version: 66.06
glider: 139
mission: 9
dive: 436
start: 5 24 111 20 19 43
data:
$ID,139
$MISSION,9
$DIVE,436
$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,-2185051.5
$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,19
$R_STBD_OVSHOOT,82
$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
$GPS1,201207,2108.028,-15801.585,37,0.8,37,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-75.4
$GPS2,201850,2108.048,-15801.668,12,1.8,12,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.214,0.058
$KALMAN_X,46796.5,-140.1,-381.2,-58367.3,-720.9
$KALMAN_Y,-47469.9,159.6,555.4,104939.1,-869.5
$MHEAD_RNG_PITCHd_Wd,64.9,32661,-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,-116.8,0.0,0.0,0,87,0.00,0.00,-69.45,0.000,6,0.000,0.000,426,2157,3112,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.4,-4.6,13,110,13.12,2.30,0.00,0.000,4,0.134,0.030,2870,3458,3114,0,0,0,0,0,0
$GC,151,-1.19,-116.8,19.4,-19.4,25,158,0.00,2.45,0.00,0.000,6,0.000,0.034,2870,2098,3116,0,0,0,0,0,0
$GC,354,-1.19,-116.8,56.3,-18.3,49,355,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2099,3117,0,0,0,0,0,0
$GC,608,-1.19,-116.8,93.3,-15.1,73,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2098,3117,0,0,0,0,0,0
$GC,864,-1.19,-116.8,129.6,-14.1,97,868,0.00,2.40,0.00,0.000,4,0.000,0.033,2870,3456,3118,0,0,0,0,0,0
$GC,880,-1.19,-116.8,132.0,-13.4,98,884,0.00,2.40,0.00,0.000,6,0.000,0.033,2870,2097,3118,0,0,0,0,0,0
$GC,1141,-1.19,-116.8,163.4,-12.1,122,1145,0.00,2.40,0.00,0.000,4,0.000,0.035,2870,3462,3118,0,0,0,0,0,0
$GC,1230,-1.19,-116.8,172.1,-9.6,131,1235,0.00,2.40,0.00,0.000,6,0.000,0.033,2870,2099,3118,0,0,0,0,0,0
$GC,1495,-1.19,-116.8,198.5,-9.6,155,1499,0.00,2.55,0.00,0.000,4,0.000,0.044,2870,684,3119,0,0,0,0,0,0
$GC,1510,-1.19,-116.8,200.7,-10.6,156,1517,0.00,2.38,0.00,0.000,6,0.000,0.021,2870,2062,3119,0,0,0,0,0,0
$GC,1827,-1.19,-116.8,235.0,-10.1,172,1830,0.00,2.45,0.00,0.000,4,0.000,0.044,2870,688,3119,0,0,0,0,0,0
$GC,1840,-1.19,-116.8,236.5,-9.7,172,1845,0.00,2.40,0.00,0.000,6,0.000,0.022,2870,2103,3119,0,0,0,0,0,0
$GC,2157,-1.19,-116.8,263.3,-8.1,187,2158,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2105,3119,0,0,0,0,0,0
$GC,2466,-1.19,-116.8,284.3,-6.0,202,2470,0.00,2.53,0.00,0.000,4,0.000,0.046,2870,693,3118,0,0,0,0,0,0
$GC,2540,-1.19,-116.8,290.1,-8.5,205,2544,0.00,2.42,0.00,0.000,6,0.000,0.024,2870,2107,3118,0,0,0,0,0,0
$GC,2858,-1.19,-116.8,315.1,-8.5,217,2862,0.00,2.53,0.00,0.000,4,0.000,0.045,2870,3498,3117,0,0,0,0,0,0
$GC,3128,-1.19,-116.8,337.4,-8.0,222,3133,0.00,2.50,0.00,0.000,6,0.000,0.041,2870,2094,3116,0,0,0,0,0,0
$GC,3460,-1.19,-116.8,360.7,-7.0,231,3465,0.00,2.55,0.00,0.000,4,0.000,0.051,2870,691,3114,0,0,0,0,0,0
$GC,3475,-1.19,-116.8,362.0,-7.2,231,3496,14.77,2.45,0.00,0.000,6,0.405,0.026,0,2105,3114,49,1,0,0,0,0
$STATE,3535,end dive,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,3548,540.97,0.688,0,0,449,535.98
$SM_GC,1.42,14.77,0.00,0.00,0.502,0.000,0.000,0,1808,439,-14.43,0.23,538.92
$IRIDIUM_FIX,2059.45,-15759.05,170800,171743
$TT8_MAMPS,0.028379
$HUMID,66.65
$INTERNAL_PRESSURE,9.51839
$TCM_TEMP,20.20
$XPDR_PINGS,0
$24V_AH,23.6,35.469
$10V_AH,10.5,33.409
$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,57.450,39.675,0.000,540.975,0.000,35.696,37.768,207.683,3.500,0.000,12.488,494.512,2831.964,652.695,665.620,420.993,33.355,962.142,0.000,659.298,0.000,22.983,0.000
$DEVICE_MAMPS,518.492,62.127,0.000,687.999,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,156.522,163.490,347.688,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,12900,232
$CAP_FILE_SIZE,48182,24
$CFSIZE,260165632,235610112
$ERRORS,0,0,0,0,0,0,0,0,3,0,0,147,0,0,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,PITCH_DEAD
$GPS,240511,201850,2108.048,-15801.668,901,99.0,901,9.8