version: 66.06
glider: 139
mission: 9
dive: 247
start: 5 3 111 7 12 21
data:
$ID,139
$MISSION,9
$DIVE,247
$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,535.98047
$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,-2180701.8
$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,71
$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
$GPS1,065630,2106.401,-15743.790,42,1.1,42,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-72.8
$GPS2,071126,2106.625,-15743.573,14,1.8,14,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.055,-0.215
$KALMAN_X,-160409.1,653.4,162.3,171789.3,-780.8
$KALMAN_Y,-13791.5,249.8,421.7,5460.7,326.1
$MHEAD_RNG_PITCHd_Wd,184.7,19448,-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,-1.19,-116.8,0.0,0.0,0,121,0.00,0.00,-99.00,0.000,6,0.000,0.000,426,2149,3112,0,0,0,0,0,0
$GC,124,-1.19,-116.8,3.8,-5.4,19,143,13.10,2.60,0.00,0.000,4,0.135,0.034,2868,680,3114,0,0,0,0,0,0
$GC,159,-1.19,-116.8,15.7,-32.3,25,166,0.00,2.40,0.00,0.000,6,0.000,0.021,2868,2063,3115,0,0,0,0,0,0
$GC,367,-1.19,-116.8,49.0,-15.3,51,371,0.00,2.55,0.00,0.000,4,0.000,0.033,2868,3506,3115,0,0,0,0,0,0
$GC,429,-1.19,-116.8,59.5,-16.4,57,433,0.00,2.47,0.00,0.000,6,0.000,0.032,2868,2091,3115,0,0,0,0,0,0
$GC,692,-1.19,-116.8,93.5,-13.1,81,696,0.00,2.50,0.00,0.000,4,0.000,0.034,2868,3506,3115,0,0,0,0,0,0
$GC,783,-1.19,-116.8,106.8,-13.7,90,789,0.00,2.50,0.00,0.000,6,0.000,0.032,2868,2098,3115,0,0,0,0,0,0
$GC,1047,-1.19,-116.8,138.0,-10.6,115,1051,0.00,2.45,0.00,0.000,4,0.000,0.035,2869,3499,3115,0,0,0,0,0,0
$GC,1073,-1.19,-116.8,141.0,-11.1,117,1077,0.00,2.47,0.00,0.000,6,0.000,0.033,2868,2094,3115,0,0,0,0,0,0
$GC,1341,-1.19,-116.8,171.4,-10.1,142,1345,0.00,2.50,0.00,0.000,4,0.000,0.037,2868,3505,3115,0,0,0,0,0,0
$GC,1412,-1.19,-116.8,178.7,-9.4,149,1416,0.00,2.45,0.00,0.000,6,0.000,0.033,2868,2099,3115,0,0,0,0,0,0
$GC,1676,-1.19,-116.8,202.4,-9.1,172,1680,0.00,2.53,0.00,0.000,4,0.000,0.044,2868,693,3115,0,0,0,0,0,0
$GC,1690,-1.19,-116.8,204.1,-8.5,172,1697,0.00,2.42,0.00,0.000,6,0.000,0.021,2868,2102,3115,0,0,0,0,0,0
$GC,2005,-1.19,-116.8,230.3,-8.2,188,2010,0.00,2.53,0.00,0.000,4,0.000,0.044,2868,692,3115,0,0,0,0,0,0
$GC,2056,-1.19,-116.8,235.4,-10.5,190,2061,0.00,2.40,0.00,0.000,6,0.000,0.023,2868,2107,3115,0,0,0,0,0,0
$GC,2378,-1.19,-116.8,267.6,-10.5,206,2382,0.00,2.50,0.00,0.000,4,0.000,0.044,2868,3495,3114,0,0,0,0,0,0
$GC,2467,-1.19,-116.8,275.9,-7.2,210,2472,0.00,2.45,0.00,0.000,6,0.000,0.038,2868,2102,3114,0,0,0,0,0,0
$GC,2801,-1.19,-116.8,300.4,-7.6,226,2806,0.00,2.53,0.00,0.000,4,0.000,0.044,2868,3504,3112,0,0,0,0,0,0
$GC,2839,-1.19,-116.8,304.2,-9.1,226,2844,0.00,2.50,0.00,0.000,6,0.000,0.039,2868,2091,3112,0,0,0,0,0,0
$GC,3170,-1.19,-116.8,333.1,-8.5,235,3174,0.00,2.53,0.00,0.000,4,0.000,0.050,2868,692,3110,0,0,0,0,0,0
$GC,3308,-1.19,-116.8,344.6,-8.4,238,3312,0.00,2.42,0.00,0.000,6,0.000,0.027,2868,2101,3109,0,0,0,0,0,0
$GC,3632,-1.19,-116.8,369.5,-7.0,246,3636,0.00,2.55,0.00,0.000,4,0.000,0.051,2867,3498,3106,0,0,0,0,0,0
$GC,3730,-1.19,-116.8,375.9,-6.5,248,3734,0.00,2.50,0.00,0.000,6,0.000,0.044,2868,2102,3105,0,0,0,0,0,0
$GC,4049,-1.19,-116.8,395.4,-5.8,256,4053,0.00,2.55,0.00,0.000,4,0.000,0.048,2868,3499,3103,0,0,0,0,0,0
$GC,4087,-1.19,-116.8,397.8,-6.9,256,4092,0.00,2.53,0.00,0.000,6,0.000,0.044,2868,2093,3103,0,0,0,0,0,0
$GC,4419,-1.19,-116.8,420.5,-7.4,265,4421,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2092,3100,0,0,0,0,0,0
$GC,4746,-1.19,-116.8,442.7,-6.4,273,4750,0.00,2.60,0.00,0.000,4,0.000,0.056,2868,691,3098,0,0,0,0,0,0
$STATE,4836,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4837,begin apogee
$GC,4845,-0.31,0.0,450.1,7.2,275,4942,0.93,0.00,93.68,0.823,6,0.086,0.000,3061,1806,2634,0,0,0,0,0,0
$STATE,4943,end apogee,CONTROL_FINISHED_OK
$STATE,4943,begin climb
$GC,4946,1.19,116.8,452.2,0.0,277,5053,1.52,0.00,102.60,0.803,6,0.055,0.000,3395,1807,2158,0,0,0,0,0,0
$GC,5368,1.19,116.8,407.8,11.7,288,5373,0.00,2.67,0.00,0.000,4,0.000,0.063,3394,398,2147,0,0,0,0,0,0
$GC,5388,1.19,116.8,405.3,12.2,288,5392,0.00,2.47,0.00,0.000,6,0.000,0.028,3395,1800,2145,0,0,0,0,0,0
$GC,5733,1.19,116.8,365.2,11.2,297,5734,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1802,2142,0,0,0,0,0,0
$GC,6058,1.19,116.8,328.0,11.4,305,6062,0.00,2.67,0.00,0.000,4,0.000,0.061,3395,393,2139,0,0,0,0,0,0
$GC,6132,1.19,116.8,317.6,13.9,306,6137,0.00,2.47,0.00,0.000,6,0.000,0.028,3395,1801,2137,0,0,0,0,0,0
$GC,6450,1.19,116.8,279.8,11.4,318,6454,0.00,2.58,0.00,0.000,4,0.000,0.044,3395,3213,2137,0,0,0,0,0,0
$GC,6493,1.19,116.8,275.4,10.2,320,6498,0.00,2.62,0.00,0.000,6,0.000,0.048,3395,1800,2136,0,0,0,0,0,0
$GC,6823,1.19,116.8,245.2,8.6,336,6827,0.00,2.58,0.00,0.000,4,0.000,0.040,3395,3214,2134,0,0,0,0,0,0
$GC,6874,1.19,116.8,240.5,9.1,338,6879,0.00,2.60,0.00,0.000,6,0.000,0.045,3395,1796,2135,0,0,0,0,0,0
$GC,7194,1.19,116.8,211.2,9.5,354,7199,0.00,2.60,0.00,0.000,4,0.000,0.056,3394,392,2133,0,0,0,0,0,0
$GC,7209,1.19,116.8,209.6,9.8,354,7216,0.00,2.50,0.00,0.000,6,0.000,0.025,3395,1809,2132,0,0,0,0,0,0
$GC,7533,1.19,116.8,175.2,10.6,380,7537,0.00,2.65,0.00,0.000,4,0.000,0.054,3395,392,2132,0,0,0,0,0,0
$GC,7557,1.19,116.8,172.2,11.4,382,7562,0.00,2.42,0.00,0.000,6,0.000,0.023,3395,1805,2130,0,0,0,0,0,0
$GC,7820,1.19,116.8,147.8,9.4,406,7822,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1809,2131,0,0,0,0,0,0
$GC,8074,1.19,116.8,124.6,8.7,430,8078,0.00,2.47,0.00,0.000,4,0.000,0.034,3395,3208,2131,0,0,0,0,0,0
$GC,8146,1.20,121.8,118.9,7.8,437,8150,0.00,2.53,0.00,0.000,6,0.000,0.038,3395,1799,2131,0,0,0,0,0,0
$GC,8410,1.20,122.4,97.6,8.0,461,8414,0.00,2.47,0.00,0.000,4,0.000,0.031,3395,3205,2131,0,0,0,0,0,0
$GC,8437,1.21,128.0,95.5,7.8,463,8449,0.00,2.53,6.22,0.446,6,0.000,0.038,3394,1796,2112,0,0,0,0,0,0
$GC,8711,1.21,128.0,73.1,8.4,489,8716,0.00,2.55,0.00,0.000,4,0.000,0.049,3395,390,2112,0,0,0,0,0,0
$GC,8799,1.21,128.0,65.5,8.5,498,8804,0.00,2.40,0.00,0.000,6,0.000,0.020,3395,1804,2110,0,0,0,0,0,0
$GC,9064,1.27,176.1,48.5,5.8,522,9113,0.00,2.50,42.30,0.505,4,0.000,0.028,3395,3207,1916,0,0,0,0,0,0
$GC,9119,1.32,217.2,44.9,6.1,527,9165,0.08,2.60,35.80,0.494,6,0.035,0.035,3436,1798,1748,0,0,0,0,0,0
$GC,9422,1.32,217.2,11.5,11.0,570,9428,0.00,2.60,0.00,0.000,4,0.000,0.049,3436,396,1743,0,0,0,0,0,0
$STATE,9496,end climb,SURFACE_DEPTH_REACHED
$STATE,9496,begin surface coast
$FINISH,1.0,1.022873
$STATE,9529,end surface coast,CONTROL_FINISHED_OK
$STATE,9529,begin surface
$SM_CCo,9556,163.70,0.459,0,0,449,535.98
$SM_GC,1.56,0.00,0.00,163.70,0.000,0.000,0.459,427,2113,449,-12.47,0.37,535.98
$IRIDIUM_FIX,2059.45,-15745.74,270700,070735
$TT8_MAMPS,0.029146
$HUMID,54.13
$INTERNAL_PRESSURE,9.53792
$TCM_TEMP,21.50
$XPDR_PINGS,1
$24V_AH,23.5,19.687
$10V_AH,10.5,19.007
$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,28.550,120.900,280.600,163.700,0.000,132.938,400.416,0.000,5.000,0.000,14.738,1100.900,6515.612,551.171,1672.674,779.258,33.364,1285.142,0.000,1657.388,0.000,32.086,0.000
$DEVICE_MAMPS,134.992,62.894,822.991,459.433,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,401.304,386.123,862.696,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355788
$DATA_FILE_SIZE,31867,594
$CAP_FILE_SIZE,99795,0
$CFSIZE,260165632,244535296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030511,095531,2105.777,-15743.723,14,2.0,31,9.8