version: 66.06
glider: 139
mission: 9
dive: 360
start: 5 15 111 18 43 8
data:
$ID,139
$MISSION,9
$DIVE,360
$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,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,270
$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,-2183405.2
$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,61
$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
$GPS1,183707,2050.446,-15744.839,26,1.8,26,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-74.5
$GPS2,184249,2050.423,-15744.777,28,1.8,28,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,HEADING
$TGT_LATLONG,2050.423,-15756.332
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.082,0.206
$KALMAN_X,-197895.0,373.7,194.6,208192.4,10278.9
$KALMAN_Y,-90001.3,-266.9,-292.7,57028.9,-11190.3
$MHEAD_RNG_PITCHd_Wd,260.2,20000,-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,-116.8,0.0,0.0,0,90,0.00,0.00,-69.30,0.000,6,0.000,0.000,427,2119,3112,0,0,0,0,0,0
$GC,93,-1.19,-116.8,3.8,-5.8,13,112,13.07,2.40,0.00,0.000,4,0.134,0.031,2868,3480,3115,0,0,0,0,0,0
$GC,361,-1.19,-116.8,59.3,-17.4,54,365,0.00,2.47,0.00,0.000,6,0.000,0.035,2868,2088,3117,0,0,0,0,0,0
$GC,626,-1.19,-116.8,100.9,-14.3,78,631,0.00,2.45,0.00,0.000,4,0.000,0.030,2868,3484,3118,0,0,0,0,0,0
$GC,654,-1.19,-116.8,105.7,-14.4,80,661,0.00,2.45,0.00,0.000,6,0.000,0.031,2868,2101,3118,0,0,0,0,0,0
$GC,919,-1.19,-116.8,137.3,-12.1,105,923,0.00,2.42,0.00,0.000,4,0.000,0.034,2868,3477,3118,0,0,0,0,0,0
$GC,999,-1.19,-116.8,147.4,-12.2,113,1003,0.00,2.42,0.00,0.000,6,0.000,0.032,2868,2095,3118,0,0,0,0,0,0
$GC,1264,-1.19,-116.8,175.0,-9.9,137,1268,0.00,2.53,0.00,0.000,4,0.000,0.041,2869,682,3119,0,0,0,0,0,0
$GC,1327,-1.19,-116.8,182.2,-10.9,143,1331,0.00,2.38,0.00,0.000,6,0.000,0.020,2868,2081,3119,0,0,0,0,0,0
$GC,1600,-1.19,-116.8,211.2,-10.1,163,1605,0.00,2.50,0.00,0.000,4,0.000,0.043,2868,684,3120,0,0,0,0,0,0
$GC,1624,-1.19,-116.8,214.7,-12.2,164,1628,0.00,2.40,0.00,0.000,6,0.000,0.021,2868,2098,3120,0,0,0,0,0,0
$GC,1953,-1.19,-116.8,249.3,-9.8,180,1957,0.00,2.53,0.00,0.000,4,0.000,0.042,2868,688,3120,0,0,0,0,0,0
$GC,2009,-1.19,-116.8,255.1,-9.5,182,2013,0.00,2.42,0.00,0.000,6,0.000,0.021,2868,2107,3120,0,0,0,0,0,0
$GC,2327,-1.19,-116.8,279.6,-7.1,197,2331,0.00,2.47,0.00,0.000,4,0.000,0.041,2868,3494,3119,0,0,0,0,0,0
$GC,2389,-1.19,-116.8,284.5,-7.5,199,2394,0.00,2.47,0.00,0.000,6,0.000,0.037,2868,2101,3119,0,0,0,0,0,0
$GC,2724,-1.19,-116.8,309.2,-7.3,212,2728,0.00,2.47,0.00,0.000,4,0.000,0.041,2868,3494,3118,0,0,0,0,0,0
$GC,2738,-1.19,-116.8,310.5,-7.4,212,2743,0.00,2.45,0.00,0.000,6,0.000,0.038,2868,2098,3118,0,0,0,0,0,0
$GC,3088,-1.19,-116.8,336.5,-7.6,221,3093,0.00,2.55,0.00,0.000,4,0.000,0.048,2867,692,3116,0,0,0,0,0,0
$GC,3159,-1.19,-116.8,342.2,-7.8,222,3163,0.00,2.42,0.00,0.000,6,0.000,0.025,2868,2095,3116,0,0,0,0,0,0
$GC,3500,-1.19,-116.8,362.8,-5.6,231,3504,0.00,2.55,0.00,0.000,4,0.000,0.046,2868,3499,3114,0,0,0,0,0,0
$GC,3547,-1.19,-116.8,365.9,-6.3,232,3551,0.00,2.53,0.00,0.000,6,0.000,0.041,2868,2092,3115,0,0,0,0,0,0
$GC,3870,-1.19,-116.8,379.8,-4.0,240,3874,0.00,2.55,0.00,0.000,4,0.000,0.046,2868,3498,3112,0,0,0,0,0,0
$GC,3950,-1.19,-116.8,383.8,-5.5,241,3954,0.00,2.53,0.00,0.000,6,0.000,0.043,2868,2096,3112,0,0,0,0,0,0
$GC,4282,-1.19,-116.8,399.3,-4.8,249,4286,0.00,2.58,0.00,0.000,4,0.000,0.052,2867,692,3109,0,0,0,0,0,0
$GC,4405,-1.19,-116.8,406.3,-6.1,251,4409,0.00,2.42,0.00,0.000,6,0.000,0.028,2868,2099,3108,0,0,0,0,0,0
$GC,4741,-1.19,-116.8,424.5,-5.3,260,4742,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2101,3106,0,0,0,0,0,0
$GC,5066,-1.19,-116.8,447.2,-7.4,268,5070,0.00,2.60,0.00,0.000,4,0.000,0.054,2868,686,3104,0,0,0,0,0,0
$STATE,5101,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5101,begin apogee
$GC,5110,-0.31,0.0,450.4,8.5,268,5208,0.93,0.00,94.57,0.836,6,0.084,0.000,3063,1807,2635,0,0,0,0,0,0
$STATE,5209,end apogee,CONTROL_FINISHED_OK
$STATE,5209,begin climb
$GC,5212,1.19,116.8,453.1,0.0,271,5317,1.52,0.00,101.18,0.813,6,0.054,0.000,3396,1807,2158,0,0,0,0,0,0
$GC,5642,1.19,116.8,405.6,12.7,282,5646,0.00,2.67,0.00,0.000,4,0.000,0.061,3395,398,2146,0,0,0,0,0,0
$GC,5670,1.19,116.8,401.3,15.3,282,5675,0.00,2.47,0.00,0.000,6,0.000,0.028,3396,1801,2143,0,0,0,0,0,0
$GC,6006,1.19,116.8,358.2,12.3,291,6010,0.00,2.67,0.00,0.000,4,0.000,0.061,3396,398,2142,0,0,0,0,0,0
$GC,6027,1.19,116.8,355.5,13.5,291,6031,0.00,2.47,0.00,0.000,6,0.000,0.028,3396,1802,2139,0,0,0,0,0,0
$GC,6372,1.19,116.8,316.7,10.5,300,6377,0.00,2.55,0.00,0.000,4,0.000,0.043,3397,3211,2139,0,0,0,0,0,0
$GC,6397,1.19,116.8,314.1,10.4,300,6402,0.00,2.62,0.00,0.000,6,0.000,0.048,3396,1798,2139,0,0,0,0,0,0
$GC,6720,1.19,116.8,282.3,9.4,312,6725,0.00,2.60,0.00,0.000,4,0.000,0.059,3396,394,2137,0,0,0,0,0,0
$GC,6744,1.19,116.8,279.8,10.1,313,6748,0.00,2.50,0.00,0.000,6,0.000,0.028,3396,1806,2135,0,0,0,0,0,0
$GC,7070,1.19,116.8,244.9,10.1,329,7071,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1810,2135,0,0,0,0,0,0
$GC,7378,1.19,116.8,217.8,8.5,344,7379,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1810,2134,0,0,0,0,0,0
$GC,7691,1.19,116.8,191.3,8.1,363,7696,0.00,2.62,0.00,0.000,4,0.000,0.056,3396,393,2134,0,0,0,0,0,0
$GC,7707,1.20,117.4,189.8,8.0,364,7711,0.00,2.47,0.00,0.000,6,0.000,0.025,3396,1811,2133,0,0,0,0,0,0
$GC,7970,1.20,117.4,168.6,11.0,388,7975,0.00,2.47,0.00,0.000,4,0.000,0.038,3396,3204,2133,0,0,0,0,0,0
$GC,8023,1.20,117.4,164.2,8.3,393,8028,0.00,2.55,0.00,0.000,6,0.000,0.041,3396,1801,2133,0,0,0,0,0,0
$GC,8289,1.21,129.6,142.2,7.5,417,8302,0.00,2.55,7.88,0.510,4,0.000,0.036,3397,3201,2105,0,0,0,0,0,0
$GC,8360,1.24,155.9,137.1,6.8,424,8391,0.00,2.55,24.40,0.579,6,0.000,0.040,3397,1796,1998,0,0,0,0,0,0
$GC,8653,1.26,168.1,113.3,7.5,452,8666,0.00,0.00,11.40,0.515,6,0.000,0.000,3396,1796,1948,0,0,0,0,0,0
$GC,8927,1.26,173.2,93.0,7.8,477,8940,0.00,2.60,5.72,0.425,4,0.000,0.031,3397,3205,1927,0,0,0,0,0,0
$GC,8985,1.28,184.8,88.6,7.5,483,9004,0.00,2.58,11.80,0.495,6,0.000,0.039,3397,1796,1880,0,0,0,0,0,0
$GC,9259,1.31,213.8,69.7,6.7,509,9293,0.12,2.70,25.83,0.511,4,0.061,0.054,3439,391,1762,0,0,0,0,0,0
$GC,9333,1.31,213.8,62.3,11.4,516,9340,0.00,2.47,0.00,0.000,6,0.000,0.021,3440,1802,1758,0,0,0,0,0,0
$GC,9597,1.31,213.8,34.0,9.4,541,9602,0.00,2.60,0.00,0.000,4,0.000,0.049,3440,391,1758,0,0,0,0,0,0
$GC,9662,1.31,213.8,26.9,11.4,550,9669,0.00,2.45,0.00,0.000,6,0.000,0.020,3440,1799,1755,0,0,0,0,0,0
$GC,9865,1.31,213.8,9.6,8.4,587,9872,0.00,2.62,0.00,0.000,4,0.000,0.048,3440,394,1755,0,0,0,0,0,0
$GC,9887,1.31,213.8,7.4,9.2,591,9894,0.00,2.45,0.00,0.000,6,0.000,0.019,3440,1807,1755,0,0,0,0,0,0
$STATE,9937,end climb,SURFACE_DEPTH_REACHED
$STATE,9937,begin surface coast
$FINISH,0.9,1.013139
$STATE,9970,end surface coast,CONTROL_FINISHED_OK
$STATE,9971,begin surface
$SM_CCo,9994,59.35,0.460,0,0,1288,330.17
$SM_GC,1.64,0.00,0.00,59.35,0.000,0.000,0.460,431,2141,1288,-12.45,1.16,330.17
$IRIDIUM_FIX,2043.29,-15743.21,080800,151520
$TT8_MAMPS,0.028379
$HUMID,60.59
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,20.30
$XPDR_PINGS,8
$24V_AH,23.5,28.998
$10V_AH,10.5,27.469
$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,28.550,120.675,282.775,59.350,0.000,23.963,32.286,148.467,6.500,0.000,28.239,1138.173,6680.204,440.055,1671.901,467.102,0.000,1156.669,0.000,1652.521,0.000,29.252,0.000
$DEVICE_MAMPS,134.225,61.360,836.030,460.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,410.135,395.901,857.785,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,34959,606
$CAP_FILE_SIZE,103174,0
$CFSIZE,260165632,239263744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,6
$GPS,150511,213152,2050.056,-15745.393,10,3.4,29,9.8