version: 66.06
glider: 139
mission: 9
dive: 203
start: 4 28 111 5 16 7
data:
$ID,139
$MISSION,9
$DIVE,203
$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,-2179762.2
$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,17
$R_STBD_OVSHOOT,85
$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
$GPS1,050950,2058.493,-15751.981,15,1.9,15,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-78.1
$GPS2,051514,2058.494,-15752.015,16,1.9,16,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.209,0.073
$KALMAN_X,-107837.0,275.3,-147.2,105340.2,1076.5
$KALMAN_Y,-23312.3,-139.3,218.7,529.5,520.7
$MHEAD_RNG_PITCHd_Wd,279.3,25168,-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,-69.62,0.000,6,0.000,0.000,429,2159,3113,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.5,-5.3,13,109,13.12,2.30,0.00,0.000,4,0.136,0.033,2869,3453,3116,0,0,0,0,0,0
$GC,290,-1.19,-116.8,46.5,-16.0,47,295,0.00,2.42,0.00,0.000,6,0.000,0.032,2869,2086,3117,0,0,0,0,0,0
$GC,553,-1.19,-116.8,92.6,-15.1,71,557,0.00,2.42,0.00,0.000,4,0.000,0.035,2869,3451,3118,0,0,0,0,0,0
$GC,617,-1.19,-116.8,102.3,-15.2,77,622,0.00,2.40,0.00,0.000,6,0.000,0.035,2869,2097,3118,0,0,0,0,0,0
$GC,878,-1.19,-116.8,134.1,-12.1,102,882,0.00,2.42,0.00,0.000,4,0.000,0.037,2869,3454,3119,0,0,0,0,0,0
$GC,961,-1.19,-116.8,143.9,-11.6,110,968,0.00,2.42,0.00,0.000,6,0.000,0.035,2869,2094,3119,0,0,0,0,0,0
$GC,1226,-1.19,-116.8,172.4,-9.7,135,1230,0.00,2.50,0.00,0.000,4,0.000,0.043,2869,685,3119,0,0,0,0,0,0
$GC,1405,-1.19,-116.8,193.4,-12.2,154,1409,0.00,2.35,0.00,0.000,6,0.000,0.022,2869,2051,3120,0,0,0,0,0,0
$GC,1674,-1.19,-116.8,221.2,-9.8,169,1678,0.00,2.60,0.00,0.000,4,0.000,0.041,2869,3502,3120,0,0,0,0,0,0
$GC,1707,-1.19,-116.8,225.3,-10.8,170,1712,0.00,2.50,0.00,0.000,6,0.000,0.037,2869,2096,3120,0,0,0,0,0,0
$GC,2024,-1.19,-116.8,254.8,-9.8,185,2026,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2096,3120,0,0,0,0,0,0
$GC,2332,-1.19,-116.8,283.2,-8.6,200,2337,0.00,2.55,0.00,0.000,4,0.000,0.048,2869,686,3120,0,0,0,0,0,0
$GC,2354,-1.19,-116.8,285.1,-9.5,201,2358,0.00,2.42,0.00,0.000,6,0.000,0.026,2869,2097,3119,0,0,0,0,0,0
$GC,2702,-1.19,-116.8,314.4,-8.0,214,2706,0.00,2.55,0.00,0.000,4,0.000,0.049,2869,3498,3118,0,0,0,0,0,0
$GC,2721,-1.19,-116.8,315.7,-6.3,214,2726,0.00,2.53,0.00,0.000,6,0.000,0.041,2869,2097,3118,0,0,0,0,0,0
$GC,3069,-1.19,-116.8,341.9,-8.2,223,3073,0.00,2.58,0.00,0.000,4,0.000,0.048,2870,3504,3116,0,0,0,0,0,0
$GC,3143,-1.19,-116.8,348.4,-8.1,224,3148,0.00,2.53,0.00,0.000,6,0.000,0.044,2869,2096,3116,0,0,0,0,0,0
$GC,3479,-1.19,-116.8,376.2,-8.2,233,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2095,3114,0,0,0,0,0,0
$GC,3805,-1.19,-116.8,398.0,-6.1,241,3809,0.00,2.60,0.00,0.000,4,0.000,0.054,2869,685,3112,0,0,0,0,0,0
$GC,3863,-1.19,-116.8,401.8,-6.9,242,3867,0.00,2.47,0.00,0.000,6,0.000,0.031,2869,2103,3111,0,0,0,0,0,0
$GC,4178,-1.19,-116.8,421.2,-6.2,250,4182,0.00,2.58,0.00,0.000,4,0.000,0.054,2869,3501,3109,0,0,0,0,0,0
$GC,4211,-1.19,-116.8,423.3,-6.1,250,4215,0.00,2.55,0.00,0.000,6,0.000,0.046,2869,2100,3109,0,0,0,0,0,0
$GC,4543,-1.19,-116.8,445.3,-6.9,258,4547,0.00,2.60,0.00,0.000,4,0.000,0.056,2869,692,3107,0,0,0,0,0,0
$STATE,4596,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4596,begin apogee
$GC,4605,-0.31,0.0,450.3,9.1,259,4704,0.93,0.00,95.22,0.824,6,0.085,0.000,3062,1814,2635,0,0,0,0,0,0
$STATE,4705,end apogee,CONTROL_FINISHED_OK
$STATE,4705,begin climb
$GC,4708,1.19,116.8,453.4,0.0,261,4818,1.52,2.80,101.97,0.802,4,0.054,0.064,3399,400,2157,0,0,1,0,0,0
$GC,4844,1.19,116.8,443.1,14.0,265,4848,0.00,2.53,0.00,0.000,6,0.000,0.027,3399,1805,2152,0,0,0,0,0,0
$GC,5167,1.19,116.8,398.4,14.1,273,5172,0.00,2.58,0.00,0.000,4,0.000,0.048,3400,3200,2145,0,0,0,0,0,0
$GC,5191,1.19,116.8,394.9,13.6,273,5195,0.00,2.62,0.00,0.000,6,0.000,0.054,3400,1804,2145,0,0,0,0,0,0
$GC,5531,1.19,116.8,352.4,12.1,282,5536,0.00,2.67,0.00,0.000,4,0.000,0.062,3399,390,2141,0,0,0,0,0,0
$GC,5556,1.19,116.8,349.1,14.0,282,5560,0.00,2.47,0.00,0.000,6,0.000,0.028,3400,1798,2139,0,0,0,0,0,0
$GC,5896,1.19,116.8,306.8,12.6,291,5897,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,1803,2138,0,0,0,0,0,0
$GC,6204,1.19,116.8,268.6,11.8,304,6208,0.00,2.53,0.00,0.000,4,0.000,0.044,3400,3197,2137,0,0,0,0,0,0
$GC,6251,1.19,116.8,263.7,10.4,306,6255,0.00,2.60,0.00,0.000,6,0.000,0.050,3399,1795,2137,0,0,0,0,0,0
$GC,6576,1.19,116.8,233.5,9.2,322,6577,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,1795,2135,0,0,0,0,0,0
$GC,6886,1.19,116.8,202.3,10.4,337,6890,0.00,2.58,0.00,0.000,4,0.000,0.055,3399,390,2134,0,0,0,0,0,0
$GC,6925,1.19,116.8,197.9,11.2,340,6932,0.00,2.47,0.00,0.000,6,0.000,0.025,3399,1796,2132,0,0,0,0,0,0
$GC,7188,1.19,116.8,172.1,9.4,365,7189,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,1800,2132,0,0,0,0,0,0
$GC,7442,1.19,116.8,147.4,10.2,389,7446,0.00,2.60,0.00,0.000,4,0.000,0.051,3399,389,2132,0,0,0,0,0,0
$GC,7515,1.19,116.8,139.1,11.2,396,7522,0.00,2.47,0.00,0.000,6,0.000,0.022,3400,1806,2130,0,0,0,0,0,0
$GC,7781,1.20,120.2,116.6,7.9,421,7785,0.00,2.60,0.00,0.000,4,0.000,0.050,3399,389,2131,0,0,0,0,0,0
$GC,7800,1.20,120.2,114.6,8.6,422,7806,0.00,2.45,0.00,0.000,6,0.000,0.021,3399,1803,2130,0,0,0,0,0,0
$GC,8064,1.22,135.7,96.2,7.3,447,8081,0.00,0.00,12.88,0.512,6,0.000,0.000,3400,1809,2080,0,0,0,0,0,0
$GC,8339,1.23,142.8,75.2,7.7,473,8353,0.00,2.67,7.45,0.443,4,0.000,0.049,3400,390,2051,0,0,0,0,0,0
$GC,8378,1.23,142.8,72.0,8.2,477,8383,0.00,2.42,0.00,0.000,6,0.000,0.020,3399,1807,2049,0,0,0,0,0,0
$GC,8643,1.25,163.1,54.8,7.1,501,8667,0.00,2.65,18.85,0.487,4,0.000,0.048,3399,385,1969,0,0,0,0,0,0
$GC,8706,1.25,163.1,49.5,8.8,507,8710,0.00,2.40,0.00,0.000,6,0.000,0.019,3400,1796,1966,0,0,0,0,0,0
$GC,8976,1.30,203.9,31.4,6.2,532,9017,0.00,0.00,35.58,0.481,6,0.000,0.000,3400,1801,1802,0,0,0,0,0,0
$GC,9215,1.31,213.2,13.9,7.6,574,9234,0.10,2.67,8.57,0.406,4,0.070,0.048,3440,387,1765,0,0,0,0,0,0
$GC,9246,1.31,213.2,11.0,9.4,579,9253,0.00,2.45,0.00,0.000,6,0.000,0.018,3440,1795,1763,0,0,0,0,0,0
$STATE,9328,end climb,SURFACE_DEPTH_REACHED
$STATE,9328,begin surface coast
$FINISH,1.0,1.022905
$STATE,9363,end surface coast,CONTROL_FINISHED_OK
$STATE,9363,begin surface
$SM_CCo,9387,59.58,0.453,0,0,1288,330.17
$SM_GC,1.50,0.00,0.00,59.58,0.000,0.000,0.453,430,2155,1288,-12.45,1.55,330.17
$IRIDIUM_FIX,2050.21,-15749.62,220700,020252
$TT8_MAMPS,0.029146
$HUMID,54.01
$INTERNAL_PRESSURE,9.63558
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,16.228
$10V_AH,10.5,15.660
$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,28.600,106.025,280.525,59.575,0.000,27.630,37.927,134.312,4.500,0.000,16.902,1094.836,6193.783,421.579,1614.886,447.721,33.353,1114.263,0.000,1611.598,0.000,29.250,0.000
$DEVICE_MAMPS,135.759,63.661,823.758,452.530,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,405.565,397.477,889.796,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,31748,600
$CAP_FILE_SIZE,96001,0
$CFSIZE,260165632,246673408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1
$GPS,280411,075500,2059.158,-15752.849,41,1.0,46,9.8