version: 66.06
glider: 139
mission: 9
dive: 397
start: 5 20 111 2 33 43
data:
$ID,139
$MISSION,9
$DIVE,397
$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,-2184192
$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,81
$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
$GPS1,022630,2040.522,-15755.153,38,1.1,43,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-76.0
$GPS2,023250,2040.540,-15755.132,11,1.7,11,9.7
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.165,0.148
$KALMAN_X,31777.0,-112.5,323.5,-32749.5,1743.0
$KALMAN_Y,-20304.0,-5.6,-90.1,27637.9,-1214.4
$MHEAD_RNG_PITCHd_Wd,302.3,52848,-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,-116.8,0.0,0.0,0,82,0.00,0.00,-64.43,0.000,2,0.000,0.000,426,2136,2973,0,0,0,0,0,0
$GC,86,-1.19,-116.8,3.3,-4.1,12,110,13.15,2.40,-2.80,0.000,4,0.136,0.047,2869,3461,3115,0,0,0,0,0,0
$GC,287,-1.19,-116.8,47.6,-18.2,46,292,0.00,2.45,0.00,0.000,6,0.000,0.035,2869,2088,3117,0,0,0,0,0,0
$GC,549,-1.19,-116.8,92.1,-13.9,70,550,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2087,3117,0,0,0,0,0,0
$GC,804,-1.19,-116.8,119.7,-6.8,94,808,0.00,2.50,0.00,0.000,4,0.000,0.042,2869,689,3118,0,0,0,0,0,0
$GC,996,-1.19,-116.8,137.1,-10.7,115,1001,0.00,2.33,0.00,0.000,6,0.000,0.019,2869,2063,3119,0,0,0,0,0,0
$GC,1259,-1.19,-116.8,163.2,-11.3,139,1263,0.00,2.45,0.00,0.000,4,0.000,0.041,2869,691,3119,0,0,0,0,0,0
$GC,1280,-1.19,-116.8,165.7,-11.8,141,1284,0.00,2.40,0.00,0.000,6,0.000,0.020,2869,2101,3119,0,0,0,0,0,0
$GC,1548,-1.19,-116.8,198.8,-11.1,166,1552,0.00,2.47,0.00,0.000,4,0.000,0.038,2869,3498,3120,0,0,0,0,0,0
$GC,1599,-1.19,-116.8,204.4,-10.4,169,1603,0.00,2.47,0.00,0.000,6,0.000,0.034,2869,2094,3120,0,0,0,0,0,0
$GC,1920,-1.19,-116.8,235.1,-8.5,185,1925,0.00,2.50,0.00,0.000,4,0.000,0.044,2869,693,3120,0,0,0,0,0,0
$GC,1944,-1.19,-116.8,237.6,-9.5,186,1948,0.00,2.40,0.00,0.000,6,0.000,0.022,2869,2102,3120,0,0,0,0,0,0
$GC,2271,-1.19,-116.8,265.9,-9.0,202,2272,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2105,3119,0,0,0,0,0,0
$GC,2579,-1.19,-116.8,292.3,-9.2,217,2584,0.00,2.50,0.00,0.000,4,0.000,0.041,2869,3505,3119,0,0,0,0,0,0
$GC,2727,-1.19,-116.8,305.6,-8.3,222,2732,0.00,2.50,0.00,0.000,6,0.000,0.037,2869,2101,3118,0,0,0,0,0,0
$GC,3041,-1.19,-116.8,330.2,-7.4,230,3042,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2100,3117,0,0,0,0,0,0
$GC,3366,-1.19,-116.8,357.8,-8.9,238,3371,0.00,2.58,0.00,0.000,4,0.000,0.049,2869,686,3116,0,0,0,0,0,0
$GC,3450,-1.19,-116.8,365.8,-8.9,239,3456,0.00,2.45,0.00,0.000,6,0.000,0.025,2869,2104,3115,0,0,0,0,0,0
$GC,3782,-1.19,-116.8,390.2,-6.8,248,3786,0.00,2.55,0.00,0.000,4,0.000,0.048,2869,689,3113,0,0,0,0,0,0
$GC,3801,-1.19,-116.8,391.7,-7.3,248,3806,0.00,2.42,0.00,0.000,6,0.000,0.026,2869,2097,3113,0,0,0,0,0,0
$GC,4147,-1.19,-116.8,412.4,-5.8,257,4151,0.00,2.55,0.00,0.000,4,0.000,0.048,2870,3505,3110,0,0,0,0,0,0
$GC,4167,-1.19,-116.8,413.7,-6.4,257,4171,0.00,2.53,0.00,0.000,6,0.000,0.042,2869,2103,3110,0,0,0,0,0,0
$GC,4513,-1.19,-116.8,438.1,-7.2,266,4517,0.00,2.55,0.00,0.000,4,0.000,0.047,2869,3498,3108,0,0,0,0,0,0
$GC,4541,-1.19,-116.8,440.4,-8.4,266,4545,0.00,2.53,0.00,0.000,6,0.000,0.043,2869,2096,3108,0,0,0,0,0,0
$STATE,4711,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4712,begin apogee
$GC,4719,-0.31,0.0,452.4,6.9,271,4818,0.95,0.00,95.50,0.811,6,0.081,0.000,3067,1792,2635,0,0,0,0,0,0
$STATE,4819,end apogee,CONTROL_FINISHED_OK
$STATE,4819,begin climb
$GC,4821,1.19,116.8,454.0,0.0,273,4927,1.50,0.00,100.75,0.793,6,0.053,0.000,3396,1792,2158,0,0,0,0,0,0
$GC,5240,1.19,116.8,403.5,12.8,284,5244,0.00,2.60,0.00,0.000,4,0.000,0.041,3396,3204,2147,0,0,0,0,0,0
$GC,5259,1.19,116.8,400.9,12.7,284,5264,0.00,2.62,0.00,0.000,6,0.000,0.050,3396,1805,2147,0,0,0,0,0,0
$GC,5604,1.19,116.8,360.0,12.2,293,5609,0.00,2.58,0.00,0.000,4,0.000,0.044,3396,3211,2143,0,0,0,0,0,0
$GC,5642,1.19,116.8,355.5,12.2,293,5647,0.00,2.62,0.00,0.000,6,0.000,0.049,3396,1801,2143,0,0,0,0,0,0
$GC,5973,1.19,116.8,318.6,10.9,302,5978,0.00,2.65,0.00,0.000,4,0.000,0.060,3396,393,2141,0,0,0,0,0,0
$GC,5988,1.19,116.8,316.8,10.3,302,5992,0.00,2.50,0.00,0.000,6,0.000,0.025,3396,1814,2139,0,0,0,0,0,0
$GC,6319,1.19,116.8,285.3,9.0,314,6324,0.00,2.67,0.00,0.000,4,0.000,0.058,3396,393,2138,0,0,0,0,0,0
$GC,6353,1.19,116.8,281.8,10.6,315,6357,0.00,2.47,0.00,0.000,6,0.000,0.026,3396,1801,2136,0,0,0,0,0,0
$GC,6668,1.19,116.8,252.2,9.4,330,6672,0.00,2.53,0.00,0.000,4,0.000,0.040,3396,3202,2136,0,0,0,0,0,0
$GC,6752,1.19,116.8,244.1,9.3,333,6758,0.00,2.60,0.00,0.000,6,0.000,0.047,3396,1796,2136,0,0,0,0,0,0
$GC,7069,1.19,116.8,212.3,10.6,349,7070,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1796,2135,0,0,0,0,0,0
$GC,7383,1.20,124.4,183.9,7.7,372,7384,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1796,2134,0,0,0,0,0,0
$GC,7638,1.20,124.4,162.9,9.7,396,7639,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1796,2134,0,0,0,0,0,0
$GC,7892,1.20,124.4,139.3,8.4,420,7896,0.00,2.53,0.00,0.000,4,0.000,0.034,3396,3204,2134,0,0,0,0,0,0
$GC,7974,1.20,124.4,131.8,8.7,428,7981,0.00,2.60,0.00,0.000,6,0.000,0.042,3396,1796,2134,0,0,0,0,0,0
$GC,8239,1.26,166.7,112.4,6.1,453,8284,0.00,2.65,39.75,0.556,4,0.000,0.053,3396,386,1954,0,0,0,0,0,0
$GC,8336,1.26,166.7,104.4,9.2,463,8340,0.00,2.45,0.00,0.000,6,0.000,0.021,3396,1808,1949,0,0,0,0,0,0
$GC,8601,1.26,166.7,83.4,8.5,487,8605,0.00,2.62,0.00,0.000,4,0.000,0.051,3396,390,1948,0,0,0,0,0,0
$GC,8646,1.26,166.7,78.9,9.6,491,8650,0.00,2.42,0.00,0.000,6,0.000,0.021,3396,1800,1945,0,0,0,0,0,0
$GC,8910,1.30,199.1,59.4,6.5,515,8944,0.10,2.70,28.00,0.500,4,0.072,0.050,3435,395,1822,0,0,0,0,0,0
$GC,8962,1.30,201.2,55.1,7.9,520,8966,0.00,2.45,0.00,0.000,6,0.000,0.020,3435,1806,1819,0,0,0,0,0,0
$GC,9231,1.34,237.6,33.1,6.4,545,9271,0.00,2.70,33.40,0.479,4,0.000,0.048,3435,384,1664,0,0,0,0,0,0
$GC,9328,1.34,237.6,25.2,9.5,560,9334,0.00,2.47,0.00,0.000,6,0.000,0.019,3435,1801,1659,0,0,0,0,0,0
$GC,9530,1.34,237.6,7.8,8.1,597,9536,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1804,1659,0,0,0,0,0,0
$STATE,9590,end climb,SURFACE_DEPTH_REACHED
$STATE,9590,begin surface coast
$FINISH,1.0,0.999577
$STATE,9629,end surface coast,CONTROL_FINISHED_OK
$STATE,9629,begin surface
$SM_CCo,9654,47.78,0.451,0,0,1288,330.17
$SM_GC,1.64,0.00,0.00,47.78,0.000,0.000,0.451,429,2152,1288,-12.46,1.44,330.17
$IRIDIUM_FIX,2031.77,-15757.37,120800,232336
$TT8_MAMPS,0.028379
$HUMID,59.21
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,20.50
$XPDR_PINGS,9
$24V_AH,23.5,32.029
$10V_AH,10.4,30.305
$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,28.625,102.000,297.400,47.775,0.000,28.699,32.818,196.025,6.750,0.000,11.982,1114.269,6390.649,414.728,1659.673,504.017,33.359,1119.490,0.000,1647.700,0.000,31.192,0.000
$DEVICE_MAMPS,135.759,59.826,811.486,450.996,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,415.984,406.956,895.276,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,34967,615
$CAP_FILE_SIZE,97159,0
$CFSIZE,260165632,237469696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200511,051636,2040.821,-15755.535,14,0.8,31,9.7