version: 66.06
glider: 139
mission: 9
dive: 173
start: 4 24 111 17 31 11
data:
$ID,139
$MISSION,9
$DIVE,173
$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,-2179133.8
$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,70
$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
$GPS1,172428,2111.207,-15749.247,15,2.9,34,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-73.5
$GPS2,173019,2111.234,-15749.328,34,1.7,46,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.215,0.054
$KALMAN_X,-94949.6,-78.1,190.9,97095.6,-3211.5
$KALMAN_Y,-37179.7,305.1,-89.4,37842.2,120.0
$MHEAD_RNG_PITCHd_Wd,66.2,14947,-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,-116.8,0.0,0.0,0,88,0.00,0.00,-69.68,0.000,2,0.000,0.000,427,2131,3099,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.1,-4.1,13,109,13.10,0.00,-0.22,0.000,6,0.135,0.000,2868,2130,3113,0,0,0,0,0,0
$GC,304,-1.19,-116.8,44.5,-17.8,44,308,0.00,2.38,0.00,0.000,4,0.000,0.035,2868,3471,3115,0,0,0,0,0,0
$GC,508,-1.19,-116.8,78.3,-15.3,66,515,0.00,2.47,0.00,0.000,6,0.000,0.035,2868,2090,3115,0,0,0,0,0,0
$GC,773,-1.19,-116.8,114.1,-12.2,91,777,0.00,2.53,0.00,0.000,4,0.000,0.043,2867,686,3115,0,0,0,0,0,0
$GC,788,-1.19,-116.8,116.6,-13.3,92,792,0.00,2.35,0.00,0.000,6,0.000,0.021,2868,2072,3116,0,0,0,0,0,0
$GC,1051,-1.19,-116.8,143.6,-9.7,116,1055,0.00,2.53,0.00,0.000,4,0.000,0.040,2868,3501,3116,0,0,0,0,0,0
$GC,1187,-1.19,-116.8,157.6,-10.9,130,1194,0.00,2.50,0.00,0.000,6,0.000,0.035,2868,2103,3116,0,0,0,0,0,0
$GC,1452,-1.19,-116.8,184.8,-10.6,155,1456,0.00,2.55,0.00,0.000,4,0.000,0.043,2868,680,3117,0,0,0,0,0,0
$GC,1488,-1.19,-116.8,189.4,-11.5,158,1495,0.00,2.45,0.00,0.000,6,0.000,0.023,2867,2090,3117,0,0,0,0,0,0
$GC,1756,-1.19,-116.8,220.6,-11.4,176,1757,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2091,3117,0,0,0,0,0,0
$GC,2068,-1.19,-116.8,248.0,-7.5,191,2072,0.00,2.53,0.00,0.000,4,0.000,0.044,2868,690,3117,0,0,0,0,0,0
$GC,2088,-1.19,-116.8,249.5,-6.6,192,2093,0.00,2.42,0.00,0.000,6,0.000,0.025,2868,2102,3117,0,0,0,0,0,0
$GC,2418,-1.19,-116.8,276.5,-7.7,208,2422,0.00,2.53,0.00,0.000,4,0.000,0.047,2867,3507,3117,0,0,0,0,0,0
$GC,2507,-1.19,-116.8,283.4,-8.3,212,2511,0.00,2.53,0.00,0.000,6,0.000,0.040,2868,2099,3116,0,0,0,0,0,0
$GC,2855,-1.19,-116.8,309.5,-6.7,226,2860,0.00,2.53,0.00,0.000,4,0.000,0.048,2868,3498,3115,0,0,0,0,0,0
$GC,2879,-1.19,-116.8,311.3,-7.2,226,2883,0.00,2.53,0.00,0.000,6,0.000,0.042,2868,2091,3115,0,0,0,0,0,0
$GC,3221,-1.19,-116.8,335.9,-7.7,235,3226,0.00,2.58,0.00,0.000,4,0.000,0.050,2868,3498,3114,0,0,0,0,0,0
$GC,3344,-1.19,-116.8,345.7,-7.5,237,3349,0.00,2.53,0.00,0.000,6,0.000,0.045,2867,2098,3113,0,0,0,0,0,0
$GC,3682,-1.19,-116.8,368.5,-6.7,246,3686,0.00,2.58,0.00,0.000,4,0.000,0.054,2868,691,3111,0,0,0,0,0,0
$GC,3752,-1.19,-116.8,374.0,-7.1,247,3757,0.00,2.45,0.00,0.000,6,0.000,0.030,2867,2098,3111,0,0,0,0,0,0
$GC,4093,-1.19,-116.8,396.4,-6.3,256,4098,0.00,2.58,0.00,0.000,4,0.000,0.054,2867,688,3108,0,0,0,0,0,0
$GC,4108,-1.19,-116.8,397.6,-6.3,256,4112,0.00,2.50,0.00,0.000,6,0.000,0.031,2868,2106,3108,0,0,0,0,0,0
$GC,4459,-1.19,-116.8,422.4,-6.6,265,4460,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2106,3106,0,0,0,0,0,0
$GC,4784,-1.19,-116.8,440.1,-5.2,273,4785,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2106,3104,0,0,0,0,0,0
$STATE,4983,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4983,begin apogee
$GC,4990,-0.31,0.0,450.0,4.9,278,5088,0.95,0.00,94.70,0.823,6,0.083,0.000,3064,1793,2635,0,0,0,0,0,0
$STATE,5089,end apogee,CONTROL_FINISHED_OK
$STATE,5089,begin climb
$GC,5092,1.19,116.8,450.7,0.0,280,5204,1.50,2.75,100.68,0.802,4,0.058,0.051,3394,3203,2157,0,0,0,0,0,0
$GC,5220,1.19,116.8,439.2,11.1,283,5224,0.00,2.67,0.00,0.000,6,0.000,0.055,3394,1802,2156,0,0,0,0,0,0
$GC,5548,1.19,116.8,398.0,12.4,291,5552,0.00,2.70,0.00,0.000,4,0.000,0.064,3394,390,2146,0,0,0,0,0,0
$GC,5581,1.19,116.8,393.6,13.5,291,5585,0.00,2.55,0.00,0.000,6,0.000,0.028,3394,1810,2143,0,0,0,0,0,0
$GC,5912,1.19,116.8,351.5,12.7,299,5916,0.00,2.55,0.00,0.000,4,0.000,0.048,3394,3202,2142,0,0,0,0,0,0
$GC,5949,1.19,116.8,346.7,12.7,299,5955,0.00,2.65,0.00,0.000,6,0.000,0.052,3394,1800,2142,0,0,0,0,0,0
$GC,6280,1.19,116.8,310.7,10.7,308,6285,0.00,2.65,0.00,0.000,4,0.000,0.061,3394,392,2139,0,0,0,0,0,0
$GC,6360,1.19,116.8,300.9,12.4,309,6364,0.00,2.53,0.00,0.000,6,0.000,0.028,3394,1805,2136,0,0,0,0,0,0
$GC,6676,1.19,116.8,264.3,12.1,323,6680,0.00,2.53,0.00,0.000,4,0.000,0.046,3394,3202,2136,0,0,0,0,0,0
$GC,6773,1.19,116.8,251.8,13.0,327,6777,0.00,2.62,0.00,0.000,6,0.000,0.050,3394,1798,2136,0,0,0,0,0,0
$GC,7094,1.19,116.8,217.4,9.8,343,7099,0.00,2.62,0.00,0.000,4,0.000,0.058,3394,387,2134,0,0,0,0,0,0
$GC,7164,1.19,116.8,208.9,12.5,346,7168,0.00,2.50,0.00,0.000,6,0.000,0.026,3394,1810,2132,0,0,0,0,0,0
$GC,7497,1.19,116.8,176.1,9.7,373,7498,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1813,2132,0,0,0,0,0,0
$GC,7752,1.19,116.8,152.9,9.3,397,7753,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1814,2132,0,0,0,0,0,0
$GC,8007,1.19,116.8,130.7,8.2,421,8011,0.00,2.45,0.00,0.000,4,0.000,0.035,3394,3198,2133,0,0,0,0,0,0
$GC,8033,1.19,116.8,128.5,8.9,423,8037,0.00,2.53,0.00,0.000,6,0.000,0.040,3394,1798,2132,0,0,0,0,0,0
$GC,8297,1.20,122.3,107.4,7.8,447,8302,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1798,2133,0,0,0,0,0,0
$GC,8559,1.22,139.4,88.0,7.2,472,8581,0.00,2.65,16.23,0.515,4,0.000,0.050,3394,389,2065,0,0,0,0,0,0
$GC,8645,1.22,139.4,81.0,9.2,481,8650,0.00,2.45,0.00,0.000,6,0.000,0.020,3394,1807,2061,0,0,0,0,0,0
$GC,8909,1.26,170.8,62.7,6.6,506,8942,0.00,2.67,27.85,0.506,4,0.000,0.048,3394,385,1938,0,0,0,0,0,0
$GC,9035,1.26,170.8,52.9,9.2,519,9040,0.00,2.42,0.00,0.000,6,0.000,0.019,3394,1804,1932,0,0,0,0,0,0
$GC,9300,1.26,170.8,31.5,8.6,543,9306,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1808,1932,0,0,0,0,0,0
$GC,9564,1.30,200.4,15.7,6.7,590,9599,0.12,2.47,26.08,0.461,4,0.061,0.028,3440,3186,1816,0,0,0,0,0,0
$GC,9637,1.30,200.4,9.2,9.6,604,9643,0.00,2.55,0.00,0.000,6,0.000,0.036,3440,1800,1816,0,0,0,0,0,0
$STATE,9691,end climb,SURFACE_DEPTH_REACHED
$STATE,9692,begin surface coast
$FINISH,0.8,1.002581
$STATE,9719,end surface coast,CONTROL_FINISHED_OK
$STATE,9719,begin surface
$SM_CCo,9743,67.45,0.456,0,0,1289,330.17
$SM_GC,1.44,0.00,0.00,67.45,0.000,0.000,0.456,424,2134,1289,-12.48,0.96,330.17
$IRIDIUM_FIX,2106.38,-15750.02,180700,141414
$TT8_MAMPS,0.029146
$HUMID,53.38
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.5,13.752
$10V_AH,10.6,13.325
$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,28.475,102.575,265.525,67.450,0.000,30.021,33.247,137.294,4.500,0.000,47.125,1133.657,6422.556,398.647,1783.255,425.303,33.345,1146.170,0.000,1726.813,0.000,29.249,0.000
$DEVICE_MAMPS,134.992,64.428,822.991,456.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,418.902,399.263,922.787,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,34899,619
$CAP_FILE_SIZE,99385,0
$CFSIZE,260165632,248119296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240411,201607,2111.604,-15749.396,46,1.1,46,9.8