version: 66.06
glider: 139
mission: 9
dive: 342
start: 5 14 111 14 52 56
data:
$ID,139
$MISSION,9
$DIVE,342
$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,-2183009.5
$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,17
$R_STBD_OVSHOOT,38
$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
$GPS1,144622,2051.375,-15747.888,13,2.4,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-72.4
$GPS2,145204,2051.349,-15747.836,14,2.6,33,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.041,0.218
$KALMAN_X,-205428.3,436.1,-152.3,209989.1,520.9
$KALMAN_Y,-76289.2,-159.1,150.7,40348.8,-3701.7
$MHEAD_RNG_PITCHd_Wd,0.9,39919,-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,-116.8,0.0,0.0,0,88,0.00,0.00,-69.95,0.000,6,0.000,0.000,429,2105,3112,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.4,-4.0,13,109,13.12,2.47,0.00,0.000,4,0.136,0.031,2870,3502,3114,0,0,0,0,0,0
$GC,221,-1.19,-116.8,34.2,-18.4,39,225,0.00,2.47,0.00,0.000,6,0.000,0.033,2870,2092,3116,0,0,0,0,0,0
$GC,483,-1.19,-116.8,77.6,-15.1,63,487,0.00,2.47,0.00,0.000,4,0.000,0.031,2870,3506,3117,0,0,0,0,0,0
$GC,493,-1.19,-116.8,79.4,-15.0,63,499,0.00,2.50,0.00,0.000,6,0.000,0.031,2870,2096,3118,0,0,0,0,0,0
$GC,756,-1.19,-116.8,115.7,-13.7,88,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2096,3118,0,0,0,0,0,0
$GC,1010,-1.19,-116.8,144.7,-11.3,112,1014,0.00,2.53,0.00,0.000,4,0.000,0.041,2870,688,3119,0,0,0,0,0,0
$GC,1081,-1.19,-116.8,152.3,-10.8,119,1085,0.00,2.40,0.00,0.000,6,0.000,0.020,2870,2110,3119,0,0,0,0,0,0
$GC,1346,-1.19,-116.8,178.8,-10.6,143,1350,0.00,2.55,0.00,0.000,4,0.000,0.042,2870,686,3119,0,0,0,0,0,0
$GC,1419,-1.19,-116.8,187.7,-11.6,150,1426,0.00,2.42,0.00,0.000,6,0.000,0.021,2870,2092,3119,0,0,0,0,0,0
$GC,1688,-1.19,-116.8,213.6,-9.1,169,1692,0.00,2.50,0.00,0.000,4,0.000,0.038,2870,3504,3120,0,0,0,0,0,0
$GC,1703,-1.19,-116.8,215.1,-9.0,169,1708,0.00,2.47,0.00,0.000,6,0.000,0.034,2870,2099,3120,0,0,0,0,0,0
$GC,2020,-1.19,-116.8,237.6,-7.4,185,2024,0.00,2.47,0.00,0.000,4,0.000,0.038,2870,3503,3120,0,0,0,0,0,0
$GC,2035,-1.19,-116.8,239.1,-8.0,185,2040,0.00,2.45,0.00,0.000,6,0.000,0.035,2870,2098,3120,0,0,0,0,0,0
$GC,2352,-1.19,-116.8,267.4,-9.6,201,2356,0.00,2.53,0.00,0.000,4,0.000,0.040,2870,3506,3120,0,0,0,0,0,0
$GC,2389,-1.19,-116.8,271.4,-10.0,202,2396,0.00,2.53,0.00,0.000,6,0.000,0.038,2870,2100,3120,0,0,0,0,0,0
$GC,2705,-1.19,-116.8,299.0,-8.5,218,2709,0.00,2.58,0.00,0.000,4,0.000,0.048,2870,690,3119,0,0,0,0,0,0
$GC,2755,-1.19,-116.8,303.5,-9.4,220,2760,0.00,2.40,0.00,0.000,6,0.000,0.024,2870,2099,3118,0,0,0,0,0,0
$GC,3074,-1.19,-116.8,327.1,-6.6,228,3078,0.00,2.55,0.00,0.000,4,0.000,0.044,2870,3508,3117,0,0,0,0,0,0
$GC,3112,-1.19,-116.8,329.5,-6.2,228,3118,0.00,2.50,0.00,0.000,6,0.000,0.040,2870,2100,3117,0,0,0,0,0,0
$GC,3444,-1.19,-116.8,348.7,-5.9,237,3448,0.00,2.55,0.00,0.000,4,0.000,0.044,2870,3504,3115,0,0,0,0,0,0
$GC,3514,-1.19,-116.8,353.8,-7.4,238,3518,0.00,2.53,0.00,0.000,6,0.000,0.041,2870,2098,3115,0,0,0,0,0,0
$GC,3855,-1.19,-116.8,381.7,-8.8,247,3860,0.00,2.55,0.00,0.000,4,0.000,0.051,2870,692,3114,0,0,0,0,0,0
$GC,3888,-1.19,-116.8,385.0,-10.0,247,3893,0.00,2.42,0.00,0.000,6,0.000,0.027,2870,2098,3113,0,0,0,0,0,0
$GC,4221,-1.19,-116.8,410.2,-7.0,255,4226,0.00,2.58,0.00,0.000,4,0.000,0.051,2870,690,3111,0,0,0,0,0,0
$GC,4241,-1.19,-116.8,411.8,-7.3,255,4245,0.00,2.42,0.00,0.000,6,0.000,0.028,2870,2099,3111,0,0,0,0,0,0
$GC,4586,-1.19,-116.8,430.9,-5.2,264,4591,0.00,2.58,0.00,0.000,4,0.000,0.053,2870,693,3108,0,0,0,0,0,0
$GC,4625,-1.19,-116.8,433.5,-6.6,264,4630,0.00,2.45,0.00,0.000,6,0.000,0.028,2870,2109,3108,0,0,0,0,0,0
$STATE,4872,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4872,begin apogee
$GC,4879,-0.31,0.0,452.1,7.9,271,4978,0.95,0.00,95.25,0.825,6,0.081,0.000,3067,1795,2634,0,0,0,0,0,0
$STATE,4979,end apogee,CONTROL_FINISHED_OK
$STATE,4979,begin climb
$GC,4981,1.19,116.8,455.0,0.0,273,5094,1.48,2.65,100.28,0.807,4,0.055,0.044,3394,3201,2157,0,0,0,0,0,0
$GC,5123,1.19,116.8,445.0,9.7,276,5127,0.00,2.62,0.00,0.000,6,0.000,0.053,3394,1810,2155,0,0,0,0,0,0
$GC,5437,1.19,116.8,406.7,12.9,284,5441,0.00,2.67,0.00,0.000,4,0.000,0.061,3394,393,2146,0,0,0,0,0,0
$GC,5470,1.19,116.8,401.8,14.4,284,5474,0.00,2.50,0.00,0.000,6,0.000,0.028,3394,1798,2143,0,0,0,0,0,0
$GC,5801,1.19,116.8,358.2,13.0,292,5805,0.00,2.70,0.00,0.000,4,0.000,0.061,3394,387,2140,0,0,0,0,0,0
$GC,5821,1.19,116.8,355.5,13.6,292,5826,0.00,2.50,0.00,0.000,6,0.000,0.028,3394,1804,2139,0,0,0,0,0,0
$GC,6167,1.19,116.8,311.8,12.2,301,6171,0.00,2.55,0.00,0.000,4,0.000,0.044,3394,3204,2138,0,0,0,0,0,0
$GC,6232,1.19,116.8,303.9,11.6,302,6236,0.00,2.60,0.00,0.000,6,0.000,0.051,3394,1800,2138,0,0,0,0,0,0
$GC,6563,1.19,116.8,269.2,10.6,317,6567,0.00,2.62,0.00,0.000,4,0.000,0.061,3394,392,2136,0,0,0,0,0,0
$GC,6592,1.19,116.8,265.4,12.5,318,6597,0.00,2.50,0.00,0.000,6,0.000,0.027,3394,1807,2134,0,0,0,0,0,0
$GC,6912,1.19,116.8,229.5,10.9,334,6917,0.00,2.53,0.00,0.000,4,0.000,0.041,3394,3207,2134,0,0,0,0,0,0
$GC,6945,1.19,116.8,226.1,9.7,335,6949,0.00,2.58,0.00,0.000,6,0.000,0.045,3394,1801,2133,0,0,0,0,0,0
$GC,7261,1.23,147.6,203.0,6.6,350,7291,0.00,2.72,23.40,0.647,4,0.000,0.057,3394,392,2032,0,0,0,0,0,0
$GC,7317,1.23,147.6,198.6,9.6,353,7321,0.00,2.50,0.00,0.000,6,0.000,0.025,3394,1806,2029,0,0,0,0,0,0
$GC,7582,1.23,147.6,175.3,9.5,377,7587,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1811,2028,0,0,0,0,0,0
$GC,7843,1.23,147.6,149.6,10.7,402,7847,0.00,2.62,0.00,0.000,4,0.000,0.053,3394,392,2027,0,0,0,0,0,0
$GC,7871,1.23,147.6,146.1,12.7,404,7878,0.00,2.47,0.00,0.000,6,0.000,0.022,3394,1802,2024,0,0,0,0,0,0
$GC,8136,1.26,171.2,123.0,6.9,429,8164,0.00,2.67,20.60,0.564,4,0.000,0.051,3394,392,1936,0,0,0,0,0,0
$GC,8188,1.26,171.2,118.5,9.5,434,8195,0.00,2.47,0.00,0.000,6,0.000,0.021,3394,1798,1933,0,0,0,0,0,0
$GC,8452,1.26,171.2,95.4,8.8,459,8456,0.00,2.47,0.00,0.000,4,0.000,0.031,3394,3200,1933,0,0,0,0,0,0
$GC,8479,1.26,171.2,92.7,8.1,461,8485,0.00,2.53,0.00,0.000,6,0.000,0.036,3394,1800,1933,0,0,0,0,0,0
$GC,8742,1.28,185.6,71.2,7.4,486,8763,0.00,2.65,13.65,0.485,4,0.000,0.049,3394,389,1876,0,0,0,0,0,0
$GC,8837,1.28,185.6,63.2,9.4,496,8841,0.00,2.42,0.00,0.000,6,0.000,0.019,3394,1801,1872,0,0,0,0,0,0
$GC,9102,1.33,225.5,45.8,6.2,520,9139,0.12,0.00,35.15,0.492,6,0.061,0.000,3441,1804,1714,0,0,0,0,0,0
$GC,9396,1.33,225.5,18.4,10.0,559,9403,0.00,2.65,0.00,0.000,4,0.000,0.050,3441,392,1711,0,0,0,0,0,0
$GC,9449,1.33,225.5,12.5,11.3,570,9455,0.00,2.45,0.00,0.000,6,0.000,0.018,3441,1805,1707,0,0,0,0,0,0
$STATE,9540,end climb,SURFACE_DEPTH_REACHED
$STATE,9540,begin surface coast
$FINISH,1.0,1.014482
$STATE,9571,end surface coast,CONTROL_FINISHED_OK
$STATE,9571,begin surface
$SM_CCo,9595,52.22,0.452,0,0,1289,330.17
$SM_GC,1.73,0.00,0.00,52.22,0.000,0.000,0.452,429,2141,1289,-12.47,1.16,330.17
$IRIDIUM_FIX,2045.60,-15746.22,070800,121219
$TT8_MAMPS,0.029146
$HUMID,56.65
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,22.20
$XPDR_PINGS,2
$24V_AH,23.5,27.829
$10V_AH,10.4,26.480
$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,28.550,127.550,288.325,52.225,0.000,24.487,35.134,141.047,5.000,0.000,34.843,1090.798,6400.627,423.627,1633.440,441.980,33.354,1144.060,0.000,1596.631,0.000,29.250,0.000
$DEVICE_MAMPS,135.759,61.360,824.525,451.763,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,400.022,392.421,859.752,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,31758,592
$CAP_FILE_SIZE,100723,0
$CFSIZE,260165632,239910912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140511,173507,2051.334,-15747.268,45,1.0,45,9.8