version: 66.06
glider: 139
mission: 9
dive: 155
start: 4 22 111 15 52 49
data:
$ID,139
$MISSION,9
$DIVE,155
$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,-2178768.2
$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,20
$R_STBD_OVSHOOT,63
$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
$GPS1,154636,2106.988,-15752.744,191,1.9,195,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-74.7
$GPS2,155156,2106.980,-15752.813,12,1.7,12,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.167,0.145
$KALMAN_X,-62628.9,-132.4,80.4,58906.2,-3624.1
$KALMAN_Y,-29746.4,21.8,90.8,22627.8,-1412.0
$MHEAD_RNG_PITCHd_Wd,39.2,17233,-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,12,begin dive
$GC,15,-1.19,-116.8,0.0,0.0,0,92,0.00,0.00,-71.45,0.000,6,0.000,0.000,428,2123,3111,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.2,-3.5,14,115,13.15,2.42,0.00,0.000,4,0.137,0.035,2869,3477,3113,0,0,0,0,0,0
$GC,143,-1.19,-116.8,16.6,-24.6,23,150,0.00,2.45,0.00,0.000,6,0.000,0.025,2869,2086,3114,0,0,0,0,0,0
$GC,346,-1.19,-116.8,53.2,-16.1,47,350,0.00,2.47,0.00,0.000,4,0.000,0.035,2869,3475,3115,0,0,0,0,0,0
$GC,362,-1.19,-116.8,56.0,-16.4,48,367,0.00,2.40,0.00,0.000,6,0.000,0.032,2869,2102,3115,0,0,0,0,0,0
$GC,623,-1.19,-116.8,94.7,-13.0,72,628,0.00,2.45,0.00,0.000,4,0.000,0.035,2869,3475,3115,0,0,0,0,0,0
$GC,640,-1.19,-116.8,96.4,-11.6,73,644,0.00,2.45,0.00,0.000,6,0.000,0.034,2869,2096,3116,0,0,0,0,0,0
$GC,906,-1.19,-116.8,127.7,-13.0,97,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2096,3116,0,0,0,0,0,0
$GC,1167,-1.19,-116.8,162.4,-12.2,122,1171,0.00,2.45,0.00,0.000,4,0.000,0.038,2869,3478,3117,0,0,0,0,0,0
$GC,1287,-1.19,-116.8,175.9,-11.6,134,1294,0.00,2.47,0.00,0.000,6,0.000,0.036,2869,2098,3117,0,0,0,0,0,0
$GC,1552,-1.19,-116.8,200.2,-9.1,159,1556,0.00,2.42,0.00,0.000,4,0.000,0.040,2869,3474,3117,0,0,0,0,0,0
$GC,1617,-1.19,-116.8,207.2,-10.1,162,1622,0.00,2.45,0.00,0.000,6,0.000,0.036,2869,2089,3117,0,0,0,0,0,0
$GC,1947,-1.19,-116.8,235.4,-7.0,178,1952,0.00,2.47,0.00,0.000,4,0.000,0.042,2869,3470,3118,0,0,0,0,0,0
$GC,1994,-1.19,-116.8,238.5,-6.9,180,1998,0.00,2.40,0.00,0.000,6,0.000,0.035,2869,2100,3117,0,0,0,0,0,0
$GC,2319,-1.19,-116.8,257.2,-6.9,196,2320,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2100,3117,0,0,0,0,0,0
$GC,2630,-1.19,-116.8,279.9,-7.0,211,2631,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2100,3117,0,0,0,0,0,0
$GC,2938,-1.19,-116.8,299.3,-5.9,226,2939,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2100,3116,0,0,0,0,0,0
$GC,3244,-1.19,-116.8,320.6,-7.8,234,3248,0.00,2.58,0.00,0.000,4,0.000,0.051,2869,695,3115,0,0,0,0,0,0
$GC,3260,-1.19,-116.8,322.0,-7.8,234,3264,0.00,2.38,0.00,0.000,6,0.000,0.028,2869,2068,3115,0,0,0,0,0,0
$GC,3610,-1.19,-116.8,349.7,-7.4,243,3614,0.00,2.62,0.00,0.000,4,0.000,0.051,2869,3499,3113,0,0,0,0,0,0
$GC,3657,-1.19,-116.8,353.1,-7.5,244,3661,0.00,2.50,0.00,0.000,6,0.000,0.044,2869,2104,3113,0,0,0,0,0,0
$GC,3982,-1.19,-116.8,375.1,-6.9,252,3986,0.00,2.60,0.00,0.000,4,0.000,0.053,2869,684,3111,0,0,0,0,0,0
$GC,4020,-1.19,-116.8,378.4,-8.1,252,4025,0.00,2.45,0.00,0.000,6,0.000,0.029,2869,2100,3110,0,0,0,0,0,0
$GC,4351,-1.19,-116.8,407.5,-8.9,261,4352,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2101,3108,0,0,0,0,0,0
$GC,4676,-1.19,-116.8,431.5,-7.1,269,4681,0.00,2.58,0.00,0.000,4,0.000,0.054,2869,691,3106,0,0,0,0,0,0
$GC,4720,-1.19,-116.8,434.6,-7.4,270,4724,0.00,2.47,0.00,0.000,6,0.000,0.031,2869,2109,3106,0,0,0,0,0,0
$STATE,4965,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4965,begin apogee
$GC,4972,-0.31,0.0,451.5,6.9,276,5070,0.95,0.00,94.57,0.825,6,0.082,0.000,3066,1801,2635,0,0,0,0,0,0
$STATE,5070,end apogee,CONTROL_FINISHED_OK
$STATE,5071,begin climb
$GC,5073,1.19,116.8,453.6,0.0,278,5185,1.50,2.72,100.85,0.805,4,0.058,0.064,3395,397,2156,0,0,0,0,0,0
$GC,5228,1.19,116.8,439.4,14.1,281,5232,0.00,2.53,0.00,0.000,6,0.000,0.028,3394,1809,2150,0,0,0,0,0,0
$GC,5568,1.19,116.8,397.7,12.3,290,5573,0.00,2.70,0.00,0.000,4,0.000,0.061,3394,396,2144,0,0,0,0,0,0
$GC,5615,1.19,116.8,391.4,13.3,291,5620,0.00,2.50,0.00,0.000,6,0.000,0.028,3395,1806,2142,0,0,0,0,0,0
$GC,5938,1.19,116.8,352.5,12.0,299,5943,0.00,2.70,0.00,0.000,4,0.000,0.061,3394,396,2140,0,0,0,0,0,0
$GC,5957,1.19,116.8,349.8,14.1,299,5962,0.00,2.47,0.00,0.000,6,0.000,0.028,3395,1800,2139,0,0,0,0,0,0
$GC,6302,1.19,116.8,314.5,8.8,308,6307,0.00,2.67,0.00,0.000,4,0.000,0.060,3394,397,2139,0,0,0,0,0,0
$GC,6326,1.19,116.8,312.1,10.4,308,6331,0.00,2.50,0.00,0.000,6,0.000,0.027,3395,1804,2137,0,0,0,0,0,0
$GC,6651,1.19,116.8,279.4,11.3,321,6655,0.00,2.53,0.00,0.000,4,0.000,0.045,3395,3194,2136,0,0,0,0,0,0
$GC,6741,1.19,116.8,269.2,11.3,325,6745,0.00,2.58,0.00,0.000,6,0.000,0.048,3395,1808,2136,0,0,0,0,0,0
$GC,7072,1.19,116.8,230.7,11.3,341,7076,0.00,2.55,0.00,0.000,4,0.000,0.041,3395,3204,2135,0,0,0,0,0,0
$GC,7105,1.19,116.8,226.9,10.6,342,7109,0.00,2.58,0.00,0.000,6,0.000,0.044,3395,1797,2134,0,0,0,0,0,0
$GC,7421,1.19,116.8,198.8,8.7,357,7426,0.00,2.60,0.00,0.000,4,0.000,0.057,3394,391,2133,0,0,0,0,0,0
$GC,7473,1.19,116.8,193.4,10.7,362,7477,0.00,2.47,0.00,0.000,6,0.000,0.024,3395,1804,2131,0,0,0,0,0,0
$GC,7736,1.19,116.8,168.9,8.5,386,7740,0.00,2.47,0.00,0.000,4,0.000,0.038,3395,3203,2132,0,0,0,0,0,0
$GC,7764,1.19,116.8,166.3,8.8,388,7770,0.00,2.58,0.00,0.000,6,0.000,0.041,3395,1805,2132,0,0,0,0,0,0
$GC,8026,1.19,116.8,143.0,8.8,413,8031,0.00,2.47,0.00,0.000,4,0.000,0.035,3395,3198,2132,0,0,0,0,0,0
$GC,8053,1.19,116.8,140.6,8.8,415,8057,0.00,2.55,0.00,0.000,6,0.000,0.040,3395,1799,2132,0,0,0,0,0,0
$GC,8317,1.19,116.8,117.4,8.9,439,8322,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1799,2132,0,0,0,0,0,0
$GC,8578,1.19,116.8,92.6,8.8,464,8579,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1798,2132,0,0,0,0,0,0
$GC,8834,1.23,147.5,73.9,6.6,488,8865,0.00,2.58,22.90,0.515,4,0.000,0.033,3395,3195,2032,0,0,0,0,0,0
$GC,8904,1.24,152.7,68.5,7.8,495,8915,0.00,2.55,6.18,0.416,6,0.000,0.037,3395,1797,2012,0,0,0,0,0,0
$GC,9170,1.26,172.5,48.6,7.1,520,9194,0.00,2.62,18.25,0.482,4,0.000,0.049,3395,389,1930,0,0,0,0,0,0
$GC,9213,1.26,172.5,45.5,8.0,524,9220,0.00,2.47,0.00,0.000,6,0.000,0.020,3395,1805,1927,0,0,0,0,0,0
$GC,9480,1.27,180.0,26.4,7.7,553,9492,0.00,2.62,7.55,0.409,4,0.000,0.047,3395,392,1900,0,0,0,0,0,0
$GC,9582,1.27,180.0,16.0,10.1,575,9588,0.00,2.42,0.00,0.000,6,0.000,0.019,3395,1787,1896,0,0,0,0,0,0
$STATE,9740,end climb,SURFACE_DEPTH_REACHED
$STATE,9740,begin surface coast
$FINISH,1.0,1.023353
$STATE,9774,end surface coast,CONTROL_FINISHED_OK
$STATE,9774,begin surface
$SM_CCo,9798,76.12,0.459,0,0,1288,330.17
$SM_GC,1.51,0.00,0.00,76.12,0.000,0.000,0.459,427,2130,1288,-12.47,0.85,330.17
$IRIDIUM_FIX,2059.45,-15748.75,160700,121229
$TT8_MAMPS,0.028379
$HUMID,54.21
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.90
$XPDR_PINGS,1
$24V_AH,23.4,12.384
$10V_AH,10.5,11.944
$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,28.250,112.000,250.300,76.125,0.000,28.672,34.261,141.294,4.750,0.000,13.050,1123.939,6583.556,404.380,1654.187,431.604,33.350,1121.307,0.000,1639.909,0.000,31.130,0.000
$DEVICE_MAMPS,136.526,63.661,825.292,458.666,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,413.087,393.995,897.320,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,34874,610
$CAP_FILE_SIZE,99031,0
$CFSIZE,260165632,248987648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220411,183836,2107.577,-15753.667,34,0.9,34,9.8