version: 66.06
glider: 139
mission: 9
dive: 434
start: 5 24 111 14 28 56
data:
$ID,139
$MISSION,9
$DIVE,434
$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,-2185022.2
$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,59
$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
$GPS1,142121,2106.854,-15802.494,43,5.5,62,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-69.9
$GPS2,142804,2106.812,-15802.567,16,6.2,35,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.153,0.160
$KALMAN_X,48543.5,-29.4,402.4,-62571.2,-1391.7
$KALMAN_Y,-46775.1,5.3,-359.8,103028.0,-725.9
$MHEAD_RNG_PITCHd_Wd,34.0,2949,-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,-116.8,0.0,0.0,0,89,0.00,0.00,-69.80,0.000,6,0.000,0.000,428,2121,3113,0,0,0,0,0,0
$GC,93,-1.19,-116.8,3.4,-4.2,13,111,13.07,0.00,0.00,0.000,6,0.133,0.000,2871,2120,3115,0,0,0,0,0,0
$GC,308,-1.19,-116.8,48.7,-18.4,43,312,0.00,2.38,0.00,0.000,4,0.000,0.032,2871,3481,3117,0,0,0,0,0,0
$GC,366,-1.19,-116.8,59.6,-14.9,49,373,0.00,2.50,0.00,0.000,6,0.000,0.035,2871,2087,3118,0,0,0,0,0,0
$GC,628,-1.19,-116.8,93.0,-13.6,74,632,0.00,2.47,0.00,0.000,4,0.000,0.034,2871,3485,3118,0,0,0,0,0,0
$GC,692,-1.19,-116.8,102.1,-12.3,80,699,0.00,2.47,0.00,0.000,6,0.000,0.035,2871,2100,3118,0,0,0,0,0,0
$GC,955,-1.19,-116.8,130.9,-11.2,105,960,0.00,2.55,0.00,0.000,4,0.000,0.044,2871,689,3119,0,0,0,0,0,0
$GC,1053,-1.19,-116.8,142.2,-12.4,115,1058,0.00,2.38,0.00,0.000,6,0.000,0.020,2871,2090,3119,0,0,0,0,0,0
$GC,1321,-1.19,-116.8,168.3,-10.3,140,1326,0.00,2.50,0.00,0.000,4,0.000,0.043,2871,684,3120,0,0,0,0,0,0
$GC,1338,-1.19,-116.8,170.2,-10.3,141,1342,0.00,2.40,0.00,0.000,6,0.000,0.021,2871,2105,3120,0,0,0,0,0,0
$GC,1603,-1.19,-116.8,194.7,-8.8,165,1608,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2106,3120,0,0,0,0,0,0
$GC,1871,-1.19,-116.8,220.5,-9.2,181,1875,0.00,2.55,0.00,0.000,4,0.000,0.044,2870,685,3120,0,0,0,0,0,0
$GC,1976,-1.19,-116.8,231.1,-9.3,185,1982,0.00,2.40,0.00,0.000,6,0.000,0.022,2871,2107,3120,0,0,0,0,0,0
$GC,2294,-1.19,-116.8,257.8,-8.7,201,2298,0.00,2.53,0.00,0.000,4,0.000,0.045,2871,691,3119,0,0,0,0,0,0
$GC,2314,-1.19,-116.8,259.9,-9.4,202,2321,0.00,2.40,0.00,0.000,6,0.000,0.023,2872,2101,3119,0,0,0,0,0,0
$GC,2654,-1.19,-116.8,287.2,-7.9,218,2658,0.00,2.55,0.00,0.000,4,0.000,0.047,2871,688,3118,0,0,0,0,0,0
$GC,2775,-1.19,-116.8,297.4,-9.0,223,2779,0.00,2.42,0.00,0.000,6,0.000,0.025,2871,2101,3118,0,0,0,0,0,0
$GC,3092,-1.19,-116.8,319.5,-6.7,232,3096,0.00,2.53,0.00,0.000,4,0.000,0.046,2871,3506,3117,0,0,0,0,0,0
$GC,3147,-1.19,-116.8,324.0,-7.8,233,3152,0.00,2.50,0.00,0.000,6,0.000,0.040,2871,2098,3117,0,0,0,0,0,0
$GC,3462,-1.19,-116.8,345.7,-7.0,241,3466,0.00,2.58,0.00,0.000,4,0.000,0.051,2871,691,3115,0,0,0,0,0,0
$GC,3486,-1.19,-116.8,347.4,-7.1,241,3490,0.00,2.45,0.00,0.000,6,0.000,0.026,2871,2106,3115,0,0,0,0,0,0
$GC,3828,-1.19,-116.8,370.0,-6.7,250,3833,0.00,2.58,0.00,0.000,4,0.000,0.051,2871,695,3113,0,0,0,0,0,0
$GC,3875,-1.19,-116.8,373.9,-8.4,251,3879,0.00,2.45,0.00,0.000,6,0.000,0.027,2871,2110,3113,0,0,0,0,0,0
$GC,4199,-1.19,-116.8,395.8,-6.8,259,4200,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2112,3111,0,0,0,0,0,0
$GC,4523,-1.19,-116.8,415.7,-6.0,267,4528,0.00,2.60,0.00,0.000,4,0.000,0.053,2871,693,3108,0,0,0,0,0,0
$GC,4642,-1.19,-116.8,424.5,-7.0,269,4646,0.00,2.45,0.00,0.000,6,0.000,0.028,2871,2099,3107,0,0,0,0,0,0
$GC,4982,-1.19,-116.8,448.2,-7.8,278,4983,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2099,3105,0,0,0,0,0,0
$STATE,5020,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5020,begin apogee
$GC,5027,-0.31,0.0,451.6,8.2,279,5126,0.95,0.00,95.72,0.825,6,0.081,0.000,3066,1790,2635,0,0,0,0,0,0
$STATE,5127,end apogee,CONTROL_FINISHED_OK
$STATE,5127,begin climb
$GC,5130,1.19,116.8,454.7,0.0,281,5236,1.52,0.00,101.65,0.805,6,0.054,0.000,3400,1790,2158,0,0,0,0,0,0
$GC,5548,1.19,116.8,402.6,14.3,292,5552,0.00,2.62,0.00,0.000,4,0.000,0.044,3400,3205,2147,0,0,0,0,0,0
$GC,5585,1.19,116.8,397.5,12.9,292,5591,0.00,2.65,0.00,0.000,6,0.000,0.053,3400,1805,2147,0,0,0,0,0,0
$GC,5917,1.19,116.8,357.7,11.6,301,5918,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,1804,2143,0,0,0,0,0,0
$GC,6241,1.19,116.8,320.9,11.3,309,6246,0.00,2.67,0.00,0.000,4,0.000,0.062,3400,393,2140,0,0,0,0,0,0
$GC,6260,1.19,116.8,318.4,12.7,309,6265,0.00,2.47,0.00,0.000,6,0.000,0.028,3400,1801,2138,0,0,0,0,0,0
$GC,6589,1.19,116.8,283.5,11.2,321,6594,0.00,2.53,0.00,0.000,4,0.000,0.042,3401,3203,2137,0,0,0,0,0,0
$GC,6663,1.19,116.8,274.8,11.4,324,6668,0.00,2.62,0.00,0.000,6,0.000,0.048,3401,1793,2138,0,0,0,0,0,0
$GC,6983,1.19,116.8,241.1,9.8,340,6988,0.00,2.58,0.00,0.000,4,0.000,0.039,3401,3207,2136,0,0,0,0,0,0
$GC,7058,1.19,116.8,233.7,9.4,343,7063,0.00,2.60,0.00,0.000,6,0.000,0.046,3400,1797,2135,0,0,0,0,0,0
$GC,7380,1.19,116.8,204.4,8.6,359,7384,0.00,2.60,0.00,0.000,4,0.000,0.057,3400,389,2134,0,0,0,0,0,0
$GC,7470,1.19,116.8,195.4,10.4,365,7474,0.00,2.45,0.00,0.000,6,0.000,0.024,3401,1805,2132,0,0,0,0,0,0
$GC,7734,1.19,116.8,171.4,9.0,389,7739,0.00,2.45,0.00,0.000,4,0.000,0.035,3401,3204,2132,0,0,0,0,0,0
$GC,7779,1.19,116.8,167.3,9.1,393,7783,0.00,2.55,0.00,0.000,6,0.000,0.041,3400,1796,2132,0,0,0,0,0,0
$GC,8043,1.19,116.8,146.9,8.2,417,8048,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,1796,2131,0,0,0,0,0,0
$GC,8305,1.21,125.3,128.2,7.6,442,8309,0.00,2.53,0.00,0.000,4,0.000,0.031,3401,3208,2132,0,0,0,0,0,0
$GC,8369,1.21,125.3,122.7,8.5,448,8379,0.00,2.58,3.97,0.372,6,0.000,0.040,3400,1804,2123,0,0,0,0,0,0
$GC,8641,1.21,125.3,99.7,9.1,474,8645,0.00,2.58,0.00,0.000,4,0.000,0.051,3400,391,2123,0,0,0,0,0,0
$GC,8705,1.21,125.3,93.5,9.6,480,8712,0.00,2.45,0.00,0.000,6,0.000,0.021,3400,1805,2121,0,0,0,0,0,0
$GC,8970,1.24,153.6,75.1,6.7,505,9003,0.00,2.55,25.98,0.519,4,0.000,0.030,3401,3203,2007,0,0,0,0,0,0
$GC,9029,1.26,169.3,70.8,7.3,511,9050,0.00,2.55,15.25,0.493,6,0.000,0.036,3401,1791,1944,0,0,0,0,0,0
$GC,9305,1.26,169.3,46.8,8.3,537,9306,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,1791,1939,0,0,0,0,0,0
$GC,9560,1.29,198.1,32.6,6.7,561,9591,0.00,2.53,25.12,0.476,4,0.000,0.025,3400,3204,1826,0,0,0,0,0,0
$GC,9608,1.29,198.1,28.1,9.8,567,9614,0.00,2.60,0.00,0.000,6,0.000,0.036,3401,1795,1826,0,0,0,0,0,0
$GC,9810,1.29,198.1,10.1,10.2,604,9817,0.00,2.60,0.00,0.000,4,0.000,0.050,3400,392,1823,0,0,0,0,0,0
$GC,9833,1.29,198.1,7.9,9.6,608,9840,0.00,2.45,0.00,0.000,6,0.000,0.019,3401,1803,1820,0,0,0,0,0,0
$STATE,9889,end climb,SURFACE_DEPTH_REACHED
$STATE,9889,begin surface coast
$FINISH,1.1,1.023074
$STATE,9922,end surface coast,CONTROL_FINISHED_OK
$STATE,9922,begin surface
$SM_CCo,9947,66.10,0.456,0,0,1288,330.17
$SM_GC,1.75,0.00,0.00,66.10,0.000,0.000,0.456,425,2134,1288,-12.48,0.96,330.17
$IRIDIUM_FIX,2057.14,-15801.19,170800,111155
$TT8_MAMPS,0.029146
$HUMID,57.60
$INTERNAL_PRESSURE,9.62581
$TCM_TEMP,21.90
$XPDR_PINGS,24
$24V_AH,23.5,35.262
$10V_AH,10.4,33.288
$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,28.275,111.850,267.700,66.100,0.000,26.215,34.623,173.106,10.500,0.000,36.892,1146.196,6577.849,441.411,1733.436,517.152,33.356,1165.986,0.000,1704.080,0.000,29.258,0.000
$DEVICE_MAMPS,133.458,62.127,825.292,455.598,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,422.563,419.260,910.303,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,34923,624
$CAP_FILE_SIZE,100718,0
$CFSIZE,260165632,235630592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,240511,171704,2107.689,-15802.122,15,8.8,34,9.8