version: 66.06
glider: 139
mission: 9
dive: 196
start: 4 27 111 9 34 13
data:
$ID,139
$MISSION,9
$DIVE,196
$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,-2179587.2
$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,18
$R_STBD_OVSHOOT,78
$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
$GPS1,092755,2059.577,-15745.822,38,1.6,38,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-73.6
$GPS2,093320,2059.591,-15745.825,15,1.5,15,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.153,-0.160
$KALMAN_X,-112168.1,144.0,-43.5,120378.9,917.0
$KALMAN_Y,-26080.3,-125.8,-284.9,5816.9,1439.5
$MHEAD_RNG_PITCHd_Wd,213.9,7636,-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,13,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,88,0.00,0.00,-69.68,0.000,3,0.000,0.000,427,2152,3112,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.4,-4.7,13,110,13.15,2.62,0.00,0.000,4,0.136,0.035,2870,677,3114,0,0,0,0,0,0
$GC,221,-1.19,-116.8,34.8,-19.7,39,225,0.00,2.38,0.00,0.000,6,0.000,0.022,2870,2058,3116,0,0,0,0,0,0
$GC,483,-1.19,-116.8,77.6,-15.9,63,487,0.00,2.53,0.00,0.000,4,0.000,0.035,2870,3504,3117,0,0,0,0,0,0
$GC,500,-1.19,-116.8,80.0,-14.4,64,505,0.00,2.50,0.00,0.000,6,0.000,0.032,2869,2083,3117,0,0,0,0,0,0
$GC,763,-1.19,-116.8,114.1,-12.2,88,768,0.00,2.53,0.00,0.000,4,0.000,0.035,2869,3508,3117,0,0,0,0,0,0
$GC,780,-1.19,-116.8,116.2,-12.0,89,784,0.00,2.47,0.00,0.000,6,0.000,0.032,2870,2101,3118,0,0,0,0,0,0
$GC,1046,-1.19,-116.8,146.5,-12.1,113,1050,0.00,2.50,0.00,0.000,4,0.000,0.037,2870,3506,3118,0,0,0,0,0,0
$GC,1074,-1.19,-116.8,150.6,-12.5,115,1079,0.00,2.50,0.00,0.000,6,0.000,0.035,2869,2095,3118,0,0,0,0,0,0
$GC,1337,-1.19,-116.8,178.6,-11.0,140,1341,0.00,2.53,0.00,0.000,4,0.000,0.038,2869,3509,3118,0,0,0,0,0,0
$GC,1403,-1.19,-116.8,185.4,-9.4,146,1410,0.00,2.53,0.00,0.000,6,0.000,0.035,2869,2097,3118,0,0,0,0,0,0
$GC,1661,-1.19,-116.8,213.0,-11.8,166,1666,0.00,2.50,0.00,0.000,4,0.000,0.044,2870,691,3119,0,0,0,0,0,0
$GC,1708,-1.19,-116.8,217.9,-10.2,168,1712,0.00,2.42,0.00,0.000,6,0.000,0.023,2869,2103,3119,0,0,0,0,0,0
$GC,2033,-1.19,-116.8,247.2,-8.7,184,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2104,3119,0,0,0,0,0,0
$GC,2343,-1.19,-116.8,272.4,-8.4,199,2348,0.00,2.55,0.00,0.000,4,0.000,0.047,2869,692,3118,0,0,0,0,0,0
$GC,2403,-1.19,-116.8,278.8,-10.4,201,2409,0.00,2.42,0.00,0.000,6,0.000,0.025,2870,2097,3118,0,0,0,0,0,0
$GC,2739,-1.19,-116.8,303.0,-6.2,217,2744,0.00,2.55,0.00,0.000,4,0.000,0.048,2870,690,3117,0,0,0,0,0,0
$GC,2819,-1.19,-116.8,307.9,-6.4,218,2823,0.00,2.45,0.00,0.000,6,0.000,0.026,2869,2099,3116,0,0,0,0,0,0
$GC,3150,-1.19,-116.8,334.1,-8.9,226,3154,0.00,2.58,0.00,0.000,4,0.000,0.051,2870,3498,3115,0,0,0,0,0,0
$GC,3206,-1.19,-116.8,338.6,-7.5,227,3211,0.00,2.53,0.00,0.000,6,0.000,0.044,2869,2097,3115,0,0,0,0,0,0
$GC,3520,-1.19,-116.8,357.6,-5.9,235,3525,0.00,2.55,0.00,0.000,4,0.000,0.052,2869,691,3114,0,0,0,0,0,0
$GC,3559,-1.19,-116.8,360.5,-7.5,235,3564,0.00,2.47,0.00,0.000,6,0.000,0.029,2870,2103,3113,0,0,0,0,0,0
$GC,3890,-1.19,-116.8,383.2,-6.8,244,3894,0.00,2.58,0.00,0.000,4,0.000,0.054,2869,3505,3111,0,0,0,0,0,0
$GC,3918,-1.19,-116.8,385.8,-8.8,244,3923,0.00,2.55,0.00,0.000,6,0.000,0.046,2869,2101,3110,0,0,0,0,0,0
$GC,4255,-1.19,-116.8,411.9,-7.3,253,4259,0.00,2.62,0.00,0.000,4,0.000,0.057,2870,692,3108,0,0,0,0,0,0
$GC,4329,-1.19,-116.8,417.9,-8.7,254,4333,0.00,2.50,0.00,0.000,6,0.000,0.031,2869,2107,3107,0,0,0,0,0,0
$GC,4666,-1.19,-116.8,441.5,-6.9,263,4671,0.00,2.62,0.00,0.000,4,0.000,0.057,2869,692,3105,0,0,0,0,0,0
$GC,4700,-1.19,-116.8,443.8,-5.2,263,4704,0.00,2.50,0.00,0.000,6,0.000,0.035,2869,2098,3105,0,0,0,0,0,0
$STATE,4866,end dive,NO_VERTICAL_VELOCITY
$STATE,4866,begin apogee
$GC,4873,-0.31,0.0,443.8,0.0,267,4971,0.90,0.00,94.93,0.822,6,0.057,0.000,3068,1796,2635,0,0,0,0,0,0
$STATE,4972,end apogee,CONTROL_FINISHED_OK
$STATE,4972,begin climb
$GC,4975,1.19,116.8,443.6,0.0,269,5087,1.48,2.70,101.25,0.800,4,0.055,0.065,3394,401,2157,0,0,0,0,0,0
$GC,5129,1.19,116.8,428.1,15.3,272,5134,0.00,2.55,0.00,0.000,6,0.000,0.028,3394,1814,2150,0,0,0,0,0,0
$GC,5470,1.19,116.8,383.8,12.7,281,5475,0.00,2.72,0.00,0.000,4,0.000,0.061,3394,396,2145,0,0,0,0,0,0
$GC,5521,1.19,116.8,375.7,16.2,282,5526,0.00,2.53,0.00,0.000,6,0.000,0.029,3394,1808,2142,0,0,0,0,0,0
$GC,5840,1.19,116.8,336.4,12.0,290,5844,0.00,2.53,0.00,0.000,4,0.000,0.047,3394,3197,2140,0,0,0,0,0,0
$GC,5854,1.19,116.8,334.5,12.1,290,5859,0.00,2.60,0.00,0.000,6,0.000,0.050,3394,1808,2140,0,0,0,0,0,0
$GC,6185,1.19,116.8,296.5,11.5,299,6190,0.00,2.65,0.00,0.000,4,0.000,0.060,3394,387,2137,0,0,0,0,0,0
$GC,6218,1.19,116.8,292.5,11.8,300,6223,0.00,2.50,0.00,0.000,6,0.000,0.028,3394,1804,2136,0,0,0,0,0,0
$GC,6535,1.19,116.8,261.9,10.1,315,6540,0.00,2.67,0.00,0.000,4,0.000,0.058,3394,392,2135,0,0,0,0,0,0
$GC,6580,1.19,116.8,256.3,13.3,317,6584,0.00,2.50,0.00,0.000,6,0.000,0.027,3394,1804,2134,0,0,0,0,0,0
$GC,6910,1.19,116.8,221.9,9.5,333,6911,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1809,2134,0,0,0,0,0,0
$GC,7220,1.19,116.8,196.1,8.1,350,7221,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1809,2133,0,0,0,0,0,0
$GC,7475,1.19,116.8,173.5,10.5,374,7479,0.00,2.65,0.00,0.000,4,0.000,0.054,3394,389,2132,0,0,0,0,0,0
$GC,7493,1.19,116.8,171.4,11.1,375,7499,0.00,2.45,0.00,0.000,6,0.000,0.024,3394,1812,2131,0,0,0,0,0,0
$GC,7756,1.19,116.8,148.1,8.2,400,7761,0.00,2.62,0.00,0.000,4,0.000,0.051,3394,392,2132,0,0,0,0,0,0
$GC,7791,1.19,116.8,145.0,9.2,403,7796,0.00,2.45,0.00,0.000,6,0.000,0.022,3394,1806,2131,0,0,0,0,0,0
$GC,8056,1.23,146.8,126.9,6.6,427,8084,0.00,2.65,22.38,0.571,4,0.000,0.050,3394,392,2034,0,0,0,0,0,0
$GC,8163,1.23,146.8,117.3,9.7,438,8169,0.00,2.47,0.00,0.000,6,0.000,0.021,3394,1798,2031,0,0,0,0,0,0
$GC,8427,1.27,174.2,97.9,6.8,463,8457,0.00,2.55,24.60,0.540,4,0.000,0.031,3394,3195,1923,0,0,0,0,0,0
$GC,8476,1.27,174.2,93.6,8.1,468,8483,0.00,2.58,0.00,0.000,6,0.000,0.037,3394,1803,1923,0,0,0,0,0,0
$GC,8741,1.27,174.2,68.6,9.7,493,8745,0.00,2.58,0.00,0.000,4,0.000,0.049,3394,387,1922,0,0,0,0,0,0
$GC,8819,1.27,174.2,60.0,10.0,501,8823,0.00,2.42,0.00,0.000,6,0.000,0.019,3394,1806,1918,0,0,0,0,0,0
$GC,9083,1.30,205.9,40.9,6.6,525,9117,0.12,2.45,27.80,0.486,4,0.061,0.028,3440,3191,1795,0,0,0,0,0,0
$GC,9138,1.30,205.9,36.2,9.2,530,9143,0.00,2.53,0.00,0.000,6,0.000,0.035,3439,1793,1794,0,0,0,0,0,0
$GC,9404,1.30,205.9,9.6,10.8,572,9410,0.00,2.60,0.00,0.000,4,0.000,0.050,3439,389,1792,0,0,0,0,0,0
$STATE,9457,end climb,SURFACE_DEPTH_REACHED
$STATE,9457,begin surface coast
$FINISH,0.9,1.022909
$STATE,9480,end surface coast,CONTROL_FINISHED_OK
$STATE,9480,begin surface
$SM_CCo,9507,63.45,0.457,0,0,1289,330.17
$SM_GC,1.45,0.00,0.00,63.45,0.000,0.000,0.457,430,2105,1289,-12.45,0.14,330.17
$IRIDIUM_FIX,2052.52,-15747.49,210700,070719
$TT8_MAMPS,0.029146
$HUMID,54.68
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.5,15.659
$10V_AH,10.5,15.111
$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,28.550,127.975,270.950,63.450,0.000,23.736,34.623,147.178,4.500,0.000,15.373,1094.952,6317.840,412.014,1634.774,438.290,33.353,1131.328,0.000,1614.831,0.000,29.247,0.000
$DEVICE_MAMPS,135.759,65.195,822.224,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,398.834,383.623,847.233,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355740
$DATA_FILE_SIZE,31681,589
$CAP_FILE_SIZE,101724,0
$CFSIZE,260165632,247013376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270411,121506,2058.755,-15746.703,38,1.6,44,9.8