351.3,-9.3,227,3140,0.00,2.55,0.00,0.000,4,0.000,0.049,2870,692,3113,0,0,0,0,0,0
$GC,3168,-1.19,-116.8,354.7,-9.6,227,3173,0.00,2.40,0.00,0.000,6,0.000,0.025,2870,2097,3113,0,0,0,0,0,0
$GC,3501,-1.19,-116.8,382.0,-7.9,235,3505,0.00,2.55,0.00,0.000,4,0.000,0.050,2869,683,3111,0,0,0,0,0,0
$GC,3704,-1.19,-116.8,398.7,-8.4,239,3708,0.00,2.45,0.00,0.000,6,0.000,0.028,2869,2104,3109,0,0,0,0,0,0
$GC,4052,-1.19,-116.8,422.6,-6.9,248,4056,0.00,2.55,0.00,0.000,4,0.000,0.052,2870,3499,3107,0,0,0,0,0,0
$GC,4067,-1.19,-116.8,423.9,-7.1,248,4071,0.00,2.50,0.00,0.000,6,0.000,0.044,2869,2100,3107,0,0,0,0,0,0
$STATE,4416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4416,begin apogee
$GC,4423,-0.31,0.0,451.7,8.5,257,4521,0.95,0.00,94.78,0.811,6,0.081,0.000,3067,1796,2635,0,0,0,0,0,0
$STATE,4522,end apogee,CONTROL_FINISHED_OK
$STATE,4522,begin climb
$GC,4524,1.19,116.8,454.8,0.0,259,4632,1.48,0.00,100.30,0.795,6,0.054,0.000,3394,1796,2158,0,0,0,0,0,0
$GC,4973,1.19,116.8,410.9,11.1,270,4974,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1796,2147,0,0,0,0,0,0
$GC,5298,1.19,116.8,374.6,11.4,278,5303,0.00,2.62,0.00,0.000,4,0.000,0.062,3394,398,2144,0,0,0,0,0,0
$GC,5327,1.19,116.8,370.6,13.8,278,5331,0.00,2.47,0.00,0.000,6,0.000,0.027,3394,1805,2140,0,0,0,0,0,0
$GC,5663,1.19,116.8,331.9,11.5,287,5667,0.00,2.67,0.00,0.000,4,0.000,0.061,3394,401,2139,0,0,0,0,0,0
$GC,5686,1.19,116.8,328.7,13.2,287,5691,0.00,2.47,0.00,0.000,6,0.000,0.027,3394,1809,2138,0,0,0,0,0,0
$GC,6009,1.19,116.8,292.3,11.0,297,6013,0.00,2.50,0.00,0.000,4,0.000,0.041,3394,3202,2138,0,0,0,0,0,0
$GC,6046,1.19,116.8,288.2,10.9,298,6053,0.00,2.60,0.00,0.000,6,0.000,0.048,3394,1813,2138,0,0,0,0,0,0
$GC,6362,1.20,119.2,257.2,7.9,314,6367,0.00,2.65,0.00,0.000,4,0.000,0.058,3394,393,2135,0,0,0,0,0,0
$GC,6384,1.20,119.2,255.3,8.9,315,6388,0.00,2.47,0.00,0.000,6,0.000,0.025,3394,1806,2134,0,0,0,0,0,0
$GC,6715,1.20,119.2,224.8,9.5,331,6719,0.00,2.65,0.00,0.000,4,0.000,0.056,3394,394,2134,0,0,0,0,0,0
$GC,6761,1.20,119.2,220.1,10.9,333,6766,0.00,2.45,0.00,0.000,6,0.000,0.024,3394,1802,2133,0,0,0,0,0,0
$GC,7086,1.20,119.2,187.3,10.6,354,7090,0.00,2.62,0.00,0.000,4,0.000,0.054,3394,393,2132,0,0,0,0,0,0
$GC,7102,1.20,119.2,185.3,11.0,355,7107,0.00,2.42,0.00,0.000,6,0.000,0.023,3395,1805,2131,0,0,0,0,0,0
$GC,7367,1.20,119.4,160.4,8.0,379,7372,0.00,2.45,0.00,0.000,4,0.000,0.035,3394,3205,2132,0,0,0,0,0,0
$GC,7386,1.20,121.1,158.5,7.9,380,7394,0.00,2.58,0.00,0.000,6,0.000,0.040,3394,1797,2132,0,0,0,0,0,0
$GC,7651,1.21,126.4,140.6,7.8,405,7662,0.00,2.60,4.88,0.431,4,0.000,0.051,3394,390,2119,0,0,0,0,0,0
$GC,7700,1.21,126.4,135.7,9.8,410,7704,0.00,2.42,0.00,0.000,6,0.000,0.021,3394,1809,2117,0,0,0,0,0,0
$GC,7963,1.21,132.9,116.6,7.7,434,7977,0.00,2.47,7.25,0.465,4,0.000,0.032,3394,3190,2092,0,0,0,0,0,0
$GC,8012,1.21,132.9,112.5,8.7,439,8017,0.00,2.50,0.00,0.000,6,0.000,0.038,3394,1799,2093,0,0,0,0,0,0
$GC,8277,1.21,132.9,91.6,8.5,463,8281,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1799,2092,0,0,0,0,0,0
$GC,8540,1.21,132.9,69.4,8.4,488,8544,0.00,2.55,0.00,0.000,4,0.000,0.048,3394,387,2093,0,0,0,0,0,0
$GC,8592,1.23,149.3,65.3,7.3,493,8613,0.00,2.40,15.60,0.490,6,0.000,0.020,3394,1804,2026,0,0,0,0,0,0
$GC,8868,1.30,199.8,49.7,5.7,519,8918,0.10,2.65,43.97,0.498,4,0.071,0.047,3434,390,1819,0,0,0,0,0,0
$GC,9004,1.30,199.8,35.8,12.2,533,9011,0.00,2.42,0.00,0.000,6,0.000,0.019,3435,1791,1813,0,0,0,0,0,0
$GC,9270,1.30,199.8,9.7,13.4,577,9276,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1795,1814,0,0,0,0,0,0
$STATE,9324,end climb,SURFACE_DEPTH_REACHED
$STATE,9325,begin surface coast
$FINISH,1.0,1.023033
$STATE,9348,end surface coast,CONTROL_FINISHED_OK
$STATE,9348,begin surface
$SM_CCo,9372,67.57,0.455,0,0,1288,330.17
$SM_GC,1.69,0.00,0.00,67.57,0.000,0.000,0.455,426,2133,1288,-12.48,0.93,330.17
$IRIDIUM_FIX,2059.45,-15756.04,310700,202037
$TT8_MAMPS,0.029146
$HUMID,55.47
$INTERNAL_PRESSURE,9.62581
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.5,23.177
$10V_AH,10.5,22.059
$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,28.525,106.225,266.775,67.575,0.000,107.982,141.665,501.545,4.500,0.000,11.440,1089.347,6373.925,400.594,1640.170,1007.858,33.356,1118.613,0.000,1624.467,0.000,29.257,0.000
$DEVICE_MAMPS,135.759,62.127,811.486,454.831,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,399.902,386.586,859.864,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,31866,591
$CAP_FILE_SIZE,109547,0
$CFSIZE,260165632,242708480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070511,224307,2107.992,-15753.438,79,0.9,79,9.8