version: 66.06
glider: 130
mission: 7
dive: 9
start: 12 9 109 5 20 19
data:
$ID,130
$MISSION,7
$DIVE,9
$D_SURF,4
$D_FLARE,2
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,5
$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,83
$T_MISSION,85
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,240
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52028
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,44.380001
$TGT_DEFAULT_LON,-125.01
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,4
$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,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-69802.094
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,417
$PITCH_MAX,3725
$C_PITCH,2930
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,162
$ROLL_MAX,3945
$ROLL_DEG,40
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,3
$VBD_MIN,516
$VBD_MAX,3960
$C_VBD,2790
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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,-7.5355983
$PRESSURE_SLOPE,0.0001159091
$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,5
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,70
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$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,0.0044082953
$SEABIRD_T_H,0.00065181591
$SEABIRD_T_I,3.2922526e-05
$SEABIRD_T_J,4.287429e-06
$SEABIRD_C_G,-9.794486
$SEABIRD_C_H,1.1032488
$SEABIRD_C_I,-0.0011085917
$SEABIRD_C_J,0.0001701656
$GPS1,050926,4807.435,-12222.700,10,2.0,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-73.1
$GPS2,051923,4807.461,-12222.738,15,2.2,34,18.3
$SPEED_LIMITS,0.104,0.182
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.046,-0.176
$KALMAN_X,614.2,102.6,42.1,423.0,19.7
$KALMAN_Y,68.3,-9.1,-98.7,-592.3,81.5
$MHEAD_RNG_PITCHd_Wd,147.0,2856,-13.2,-6.024
$D_GRID,107
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.14,-97.3,0.0,0.0,0,56,0.00,0.00,-35.17,0.000,2,0.000,0.000,410,2056,1266,0,0,0,0,0,0
$GC,59,-1.14,-97.3,2.2,-1.3,6,151,12.55,2.53,-70.55,0.000,4,0.148,0.074,2676,3442,3186,0,0,0,0,0,0
$GC,199,-0.93,-97.3,12.0,-9.7,27,209,0.20,2.45,0.00,0.000,6,0.084,0.048,2720,2055,3186,0,0,0,0,0,0
$GC,260,-0.82,-97.3,15.6,-6.0,38,270,0.15,0.00,0.00,0.000,6,0.104,0.000,2749,2055,3186,0,0,0,0,0,0
$GC,335,-0.82,-97.3,19.8,-5.7,49,342,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2055,3186,0,0,0,0,0,0
$GC,398,-0.82,-97.3,23.4,-5.8,60,404,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2055,3186,0,0,0,0,0,0
$GC,469,-0.82,-97.3,27.8,-6.0,71,478,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2055,3186,0,0,0,0,0,0
$GC,543,-0.82,-97.3,32.0,-5.8,82,550,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2055,3186,0,0,0,0,0,0
$GC,603,-0.82,-97.3,35.6,-6.0,93,611,0.00,2.53,0.00,0.000,4,0.000,0.058,2749,644,3186,0,0,0,0,0,0
$GC,638,-0.82,-97.3,37.8,-5.7,99,647,0.00,2.42,0.00,0.000,6,0.000,0.041,2749,2042,3186,0,0,0,0,0,0
$GC,708,-0.82,-97.3,41.4,-5.3,110,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2042,3186,0,0,0,0,0,0
$GC,912,-0.87,-97.3,52.7,-5.6,149,917,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2042,3186,0,0,0,0,0,0
$GC,1111,-0.92,-97.3,63.0,-5.2,188,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2042,3186,0,0,0,0,0,0
$GC,1314,-0.97,-97.3,72.4,-4.4,227,1319,0.12,0.00,0.00,0.000,6,0.071,0.000,2713,2043,3186,0,0,0,0,0,0
$GC,1524,-0.97,-97.3,85.2,-6.3,266,1533,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2043,3186,0,0,0,0,0,0
$GC,1729,-0.97,-97.3,97.1,-5.7,305,1736,0.00,2.50,0.00,0.000,4,0.000,0.054,2714,634,3186,0,0,0,0,0,0
$GC,1796,-0.97,-97.3,101.5,-6.8,317,1802,0.00,2.42,0.00,0.000,6,0.000,0.038,2714,2062,3186,0,0,0,0,0,0
$STATE,1883,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1883,begin apogee
$GC,1889,-0.38,0.0,107.1,5.9,334,1971,0.60,0.00,76.20,0.660,6,0.074,0.000,2844,2062,2789,0,0,0,0,0,0
$STATE,1972,end apogee,CONTROL_FINISHED_OK
$STATE,1972,begin climb
$GC,1976,1.14,97.3,109.1,0.0,348,2065,1.50,0.00,78.97,0.640,6,0.057,0.000,3174,2062,2391,0,0,0,0,0,0
$GC,2263,0.97,97.3,85.6,9.9,401,2269,0.17,0.00,0.00,0.000,6,0.108,0.000,3140,2062,2384,0,0,0,0,0,0
$GC,2463,0.87,97.3,68.3,8.3,440,2471,0.00,2.45,0.00,0.000,4,0.000,0.054,3141,3444,2382,0,0,0,0,0,0
$GC,2536,0.76,97.3,62.1,8.7,453,2544,0.17,2.45,0.00,0.000,6,0.087,0.041,3102,2042,2382,0,0,0,0,0,0
$GC,2739,0.77,99.4,48.7,5.9,492,2745,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2042,2382,0,0,0,0,0,0
$GC,2955,0.78,107.0,36.2,5.7,531,2965,0.00,0.00,7.95,0.507,6,0.000,0.000,3102,2042,2353,0,0,0,0,0,0
$GC,3019,0.79,114.1,32.8,5.7,542,3035,0.00,0.00,7.75,0.503,6,0.000,0.000,3102,2042,2322,0,0,0,0,0,0
$GC,3088,0.80,126.1,28.8,5.5,554,3105,0.00,0.00,11.12,0.533,6,0.000,0.000,3101,2042,2274,0,0,0,0,0,0
$GC,3159,0.81,137.2,24.8,5.6,566,3175,0.00,0.00,10.85,0.528,6,0.000,0.000,3102,2042,2229,0,0,0,0,0,0
$GC,3229,0.85,139.0,20.6,5.9,578,3236,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2042,2227,0,0,0,0,0,0
$GC,3300,0.90,139.0,15.9,6.3,589,3310,0.10,0.00,0.00,0.000,6,0.077,0.000,3132,2042,2226,0,0,0,0,0,0
$GC,3374,0.90,139.0,11.1,6.9,600,3381,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2042,2226,0,0,0,0,0,0
$GC,3435,0.90,139.0,7.0,6.7,611,3442,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2042,2225,0,0,0,0,0,0
$GC,3507,1.11,224.6,5.2,2.4,622,3584,0.17,2.58,71.55,0.574,4,0.055,0.057,3180,645,1872,0,0,0,0,0,0
$FREEZE,4.86,7.365,-1.301,0,1,0
$STATE,3763,end climb,NO_VERTICAL_VELOCITY
$STATE,3763,begin surface
$SM_CCo,3767,267.12,0.535,3,0,515,557.81
$SM_GC,1.92,12.32,0.00,0.00,0.035,0.000,0.000,410,2061,514,-11.52,0.31,558.30
$IRIDIUM_FIX,4748.51,-12221.84,050399,040423
$TT8_MAMPS,0.025311
$HUMID,29.05
$INTERNAL_PRESSURE,9.15929
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.2,42.8
$24V_AH,23.7,1.300
$10V_AH,10.3,0.888
$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,28.075,24.800,264.400,267.125,0.000,24.167,37.370,311.881,1.500,0.000,35.749,1049.042,369.943,536.521,1693.766,1115.756,33.339,1280.509,0.000,2117.637,0.000,12.966,0.000
$DEVICE_MAMPS,148.031,74.399,660.387,535.366,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,541.566,494.091,1492.128,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324920
$DATA_FILE_SIZE,38055,669
$CAP_FILE_SIZE,77001,0
$CFSIZE,260165632,146055168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,091209,063100,4807.221,-12222.493,34,1.4,35,18.3