version: 66.06
glider: 139
mission: 9
dive: 243
start: 5 2 111 19 45 44
data:
$ID,139
$MISSION,9
$DIVE,243
$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,-2180618.8
$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,71
$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
$GPS1,193910,2105.961,-15747.155,12,2.4,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-75.5
$GPS2,194452,2105.957,-15747.117,13,2.7,32,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.218,-0.040
$KALMAN_X,-156249.5,-220.2,461.3,162082.7,-1389.2
$KALMAN_Y,-15629.7,-65.6,193.1,6613.1,409.3
$MHEAD_RNG_PITCHd_Wd,90.6,7261,-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,-116.8,0.0,0.0,0,88,0.00,0.00,-70.05,0.000,6,0.000,0.000,429,2139,3112,0,0,0,0,0,0
$GC,92,-1.19,-116.8,3.4,-4.9,13,111,13.10,2.62,0.00,0.000,4,0.134,0.037,2869,672,3115,0,0,0,0,0,0
$GC,119,-1.19,-116.8,12.5,-25.5,17,125,0.00,2.42,0.00,0.000,6,0.000,0.020,2869,2071,3115,0,0,0,0,0,0
$GC,321,-1.19,-116.8,49.0,-16.9,44,322,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2074,3117,0,0,0,0,0,0
$GC,575,-1.19,-116.8,90.9,-15.7,68,579,0.00,2.53,0.00,0.000,4,0.000,0.036,2869,3501,3117,0,0,0,0,0,0
$GC,748,-1.19,-116.8,112.9,-11.0,86,755,0.00,2.50,0.00,0.000,6,0.000,0.032,2869,2092,3118,0,0,0,0,0,0
$GC,1013,-1.19,-116.8,138.7,-8.6,111,1017,0.00,2.53,0.00,0.000,4,0.000,0.042,2869,685,3118,0,0,0,0,0,0
$GC,1057,-1.19,-116.8,143.0,-9.2,115,1061,0.00,2.40,0.00,0.000,6,0.000,0.021,2869,2100,3118,0,0,0,0,0,0
$GC,1322,-1.19,-116.8,170.9,-10.6,139,1326,0.00,2.47,0.00,0.000,4,0.000,0.038,2870,3504,3119,0,0,0,0,0,0
$GC,1528,-1.19,-116.8,193.3,-10.8,161,1532,0.00,2.45,0.00,0.000,6,0.000,0.033,2870,2100,3119,0,0,0,0,0,0
$GC,1784,-1.19,-116.8,222.9,-11.2,176,1788,0.00,2.47,0.00,0.000,4,0.000,0.038,2870,3498,3119,0,0,0,0,0,0
$GC,1876,-1.19,-116.8,233.1,-10.6,180,1880,0.00,2.45,0.00,0.000,6,0.000,0.036,2869,2101,3119,0,0,0,0,0,0
$GC,2203,-1.19,-116.8,261.1,-8.7,196,2207,0.00,2.58,0.00,0.000,4,0.000,0.047,2869,692,3119,0,0,0,0,0,0
$GC,2240,-1.19,-116.8,265.3,-10.7,197,2245,0.00,2.42,0.00,0.000,6,0.000,0.024,2870,2106,3119,0,0,0,0,0,0
$GC,2557,-1.19,-116.8,297.8,-10.0,213,2561,0.00,2.50,0.00,0.000,4,0.000,0.045,2869,3498,3118,0,0,0,0,0,0
$GC,2589,-1.19,-116.8,301.2,-9.7,214,2594,0.00,2.47,0.00,0.000,6,0.000,0.038,2869,2099,3118,0,0,0,0,0,0
$GC,2921,-1.19,-116.8,328.0,-7.6,222,2925,0.00,2.58,0.00,0.000,4,0.000,0.049,2869,683,3117,0,0,0,0,0,0
$GC,2958,-1.19,-116.8,331.5,-9.4,222,2964,0.00,2.45,0.00,0.000,6,0.000,0.025,2869,2099,3117,0,0,0,0,0,0
$GC,3290,-1.19,-116.8,356.6,-7.4,231,3294,0.00,2.58,0.00,0.000,4,0.000,0.049,2869,3508,3116,0,0,0,0,0,0
$GC,3346,-1.19,-116.8,360.9,-7.4,232,3350,0.00,2.55,0.00,0.000,6,0.000,0.043,2869,2093,3115,0,0,0,0,0,0
$GC,3660,-1.19,-116.8,383.4,-6.6,240,3665,0.00,2.55,0.00,0.000,4,0.000,0.052,2869,692,3114,0,0,0,0,0,0
$GC,3716,-1.19,-116.8,388.6,-9.7,241,3721,0.00,2.45,0.00,0.000,6,0.000,0.028,2869,2098,3113,0,0,0,0,0,0
$GC,4031,-1.19,-116.8,414.5,-8.0,249,4035,0.00,2.55,0.00,0.000,4,0.000,0.052,2869,692,3111,0,0,0,0,0,0
$GC,4077,-1.19,-116.8,418.6,-8.8,250,4081,0.00,2.47,0.00,0.000,6,0.000,0.029,2869,2105,3110,0,0,0,0,0,0
$GC,4403,-1.19,-116.8,443.1,-7.7,258,4404,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2107,3108,0,0,0,0,0,0
$STATE,4519,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4519,begin apogee
$GC,4526,-0.31,0.0,453.1,8.0,261,4625,0.95,0.00,95.50,0.821,6,0.082,0.000,3066,1796,2635,0,0,0,0,0,0
$STATE,4626,end apogee,CONTROL_FINISHED_OK
$STATE,4626,begin climb
$GC,4629,1.19,116.8,455.9,0.0,263,4741,1.48,2.70,100.40,0.802,4,0.055,0.047,3393,3198,2157,0,0,0,0,0,0
$GC,4751,1.19,116.8,446.9,10.8,265,4757,0.00,2.65,0.00,0.000,6,0.000,0.054,3392,1809,2156,0,0,0,0,0,0
$GC,5082,1.19,116.8,405.6,13.0,274,5087,0.00,2.70,0.00,0.000,4,0.000,0.064,3392,394,2146,0,0,0,0,0,0
$GC,5116,1.19,116.8,400.7,15.1,274,5120,0.00,2.50,0.00,0.000,6,0.000,0.028,3392,1799,2143,0,0,0,0,0,0
$GC,5447,1.19,116.8,355.4,13.4,282,5451,0.00,2.67,0.00,0.000,4,0.000,0.061,3392,392,2141,0,0,0,0,0,0
$GC,5498,1.19,116.8,348.3,13.1,283,5503,0.00,2.50,0.00,0.000,6,0.000,0.028,3392,1798,2138,0,0,0,0,0,0
$GC,5817,1.19,116.8,312.1,11.5,291,5821,0.00,2.65,0.00,0.000,4,0.000,0.060,3392,393,2138,0,0,0,0,0,0
$GC,5841,1.19,116.8,309.0,13.0,291,5845,0.00,2.47,0.00,0.000,6,0.000,0.028,3393,1802,2137,0,0,0,0,0,0
$GC,6166,1.19,116.8,272.7,11.2,305,6167,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1805,2136,0,0,0,0,0,0
$GC,6474,1.19,116.8,240.3,10.5,320,6478,0.00,2.53,0.00,0.000,4,0.000,0.043,3393,3205,2135,0,0,0,0,0,0
$GC,6529,1.19,116.8,234.7,10.0,322,6534,0.00,2.58,0.00,0.000,6,0.000,0.046,3392,1795,2135,0,0,0,0,0,0
$GC,6846,1.19,116.8,201.5,10.8,337,6851,0.00,2.60,0.00,0.000,4,0.000,0.056,3392,386,2133,0,0,0,0,0,0
$GC,6900,1.19,116.8,195.6,11.4,342,6904,0.00,2.47,0.00,0.000,6,0.000,0.025,3393,1805,2132,0,0,0,0,0,0
$GC,7163,1.19,116.8,169.2,10.4,366,7164,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1809,2132,0,0,0,0,0,0
$GC,7416,1.19,116.8,144.8,8.5,390,7420,0.00,2.45,0.00,0.000,4,0.000,0.036,3392,3204,2132,0,0,0,0,0,0
$GC,7440,1.19,116.8,142.8,8.2,392,7445,0.00,2.55,0.00,0.000,6,0.000,0.040,3393,1791,2132,0,0,0,0,0,0
$GC,7703,1.19,116.8,121.7,8.0,416,7705,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1791,2132,0,0,0,0,0,0
$GC,7957,1.19,116.8,100.4,9.2,440,7958,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1791,2132,0,0,0,0,0,0
$GC,8213,1.20,117.7,79.1,8.0,464,8217,0.00,2.50,0.00,0.000,4,0.000,0.031,3393,3211,2132,0,0,0,0,0,0
$GC,8232,1.20,117.7,77.4,8.6,465,8239,0.00,2.58,0.00,0.000,6,0.000,0.038,3393,1798,2132,0,0,0,0,0,0
$GC,8495,1.24,153.7,59.5,6.4,490,8533,0.00,2.62,28.12,0.512,4,0.000,0.048,3392,386,2005,0,0,0,0,0,0
$GC,8554,1.26,171.3,55.5,7.2,496,8576,0.00,2.45,16.10,0.488,6,0.000,0.020,3393,1814,1936,0,0,0,0,0,0
$GC,8830,1.29,191.5,36.1,7.1,522,8851,0.10,0.00,18.25,0.474,6,0.071,0.000,3432,1814,1854,0,0,0,0,0,0
$GC,9109,1.29,191.5,10.4,9.9,566,9115,0.00,2.65,0.00,0.000,4,0.000,0.048,3432,394,1850,0,0,0,0,0,0
$STATE,9179,end climb,SURFACE_DEPTH_REACHED
$STATE,9179,begin surface coast
$FINISH,1.2,1.022890
$STATE,9212,end surface coast,CONTROL_FINISHED_OK
$STATE,9212,begin surface
$SM_CCo,9239,70.68,0.461,0,0,1289,330.17
$SM_GC,1.66,0.00,0.00,70.68,0.000,0.000,0.461,426,2107,1289,-12.47,0.20,330.17
$IRIDIUM_FIX,2057.14,-15748.75,260700,171721
$TT8_MAMPS,0.028379
$HUMID,54.84
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.5,19.324
$10V_AH,10.5,18.689
$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,28.475,107.350,258.375,70.675,0.000,27.771,32.347,141.333,4.500,0.000,33.474,1083.564,6079.646,407.527,1654.903,427.812,33.360,1108.278,0.000,1621.534,0.000,29.245,0.000
$DEVICE_MAMPS,134.225,64.428,821.457,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,399.044,387.604,872.770,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355672
$DATA_FILE_SIZE,31706,589
$CAP_FILE_SIZE,95771,0
$CFSIZE,260165632,244764672
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020511,222206,2105.742,-15746.013,33,0.9,33,9.8