version: 66.06
glider: 139
mission: 9
dive: 124
start: 4 19 111 2 6 37
data:
$ID,139
$MISSION,9
$DIVE,124
$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,-2177166.8
$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,68
$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
$GPS1,020037,2110.087,-15750.579,37,0.9,37,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-73.6
$GPS2,020544,2110.094,-15750.609,12,1.9,12,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.175,0.136
$KALMAN_X,-71989.8,682.3,24.3,81716.0,-3144.6
$KALMAN_Y,-19663.2,457.4,-100.2,28683.4,-819.8
$MHEAD_RNG_PITCHd_Wd,42.5,15474,-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,-116.8,0.0,0.0,0,93,0.00,0.00,-70.60,0.000,6,0.000,0.000,430,2151,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.8,-6.3,14,114,13.38,2.22,0.00,0.000,4,0.143,0.028,2868,3481,3114,0,0,0,0,0,0
$GC,219,-1.19,-116.8,33.9,-20.3,39,225,0.00,2.38,0.00,0.000,6,0.000,0.032,2868,2093,3115,0,0,0,0,0,0
$GC,481,-1.19,-116.8,74.6,-15.2,64,485,0.00,2.38,0.00,0.000,4,0.000,0.039,2868,687,3116,0,0,0,0,0,0
$GC,498,-1.19,-116.8,77.3,-16.1,65,502,0.00,2.28,0.00,0.000,6,0.000,0.020,2868,2086,3116,0,0,0,0,0,0
$GC,762,-1.19,-116.8,115.9,-14.0,89,767,0.00,2.35,0.00,0.000,4,0.000,0.028,2868,3499,3117,0,0,0,0,0,0
$GC,863,-1.19,-116.8,130.8,-15.0,99,868,0.00,2.33,0.00,0.000,6,0.000,0.026,2868,2093,3117,0,0,0,0,0,0
$GC,1125,-1.19,-116.8,165.5,-12.9,124,1130,0.00,2.33,0.00,0.000,4,0.000,0.029,2868,3494,3118,0,0,0,0,0,0
$GC,1196,-1.19,-116.8,173.8,-12.1,131,1200,0.00,2.33,0.00,0.000,6,0.000,0.027,2868,2099,3118,0,0,0,0,0,0
$GC,1460,-1.19,-116.8,202.8,-9.9,154,1464,0.00,2.33,0.00,0.000,4,0.000,0.030,2868,3500,3118,0,0,0,0,0,0
$GC,1487,-1.19,-116.8,205.6,-8.1,155,1492,0.00,2.33,0.00,0.000,6,0.000,0.028,2868,2094,3118,0,0,0,0,0,0
$GC,1809,-1.19,-116.8,234.3,-10.9,171,1811,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2093,3118,0,0,0,0,0,0
$GC,2117,-1.19,-116.8,263.1,-9.1,186,2121,0.00,2.38,0.00,0.000,4,0.000,0.041,2869,688,3119,0,0,0,0,0,0
$GC,2131,-1.19,-116.8,264.4,-9.1,186,2138,0.00,2.33,0.00,0.000,6,0.000,0.023,2868,2098,3119,0,0,0,0,0,0
$GC,2446,-1.19,-116.8,290.2,-8.7,202,2451,0.00,2.33,0.00,0.000,4,0.000,0.035,2868,3495,3118,0,0,0,0,0,0
$GC,2602,-1.19,-116.8,305.8,-9.6,208,2606,0.00,2.35,0.00,0.000,6,0.000,0.031,2868,2097,3118,0,0,0,0,0,0
$GC,2952,-1.19,-116.8,335.4,-7.0,217,2956,0.00,2.38,0.00,0.000,4,0.000,0.035,2868,3496,3117,0,0,0,0,0,0
$GC,2985,-1.19,-116.8,337.6,-7.5,217,2989,0.00,2.35,0.00,0.000,6,0.000,0.031,2868,2098,3116,0,0,0,0,0,0
$GC,3322,-1.19,-116.8,362.2,-7.2,226,3326,0.00,2.40,0.00,0.000,4,0.000,0.046,2868,694,3115,0,0,0,0,0,0
$GC,3336,-1.19,-116.8,363.6,-7.6,226,3340,0.00,2.33,0.00,0.000,6,0.000,0.025,2868,2103,3115,0,0,0,0,0,0
$GC,3687,-1.19,-116.8,390.7,-7.4,235,3692,0.00,2.35,0.00,0.000,4,0.000,0.039,2868,3495,3112,0,0,0,0,0,0
$GC,3835,-1.19,-116.8,402.2,-7.8,238,3840,0.00,2.38,0.00,0.000,6,0.000,0.034,2868,2097,3112,0,0,0,0,0,0
$GC,4149,-1.19,-116.8,423.1,-6.1,246,4150,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2096,3110,0,0,0,0,0,0
$GC,4474,-1.19,-116.8,438.9,-5.0,254,4479,0.00,2.42,0.00,0.000,4,0.000,0.051,2868,688,3107,0,0,0,0,0,0
$GC,4521,-1.19,-116.8,441.9,-6.9,255,4525,0.00,2.33,0.00,0.000,6,0.000,0.028,2868,2096,3107,0,0,0,0,0,0
$STATE,4679,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4679,begin apogee
$GC,4686,-0.31,0.0,451.9,6.3,259,4785,0.98,0.00,95.53,0.822,6,0.098,0.000,3064,1802,2635,0,0,0,0,0,0
$STATE,4785,end apogee,CONTROL_FINISHED_OK
$STATE,4786,begin climb
$GC,4788,1.19,116.8,453.3,0.0,261,4896,1.55,0.00,100.53,0.802,6,0.069,0.000,3394,1802,2157,0,0,0,0,0,0
$GC,5237,1.19,116.8,394.7,14.2,272,5242,0.00,2.55,0.00,0.000,4,0.000,0.061,3394,386,2146,0,0,0,0,0,0
$GC,5312,1.19,116.8,383.9,13.7,273,5316,0.00,2.38,0.00,0.000,6,0.000,0.028,3394,1807,2142,0,0,0,0,0,0
$GC,5648,1.19,116.8,345.6,11.1,282,5652,0.00,2.38,0.00,0.000,4,0.000,0.035,3394,3213,2141,0,0,0,0,0,0
$GC,5713,1.19,116.8,337.9,11.5,283,5717,0.00,2.47,0.00,0.000,6,0.000,0.042,3393,1803,2141,0,0,0,0,0,0
$GC,6058,1.19,116.8,299.5,11.1,292,6062,0.00,2.38,0.00,0.000,4,0.000,0.033,3394,3207,2138,0,0,0,0,0,0
$GC,6104,1.19,116.8,294.5,11.1,294,6109,0.00,2.47,0.00,0.000,6,0.000,0.041,3394,1790,2138,0,0,0,0,0,0
$GC,6429,1.19,116.8,258.1,11.6,310,6433,0.00,2.45,0.00,0.000,4,0.000,0.055,3394,386,2137,0,0,0,0,0,0
$GC,6458,1.19,116.8,254.4,13.4,311,6462,0.00,2.35,0.00,0.000,6,0.000,0.026,3394,1801,2133,0,0,0,0,0,0
$GC,6780,1.19,116.8,218.4,9.8,327,6784,0.00,2.47,0.00,0.000,4,0.000,0.054,3394,385,2134,0,0,0,0,0,0
$GC,6826,1.19,116.8,213.7,9.9,329,6830,0.00,2.35,0.00,0.000,6,0.000,0.025,3394,1820,2133,0,0,0,0,0,0
$GC,7159,1.19,116.8,181.1,10.3,353,7163,0.00,2.53,0.00,0.000,4,0.000,0.052,3394,381,2133,0,0,0,0,0,0
$GC,7210,1.19,116.8,175.7,9.9,358,7215,0.00,2.30,0.00,0.000,6,0.000,0.024,3394,1789,2131,0,0,0,0,0,0
$GC,7474,1.22,140.7,154.6,6.9,382,7496,0.00,2.40,17.15,0.589,4,0.000,0.029,3394,3217,2061,0,0,0,0,0,0
$GC,7554,1.22,140.7,148.0,8.2,390,7558,0.00,2.45,0.00,0.000,6,0.000,0.034,3394,1794,2061,0,0,0,0,0,0
$GC,7817,1.22,140.7,124.8,9.2,414,7821,0.00,2.45,0.00,0.000,4,0.000,0.049,3394,382,2058,0,0,0,0,0,0
$GC,7906,1.22,140.7,116.5,9.4,423,7910,0.00,2.33,0.00,0.000,6,0.000,0.021,3394,1815,2056,0,0,0,0,0,0
$GC,8170,1.22,140.7,96.1,8.2,447,8175,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1820,2056,0,0,0,0,0,0
$GC,8433,1.24,157.2,76.2,7.3,472,8454,0.00,2.50,15.65,0.500,4,0.000,0.046,3394,387,1993,0,0,0,0,0,0
$GC,8502,1.24,157.2,70.3,10.0,479,8506,0.00,2.28,0.00,0.000,6,0.000,0.019,3394,1800,1990,0,0,0,0,0,0
$GC,8766,1.26,165.8,49.7,7.6,503,8778,0.00,0.00,8.77,0.440,6,0.000,0.000,3394,1805,1957,0,0,0,0,0,0
$GC,9036,1.26,169.7,28.0,7.8,530,9048,0.00,2.47,4.60,0.347,4,0.000,0.045,3394,393,1942,0,0,0,0,0,0
$GC,9099,1.26,172.1,22.7,7.9,543,9106,0.00,2.30,0.00,0.000,6,0.000,0.018,3394,1812,1940,0,0,0,0,0,0
$GC,9302,1.29,193.1,8.6,7.1,580,9331,0.10,0.00,21.42,0.454,6,0.072,0.000,3440,1812,1846,0,0,0,0,0,0
$STATE,9364,end climb,SURFACE_DEPTH_REACHED
$STATE,9364,begin surface coast
$FINISH,0.9,1.009835
$STATE,9399,end surface coast,CONTROL_FINISHED_OK
$STATE,9399,begin surface
$SM_CCo,9423,70.95,0.459,0,0,1288,330.17
$SM_GC,1.41,0.00,0.00,70.95,0.000,0.000,0.459,425,2132,1288,-12.48,0.90,330.17
$IRIDIUM_FIX,2059.45,-15748.75,120700,232314
$TT8_MAMPS,0.029146
$HUMID,53.26
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.4,9.973
$10V_AH,10.6,9.557
$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,28.925,100.725,263.650,70.950,0.000,24.348,37.759,131.504,4.500,0.000,12.347,1105.358,6185.122,396.864,1688.056,429.296,33.348,1130.899,0.000,1677.305,0.000,29.252,0.000
$DEVICE_MAMPS,142.662,61.360,822.224,458.666,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,403.645,389.000,884.976,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,31708,597
$CAP_FILE_SIZE,98558,0
$CFSIZE,260165632,250503168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190411,044544,2110.764,-15750.587,14,1.3,14,9.8