version: 66.06
glider: 139
mission: 9
dive: 194
start: 4 27 111 4 26 2
data:
$ID,139
$MISSION,9
$DIVE,194
$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,-2179558
$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,31
$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
$GPS1,041624,2100.762,-15744.880,40,1.3,58,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-73.5
$GPS2,042507,2100.752,-15744.905,12,1.8,12,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.152,-0.162
$KALMAN_X,-114729.8,428.5,382.3,123816.3,-56.3
$KALMAN_Y,-28245.2,-100.8,359.3,9454.8,734.3
$MHEAD_RNG_PITCHd_Wd,213.4,10048,-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,-116.8,0.0,0.0,0,89,0.00,0.00,-69.82,0.000,6,0.000,0.000,430,2079,3112,0,0,0,0,0,0
$GC,92,-1.19,-116.8,3.5,-4.9,13,111,13.05,2.53,0.00,0.000,4,0.133,0.038,2869,670,3114,0,0,0,0,0,0
$GC,207,-1.19,-116.8,34.8,-20.8,35,214,0.00,2.50,0.00,0.000,6,0.000,0.022,2869,2110,3116,0,0,0,0,0,0
$GC,470,-1.19,-116.8,79.5,-15.8,60,474,0.00,2.47,0.00,0.000,4,0.000,0.035,2869,3512,3117,0,0,0,0,0,0
$GC,541,-1.19,-116.8,89.9,-12.9,67,545,0.00,2.53,0.00,0.000,6,0.000,0.032,2869,2078,3117,0,0,0,0,0,0
$GC,807,-1.19,-116.8,125.3,-13.9,91,811,0.00,2.53,0.00,0.000,4,0.000,0.034,2869,3504,3117,0,0,0,0,0,0
$GC,816,-1.19,-116.8,127.5,-13.3,91,822,0.00,2.47,0.00,0.000,6,0.000,0.034,2869,2100,3117,0,0,0,0,0,0
$GC,1080,-1.19,-116.8,160.9,-10.8,116,1084,0.00,2.50,0.00,0.000,4,0.000,0.038,2869,3504,3118,0,0,0,0,0,0
$GC,1142,-1.19,-116.8,168.3,-12.3,122,1146,0.00,2.50,0.00,0.000,6,0.000,0.035,2869,2091,3118,0,0,0,0,0,0
$GC,1405,-1.19,-116.8,193.7,-10.6,146,1406,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2090,3118,0,0,0,0,0,0
$GC,1653,-1.19,-116.8,219.7,-11.1,161,1658,0.00,2.47,0.00,0.000,4,0.000,0.044,2869,688,3119,0,0,0,0,0,0
$GC,1709,-1.19,-116.8,226.6,-11.4,163,1713,0.00,2.42,0.00,0.000,6,0.000,0.024,2869,2102,3118,0,0,0,0,0,0
$GC,2031,-1.19,-116.8,259.6,-9.9,179,2032,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2103,3118,0,0,0,0,0,0
$GC,2338,-1.19,-116.8,287.4,-9.3,194,2343,0.00,2.53,0.00,0.000,4,0.000,0.046,2869,692,3118,0,0,0,0,0,0
$GC,2360,-1.19,-116.8,289.5,-10.5,195,2364,0.00,2.45,0.00,0.000,6,0.000,0.026,2869,2106,3118,0,0,0,0,0,0
$GC,2687,-1.19,-116.8,315.2,-7.4,206,2691,0.00,2.53,0.00,0.000,4,0.000,0.048,2869,3498,3117,0,0,0,0,0,0
$GC,2955,-1.19,-116.8,336.5,-8.8,211,2960,0.00,2.50,0.00,0.000,6,0.000,0.042,2869,2102,3116,0,0,0,0,0,0
$GC,3286,-1.19,-116.8,366.0,-9.0,220,3287,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2101,3114,0,0,0,0,0,0
$GC,3611,-1.19,-116.8,389.7,-7.1,228,3616,0.00,2.58,0.00,0.000,4,0.000,0.054,2869,689,3111,0,0,0,0,0,0
$GC,3663,-1.19,-116.8,393.3,-6.2,229,3668,0.00,2.47,0.00,0.000,6,0.000,0.029,2869,2100,3111,0,0,0,0,0,0
$GC,3982,-1.19,-116.8,414.5,-6.7,237,3986,0.00,2.58,0.00,0.000,4,0.000,0.054,2869,692,3108,0,0,0,0,0,0
$GC,4030,-1.19,-116.8,417.6,-6.3,238,4034,0.00,2.47,0.00,0.000,6,0.000,0.031,2869,2098,3108,0,0,0,0,0,0
$STATE,4228,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4228,begin apogee
$GC,4235,-0.31,0.0,428.2,5.2,243,4334,0.95,0.00,95.00,0.799,6,0.081,0.000,3067,1796,2635,0,0,0,0,0,0
$STATE,4335,end apogee,CONTROL_FINISHED_OK
$STATE,4335,begin climb
$GC,4338,1.19,116.8,428.0,0.0,245,4445,1.48,0.00,100.38,0.779,6,0.054,0.000,3395,1797,2158,0,0,0,0,0,0
$GC,4746,1.19,116.8,376.2,13.5,255,4750,0.00,2.65,0.00,0.000,4,0.000,0.063,3395,403,2147,0,0,0,0,0,0
$GC,4797,1.19,116.8,368.8,13.1,256,4802,0.00,2.53,0.00,0.000,6,0.000,0.028,3395,1813,2143,0,0,0,0,0,0
$GC,5116,1.19,116.8,331.0,11.5,264,5120,0.00,2.70,0.00,0.000,4,0.000,0.059,3394,397,2141,0,0,0,0,0,0
$GC,5130,1.19,116.8,329.0,11.6,264,5135,0.00,2.50,0.00,0.000,6,0.000,0.027,3395,1812,2140,0,0,0,0,0,0
$GC,5461,1.19,116.8,290.5,11.6,274,5462,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1815,2139,0,0,0,0,0,0
$GC,5771,1.19,116.8,261.0,9.0,289,5776,0.00,2.67,0.00,0.000,4,0.000,0.057,3395,395,2137,0,0,0,0,0,0
$GC,5799,1.19,116.8,258.0,10.7,290,5804,0.00,2.47,0.00,0.000,6,0.000,0.026,3395,1797,2136,0,0,0,0,0,0
$GC,6120,1.19,116.8,227.9,10.0,306,6124,0.00,2.50,0.00,0.000,4,0.000,0.040,3395,3200,2135,0,0,0,0,0,0
$GC,6143,1.19,116.8,225.5,9.6,307,6147,0.00,2.55,0.00,0.000,6,0.000,0.044,3395,1808,2135,0,0,0,0,0,0
$GC,6470,1.19,116.8,192.1,10.6,326,6475,0.00,2.60,0.00,0.000,4,0.000,0.055,3395,389,2133,0,0,0,0,0,0
$GC,6560,1.19,116.8,183.0,10.6,335,6564,0.00,2.47,0.00,0.000,6,0.000,0.024,3394,1807,2132,0,0,0,0,0,0
$GC,6825,1.22,139.2,161.0,7.0,359,6843,0.00,0.00,16.00,0.581,6,0.000,0.000,3395,1812,2067,0,0,0,0,0,0
$GC,7100,1.22,139.2,140.7,8.8,385,7104,0.00,2.47,0.00,0.000,4,0.000,0.034,3395,3201,2064,0,0,0,0,0,0
$GC,7137,1.22,139.2,136.8,10.1,388,7144,0.00,2.58,0.00,0.000,6,0.000,0.041,3395,1805,2064,0,0,0,0,0,0
$GC,7402,1.22,139.2,115.9,8.2,413,7406,0.00,2.58,0.00,0.000,4,0.000,0.050,3395,385,2063,0,0,0,0,0,0
$GC,7494,1.22,139.2,105.6,11.2,422,7500,0.00,2.47,0.00,0.000,6,0.000,0.021,3395,1807,2061,0,0,0,0,0,0
$GC,7758,1.22,139.2,81.2,8.5,447,7763,0.00,2.42,0.00,0.000,4,0.000,0.031,3395,3192,2062,0,0,0,0,0,0
$GC,7822,1.22,139.2,75.4,9.0,453,7829,0.00,2.55,0.00,0.000,6,0.000,0.037,3395,1792,2062,0,0,0,0,0,0
$GC,8087,1.26,166.3,58.5,6.8,478,8118,0.00,2.58,24.05,0.497,4,0.000,0.047,3395,390,1956,0,0,0,0,0,0
$GC,8148,1.26,166.3,53.1,9.6,484,8152,0.00,2.45,0.00,0.000,6,0.000,0.019,3395,1809,1952,0,0,0,0,0,0
$GC,8413,1.29,198.2,34.1,6.6,508,8447,0.10,2.45,28.05,0.476,4,0.071,0.028,3435,3195,1825,0,0,0,0,0,0
$GC,8459,1.29,198.2,30.3,8.5,512,8463,0.00,2.55,0.00,0.000,6,0.000,0.035,3435,1797,1825,0,0,0,0,0,0
$GC,8724,1.29,198.2,5.4,9.0,560,8730,0.00,2.60,0.00,0.000,4,0.000,0.048,3435,387,1822,0,0,0,0,0,0
$STATE,8748,end climb,SURFACE_DEPTH_REACHED
$STATE,8748,begin surface coast
$FINISH,0.9,1.022873
$STATE,8771,end surface coast,CONTROL_FINISHED_OK
$STATE,8771,begin surface
$SM_CCo,8798,66.12,0.453,0,0,1288,330.17
$SM_GC,1.53,0.00,0.00,66.12,0.000,0.000,0.453,427,2111,1288,-12.47,0.31,330.17
$IRIDIUM_FIX,2054.83,-15744.48,210700,040458
$TT8_MAMPS,0.029146
$HUMID,54.29
$INTERNAL_PRESSURE,9.64535
$TCM_TEMP,22.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,422.0,34.5
$24V_AH,23.5,15.508
$10V_AH,10.5,14.961
$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,28.400,101.900,263.475,66.125,0.000,51.137,65.897,209.628,4.750,0.000,12.197,1050.222,5759.493,401.440,1593.139,586.470,33.360,1082.621,0.000,1589.670,0.000,32.906,0.000
$DEVICE_MAMPS,133.458,62.894,799.214,453.297,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,385.531,379.051,852.789,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,31707,570
$CAP_FILE_SIZE,95834,0
$CFSIZE,260165632,247115776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270411,065444,2100.314,-15745.315,12,1.7,18,9.8