version: 66.06
glider: 139
mission: 9
dive: 109
start: 4 17 111 8 44 49
data:
$ID,139
$MISSION,9
$DIVE,109
$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,-2176842
$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,16
$R_STBD_OVSHOOT,83
$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
$GPS1,083507,2106.307,-15750.785,39,0.9,39,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-76.0
$GPS2,084356,2106.283,-15750.664,13,1.3,13,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.207,0.080
$KALMAN_X,-42576.0,617.1,834.5,51463.6,-3340.3
$KALMAN_Y,-8135.7,59.8,36.5,10360.9,-835.6
$MHEAD_RNG_PITCHd_Wd,58.9,13413,-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,-116.8,0.0,0.0,0,92,0.00,0.00,-70.07,0.000,6,0.000,0.000,427,2149,3111,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.8,-6.4,14,114,13.20,2.50,0.00,0.000,4,0.136,0.034,2870,673,3114,0,0,0,0,0,0
$GC,131,-1.19,-116.8,15.9,-33.3,20,137,0.00,2.30,0.00,0.000,6,0.000,0.021,2870,2065,3115,0,0,0,0,0,0
$GC,332,-1.19,-116.8,51.3,-17.2,45,336,0.00,2.35,0.00,0.000,4,0.000,0.027,2870,3496,3115,0,0,0,0,0,0
$GC,421,-1.19,-116.8,65.8,-17.7,54,425,0.00,2.38,0.00,0.000,6,0.000,0.031,2870,2080,3115,0,0,0,0,0,0
$GC,685,-1.19,-116.8,101.7,-12.5,78,689,0.00,2.35,0.00,0.000,4,0.000,0.030,2870,3495,3115,0,0,0,0,0,0
$GC,821,-1.19,-116.8,118.0,-12.2,92,825,0.00,2.33,0.00,0.000,6,0.000,0.026,2870,2086,3116,0,0,0,0,0,0
$GC,1084,-1.19,-116.8,147.3,-12.5,116,1088,0.00,2.38,0.00,0.000,4,0.000,0.030,2870,3503,3116,0,0,0,0,0,0
$GC,1192,-1.19,-116.8,159.7,-10.4,127,1201,0.00,2.35,0.00,0.000,6,0.000,0.027,2870,2091,3117,0,0,0,0,0,0
$GC,1455,-1.19,-116.8,188.3,-10.4,152,1459,0.00,2.35,0.00,0.000,4,0.000,0.030,2870,3493,3117,0,0,0,0,0,0
$GC,1652,-1.19,-116.8,210.0,-9.8,167,1657,0.00,2.33,0.00,0.000,6,0.000,0.027,2870,2097,3117,0,0,0,0,0,0
$GC,1970,-1.19,-116.8,241.7,-10.0,183,1974,0.00,2.33,0.00,0.000,4,0.000,0.031,2870,3492,3117,0,0,0,0,0,0
$GC,2020,-1.19,-116.8,246.9,-10.0,185,2025,0.00,2.33,0.00,0.000,6,0.000,0.028,2870,2099,3117,0,0,0,0,0,0
$GC,2342,-1.19,-116.8,276.2,-8.9,201,2346,0.00,2.35,0.00,0.000,4,0.000,0.042,2870,695,3116,0,0,0,0,0,0
$GC,2402,-1.19,-116.8,283.0,-11.5,203,2407,0.00,2.30,0.00,0.000,6,0.000,0.022,2870,2102,3116,0,0,0,0,0,0
$GC,2716,-1.19,-116.8,311.0,-7.7,216,2720,0.00,2.40,0.00,0.000,4,0.000,0.043,2870,695,3116,0,0,0,0,0,0
$GC,2734,-1.19,-116.8,312.7,-8.3,216,2738,0.00,2.28,0.00,0.000,6,0.000,0.024,2870,2099,3116,0,0,0,0,0,0
$GC,3080,-1.19,-116.8,334.1,-5.6,225,3081,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2102,3114,0,0,0,0,0,0
$GC,3404,-1.19,-116.8,357.6,-7.5,233,3409,0.00,2.40,0.00,0.000,4,0.000,0.045,2870,694,3112,0,0,0,0,0,0
$GC,3497,-1.19,-116.8,365.7,-8.2,235,3501,0.00,2.33,0.00,0.000,6,0.000,0.026,2870,2100,3111,0,0,0,0,0,0
$GC,3820,-1.19,-116.8,390.7,-7.6,243,3822,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2100,3110,0,0,0,0,0,0
$GC,4145,-1.19,-116.8,414.3,-7.2,251,4146,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2101,3107,0,0,0,0,0,0
$GC,4470,-1.19,-116.8,437.1,-6.9,259,4474,0.00,2.45,0.00,0.000,4,0.000,0.049,2870,691,3105,0,0,0,0,0,0
$GC,4485,-1.19,-116.8,438.2,-6.9,259,4489,0.00,2.33,0.00,0.000,6,0.000,0.028,2870,2095,3105,0,0,0,0,0,0
$STATE,4669,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4669,begin apogee
$GC,4676,-0.31,0.0,451.7,7.3,264,4774,0.95,0.00,94.75,0.820,6,0.085,0.000,3065,1813,2635,0,0,0,0,0,0
$STATE,4775,end apogee,CONTROL_FINISHED_OK
$STATE,4775,begin climb
$GC,4778,1.19,116.8,453.3,0.0,266,4890,1.50,2.50,100.62,0.800,4,0.058,0.036,3394,3207,2157,0,0,0,0,0,0
$GC,4896,1.19,116.8,442.2,12.4,268,4900,0.00,2.50,0.00,0.000,6,0.000,0.040,3393,1801,2156,0,0,0,0,0,0
$GC,5227,1.19,116.8,397.2,13.5,276,5231,0.00,2.53,0.00,0.000,4,0.000,0.060,3393,385,2147,0,0,0,0,0,0
$GC,5292,1.19,116.8,387.6,14.7,277,5296,0.00,2.38,0.00,0.000,6,0.000,0.028,3393,1799,2143,0,0,0,0,0,0
$GC,5637,1.19,116.8,344.7,11.9,286,5641,0.00,2.53,0.00,0.000,4,0.000,0.058,3393,380,2141,0,0,0,0,0,0
$GC,5675,1.19,116.8,339.7,13.6,286,5680,0.00,2.40,0.00,0.000,6,0.000,0.028,3393,1816,2139,0,0,0,0,0,0
$GC,6006,1.19,116.8,298.5,12.6,295,6010,0.00,2.58,0.00,0.000,4,0.000,0.058,3393,379,2138,0,0,0,0,0,0
$GC,6066,1.19,116.8,290.0,13.8,297,6072,0.00,2.35,0.00,0.000,6,0.000,0.028,3393,1789,2137,0,0,0,0,0,0
$GC,6383,1.19,116.8,256.2,10.0,313,6387,0.00,2.40,0.00,0.000,4,0.000,0.035,3394,3209,2136,0,0,0,0,0,0
$GC,6448,1.19,116.8,249.5,10.3,316,6453,0.00,2.42,0.00,0.000,6,0.000,0.040,3393,1799,2136,0,0,0,0,0,0
$GC,6778,1.19,116.8,214.8,11.5,332,6782,0.00,2.47,0.00,0.000,4,0.000,0.054,3393,384,2135,0,0,0,0,0,0
$GC,6861,1.19,116.8,203.7,12.8,335,6866,0.00,2.35,0.00,0.000,6,0.000,0.025,3393,1821,2132,0,0,0,0,0,0
$GC,7186,1.19,116.8,169.4,10.0,364,7191,0.00,2.50,0.00,0.000,4,0.000,0.051,3393,378,2132,0,0,0,0,0,0
$GC,7239,1.19,116.8,163.4,11.2,369,7243,0.00,2.33,0.00,0.000,6,0.000,0.023,3393,1787,2131,0,0,0,0,0,0
$GC,7503,1.19,116.8,139.8,8.4,393,7507,0.00,2.35,0.00,0.000,4,0.000,0.028,3394,3209,2131,0,0,0,0,0,0
$GC,7566,1.20,120.2,134.5,7.9,399,7570,0.00,2.40,0.00,0.000,6,0.000,0.034,3393,1789,2132,0,0,0,0,0,0
$GC,7830,1.20,120.2,112.6,8.5,423,7834,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1789,2131,0,0,0,0,0,0
$GC,8091,1.25,158.2,93.6,6.3,448,8129,0.00,2.47,32.30,0.549,4,0.000,0.026,3394,3217,1988,0,0,0,0,0,0
$GC,8167,1.25,158.2,88.1,8.3,456,8172,0.00,2.45,0.00,0.000,6,0.000,0.034,3393,1795,1987,0,0,0,0,0,0
$GC,8432,1.25,158.2,63.9,9.0,480,8436,0.00,2.45,0.00,0.000,4,0.000,0.048,3393,380,1985,0,0,0,0,0,0
$GC,8512,1.25,158.2,55.5,10.1,488,8519,0.00,2.35,0.00,0.000,6,0.000,0.020,3393,1822,1981,0,0,0,0,0,0
$GC,8776,1.28,186.8,35.1,6.7,513,8807,0.00,2.53,24.95,0.481,4,0.000,0.045,3393,384,1871,0,0,0,0,0,0
$GC,8831,1.31,214.3,31.3,6.8,518,8863,0.10,2.33,24.50,0.478,6,0.033,0.019,3437,1799,1760,0,0,0,0,0,0
$GC,9061,1.31,214.3,9.2,10.4,558,9068,0.00,2.47,0.00,0.000,4,0.000,0.046,3436,389,1757,0,0,0,0,0,0
$STATE,9111,end climb,SURFACE_DEPTH_REACHED
$STATE,9111,begin surface coast
$FINISH,0.6,0.999202
$STATE,9133,end surface coast,CONTROL_FINISHED_OK
$STATE,9133,begin surface
$SM_CCo,9160,59.92,0.461,0,0,1288,330.17
$SM_GC,1.40,0.00,0.00,59.92,0.000,0.000,0.461,428,2104,1288,-12.46,0.11,330.17
$IRIDIUM_FIX,2057.14,-15751.76,110700,080858
$TT8_MAMPS,0.029146
$HUMID,54.37
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.4,8.799
$10V_AH,10.6,8.400
$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,28.700,106.425,277.125,59.925,0.000,70.592,67.759,207.560,4.500,0.000,13.567,1059.372,6063.841,405.425,1646.779,576.400,33.349,1129.390,0.000,1627.384,0.000,29.260,0.000
$DEVICE_MAMPS,135.759,59.826,819.923,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,387.869,366.965,829.846,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,31830,574
$CAP_FILE_SIZE,99973,0
$CFSIZE,260165632,251232256
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170411,111936,2106.136,-15750.634,12,1.6,28,9.8