version: 66.06
glider: 139
mission: 9
dive: 414
start: 5 22 111 4 4 59
data:
$ID,139
$MISSION,9
$DIVE,414
$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,-2184564.5
$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,18
$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
$GPS1,035306,2049.327,-15801.281,20,0.8,35,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-72.5
$GPS2,040407,2049.396,-15801.277,18,1.5,35,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.061,0.213
$KALMAN_X,50753.8,-157.1,277.9,-62288.6,617.5
$KALMAN_Y,-32676.7,197.7,5.0,56114.9,-772.0
$MHEAD_RNG_PITCHd_Wd,334.3,35099,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.20,-116.8,0.0,0.0,0,83,0.00,0.00,-65.00,0.000,2,0.000,0.000,430,2158,2996,0,0,0,0,0,0
$GC,87,-1.20,-116.8,3.3,-4.4,12,112,13.02,2.35,-2.30,0.000,4,0.133,0.047,2868,3452,3114,0,0,0,0,0,0
$GC,280,-1.20,-116.8,47.8,-17.3,45,284,0.00,2.42,0.00,0.000,6,0.000,0.033,2868,2087,3115,0,0,0,0,0,0
$GC,543,-1.20,-116.8,88.3,-12.4,69,547,0.00,2.53,0.00,0.000,4,0.000,0.042,2868,685,3116,0,0,0,0,0,0
$GC,605,-1.20,-116.8,96.7,-14.0,75,610,0.00,2.33,0.00,0.000,6,0.000,0.019,2868,2062,3116,0,0,0,0,0,0
$GC,870,-1.20,-116.8,130.3,-11.6,99,875,0.00,2.55,0.00,0.000,4,0.000,0.035,2868,3503,3117,0,0,0,0,0,0
$GC,889,-1.20,-116.8,133.3,-12.1,100,896,0.00,2.50,0.00,0.000,6,0.000,0.032,2868,2094,3117,0,0,0,0,0,0
$GC,1154,-1.20,-116.8,161.0,-9.1,125,1158,0.00,2.45,0.00,0.000,4,0.000,0.035,2868,3494,3118,0,0,0,0,0,0
$GC,1242,-1.20,-116.8,170.5,-10.8,134,1246,0.00,2.47,0.00,0.000,6,0.000,0.034,2868,2094,3118,0,0,0,0,0,0
$GC,1505,-1.20,-116.8,197.1,-8.6,158,1509,0.00,2.50,0.00,0.000,4,0.000,0.043,2868,690,3118,0,0,0,0,0,0
$GC,1524,-1.20,-116.8,199.1,-9.2,159,1529,0.00,2.38,0.00,0.000,6,0.000,0.021,2867,2098,3118,0,0,0,0,0,0
$GC,1789,-1.20,-116.8,224.1,-9.4,173,1794,0.00,2.53,0.00,0.000,4,0.000,0.043,2868,690,3118,0,0,0,0,0,0
$GC,1849,-1.20,-116.8,230.5,-9.8,175,1855,0.00,2.40,0.00,0.000,6,0.000,0.021,2868,2107,3118,0,0,0,0,0,0
$GC,2167,-1.20,-116.8,257.2,-7.9,191,2171,0.00,2.50,0.00,0.000,4,0.000,0.041,2868,3498,3116,0,0,0,0,0,0
$GC,2217,-1.20,-116.8,262.4,-9.7,193,2222,0.00,2.47,0.00,0.000,6,0.000,0.036,2868,2101,3117,0,0,0,0,0,0
$GC,2540,-1.20,-116.8,288.0,-7.3,209,2544,0.00,2.50,0.00,0.000,4,0.000,0.041,2868,3495,3116,0,0,0,0,0,0
$GC,2573,-1.20,-116.8,290.6,-7.0,210,2577,0.00,2.50,0.00,0.000,6,0.000,0.038,2867,2091,3116,0,0,0,0,0,0
$GC,2886,-1.20,-116.8,312.5,-7.1,221,2890,0.00,2.55,0.00,0.000,4,0.000,0.048,2868,686,3115,0,0,0,0,0,0
$GC,2924,-1.20,-116.8,315.8,-9.0,221,2930,0.00,2.45,0.00,0.000,6,0.000,0.025,2867,2107,3115,0,0,0,0,0,0
$GC,3255,-1.20,-116.8,337.6,-6.1,230,3260,0.00,2.55,0.00,0.000,4,0.000,0.048,2868,688,3113,0,0,0,0,0,0
$GC,3385,-1.20,-116.8,346.4,-6.5,232,3391,0.00,2.42,0.00,0.000,6,0.000,0.025,2868,2099,3112,0,0,0,0,0,0
$GC,3717,-1.20,-116.8,368.4,-7.0,241,3721,0.00,2.58,0.00,0.000,4,0.000,0.049,2868,684,3110,0,0,0,0,0,0
$GC,3745,-1.20,-116.8,370.6,-7.6,241,3750,0.00,2.45,0.00,0.000,6,0.000,0.026,2868,2102,3110,0,0,0,0,0,0
$GC,4082,-1.20,-116.8,393.5,-6.6,250,4086,0.00,2.58,0.00,0.000,4,0.000,0.051,2867,693,3107,0,0,0,0,0,0
$GC,4120,-1.20,-116.8,396.4,-7.5,250,4125,0.00,2.42,0.00,0.000,6,0.000,0.027,2868,2098,3107,0,0,0,0,0,0
$GC,4451,-1.20,-116.8,419.2,-6.8,259,4456,0.00,2.58,0.00,0.000,4,0.000,0.052,2868,695,3105,0,0,0,0,0,0
$GC,4572,-1.20,-116.8,428.4,-7.5,261,4576,0.00,2.45,0.00,0.000,6,0.000,0.028,2867,2100,3104,0,0,0,0,0,0
$GC,4912,-1.20,-116.8,449.8,-5.6,270,4917,0.00,2.60,0.00,0.000,4,0.000,0.054,2867,689,3102,0,0,0,0,0,0
$STATE,4920,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4920,begin apogee
$GC,4929,-0.31,0.0,450.3,5.1,270,5027,0.93,0.00,94.38,0.821,6,0.083,0.000,3062,1812,2635,0,0,0,0,0,0
$STATE,5028,end apogee,CONTROL_FINISHED_OK
$STATE,5028,begin climb
$GC,5030,1.20,116.8,451.0,0.0,272,5138,1.50,0.00,100.47,0.800,6,0.054,0.000,3394,1812,2158,0,0,0,0,0,0
$GC,5438,1.20,116.8,401.4,12.6,282,5443,0.00,2.67,0.00,0.000,4,0.000,0.061,3394,399,2147,0,0,0,0,0,0
$GC,5453,1.20,116.8,399.4,12.3,282,5457,0.00,2.47,0.00,0.000,6,0.000,0.026,3394,1803,2145,0,0,0,0,0,0
$GC,5803,1.20,116.8,358.9,11.1,291,5808,0.00,2.67,0.00,0.000,4,0.000,0.060,3394,400,2142,0,0,0,0,0,0
$GC,5827,1.20,116.8,355.6,13.6,291,5832,0.00,2.45,0.00,0.000,6,0.000,0.026,3394,1797,2140,0,0,0,0,0,0
$GC,6168,1.20,116.8,316.6,11.0,300,6172,0.00,2.62,0.00,0.000,4,0.000,0.060,3394,400,2139,0,0,0,0,0,0
$GC,6196,1.20,116.8,312.8,13.2,300,6200,0.00,2.47,0.00,0.000,6,0.000,0.027,3394,1807,2138,0,0,0,0,0,0
$GC,6516,1.20,116.8,276.6,10.9,313,6518,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1811,2138,0,0,0,0,0,0
$GC,6825,1.20,121.2,249.8,7.8,328,6829,0.00,2.50,0.00,0.000,4,0.000,0.042,3394,3201,2136,0,0,0,0,0,0
$GC,6893,1.20,121.2,244.5,8.1,331,6897,0.00,2.60,0.00,0.000,6,0.000,0.046,3395,1797,2136,0,0,0,0,0,0
$GC,7224,1.20,121.2,217.0,8.3,347,7228,0.00,2.58,0.00,0.000,4,0.000,0.038,3394,3207,2135,0,0,0,0,0,0
$GC,7279,1.22,134.1,212.3,7.4,349,7297,0.00,2.60,12.18,0.614,6,0.000,0.045,3394,1800,2087,0,0,0,0,0,0
$GC,7622,1.22,134.1,182.6,9.5,374,7626,0.00,2.60,0.00,0.000,4,0.000,0.058,3395,394,2084,0,0,0,0,0,0
$GC,7676,1.22,134.1,177.1,10.6,379,7680,0.00,2.45,0.00,0.000,6,0.000,0.025,3394,1802,2082,0,0,0,0,0,0
$GC,7941,1.22,134.1,153.9,8.2,403,7946,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1806,2082,0,0,0,0,0,0
$GC,8202,1.22,138.1,133.3,7.8,428,8213,0.00,2.50,4.28,0.399,4,0.000,0.035,3394,3205,2071,0,0,0,0,0,0
$GC,8244,1.22,138.1,130.1,8.3,432,8248,0.00,2.55,0.00,0.000,6,0.000,0.041,3394,1800,2071,0,0,0,0,0,0
$GC,8507,1.26,173.1,110.9,6.4,456,8544,0.00,2.58,31.90,0.557,4,0.000,0.031,3394,3201,1928,0,0,0,0,0,0
$GC,8583,1.28,188.0,105.7,7.3,464,8604,0.10,2.58,14.43,0.521,6,0.073,0.041,3430,1796,1868,0,0,0,0,0,0
$GC,8858,1.28,188.0,79.4,9.2,490,8859,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,1796,1862,0,0,0,0,0,0
$GC,9115,1.28,188.0,54.5,10.6,514,9119,0.00,2.58,0.00,0.000,4,0.000,0.053,3429,389,1862,0,0,0,0,0,0
$GC,9210,1.28,188.0,44.7,11.1,524,9214,0.00,2.42,0.00,0.000,6,0.000,0.021,3429,1803,1859,0,0,0,0,0,0
$GC,9478,1.32,216.2,20.5,6.7,558,9508,0.00,2.72,24.30,0.469,4,0.000,0.050,3430,389,1752,0,0,0,0,0,0
$GC,9537,1.32,216.2,16.2,8.3,569,9543,0.00,2.47,0.00,0.000,6,0.000,0.020,3430,1800,1748,0,0,0,0,0,0
$STATE,9701,end climb,SURFACE_DEPTH_REACHED
$STATE,9701,begin surface coast
$FINISH,1.0,1.010958
$STATE,9734,end surface coast,CONTROL_FINISHED_OK
$STATE,9734,begin surface
$SM_CCo,9758,57.55,0.459,0,0,1288,330.17
$SM_GC,1.77,0.00,0.00,57.55,0.000,0.000,0.459,431,2129,1288,-12.45,0.82,330.17
$IRIDIUM_FIX,2040.99,-15758.64,150800,040444
$TT8_MAMPS,0.027612
$HUMID,60.08
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,20.60
$XPDR_PINGS,20
$24V_AH,23.5,33.493
$10V_AH,10.4,31.671
$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,28.400,120.550,281.925,57.550,0.000,53.827,65.279,322.196,9.500,0.000,35.322,1118.923,6528.015,407.641,1704.290,718.921,33.355,1145.029,0.000,1673.625,0.000,29.255,0.000
$DEVICE_MAMPS,133.458,60.593,821.457,458.666,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,409.295,403.069,870.303,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355776
$DATA_FILE_SIZE,34946,605
$CAP_FILE_SIZE,106772,0
$CFSIZE,260165632,236605440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220511,065000,2050.480,-15801.365,45,1.4,45,9.8