version: 66.06
glider: 139
mission: 9
dive: 294
start: 5 8 111 21 12 23
data:
$ID,139
$MISSION,9
$DIVE,294
$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,-2181998.5
$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,73
$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
$GPS1,210501,2106.344,-15748.938,13,1.6,18,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-71.0
$GPS2,211131,2106.352,-15748.962,15,1.3,32,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.218,0.037
$KALMAN_X,-180721.6,-186.7,-318.0,184124.5,-955.8
$KALMAN_Y,-2907.9,-103.3,62.3,-5204.4,-563.6
$MHEAD_RNG_PITCHd_Wd,70.5,10490,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.19,-116.8,0.0,0.0,0,84,0.00,0.00,-64.55,0.000,2,0.000,0.000,430,2134,2963,0,0,0,0,0,0
$GC,88,-1.19,-116.8,3.1,-4.2,12,113,13.02,2.65,-3.12,0.000,4,0.133,0.052,2870,687,3115,0,0,0,0,0,0
$GC,185,-1.19,-116.8,26.2,-20.5,32,192,0.00,2.40,0.00,0.000,6,0.000,0.020,2870,2068,3117,0,0,0,0,0,0
$GC,386,-1.19,-116.8,57.7,-13.5,52,390,0.00,2.47,0.00,0.000,4,0.000,0.041,2870,678,3117,0,0,0,0,0,0
$GC,422,-1.19,-116.8,64.2,-16.1,55,429,0.00,2.45,0.00,0.000,6,0.000,0.021,2870,2095,3117,0,0,0,0,0,0
$GC,683,-1.19,-116.8,98.4,-12.2,80,688,0.00,2.47,0.00,0.000,4,0.000,0.035,2870,3504,3118,0,0,0,0,0,0
$GC,863,-1.19,-116.8,122.3,-11.9,99,868,0.00,2.47,0.00,0.000,6,0.000,0.031,2871,2082,3119,0,0,0,0,0,0
$GC,1128,-1.19,-116.8,149.4,-9.7,123,1132,0.00,2.50,0.00,0.000,4,0.000,0.042,2870,686,3119,0,0,0,0,0,0
$GC,1143,-1.19,-116.8,151.2,-9.7,124,1148,0.00,2.40,0.00,0.000,6,0.000,0.021,2870,2108,3120,0,0,0,0,0,0
$GC,1406,-1.19,-116.8,177.8,-10.4,148,1411,0.00,2.45,0.00,0.000,4,0.000,0.038,2870,3494,3120,0,0,0,0,0,0
$GC,1535,-1.19,-116.8,191.7,-10.5,161,1541,0.00,2.45,0.00,0.000,6,0.000,0.035,2870,2101,3120,0,0,0,0,0,0
$GC,1792,-1.19,-116.8,211.7,-6.6,178,1793,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2101,3119,0,0,0,0,0,0
$GC,2103,-1.19,-116.8,238.4,-9.7,193,2107,0.00,2.47,0.00,0.000,4,0.000,0.040,2870,3497,3119,0,0,0,0,0,0
$GC,2127,-1.19,-116.8,241.0,-10.3,194,2131,0.00,2.45,0.00,0.000,6,0.000,0.037,2870,2101,3119,0,0,0,0,0,0
$GC,2452,-1.19,-116.8,272.2,-8.3,210,2456,0.00,2.53,0.00,0.000,4,0.000,0.048,2870,693,3119,0,0,0,0,0,0
$GC,2473,-1.19,-116.8,274.0,-9.0,211,2478,0.00,2.42,0.00,0.000,6,0.000,0.024,2870,2104,3119,0,0,0,0,0,0
$GC,2802,-1.19,-116.8,303.7,-8.9,226,2807,0.00,2.55,0.00,0.000,4,0.000,0.047,2871,689,3117,0,0,0,0,0,0
$GC,2817,-1.19,-116.8,305.1,-8.6,226,2821,0.00,2.42,0.00,0.000,6,0.000,0.024,2870,2102,3117,0,0,0,0,0,0
$GC,3167,-1.19,-116.8,330.9,-7.0,235,3171,0.00,2.55,0.00,0.000,4,0.000,0.048,2870,691,3117,0,0,0,0,0,0
$GC,3312,-1.19,-116.8,341.6,-7.7,238,3317,0.00,2.40,0.00,0.000,6,0.000,0.025,2870,2099,3116,0,0,0,0,0,0
$GC,3632,-1.19,-116.8,364.4,-7.8,246,3636,0.00,2.55,0.00,0.000,4,0.000,0.050,2870,3497,3114,0,0,0,0,0,0
$GC,3669,-1.19,-116.8,367.9,-8.7,246,3675,0.00,2.50,0.00,0.000,6,0.000,0.041,2870,2103,3114,0,0,0,0,0,0
$GC,4001,-1.19,-116.8,397.4,-9.2,255,4005,0.00,2.58,0.00,0.000,4,0.000,0.053,2870,689,3112,0,0,0,0,0,0
$GC,4058,-1.19,-116.8,403.4,-10.8,256,4063,0.00,2.45,0.00,0.000,6,0.000,0.028,2870,2105,3111,0,0,0,0,0,0
$GC,4372,-1.19,-116.8,431.9,-8.3,264,4376,0.00,2.58,0.00,0.000,4,0.000,0.054,2870,691,3109,0,0,0,0,0,0
$GC,4428,-1.19,-116.8,436.6,-8.7,265,4432,0.00,2.47,0.00,0.000,6,0.000,0.029,2870,2103,3109,0,0,0,0,0,0
$STATE,4658,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4658,begin apogee
$GC,4665,-0.31,0.0,451.7,6.0,271,4764,0.95,0.00,95.55,0.819,6,0.081,0.000,3068,1794,2635,0,0,0,0,0,0
$STATE,4765,end apogee,CONTROL_FINISHED_OK
$STATE,4765,begin climb
$GC,4768,1.19,116.8,452.7,0.0,273,4880,1.48,2.70,100.32,0.799,4,0.055,0.047,3394,3198,2157,0,0,0,0,0,0
$GC,4899,1.19,116.8,439.4,12.8,276,4904,0.00,2.62,0.00,0.000,6,0.000,0.054,3394,1810,2156,0,0,0,0,0,0
$GC,5223,1.19,116.8,397.5,12.6,284,5227,0.00,2.70,0.00,0.000,4,0.000,0.062,3394,393,2147,0,0,0,0,0,0
$GC,5266,1.19,116.8,391.1,14.9,285,5270,0.00,2.50,0.00,0.000,6,0.000,0.028,3394,1799,2143,0,0,0,0,0,0
$GC,5593,1.19,116.8,348.9,12.5,293,5598,0.00,2.58,0.00,0.000,4,0.000,0.045,3394,3208,2142,0,0,0,0,0,0
$GC,5622,1.19,116.8,345.5,11.2,293,5626,0.00,2.62,0.00,0.000,6,0.000,0.051,3394,1800,2142,0,0,0,0,0,0
$GC,5958,1.19,116.8,310.2,10.1,302,5962,0.00,2.62,0.00,0.000,4,0.000,0.061,3394,393,2139,0,0,0,0,0,0
$GC,6009,1.19,116.8,304.2,11.8,303,6013,0.00,2.50,0.00,0.000,6,0.000,0.028,3394,1803,2137,0,0,0,0,0,0
$GC,6333,1.19,116.8,274.4,10.0,317,6337,0.00,2.67,0.00,0.000,4,0.000,0.059,3394,392,2137,0,0,0,0,0,0
$GC,6356,1.19,116.8,271.2,11.9,318,6361,0.00,2.47,0.00,0.000,6,0.000,0.026,3394,1802,2135,0,0,0,0,0,0
$GC,6682,1.19,116.8,235.4,10.8,334,6686,0.00,2.53,0.00,0.000,4,0.000,0.040,3394,3212,2135,0,0,0,0,0,0
$GC,6729,1.19,116.8,230.5,10.2,336,6734,0.00,2.58,0.00,0.000,6,0.000,0.045,3394,1801,2135,0,0,0,0,0,0
$GC,7056,1.19,116.8,197.5,9.6,353,7061,0.00,2.60,0.00,0.000,4,0.000,0.054,3394,392,2133,0,0,0,0,0,0
$GC,7091,1.19,116.8,193.8,10.8,356,7095,0.00,2.45,0.00,0.000,6,0.000,0.024,3395,1804,2132,0,0,0,0,0,0
$GC,7354,1.19,116.8,168.9,9.1,380,7355,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1809,2133,0,0,0,0,0,0
$GC,7607,1.22,140.4,149.4,6.9,404,7629,0.00,2.53,17.12,0.578,4,0.000,0.035,3394,3204,2061,0,0,0,0,0,0
$GC,7642,1.26,170.4,147.1,6.6,407,7679,0.00,2.58,27.50,0.588,6,0.000,0.039,3394,1800,1939,0,0,0,0,0,0
$GC,7935,1.26,170.4,119.1,9.6,435,7939,0.00,2.60,0.00,0.000,4,0.000,0.051,3394,390,1934,0,0,0,0,0,0
$GC,7961,1.26,170.4,116.6,10.4,437,7965,0.00,2.42,0.00,0.000,6,0.000,0.021,3394,1807,1932,0,0,0,0,0,0
$GC,8225,1.26,170.4,93.0,8.7,461,8230,0.00,2.60,0.00,0.000,4,0.000,0.050,3394,392,1931,0,0,0,0,0,0
$GC,8270,1.26,170.4,88.5,10.4,465,8274,0.00,2.40,0.00,0.000,6,0.000,0.020,3394,1806,1930,0,0,0,0,0,0
$GC,8534,1.28,185.5,68.2,7.3,489,8555,0.00,2.67,13.12,0.488,4,0.000,0.049,3394,398,1878,0,0,0,0,0,0
$GC,8594,1.28,185.5,62.9,10.0,495,8598,0.00,2.40,0.00,0.000,6,0.000,0.020,3394,1796,1874,0,0,0,0,0,0
$GC,8858,1.28,185.5,41.4,9.1,519,8862,0.00,2.58,0.00,0.000,4,0.000,0.048,3394,392,1874,0,0,0,0,0,0
$GC,8930,1.28,185.5,34.6,9.5,526,8937,0.00,2.42,0.00,0.000,6,0.000,0.019,3394,1800,1873,0,0,0,0,0,0
$GC,9195,1.34,231.9,18.8,5.9,569,9241,0.15,0.00,40.35,0.474,6,0.054,0.000,3445,1803,1688,0,0,0,0,0,0
$STATE,9349,end climb,SURFACE_DEPTH_REACHED
$STATE,9349,begin surface coast
$FINISH,0.9,1.010329
$STATE,9377,end surface coast,CONTROL_FINISHED_OK
$STATE,9377,begin surface
$SM_CCo,9400,50.35,0.456,0,0,1288,330.17
$SM_GC,1.77,0.00,0.00,50.35,0.000,0.000,0.456,423,2145,1288,-12.48,1.30,330.17
$IRIDIUM_FIX,2057.14,-15751.76,010800,181858
$TT8_MAMPS,0.028379
$HUMID,55.27
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,21.80
$XPDR_PINGS,1
$24V_AH,23.5,23.914
$10V_AH,10.6,22.757
$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,28.525,122.025,293.975,50.350,0.000,29.097,49.985,171.065,4.750,0.000,33.035,1112.937,6079.952,404.478,1745.195,500.029,33.360,1165.386,0.000,1708.648,0.000,31.237,0.000
$DEVICE_MAMPS,132.691,62.127,819.156,455.598,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,407.157,396.801,895.274,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,31782,602
$CAP_FILE_SIZE,102816,0
$CFSIZE,260165632,242266112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,080511,235107,2106.458,-15747.775,33,0.9,33,9.8