version: 66.06
glider: 139
mission: 9
dive: 385
start: 5 18 111 15 49 8
data:
$ID,139
$MISSION,9
$DIVE,385
$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,-2183942
$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,85
$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
$GPS1,154122,2039.458,-15753.095,10,2.6,29,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-75.3
$GPS2,154816,2039.431,-15753.053,16,2.9,35,9.7
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.200,0.096
$KALMAN_X,11279.5,-444.8,-93.4,-7896.6,2529.4
$KALMAN_Y,-9051.5,634.6,-108.1,13710.8,-2067.9
$MHEAD_RNG_PITCHd_Wd,286.0,55747,-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,12,begin dive
$GC,15,-1.19,-116.8,0.0,0.0,0,87,0.00,0.00,-69.40,0.000,6,0.000,0.000,430,2156,3113,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.8,-4.8,13,110,13.10,2.33,0.00,0.000,4,0.135,0.031,2868,3464,3115,0,0,0,0,0,0
$GC,117,-1.19,-116.8,14.3,-29.7,17,124,0.00,2.47,0.00,0.000,6,0.000,0.032,2869,2092,3116,0,0,0,0,0,0
$GC,324,-1.19,-116.8,59.5,-21.5,42,328,0.00,2.53,0.00,0.000,4,0.000,0.042,2869,690,3118,0,0,0,0,0,0
$GC,528,-1.19,-116.8,96.0,-15.1,64,532,0.00,2.33,0.00,0.000,6,0.000,0.020,2869,2061,3118,0,0,0,0,0,0
$GC,791,-1.19,-116.8,130.9,-10.4,88,795,0.00,2.45,0.00,0.000,4,0.000,0.041,2869,689,3118,0,0,0,0,0,0
$GC,808,-1.19,-116.8,132.6,-9.8,89,812,0.00,2.42,0.00,0.000,6,0.000,0.021,2869,2109,3118,0,0,0,0,0,0
$GC,1073,-1.19,-116.8,157.6,-9.2,113,1077,0.00,2.55,0.00,0.000,4,0.000,0.041,2869,683,3118,0,0,0,0,0,0
$GC,1102,-1.19,-116.8,161.0,-11.0,115,1107,0.00,2.40,0.00,0.000,6,0.000,0.021,2869,2108,3119,0,0,0,0,0,0
$GC,1365,-1.19,-116.8,187.0,-9.0,140,1366,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2108,3119,0,0,0,0,0,0
$GC,1617,-1.19,-116.8,211.1,-9.9,159,1622,0.00,2.55,0.00,0.000,4,0.000,0.043,2869,687,3119,0,0,0,0,0,0
$GC,1646,-1.19,-116.8,214.5,-10.8,160,1650,0.00,2.40,0.00,0.000,6,0.000,0.021,2869,2101,3119,0,0,0,0,0,0
$GC,1971,-1.19,-116.8,246.0,-9.7,176,1972,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2101,3119,0,0,0,0,0,0
$GC,2281,-1.19,-116.8,272.3,-8.6,191,2286,0.00,2.55,0.00,0.000,4,0.000,0.045,2869,685,3118,0,0,0,0,0,0
$GC,2405,-1.19,-116.8,283.4,-8.9,196,2409,0.00,2.42,0.00,0.000,6,0.000,0.023,2869,2108,3118,0,0,0,0,0,0
$GC,2724,-1.19,-116.8,305.8,-7.1,210,2728,0.00,2.53,0.00,0.000,4,0.000,0.044,2869,3498,3117,0,0,0,0,0,0
$GC,2795,-1.19,-116.8,311.1,-7.4,211,2799,0.00,2.47,0.00,0.000,6,0.000,0.039,2869,2096,3117,0,0,0,0,0,0
$GC,3136,-1.19,-116.8,335.7,-7.1,220,3137,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2096,3115,0,0,0,0,0,0
$GC,3460,-1.19,-116.8,357.3,-6.0,228,3465,0.00,2.58,0.00,0.000,4,0.000,0.050,2869,687,3114,0,0,0,0,0,0
$GC,3486,-1.19,-116.8,359.1,-7.3,228,3490,0.00,2.42,0.00,0.000,6,0.000,0.026,2869,2096,3114,0,0,0,0,0,0
$GC,3828,-1.19,-116.8,380.1,-6.1,237,3829,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2097,3111,0,0,0,0,0,0
$GC,4153,-1.19,-116.8,401.2,-6.3,245,4154,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2097,3109,0,0,0,0,0,0
$GC,4479,-1.19,-116.8,422.7,-6.8,253,4480,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2097,3107,0,0,0,0,0,0
$GC,4802,-1.19,-116.8,445.6,-7.0,261,4806,0.00,2.55,0.00,0.000,4,0.000,0.053,2869,693,3105,0,0,0,0,0,0
$GC,4821,-1.19,-116.8,447.1,-7.3,261,4826,0.00,2.45,0.00,0.000,6,0.000,0.029,2869,2107,3105,0,0,0,0,0,0
$STATE,4879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4879,begin apogee
$GC,4886,-0.31,0.0,451.2,6.8,263,4985,0.95,0.00,95.03,0.825,6,0.083,0.000,3066,1795,2635,0,0,0,0,0,0
$STATE,4986,end apogee,CONTROL_FINISHED_OK
$STATE,4986,begin climb
$GC,4989,1.19,116.8,452.6,0.0,265,5101,1.48,2.65,100.57,0.806,4,0.054,0.060,3392,410,2156,0,0,0,0,0,0
$GC,5117,1.19,116.8,440.3,13.6,268,5121,0.00,2.47,0.00,0.000,6,0.000,0.026,3392,1802,2153,0,0,0,0,0,0
$GC,5445,1.19,116.8,397.2,12.8,276,5449,0.00,2.55,0.00,0.000,4,0.000,0.043,3392,3205,2146,0,0,0,0,0,0
$GC,5469,1.19,116.8,394.2,12.4,276,5473,0.00,2.60,0.00,0.000,6,0.000,0.049,3391,1809,2146,0,0,0,0,0,0
$GC,5809,1.19,116.8,354.2,11.7,285,5814,0.00,2.67,0.00,0.000,4,0.000,0.060,3392,393,2142,0,0,0,0,0,0
$GC,5824,1.19,116.8,352.3,11.0,285,5828,0.00,2.50,0.00,0.000,6,0.000,0.027,3392,1805,2141,0,0,0,0,0,0
$GC,6174,1.19,116.8,314.0,10.6,294,6175,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1809,2140,0,0,0,0,0,0
$GC,6482,1.19,116.8,282.1,10.7,305,6483,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1809,2139,0,0,0,0,0,0
$GC,6790,1.19,116.8,250.8,10.2,320,6795,0.00,2.65,0.00,0.000,4,0.000,0.059,3392,394,2137,0,0,0,0,0,0
$GC,6814,1.19,116.8,248.1,11.0,321,6818,0.00,2.45,0.00,0.000,6,0.000,0.027,3392,1799,2135,0,0,0,0,0,0
$GC,7140,1.19,116.8,220.1,8.2,337,7145,0.00,2.65,0.00,0.000,4,0.000,0.058,3392,393,2135,0,0,0,0,0,0
$GC,7171,1.19,116.8,217.2,9.7,338,7175,0.00,2.47,0.00,0.000,6,0.000,0.026,3392,1804,2134,0,0,0,0,0,0
$GC,7496,1.20,120.0,190.6,7.9,359,7497,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1808,2134,0,0,0,0,0,0
$GC,7750,1.20,120.1,170.8,8.0,383,7752,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1808,2134,0,0,0,0,0,0
$GC,8006,1.22,141.0,151.2,7.1,407,8029,0.00,2.55,17.73,0.584,4,0.000,0.036,3392,3205,2060,0,0,0,0,0,0
$GC,8069,1.23,149.1,146.5,7.7,413,8088,0.00,2.60,8.90,0.524,6,0.000,0.042,3392,1798,2026,0,0,0,0,0,0
$GC,8343,1.23,149.1,123.8,9.0,439,8347,0.00,2.60,0.00,0.000,4,0.000,0.054,3392,389,2023,0,0,0,0,0,0
$GC,8399,1.23,149.1,118.2,9.9,444,8406,0.00,2.50,0.00,0.000,6,0.000,0.023,3392,1808,2020,0,0,0,0,0,0
$GC,8663,1.27,181.2,100.4,6.5,469,8701,0.10,2.72,28.40,0.542,4,0.074,0.052,3428,395,1895,0,0,0,0,0,0
$GC,8707,1.27,181.2,96.5,9.8,473,8713,0.00,2.47,0.00,0.000,6,0.000,0.021,3428,1808,1893,0,0,0,0,0,0
$GC,8972,1.27,181.2,74.3,8.3,498,8976,0.00,2.62,0.00,0.000,4,0.000,0.051,3428,389,1892,0,0,0,0,0,0
$GC,9042,1.28,185.5,68.3,7.8,505,9054,0.00,2.42,4.28,0.357,6,0.000,0.021,3428,1799,1878,0,0,0,0,0,0
$GC,9309,1.29,197.0,51.3,7.5,530,9330,0.00,2.67,11.77,0.459,4,0.000,0.050,3428,393,1830,0,0,0,0,0,0
$GC,9360,1.29,197.0,47.2,8.4,535,9364,0.00,2.40,0.00,0.000,6,0.000,0.020,3428,1802,1828,0,0,0,0,0,0
$GC,9625,1.34,232.5,28.8,6.4,560,9659,0.00,0.00,31.33,0.472,6,0.000,0.000,3428,1804,1686,0,0,0,0,0,0
$GC,9856,1.34,232.5,10.7,8.6,602,9863,0.00,2.65,0.00,0.000,4,0.000,0.049,3428,392,1683,0,0,0,0,0,0
$GC,9913,1.34,232.5,5.0,10.7,614,9920,0.00,2.45,0.00,0.000,6,0.000,0.019,3428,1801,1680,0,0,0,0,0,0
$STATE,9930,end climb,SURFACE_DEPTH_REACHED
$STATE,9930,begin surface coast
$FINISH,1.0,1.022629
$STATE,9958,end surface coast,CONTROL_FINISHED_OK
$STATE,9958,begin surface
$SM_CCo,9983,50.08,0.449,0,0,1288,330.17
$SM_GC,1.86,0.00,0.00,50.08,0.000,0.000,0.449,426,2152,1288,-12.48,1.50,330.17
$IRIDIUM_FIX,2034.08,-15755.23,110800,121218
$TT8_MAMPS,0.029146
$HUMID,57.99
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.10
$XPDR_PINGS,2
$24V_AH,23.5,31.032
$10V_AH,10.4,29.361
$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,28.525,101.775,298.000,50.075,0.000,29.975,34.430,205.487,5.000,0.000,36.334,1118.889,6744.407,402.602,1649.533,531.505,33.346,1121.272,0.000,1626.018,0.000,29.240,0.000
$DEVICE_MAMPS,134.992,59.826,824.525,449.462,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,420.672,419.450,894.706,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355808
$DATA_FILE_SIZE,34960,622
$CAP_FILE_SIZE,99872,0
$CFSIZE,260165632,238059520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180511,183737,2039.465,-15753.568,37,0.8,37,9.7