version: 66.06
glider: 139
mission: 9
dive: 217
start: 4 29 111 19 59 43
data:
$ID,139
$MISSION,9
$DIVE,217
$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,-2180074.2
$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,79
$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
$GPS1,195000,2108.002,-15800.158,38,1.3,44,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-72.1
$GPS2,195850,2108.014,-15800.188,13,1.5,13,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.217,-0.047
$KALMAN_X,-116101.4,-47.5,296.7,99363.3,-2049.4
$KALMAN_Y,-21849.1,254.8,-69.3,16581.5,473.9
$MHEAD_RNG_PITCHd_Wd,92.4,30118,-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,-69.65,0.000,3,0.000,0.000,428,2137,3113,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.4,-5.4,13,109,13.07,2.60,0.00,0.000,4,0.133,0.037,2868,680,3115,0,0,0,0,0,0
$GC,130,-1.19,-116.8,16.2,-32.3,20,137,0.00,2.40,0.00,0.000,6,0.000,0.021,2868,2059,3116,0,0,0,0,0,0
$GC,336,-1.19,-116.8,56.7,-17.6,45,340,0.00,2.55,0.00,0.000,4,0.000,0.035,2868,3506,3117,0,0,0,0,0,0
$GC,488,-1.19,-116.8,81.5,-15.2,61,492,0.00,2.50,0.00,0.000,6,0.000,0.034,2868,2084,3118,0,0,0,0,0,0
$GC,753,-1.19,-116.8,120.4,-13.3,85,757,0.00,2.50,0.00,0.000,4,0.000,0.042,2868,691,3118,0,0,0,0,0,0
$GC,809,-1.19,-116.8,128.8,-14.5,90,815,0.00,2.42,0.00,0.000,6,0.000,0.021,2868,2098,3118,0,0,0,0,0,0
$GC,1073,-1.19,-116.8,158.2,-11.4,115,1077,0.00,2.50,0.00,0.000,4,0.000,0.041,2868,684,3118,0,0,0,0,0,0
$GC,1153,-1.19,-116.8,167.4,-11.1,123,1157,0.00,2.40,0.00,0.000,6,0.000,0.021,2868,2099,3119,0,0,0,0,0,0
$GC,1420,-1.19,-116.8,195.7,-11.1,148,1424,0.00,2.53,0.00,0.000,4,0.000,0.041,2868,3503,3120,0,0,0,0,0,0
$GC,1468,-1.19,-116.8,200.9,-10.3,153,1472,0.00,2.47,0.00,0.000,6,0.000,0.035,2868,2093,3119,0,0,0,0,0,0
$GC,1804,-1.19,-116.8,232.4,-9.1,169,1805,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2093,3119,0,0,0,0,0,0
$GC,2111,-1.19,-116.8,255.3,-7.6,184,2116,0.00,2.53,0.00,0.000,4,0.000,0.046,2868,692,3119,0,0,0,0,0,0
$GC,2158,-1.19,-116.8,259.5,-8.9,186,2163,0.00,2.40,0.00,0.000,6,0.000,0.025,2868,2102,3118,0,0,0,0,0,0
$GC,2483,-1.19,-116.8,290.7,-9.8,202,2487,0.00,2.53,0.00,0.000,4,0.000,0.046,2868,690,3118,0,0,0,0,0,0
$GC,2566,-1.19,-116.8,299.1,-10.1,205,2572,0.00,2.45,0.00,0.000,6,0.000,0.025,2868,2109,3118,0,0,0,0,0,0
$GC,2879,-1.19,-116.8,323.2,-7.5,214,2883,0.00,2.53,0.00,0.000,4,0.000,0.048,2868,3497,3116,0,0,0,0,0,0
$GC,2976,-1.19,-116.8,331.5,-8.1,216,2981,0.00,2.50,0.00,0.000,6,0.000,0.042,2868,2094,3116,0,0,0,0,0,0
$GC,3296,-1.19,-116.8,356.2,-7.7,224,3300,0.00,2.55,0.00,0.000,4,0.000,0.048,2868,3496,3115,0,0,0,0,0,0
$GC,3315,-1.19,-116.8,357.8,-7.5,224,3319,0.00,2.50,0.00,0.000,6,0.000,0.043,2867,2097,3115,0,0,0,0,0,0
$GC,3663,-1.19,-116.8,382.7,-8.0,233,3667,0.00,2.58,0.00,0.000,4,0.000,0.051,2868,3497,3112,0,0,0,0,0,0
$GC,3733,-1.19,-116.8,389.2,-9.1,234,3737,0.00,2.50,0.00,0.000,6,0.000,0.044,2868,2103,3112,0,0,0,0,0,0
$GC,4074,-1.19,-116.8,414.4,-7.3,243,4075,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2101,3109,0,0,0,0,0,0
$GC,4399,-1.19,-116.8,438.1,-7.0,251,4404,0.00,2.60,0.00,0.000,4,0.000,0.056,2868,685,3107,0,0,0,0,0,0
$GC,4419,-1.19,-116.8,439.5,-7.1,251,4423,0.00,2.45,0.00,0.000,6,0.000,0.030,2868,2094,3107,0,0,0,0,0,0
$STATE,4598,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4599,begin apogee
$GC,4605,-0.31,0.0,452.6,7.2,256,4704,0.95,0.00,95.32,0.820,6,0.083,0.000,3065,1788,2635,0,0,0,0,0,0
$STATE,4705,end apogee,CONTROL_FINISHED_OK
$STATE,4705,begin climb
$GC,4708,1.19,116.8,454.3,0.0,258,4820,1.50,2.67,100.50,0.799,4,0.056,0.063,3395,404,2157,0,0,0,0,0,0
$GC,4849,1.19,116.8,440.6,14.8,261,4853,0.00,2.47,0.00,0.000,6,0.000,0.028,3396,1801,2152,0,0,0,0,0,0
$GC,5162,1.19,116.8,401.4,12.0,269,5164,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1805,2146,0,0,0,0,0,0
$GC,5487,1.19,116.8,361.3,12.1,277,5489,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1805,2143,0,0,0,0,0,0
$GC,5812,1.19,116.8,321.3,12.0,285,5817,0.00,2.65,0.00,0.000,4,0.000,0.060,3395,399,2140,0,0,0,0,0,0
$GC,5856,1.19,116.8,315.5,13.8,286,5860,0.00,2.47,0.00,0.000,6,0.000,0.028,3396,1803,2137,0,0,0,0,0,0
$GC,6186,1.19,116.8,282.4,9.3,298,6190,0.00,2.65,0.00,0.000,4,0.000,0.059,3395,399,2137,0,0,0,0,0,0
$GC,6200,1.19,116.8,280.9,9.4,298,6207,0.00,2.50,0.00,0.000,6,0.000,0.027,3396,1803,2136,0,0,0,0,0,0
$GC,6516,1.19,116.8,252.1,8.8,314,6520,0.00,2.62,0.00,0.000,4,0.000,0.058,3395,403,2135,0,0,0,0,0,0
$GC,6562,1.19,116.8,247.3,10.3,316,6566,0.00,2.45,0.00,0.000,6,0.000,0.026,3396,1801,2134,0,0,0,0,0,0
$GC,6887,1.19,116.8,217.8,9.8,332,6888,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1803,2133,0,0,0,0,0,0
$GC,7201,1.19,116.8,186.2,9.9,353,7202,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1803,2133,0,0,0,0,0,0
$GC,7456,1.19,116.8,161.3,10.0,377,7457,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1803,2133,0,0,0,0,0,0
$GC,7711,1.19,116.8,136.6,10.3,401,7715,0.00,2.58,0.00,0.000,4,0.000,0.051,3396,399,2133,0,0,0,0,0,0
$GC,7730,1.19,116.8,134.2,11.1,402,7737,0.00,2.45,0.00,0.000,6,0.000,0.022,3396,1804,2132,0,0,0,0,0,0
$GC,7995,1.19,116.8,109.9,8.1,427,7999,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1808,2132,0,0,0,0,0,0
$GC,8256,1.22,133.5,89.6,7.3,452,8276,0.00,2.65,11.15,0.499,4,0.000,0.049,3395,406,2089,0,0,0,0,0,0
$GC,8296,1.22,133.5,86.4,8.5,456,8300,0.00,2.40,0.00,0.000,6,0.000,0.021,3396,1802,2087,0,0,0,0,0,0
$GC,8562,1.22,138.9,67.3,7.8,480,8573,0.00,2.60,6.12,0.420,4,0.000,0.048,3396,401,2067,0,0,0,0,0,0
$GC,8640,1.22,138.9,58.7,10.4,488,8647,0.00,2.42,0.00,0.000,6,0.000,0.020,3396,1800,2065,0,0,0,0,0,0
$GC,8903,1.23,149.4,38.4,7.5,513,8923,0.00,2.45,10.43,0.452,4,0.000,0.028,3396,3201,2025,0,0,0,0,0,0
$GC,8962,1.25,163.6,34.2,7.4,519,8983,0.00,2.50,13.95,0.462,6,0.000,0.036,3396,1806,1967,0,0,0,0,0,0
$GC,9243,1.29,195.3,15.6,6.6,564,9278,0.10,2.62,28.00,0.468,4,0.071,0.047,3436,391,1836,0,0,0,0,0,0
$GC,9291,1.29,195.3,11.5,8.9,572,9297,0.00,2.47,0.00,0.000,6,0.000,0.019,3436,1801,1834,0,0,0,0,0,0
$STATE,9372,end climb,SURFACE_DEPTH_REACHED
$STATE,9372,begin surface coast
$FINISH,0.9,1.010137
$STATE,9402,end surface coast,CONTROL_FINISHED_OK
$STATE,9402,begin surface
$SM_CCo,9426,68.90,0.460,0,0,1288,330.17
$SM_GC,1.83,0.00,0.00,68.90,0.000,0.000,0.460,424,2148,1288,-12.48,1.39,330.17
$IRIDIUM_FIX,2059.45,-15758.18,230700,202039
$TT8_MAMPS,0.027612
$HUMID,54.56
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.5,17.315
$10V_AH,10.5,16.730
$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,28.500,101.650,265.475,68.900,0.000,59.961,70.940,212.187,4.500,0.000,13.484,1078.974,6347.154,400.513,1621.134,580.093,33.354,1107.831,0.000,1606.546,0.000,31.192,0.000
$DEVICE_MAMPS,133.458,62.894,819.923,460.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,400.358,387.065,874.629,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355672
$DATA_FILE_SIZE,31834,592
$CAP_FILE_SIZE,99085,0
$CFSIZE,260165632,245993472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290411,223907,2108.199,-15759.643,29,1.7,29,9.8