version: 66.06
glider: 139
mission: 9
dive: 126
start: 4 19 111 7 49 48
data:
$ID,139
$MISSION,9
$DIVE,126
$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,0
$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,-2177199
$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,17
$R_STBD_OVSHOOT,77
$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
$GPS1,073707,2110.186,-15749.655,35,1.2,35,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-74.2
$GPS2,074856,2110.132,-15749.518,15,1.7,15,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.180,-0.129
$KALMAN_X,-27.0,-27.0,-27.0,2023.5,-15.1
$KALMAN_Y,61.2,61.2,61.2,-1346.1,34.2
$MHEAD_RNG_PITCHd_Wd,115.7,13927,-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,-116.8,0.0,0.0,0,94,0.00,0.00,-70.35,0.000,6,0.000,0.000,427,2125,3114,0,0,0,0,0,0
$GC,97,-1.19,-116.8,3.7,-5.5,14,115,13.12,2.47,0.00,0.000,4,0.134,0.037,2871,674,3116,0,0,0,0,0,0
$GC,127,-1.19,-116.8,14.3,-31.4,19,134,0.00,2.30,0.00,0.000,6,0.000,0.020,2870,2071,3116,0,0,0,0,0,0
$GC,334,-1.19,-116.8,53.1,-17.8,45,338,0.00,2.35,0.00,0.000,4,0.000,0.028,2871,3496,3117,0,0,0,0,0,0
$GC,447,-1.19,-116.8,71.7,-15.7,57,451,0.00,2.35,0.00,0.000,6,0.000,0.029,2871,2087,3117,0,0,0,0,0,0
$GC,711,-1.19,-116.8,110.5,-15.7,81,715,0.00,2.33,0.00,0.000,4,0.000,0.028,2871,3491,3117,0,0,0,0,0,0
$GC,974,-1.19,-116.8,146.3,-11.1,109,979,0.00,2.33,0.00,0.000,6,0.000,0.027,2871,2089,3118,0,0,0,0,0,0
$GC,1237,-1.19,-116.8,171.1,-8.6,134,1241,0.00,2.33,0.00,0.000,4,0.000,0.029,2871,3490,3118,0,0,0,0,0,0
$GC,1314,-1.19,-116.8,178.6,-8.5,142,1321,0.00,2.35,0.00,0.000,6,0.000,0.027,2871,2095,3118,0,0,0,0,0,0
$GC,1577,-1.19,-116.8,204.5,-10.3,165,1581,0.00,2.35,0.00,0.000,4,0.000,0.041,2871,691,3119,0,0,0,0,0,0
$GC,1646,-1.19,-116.8,212.4,-10.9,168,1650,0.00,2.28,0.00,0.000,6,0.000,0.021,2871,2098,3119,0,0,0,0,0,0
$GC,1971,-1.19,-116.8,243.8,-10.5,184,1975,0.00,2.33,0.00,0.000,4,0.000,0.032,2871,3492,3118,0,0,0,0,0,0
$GC,1998,-1.19,-116.8,246.9,-10.3,185,2003,0.00,2.30,0.00,0.000,6,0.000,0.029,2871,2098,3118,0,0,0,0,0,0
$GC,2320,-1.19,-116.8,275.4,-9.3,201,2324,0.00,2.35,0.00,0.000,4,0.000,0.033,2871,3492,3118,0,0,0,0,0,0
$GC,2393,-1.19,-116.8,282.4,-9.8,204,2397,0.00,2.30,0.00,0.000,6,0.000,0.030,2871,2100,3118,0,0,0,0,0,0
$GC,2734,-1.19,-116.8,303.3,-6.3,220,2738,0.00,2.42,0.00,0.000,4,0.000,0.044,2870,688,3117,0,0,0,0,0,0
$GC,2948,-1.19,-116.8,321.5,-8.4,224,2952,0.00,2.30,0.00,0.000,6,0.000,0.024,2871,2096,3117,0,0,0,0,0,0
$GC,3284,-1.19,-116.8,345.5,-6.9,233,3288,0.00,2.42,0.00,0.000,4,0.000,0.046,2871,688,3115,0,0,0,0,0,0
$GC,3354,-1.19,-116.8,351.8,-9.1,234,3358,0.00,2.33,0.00,0.000,6,0.000,0.025,2871,2097,3114,0,0,0,0,0,0
$GC,3695,-1.19,-116.8,379.5,-7.6,243,3699,0.00,2.38,0.00,0.000,4,0.000,0.039,2871,3499,3112,0,0,0,0,0,0
$GC,3885,-1.19,-116.8,391.0,-6.0,247,3889,0.00,2.35,0.00,0.000,6,0.000,0.034,2871,2101,3111,0,0,0,0,0,0
$GC,4213,-1.19,-116.8,413.4,-7.4,255,4214,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2100,3108,0,0,0,0,0,0
$GC,4538,-1.19,-116.8,439.5,-8.0,263,4542,0.00,2.40,0.00,0.000,4,0.000,0.041,2871,3495,3106,0,0,0,0,0,0
$GC,4645,-1.19,-116.8,448.8,-8.5,265,4649,0.00,2.38,0.00,0.000,6,0.000,0.035,2870,2100,3106,0,0,0,0,0,0
$STATE,4661,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4661,begin apogee
$GC,4668,-0.31,0.0,450.2,7.5,265,4767,0.93,0.00,95.18,0.822,6,0.085,0.000,3065,1810,2635,0,0,0,0,0,0
$STATE,4768,end apogee,CONTROL_FINISHED_OK
$STATE,4768,begin climb
$GC,4771,1.19,116.8,452.5,0.0,268,4882,1.52,2.62,101.22,0.802,4,0.056,0.060,3396,383,2156,0,0,0,0,0,0
$GC,4897,1.19,116.8,441.3,12.2,271,4901,0.00,2.38,0.00,0.000,6,0.000,0.028,3396,1794,2152,0,0,0,0,0,0
$GC,5211,1.19,116.8,399.4,13.4,279,5212,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1799,2145,0,0,0,0,0,0
$GC,5535,1.19,116.8,358.7,12.3,287,5540,0.00,2.53,0.00,0.000,4,0.000,0.059,3396,389,2141,0,0,0,0,0,0
$GC,5554,1.19,116.8,356.1,13.6,287,5559,0.00,2.38,0.00,0.000,6,0.000,0.028,3396,1810,2140,0,0,0,0,0,0
$GC,5900,1.19,116.8,316.3,11.3,296,5904,0.00,2.53,0.00,0.000,4,0.000,0.058,3396,387,2138,0,0,0,0,0,0
$GC,5989,1.19,116.8,304.4,14.1,298,5993,0.00,2.38,0.00,0.000,6,0.000,0.028,3397,1809,2136,0,0,0,0,0,0
$GC,6322,1.19,116.8,267.2,10.7,313,6326,0.00,2.53,0.00,0.000,4,0.000,0.058,3396,389,2135,0,0,0,0,0,0
$GC,6425,1.19,116.8,256.2,10.7,317,6429,0.00,2.35,0.00,0.000,6,0.000,0.027,3397,1799,2133,0,0,0,0,0,0
$GC,6741,1.19,116.8,224.4,10.4,332,6742,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1805,2132,0,0,0,0,0,0
$GC,7051,1.19,116.8,198.1,8.4,348,7055,0.00,2.35,0.00,0.000,4,0.000,0.031,3397,3215,2132,0,0,0,0,0,0
$GC,7088,1.19,116.8,194.8,8.3,352,7093,0.00,2.42,0.00,0.000,6,0.000,0.036,3397,1800,2132,0,0,0,0,0,0
$GC,7352,1.19,116.8,170.5,10.6,376,7353,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1801,2131,0,0,0,0,0,0
$GC,7604,1.19,116.8,143.8,10.3,400,7606,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1800,2131,0,0,0,0,0,0
$GC,7859,1.19,116.8,120.0,8.3,424,7864,0.00,2.45,0.00,0.000,4,0.000,0.050,3396,384,2131,0,0,0,0,0,0
$GC,7878,1.19,116.8,118.1,10.3,425,7884,0.00,2.33,0.00,0.000,6,0.000,0.021,3396,1834,2130,0,0,0,0,0,0
$GC,8141,1.19,116.8,95.3,9.3,450,8145,0.00,2.47,0.00,0.000,4,0.000,0.048,3396,386,2131,0,0,0,0,0,0
$GC,8178,1.19,116.8,91.0,11.1,453,8183,0.00,2.25,0.00,0.000,6,0.000,0.021,3397,1782,2130,0,0,0,0,0,0
$GC,8442,1.20,120.9,69.1,7.8,478,8448,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1790,2131,0,0,0,0,0,0
$GC,8705,1.26,167.8,52.2,5.9,503,8754,0.00,2.50,40.00,0.508,4,0.000,0.046,3397,389,1949,0,0,0,0,0,0
$GC,8767,1.26,167.8,47.7,8.2,509,8771,0.00,2.33,0.00,0.000,6,0.000,0.019,3397,1826,1947,0,0,0,0,0,0
$GC,9031,1.29,193.4,27.5,6.8,536,9059,0.00,0.00,22.30,0.471,6,0.000,0.000,3397,1832,1845,0,0,0,0,0,0
$GC,9255,1.29,193.4,8.3,9.3,577,9261,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1832,1843,0,0,0,0,0,0
$STATE,9321,end climb,SURFACE_DEPTH_REACHED
$STATE,9321,begin surface coast
$FINISH,0.7,1.002732
$STATE,9364,end surface coast,CONTROL_FINISHED_OK
$STATE,9364,begin surface
$SM_CCo,9388,69.57,0.458,0,0,1289,330.17
$SM_GC,1.39,0.00,0.00,69.57,0.000,0.000,0.458,425,2143,1289,-12.48,1.24,330.17
$IRIDIUM_FIX,2059.45,-15748.75,130700,070758
$TT8_MAMPS,0.028379
$HUMID,53.11
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,22.20
$XPDR_PINGS,3
$24V_AH,23.4,10.148
$10V_AH,10.6,9.718
$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,28.225,91.325,258.700,69.575,0.000,81.300,98.879,278.461,5.250,0.000,15.671,1113.731,6170.177,401.488,1773.424,712.605,30.188,1154.989,0.000,1764.669,0.000,31.319,0.000
$DEVICE_MAMPS,134.225,59.826,822.224,457.899,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,403.537,392.194,889.736,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,31768,597
$CAP_FILE_SIZE,104904,0
$CFSIZE,260165632,250400768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,190411,102837,2109.369,-15748.768,32,1.3,32,9.8