version: 66.06
glider: 139
mission: 9
dive: 148
start: 4 21 111 20 27 19
data:
$ID,139
$MISSION,9
$DIVE,148
$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,-2177738
$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,37
$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
$GPS1,202101,2106.653,-15751.537,40,1.5,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-75.6
$GPS2,202626,2106.637,-15751.559,16,1.1,16,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.189,0.115
$KALMAN_X,-47520.3,-248.8,-298.1,46482.3,-2050.1
$KALMAN_Y,-20964.3,-82.5,-15.0,13430.6,-1300.2
$MHEAD_RNG_PITCHd_Wd,48.9,15008,-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,-116.8,0.0,0.0,0,93,0.00,0.00,-70.60,0.000,6,0.000,0.000,425,2176,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.5,-4.9,14,115,13.20,2.25,0.00,0.000,4,0.137,0.028,2871,3516,3114,0,0,0,0,0,0
$GC,212,-1.19,-116.8,27.6,-14.9,39,219,0.00,2.42,0.00,0.000,6,0.000,0.028,2871,2089,3115,0,0,0,0,0,0
$GC,413,-1.19,-116.8,62.5,-19.9,59,417,0.00,2.38,0.00,0.000,4,0.000,0.030,2871,3509,3116,0,0,0,0,0,0
$GC,509,-1.19,-116.8,79.6,-15.9,69,513,0.00,2.35,0.00,0.000,6,0.000,0.029,2871,2093,3116,0,0,0,0,0,0
$GC,773,-1.19,-116.8,120.0,-12.2,93,780,0.00,2.35,0.00,0.000,4,0.000,0.029,2871,3507,3117,0,0,0,0,0,0
$GC,889,-1.19,-116.8,132.7,-9.8,105,895,0.00,2.33,0.00,0.000,6,0.000,0.028,2871,2098,3116,0,0,0,0,0,0
$GC,1153,-1.19,-116.8,160.9,-11.5,130,1157,0.00,2.35,0.00,0.000,4,0.000,0.030,2871,3513,3117,0,0,0,0,0,0
$GC,1231,-1.19,-116.8,170.4,-11.1,138,1235,0.00,2.35,0.00,0.000,6,0.000,0.027,2871,2087,3118,0,0,0,0,0,0
$GC,1494,-1.19,-116.8,198.3,-9.9,162,1495,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2087,3118,0,0,0,0,0,0
$GC,1742,-1.19,-116.8,219.6,-7.6,175,1743,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2087,3119,0,0,0,0,0,0
$GC,2050,-1.19,-116.8,241.1,-7.4,190,2054,0.00,2.35,0.00,0.000,4,0.000,0.042,2871,687,3119,0,0,0,0,0,0
$GC,2071,-1.19,-116.8,242.8,-8.2,191,2075,0.00,2.30,0.00,0.000,6,0.000,0.023,2871,2113,3119,0,0,0,0,0,0
$GC,2402,-1.19,-116.8,274.2,-9.5,207,2406,0.00,2.30,0.00,0.000,4,0.000,0.035,2871,3495,3118,0,0,0,0,0,0
$GC,2462,-1.19,-116.8,279.9,-9.5,209,2468,0.00,2.33,0.00,0.000,6,0.000,0.031,2871,2101,3119,0,0,0,0,0,0
$GC,2776,-1.19,-116.8,306.2,-7.8,223,2781,0.00,2.42,0.00,0.000,4,0.000,0.045,2871,684,3118,0,0,0,0,0,0
$GC,2814,-1.19,-116.8,309.2,-8.1,223,2819,0.00,2.33,0.00,0.000,6,0.000,0.025,2871,2106,3118,0,0,0,0,0,0
$GC,3145,-1.19,-116.8,328.6,-5.4,232,3146,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2110,3116,0,0,0,0,0,0
$GC,3470,-1.19,-116.8,351.3,-7.7,240,3474,0.00,2.35,0.00,0.000,4,0.000,0.040,2871,3496,3114,0,0,0,0,0,0
$GC,3597,-1.19,-116.8,363.6,-9.7,242,3602,0.00,2.35,0.00,0.000,6,0.000,0.035,2871,2099,3114,0,0,0,0,0,0
$GC,3933,-1.19,-116.8,397.7,-10.1,251,3937,0.00,2.40,0.00,0.000,4,0.000,0.041,2871,3503,3111,0,0,0,0,0,0
$GC,3961,-1.19,-116.8,400.8,-10.5,251,3965,0.00,2.40,0.00,0.000,6,0.000,0.036,2871,2095,3111,0,0,0,0,0,0
$GC,4297,-1.19,-116.8,434.0,-9.5,260,4301,0.00,2.42,0.00,0.000,4,0.000,0.052,2871,688,3108,0,0,0,0,0,0
$GC,4330,-1.19,-116.8,437.2,-9.7,260,4334,0.00,2.35,0.00,0.000,6,0.000,0.029,2870,2098,3108,0,0,0,0,0,0
$STATE,4496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4496,begin apogee
$GC,4502,-0.31,0.0,452.6,9.2,264,4602,0.95,0.00,95.65,0.821,6,0.083,0.000,3067,1804,2635,0,0,0,0,0,0
$STATE,4602,end apogee,CONTROL_FINISHED_OK
$STATE,4602,begin climb
$GC,4605,1.19,116.8,455.8,0.0,266,4717,1.48,2.65,100.82,0.803,4,0.058,0.062,3391,384,2157,0,0,0,0,0,0
$GC,4733,1.19,116.8,446.7,11.3,269,4737,0.00,2.40,0.00,0.000,6,0.000,0.028,3391,1819,2152,0,0,0,0,0,0
$GC,5060,1.19,116.8,407.1,11.3,277,5065,0.00,2.60,0.00,0.000,4,0.000,0.061,3391,380,2145,0,0,0,0,0,0
$GC,5098,1.19,116.8,402.1,13.1,277,5104,0.00,2.33,0.00,0.000,6,0.000,0.028,3391,1773,2143,0,0,0,0,0,0
$GC,5429,1.19,116.8,365.0,10.9,286,5433,0.00,2.47,0.00,0.000,4,0.000,0.038,3392,3219,2141,0,0,0,0,0,0
$GC,5462,1.19,116.8,361.5,9.7,286,5466,0.00,2.50,0.00,0.000,6,0.000,0.042,3391,1797,2141,0,0,0,0,0,0
$GC,5793,1.19,116.8,324.4,11.9,294,5797,0.00,2.50,0.00,0.000,4,0.000,0.059,3391,383,2139,0,0,0,0,0,0
$GC,5821,1.19,116.8,320.2,14.0,294,5826,0.00,2.40,0.00,0.000,6,0.000,0.028,3391,1823,2137,0,0,0,0,0,0
$GC,6139,1.19,116.8,279.2,12.5,306,6143,0.00,2.55,0.00,0.000,4,0.000,0.058,3391,383,2136,0,0,0,0,0,0
$GC,6207,1.19,116.8,270.8,13.3,309,6212,0.00,2.33,0.00,0.000,6,0.000,0.028,3391,1784,2135,0,0,0,0,0,0
$GC,6538,1.19,116.8,233.8,11.1,325,6542,0.00,2.47,0.00,0.000,4,0.000,0.055,3391,386,2134,0,0,0,0,0,0
$GC,6562,1.19,116.8,231.1,11.0,326,6566,0.00,2.35,0.00,0.000,6,0.000,0.027,3391,1829,2133,0,0,0,0,0,0
$GC,6887,1.23,148.9,204.5,6.6,342,6917,0.00,2.62,24.92,0.647,4,0.000,0.056,3392,380,2027,0,0,0,0,0,0
$GC,7004,1.23,148.9,196.1,8.3,349,7008,0.00,2.35,0.00,0.000,6,0.000,0.025,3391,1795,2021,0,0,0,0,0,0
$GC,7269,1.23,148.9,176.6,9.5,373,7273,0.00,2.35,0.00,0.000,4,0.000,0.029,3392,3207,2020,0,0,0,0,0,0
$GC,7287,1.23,148.9,174.3,10.6,374,7294,0.00,2.45,0.00,0.000,6,0.000,0.035,3391,1800,2021,0,0,0,0,0,0
$GC,7550,1.23,148.9,145.7,11.4,399,7554,0.00,2.45,0.00,0.000,4,0.000,0.051,3392,382,2020,0,0,0,0,0,0
$GC,7593,1.23,148.9,140.4,13.0,403,7598,0.00,2.33,0.00,0.000,6,0.000,0.022,3392,1828,2018,0,0,0,0,0,0
$GC,7858,1.23,148.9,113.9,9.9,427,7862,0.00,2.50,0.00,0.000,4,0.000,0.050,3391,382,2018,0,0,0,0,0,0
$GC,7885,1.23,148.9,110.5,11.4,429,7891,0.00,2.28,0.00,0.000,6,0.000,0.021,3391,1776,2018,0,0,0,0,0,0
$GC,8148,1.24,154.3,89.3,7.8,454,8160,0.00,2.42,5.03,0.403,4,0.000,0.047,3391,381,2005,0,0,0,0,0,0
$GC,8207,1.24,154.3,84.3,8.8,460,8211,0.00,2.33,0.00,0.000,6,0.000,0.021,3392,1827,2003,0,0,0,0,0,0
$GC,8471,1.24,154.3,60.7,9.3,484,8476,0.00,2.47,0.00,0.000,4,0.000,0.047,3391,384,2003,0,0,0,0,0,0
$GC,8497,1.24,154.3,58.2,10.1,486,8501,0.00,2.25,0.00,0.000,6,0.000,0.020,3392,1775,2003,0,0,0,0,0,0
$GC,8761,1.26,171.2,36.2,7.2,510,8780,0.00,0.00,16.27,0.469,6,0.000,0.000,3392,1781,1936,0,0,0,0,0,0
$GC,9039,1.30,205.9,17.5,6.4,553,9079,0.12,2.50,30.92,0.468,4,0.061,0.046,3437,380,1793,0,0,0,0,0,0
$GC,9100,1.30,205.9,11.6,10.8,564,9106,0.00,2.38,0.00,0.000,6,0.000,0.019,3437,1833,1791,0,0,0,0,0,0
$STATE,9176,end climb,SURFACE_DEPTH_REACHED
$STATE,9176,begin surface coast
$FINISH,0.8,1.023250
$STATE,9207,end surface coast,CONTROL_FINISHED_OK
$STATE,9207,begin surface
$SM_CCo,9230,64.03,0.459,0,0,1289,330.17
$SM_GC,1.60,0.00,0.00,64.03,0.000,0.000,0.459,426,2133,1289,-12.48,0.93,330.17
$IRIDIUM_FIX,2101.76,-15750.89,150700,171741
$TT8_MAMPS,0.028379
$HUMID,54.37
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.4,11.853
$10V_AH,10.5,11.391
$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,28.625,111.200,273.625,64.025,0.000,30.405,32.995,142.224,4.500,0.000,16.592,1071.165,6091.125,407.998,1619.442,432.802,33.350,1121.983,0.000,1599.200,0.000,31.088,0.000
$DEVICE_MAMPS,136.526,62.127,820.690,458.666,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,394.102,381.009,865.279,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,31689,583
$CAP_FILE_SIZE,97976,0
$CFSIZE,260165632,249335808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210411,230322,2106.743,-15751.021,9,2.6,28,9.8