version: 66.06
glider: 139
mission: 9
dive: 140
start: 4 20 111 22 8 19
data:
$ID,139
$MISSION,9
$DIVE,140
$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,-2177539.8
$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,16
$R_STBD_OVSHOOT,81
$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
$GPS1,220154,2108.153,-15749.678,38,1.9,38,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-74.0
$GPS2,220726,2108.113,-15749.629,12,2.0,12,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.220,-0.030
$KALMAN_X,-29732.7,-15.9,1131.0,30351.4,-3406.8
$KALMAN_Y,-12404.2,104.9,255.2,7144.5,-2202.0
$MHEAD_RNG_PITCHd_Wd,88.0,12352,-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,-70.53,0.000,6,0.000,0.000,428,2159,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.6,-5.2,14,114,13.15,0.00,0.00,0.000,6,0.136,0.000,2870,2159,3113,0,0,0,0,0,0
$GC,311,-1.19,-116.8,47.1,-17.2,44,315,0.00,2.17,0.00,0.000,4,0.000,0.027,2870,3472,3115,0,0,0,0,0,0
$GC,428,-1.19,-116.8,66.5,-14.8,57,432,0.00,2.33,0.00,0.000,6,0.000,0.028,2870,2077,3115,0,0,0,0,0,0
$GC,692,-1.19,-116.8,102.5,-12.7,81,696,0.00,2.30,0.00,0.000,4,0.000,0.029,2870,3465,3116,0,0,0,0,0,0
$GC,819,-1.19,-116.8,117.8,-11.3,94,823,0.00,2.28,0.00,0.000,6,0.000,0.028,2870,2092,3116,0,0,0,0,0,0
$GC,1082,-1.19,-116.8,148.9,-10.9,118,1086,0.00,2.30,0.00,0.000,4,0.000,0.029,2869,3466,3117,0,0,0,0,0,0
$GC,1183,-1.19,-116.8,160.4,-11.2,128,1190,0.00,2.33,0.00,0.000,6,0.000,0.029,2870,2094,3117,0,0,0,0,0,0
$GC,1447,-1.19,-116.8,188.0,-10.2,153,1452,0.00,2.35,0.00,0.000,4,0.000,0.041,2870,690,3117,0,0,0,0,0,0
$GC,1463,-1.19,-116.8,190.0,-10.9,154,1467,0.00,2.25,0.00,0.000,6,0.000,0.021,2870,2077,3117,0,0,0,0,0,0
$GC,1731,-1.19,-116.8,218.5,-11.2,171,1735,0.00,2.38,0.00,0.000,4,0.000,0.033,2870,3496,3117,0,0,0,0,0,0
$GC,1809,-1.19,-116.8,227.1,-10.6,174,1814,0.00,2.30,0.00,0.000,6,0.000,0.028,2870,2097,3118,0,0,0,0,0,0
$GC,2126,-1.19,-116.8,255.2,-9.0,189,2130,0.00,2.35,0.00,0.000,4,0.000,0.042,2870,694,3118,0,0,0,0,0,0
$GC,2200,-1.19,-116.8,262.9,-10.9,192,2204,0.00,2.30,0.00,0.000,6,0.000,0.022,2870,2105,3118,0,0,0,0,0,0
$GC,2520,-1.19,-116.8,297.0,-10.0,208,2524,0.00,2.33,0.00,0.000,4,0.000,0.035,2870,3501,3117,0,0,0,0,0,0
$GC,2589,-1.19,-116.8,303.3,-9.2,210,2593,0.00,2.33,0.00,0.000,6,0.000,0.030,2870,2098,3117,0,0,0,0,0,0
$GC,2929,-1.19,-116.8,330.8,-8.1,219,2930,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2098,3116,0,0,0,0,0,0
$GC,3254,-1.19,-116.8,351.1,-6.1,227,3256,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2097,3115,0,0,0,0,0,0
$GC,3579,-1.19,-116.8,371.8,-6.5,235,3583,0.00,2.40,0.00,0.000,4,0.000,0.048,2870,690,3114,0,0,0,0,0,0
$GC,3711,-1.19,-116.8,379.8,-6.2,237,3718,0.00,2.33,0.00,0.000,6,0.000,0.026,2869,2096,3113,0,0,0,0,0,0
$GC,4045,-1.19,-116.8,401.7,-7.0,246,4049,0.00,2.40,0.00,0.000,4,0.000,0.041,2870,3499,3111,0,0,0,0,0,0
$GC,4088,-1.19,-116.8,405.5,-7.9,247,4093,0.00,2.38,0.00,0.000,6,0.000,0.035,2870,2101,3111,0,0,0,0,0,0
$GC,4416,-1.19,-116.8,432.0,-8.4,255,4420,0.00,2.42,0.00,0.000,4,0.000,0.051,2870,692,3108,0,0,0,0,0,0
$GC,4490,-1.19,-116.8,438.6,-8.7,256,4495,0.00,2.35,0.00,0.000,6,0.000,0.028,2870,2104,3108,0,0,0,0,0,0
$STATE,4661,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4661,begin apogee
$GC,4668,-0.31,0.0,451.6,7.6,261,4767,0.95,0.00,95.82,0.817,6,0.083,0.000,3067,1809,2635,0,0,0,0,0,0
$STATE,4768,end apogee,CONTROL_FINISHED_OK
$STATE,4768,begin climb
$GC,4771,1.19,116.8,453.3,0.0,263,4879,1.48,0.00,101.03,0.802,6,0.056,0.000,3393,1809,2158,0,0,0,0,0,0
$GC,5179,1.19,116.8,402.1,14.2,273,5183,0.00,2.55,0.00,0.000,4,0.000,0.061,3392,390,2147,0,0,0,0,0,0
$GC,5226,1.19,116.8,394.1,18.1,274,5230,0.00,2.38,0.00,0.000,6,0.000,0.029,3392,1813,2143,0,0,0,0,0,0
$GC,5549,1.19,116.8,349.6,13.2,282,5553,0.00,2.55,0.00,0.000,4,0.000,0.060,3392,387,2141,0,0,0,0,0,0
$GC,5618,1.19,116.8,340.5,13.9,283,5623,0.00,2.35,0.00,0.000,6,0.000,0.028,3392,1807,2139,0,0,0,0,0,0
$GC,5959,1.19,116.8,303.4,10.9,292,5963,0.00,2.53,0.00,0.000,4,0.000,0.058,3392,380,2137,0,0,0,0,0,0
$GC,5996,1.19,116.8,298.7,12.4,292,6002,0.00,2.35,0.00,0.000,6,0.000,0.028,3392,1793,2136,0,0,0,0,0,0
$GC,6312,1.19,116.8,267.0,9.5,308,6316,0.00,2.38,0.00,0.000,4,0.000,0.035,3392,3214,2135,0,0,0,0,0,0
$GC,6345,1.19,116.8,263.6,10.1,309,6350,0.00,2.42,0.00,0.000,6,0.000,0.039,3392,1802,2136,0,0,0,0,0,0
$GC,6661,1.19,116.8,231.6,9.6,324,6665,0.00,2.47,0.00,0.000,4,0.000,0.055,3392,380,2133,0,0,0,0,0,0
$GC,6753,1.19,116.8,220.5,11.0,328,6758,0.00,2.35,0.00,0.000,6,0.000,0.025,3393,1816,2132,0,0,0,0,0,0
$GC,7082,1.19,116.8,188.5,10.1,349,7086,0.00,2.28,0.00,0.000,4,0.000,0.030,3393,3200,2132,0,0,0,0,0,0
$GC,7162,1.19,116.8,180.1,10.3,357,7167,0.00,2.40,0.00,0.000,6,0.000,0.035,3392,1798,2132,0,0,0,0,0,0
$GC,7427,1.19,116.8,156.3,8.8,381,7431,0.00,2.42,0.00,0.000,4,0.000,0.051,3392,387,2132,0,0,0,0,0,0
$GC,7507,1.19,116.8,148.0,10.2,389,7512,0.00,2.30,0.00,0.000,6,0.000,0.022,3392,1793,2131,0,0,0,0,0,0
$GC,7771,1.19,116.8,125.6,8.8,413,7776,0.00,2.42,0.00,0.000,4,0.000,0.048,3392,382,2131,0,0,0,0,0,0
$GC,7834,1.19,116.8,119.3,10.5,419,7838,0.00,2.30,0.00,0.000,6,0.000,0.021,3392,1821,2131,0,0,0,0,0,0
$GC,8098,1.19,116.8,95.0,8.3,443,8102,0.00,2.45,0.00,0.000,4,0.000,0.047,3392,387,2131,0,0,0,0,0,0
$GC,8124,1.19,116.8,92.6,9.1,445,8128,0.00,2.25,0.00,0.000,6,0.000,0.021,3393,1774,2131,0,0,0,0,0,0
$GC,8388,1.24,151.2,76.6,6.4,469,8421,0.00,2.47,25.90,0.520,4,0.000,0.026,3393,3218,2018,0,0,0,0,0,0
$GC,8484,1.26,167.5,69.8,7.3,479,8505,0.00,2.42,15.52,0.492,6,0.000,0.033,3392,1793,1951,0,0,0,0,0,0
$GC,8760,1.26,167.5,48.6,8.2,505,8764,0.00,2.42,0.00,0.000,4,0.000,0.048,3392,380,1948,0,0,0,0,0,0
$GC,8846,1.26,167.5,40.9,8.2,514,8850,0.00,2.33,0.00,0.000,6,0.000,0.020,3393,1842,1944,0,0,0,0,0,0
$GC,9111,1.30,204.8,22.5,6.3,549,9152,0.12,2.60,32.25,0.473,4,0.061,0.047,3438,394,1799,0,0,0,0,0,0
$GC,9177,1.30,204.8,16.1,12.1,561,9183,0.00,2.28,0.00,0.000,6,0.000,0.018,3438,1766,1796,0,0,0,0,0,0
$STATE,9285,end climb,SURFACE_DEPTH_REACHED
$STATE,9285,begin surface coast
$FINISH,0.8,1.022977
$STATE,9309,end surface coast,CONTROL_FINISHED_OK
$STATE,9309,begin surface
$SM_CCo,9333,64.78,0.457,0,0,1287,330.17
$SM_GC,1.55,0.00,0.00,64.78,0.000,0.000,0.457,431,2152,1287,-12.45,1.47,330.17
$IRIDIUM_FIX,2101.76,-15750.89,140700,191914
$TT8_MAMPS,0.029146
$HUMID,53.93
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,22.00
$XPDR_PINGS,1
$24V_AH,23.4,11.229
$10V_AH,10.6,10.781
$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,28.625,105.275,270.525,64.775,0.000,25.732,34.864,155.283,4.750,0.000,12.650,1100.399,6082.274,402.144,1705.134,444.355,33.341,1142.126,0.000,1685.482,0.000,29.255,0.000
$DEVICE_MAMPS,135.759,60.593,816.855,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,395.624,379.643,857.778,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,31722,585
$CAP_FILE_SIZE,99364,0
$CFSIZE,260165632,249724928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210411,004624,2107.573,-15749.132,30,1.1,47,9.8