version: 66.06
glider: 139
mission: 9
dive: 416
start: 5 22 111 10 1 1
data:
$ID,139
$MISSION,9
$DIVE,416
$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,-2184595.5
$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,35
$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
$GPS1,095306,2051.553,-15801.463,30,1.4,46,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-73.4
$GPS2,100008,2051.588,-15801.483,12,1.5,12,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.112,0.191
$KALMAN_X,52241.7,11.8,-324.5,-63702.0,1217.0
$KALMAN_Y,-33592.0,366.1,61.3,60873.6,-786.7
$MHEAD_RNG_PITCHd_Wd,319.7,31029,-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,16,-1.19,-116.8,0.0,0.0,0,83,0.00,0.00,-64.40,0.000,2,0.000,0.000,426,2096,2976,0,0,0,0,0,0
$GC,86,-1.19,-116.8,3.3,-4.0,12,111,13.15,2.58,-2.75,0.000,4,0.135,0.048,2871,3505,3114,0,0,0,0,0,0
$GC,360,-1.19,-116.8,59.7,-13.7,54,366,0.00,2.53,0.00,0.000,6,0.000,0.031,2871,2089,3116,0,0,0,0,0,0
$GC,622,-1.19,-116.8,93.4,-12.5,79,627,0.00,2.50,0.00,0.000,4,0.000,0.033,2871,3503,3117,0,0,0,0,0,0
$GC,649,-1.19,-116.8,96.8,-13.5,81,653,0.00,2.47,0.00,0.000,6,0.000,0.032,2871,2101,3118,0,0,0,0,0,0
$GC,915,-1.19,-116.8,128.5,-11.9,105,919,0.00,2.47,0.00,0.000,4,0.000,0.033,2871,3510,3119,0,0,0,0,0,0
$GC,941,-1.19,-116.8,131.8,-10.7,107,946,0.00,2.50,0.00,0.000,6,0.000,0.033,2870,2099,3119,0,0,0,0,0,0
$GC,1206,-1.19,-116.8,159.1,-10.3,131,1211,0.00,2.45,0.00,0.000,4,0.000,0.035,2871,3504,3119,0,0,0,0,0,0
$GC,1221,-1.19,-116.8,161.2,-10.4,132,1227,0.00,2.50,0.00,0.000,6,0.000,0.034,2871,2101,3119,0,0,0,0,0,0
$GC,1487,-1.19,-116.8,186.8,-9.7,157,1491,0.00,2.55,0.00,0.000,4,0.000,0.044,2871,686,3119,0,0,0,0,0,0
$GC,1540,-1.19,-116.8,192.6,-10.5,162,1545,0.00,2.42,0.00,0.000,6,0.000,0.021,2871,2111,3119,0,0,0,0,0,0
$GC,1806,-1.19,-116.8,216.3,-8.6,178,1811,0.00,2.55,0.00,0.000,4,0.000,0.044,2870,684,3119,0,0,0,0,0,0
$GC,2057,-1.19,-116.8,242.6,-10.8,189,2061,0.00,2.42,0.00,0.000,6,0.000,0.021,2870,2102,3119,0,0,0,0,0,0
$GC,2391,-1.19,-116.8,270.8,-7.2,205,2395,0.00,2.55,0.00,0.000,4,0.000,0.044,2870,686,3119,0,0,0,0,0,0
$GC,2532,-1.19,-116.8,283.0,-8.8,211,2537,0.00,2.45,0.00,0.000,6,0.000,0.024,2870,2108,3118,0,0,0,0,0,0
$GC,2852,-1.19,-116.8,308.1,-8.2,225,2856,0.00,2.55,0.00,0.000,4,0.000,0.047,2870,694,3117,0,0,0,0,0,0
$GC,2866,-1.19,-116.8,309.4,-8.0,225,2871,0.00,2.40,0.00,0.000,6,0.000,0.025,2870,2103,3117,0,0,0,0,0,0
$GC,3216,-1.19,-116.8,335.5,-6.9,234,3218,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2103,3116,0,0,0,0,0,0
$GC,3542,-1.19,-116.8,359.6,-7.3,242,3547,0.00,2.55,0.00,0.000,4,0.000,0.049,2870,692,3114,0,0,0,0,0,0
$GC,3562,-1.19,-116.8,361.2,-7.3,242,3566,0.00,2.45,0.00,0.000,6,0.000,0.027,2870,2106,3113,0,0,0,0,0,0
$GC,3912,-1.19,-116.8,385.1,-6.6,251,3913,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2106,3111,0,0,0,0,0,0
$GC,4237,-1.19,-116.8,404.1,-5.4,259,4242,0.00,2.55,0.00,0.000,4,0.000,0.050,2870,3497,3109,0,0,0,0,0,0
$GC,4252,-1.19,-116.8,405.1,-5.4,259,4256,0.00,2.53,0.00,0.000,6,0.000,0.043,2870,2097,3108,0,0,0,0,0,0
$GC,4602,-1.19,-116.8,428.7,-7.0,268,4606,0.00,2.60,0.00,0.000,4,0.000,0.053,2871,684,3106,0,0,0,0,0,0
$GC,4622,-1.19,-116.8,430.1,-6.9,268,4626,0.00,2.47,0.00,0.000,6,0.000,0.028,2870,2103,3106,0,0,0,0,0,0
$STATE,4924,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4924,begin apogee
$GC,4931,-0.31,0.0,451.3,6.7,276,5029,0.95,0.00,94.75,0.821,6,0.081,0.000,3068,1793,2635,0,0,0,0,0,0
$STATE,5030,end apogee,CONTROL_FINISHED_OK
$STATE,5030,begin climb
$GC,5033,1.19,116.8,453.0,0.0,278,5145,1.48,2.65,100.03,0.802,4,0.054,0.043,3395,3201,2157,0,0,0,0,0,0
$GC,5164,1.19,116.8,441.0,12.2,281,5169,0.00,2.65,0.00,0.000,6,0.000,0.052,3394,1809,2156,0,0,0,0,0,0
$GC,5488,1.19,116.8,400.7,12.5,289,5492,0.00,2.67,0.00,0.000,4,0.000,0.062,3394,390,2146,0,0,0,0,0,0
$GC,5526,1.19,116.8,395.3,14.0,289,5531,0.00,2.50,0.00,0.000,6,0.000,0.027,3394,1801,2143,0,0,0,0,0,0
$GC,5857,1.19,116.8,357.4,11.1,298,5861,0.00,2.58,0.00,0.000,4,0.000,0.044,3394,3211,2141,0,0,0,0,0,0
$GC,5900,1.19,116.8,353.0,10.3,299,5905,0.00,2.65,0.00,0.000,6,0.000,0.050,3395,1798,2141,0,0,0,0,0,0
$GC,6228,1.19,116.8,321.3,9.7,307,6232,0.00,2.60,0.00,0.000,4,0.000,0.041,3395,3211,2139,0,0,0,0,0,0
$GC,6262,1.19,116.8,318.2,9.4,307,6267,0.00,2.62,0.00,0.000,6,0.000,0.048,3394,1799,2139,0,0,0,0,0,0
$GC,6578,1.19,116.8,286.1,11.0,317,6579,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1798,2138,0,0,0,0,0,0
$GC,6884,1.19,116.8,253.6,9.0,332,6888,0.00,2.62,0.00,0.000,4,0.000,0.061,3394,390,2136,0,0,0,0,0,0
$GC,6935,1.19,116.8,248.4,9.5,334,6940,0.00,2.47,0.00,0.000,6,0.000,0.027,3394,1800,2134,0,0,0,0,0,0
$GC,7256,1.19,116.8,221.0,9.1,350,7260,0.00,2.65,0.00,0.000,4,0.000,0.059,3394,388,2134,0,0,0,0,0,0
$GC,7277,1.19,116.8,218.9,10.5,351,7282,0.00,2.50,0.00,0.000,6,0.000,0.026,3394,1810,2133,0,0,0,0,0,0
$GC,7602,1.19,116.8,188.3,9.1,372,7607,0.00,2.67,0.00,0.000,4,0.000,0.057,3394,391,2133,0,0,0,0,0,0
$GC,7639,1.19,116.8,184.3,9.7,375,7644,0.00,2.47,0.00,0.000,6,0.000,0.025,3394,1804,2132,0,0,0,0,0,0
$GC,7900,1.19,116.8,163.8,8.2,400,7904,0.00,2.50,0.00,0.000,4,0.000,0.037,3395,3207,2133,0,0,0,0,0,0
$GC,7917,1.19,116.8,162.3,8.8,401,7922,0.00,2.58,0.00,0.000,6,0.000,0.041,3394,1800,2133,0,0,0,0,0,0
$GC,8182,1.19,116.8,141.7,8.1,425,8186,0.00,2.53,0.00,0.000,4,0.000,0.036,3395,3209,2133,0,0,0,0,0,0
$GC,8237,1.19,116.8,136.9,8.1,430,8244,0.00,2.60,0.00,0.000,6,0.000,0.041,3394,1798,2132,0,0,0,0,0,0
$GC,8502,1.21,130.1,119.0,7.4,455,8512,0.00,0.00,8.12,0.488,6,0.000,0.000,3394,1797,2104,0,0,0,0,0,0
$GC,8765,1.22,135.4,98.1,7.8,480,8777,0.00,2.55,6.38,0.448,4,0.000,0.031,3395,3213,2082,0,0,0,0,0,0
$GC,8827,1.22,135.4,93.1,8.0,486,8834,0.00,2.62,0.00,0.000,6,0.000,0.040,3394,1795,2082,0,0,0,0,0,0
$GC,9092,1.23,144.4,75.2,7.6,511,9107,0.00,2.60,9.32,0.470,4,0.000,0.053,3394,388,2045,0,0,0,0,0,0
$GC,9154,1.23,144.4,69.8,9.2,517,9158,0.00,2.47,0.00,0.000,6,0.000,0.021,3394,1814,2042,0,0,0,0,0,0
$GC,9419,1.28,189.7,53.4,5.9,541,9462,0.10,0.00,39.97,0.505,6,0.072,0.000,3433,1819,1860,0,0,0,0,0,0
$GC,9714,1.28,189.7,29.7,8.7,569,9720,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,1820,1856,0,0,0,0,0,0
$GC,9918,1.28,189.7,13.4,8.7,606,9925,0.00,2.67,0.00,0.000,4,0.000,0.050,3432,391,1855,0,0,0,0,0,0
$GC,9958,1.28,190.2,10.2,8.0,614,9965,0.00,2.45,0.00,0.000,6,0.000,0.019,3432,1805,1853,0,0,0,0,0,0
$STATE,10072,end climb,SURFACE_DEPTH_REACHED
$STATE,10072,begin surface coast
$FINISH,1.0,1.022811
$STATE,10120,end surface coast,CONTROL_FINISHED_OK
$STATE,10120,begin surface
$SM_CCo,10144,71.18,0.457,0,0,1289,330.17
$SM_GC,1.60,0.00,0.00,71.18,0.000,0.000,0.457,429,2124,1289,-12.46,0.68,330.17
$IRIDIUM_FIX,2040.99,-15801.64,150800,070736
$TT8_MAMPS,0.029146
$HUMID,58.86
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,20.70
$XPDR_PINGS,15
$24V_AH,23.5,33.675
$10V_AH,10.4,31.839
$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,28.525,117.975,258.575,71.175,0.000,28.080,39.119,231.102,8.250,0.000,12.577,1194.464,6679.062,408.754,1795.155,560.639,33.357,1174.949,0.000,1779.555,0.000,29.266,0.000
$DEVICE_MAMPS,134.992,62.127,820.690,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,435.908,428.230,955.118,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355844
$DATA_FILE_SIZE,34971,643
$CAP_FILE_SIZE,105322,0
$CFSIZE,260165632,236511232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220511,125257,2052.191,-15801.711,41,4.3,60,9.8