version: 66.06
glider: 139
mission: 9
dive: 251
start: 5 3 111 19 4 45
data:
$ID,139
$MISSION,9
$DIVE,251
$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,-2180788
$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,77
$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
$GPS1,184854,2102.625,-15744.356,26,1.0,44,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-71.6
$GPS2,190350,2102.656,-15744.239,16,1.1,16,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.148,-0.165
$KALMAN_X,-160046.8,-26.8,-73.4,171194.7,903.2
$KALMAN_Y,-10779.4,-288.4,161.8,-4095.2,1158.9
$MHEAD_RNG_PITCHd_Wd,212.2,13095,-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,-116.8,0.0,0.0,0,116,0.00,0.00,-97.20,0.000,2,0.000,0.000,424,2155,3051,0,0,0,0,0,0
$GC,119,-1.19,-116.8,3.1,-3.9,18,144,13.10,2.67,-1.20,0.000,4,0.135,0.051,2867,687,3113,0,0,0,0,0,0
$GC,254,-1.19,-116.8,35.6,-17.6,43,261,0.00,2.38,0.00,0.000,6,0.000,0.020,2867,2066,3114,0,0,0,0,0,0
$GC,517,-1.19,-116.8,74.6,-13.5,68,521,0.00,2.47,0.00,0.000,4,0.000,0.041,2867,683,3114,0,0,0,0,0,0
$GC,527,-1.19,-116.8,76.4,-14.3,68,533,0.00,2.42,0.00,0.000,6,0.000,0.021,2867,2096,3114,0,0,0,0,0,0
$GC,789,-1.19,-116.8,110.7,-11.2,93,793,0.00,2.47,0.00,0.000,4,0.000,0.035,2867,3504,3114,0,0,0,0,0,0
$GC,862,-1.19,-116.8,118.7,-10.1,100,869,0.00,2.50,0.00,0.000,6,0.000,0.031,2867,2091,3115,0,0,0,0,0,0
$GC,1127,-1.19,-116.8,144.8,-10.0,125,1131,0.00,2.50,0.00,0.000,4,0.000,0.035,2867,3503,3115,0,0,0,0,0,0
$GC,1171,-1.19,-116.8,149.7,-10.4,129,1175,0.00,2.47,0.00,0.000,6,0.000,0.032,2867,2097,3115,0,0,0,0,0,0
$GC,1436,-1.19,-116.8,177.0,-11.5,153,1440,0.00,2.50,0.00,0.000,4,0.000,0.042,2867,689,3115,0,0,0,0,0,0
$GC,1470,-1.19,-116.8,181.3,-11.1,156,1474,0.00,2.40,0.00,0.000,6,0.000,0.021,2867,2099,3115,0,0,0,0,0,0
$GC,1731,-1.19,-116.8,205.4,-8.3,177,1735,0.00,2.50,0.00,0.000,4,0.000,0.040,2867,3498,3115,0,0,0,0,0,0
$GC,1777,-1.19,-116.8,210.2,-10.4,179,1781,0.00,2.45,0.00,0.000,6,0.000,0.035,2867,2100,3115,0,0,0,0,0,0
$GC,2103,-1.19,-116.8,241.9,-8.5,195,2107,0.00,2.50,0.00,0.000,4,0.000,0.041,2867,3495,3115,0,0,0,0,0,0
$GC,2241,-1.19,-116.8,252.4,-8.2,201,2246,0.00,2.47,0.00,0.000,6,0.000,0.038,2867,2102,3114,0,0,0,0,0,0
$GC,2572,-1.19,-116.8,278.5,-9.2,217,2577,0.00,2.50,0.00,0.000,4,0.000,0.042,2867,3493,3112,0,0,0,0,0,0
$GC,2624,-1.19,-116.8,283.6,-8.9,219,2628,0.00,2.47,0.00,0.000,6,0.000,0.038,2867,2099,3113,0,0,0,0,0,0
$GC,2942,-1.19,-116.8,311.7,-8.7,232,2946,0.00,2.53,0.00,0.000,4,0.000,0.044,2867,3495,3111,0,0,0,0,0,0
$GC,3196,-1.19,-116.8,330.5,-5.9,237,3201,0.00,2.50,0.00,0.000,6,0.000,0.041,2867,2099,3109,0,0,0,0,0,0
$GC,3537,-1.19,-116.8,350.8,-6.2,246,3542,0.00,2.55,0.00,0.000,4,0.000,0.051,2867,692,3107,0,0,0,0,0,0
$GC,3612,-1.19,-116.8,357.1,-8.9,247,3616,0.00,2.45,0.00,0.000,6,0.000,0.028,2867,2100,3106,0,0,0,0,0,0
$GC,3948,-1.19,-116.8,378.2,-5.9,256,3952,0.00,2.55,0.00,0.000,4,0.000,0.051,2867,692,3104,0,0,0,0,0,0
$GC,4006,-1.19,-116.8,382.5,-7.6,257,4010,0.00,2.45,0.00,0.000,6,0.000,0.028,2867,2099,3103,0,0,0,0,0,0
$GC,4321,-1.19,-116.8,403.4,-7.3,265,4325,0.00,2.60,0.00,0.000,4,0.000,0.053,2867,684,3101,0,0,0,0,0,0
$GC,4437,-1.19,-116.8,415.2,-9.0,267,4441,0.00,2.45,0.00,0.000,6,0.000,0.028,2867,2100,3100,0,0,0,0,0,0
$GC,4777,-1.19,-116.8,441.7,-7.5,276,4779,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2100,3097,0,0,0,0,0,0
$STATE,4896,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4896,begin apogee
$GC,4903,-0.31,0.0,450.1,6.9,279,5001,0.98,0.00,94.10,0.825,6,0.083,0.000,3069,1791,2635,0,0,0,0,0,0
$STATE,5002,end apogee,CONTROL_FINISHED_OK
$STATE,5002,begin climb
$GC,5005,1.19,116.8,452.1,0.0,281,5117,1.48,2.62,102.05,0.805,4,0.054,0.048,3396,3204,2158,0,0,0,0,0,0
$GC,5133,1.19,116.8,441.0,12.0,284,5137,0.00,2.67,0.00,0.000,6,0.000,0.054,3396,1805,2155,0,0,0,0,0,0
$GC,5460,1.19,116.8,401.4,12.0,292,5465,0.00,2.70,0.00,0.000,4,0.000,0.064,3395,393,2146,0,0,0,0,0,0
$GC,5493,1.19,116.8,396.7,14.0,292,5498,0.00,2.50,0.00,0.000,6,0.000,0.028,3396,1799,2144,0,0,0,0,0,0
$GC,5825,1.19,116.8,357.3,11.2,300,5826,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1800,2142,0,0,0,0,0,0
$GC,6149,1.19,116.8,321.0,10.7,308,6154,0.00,2.65,0.00,0.000,4,0.000,0.061,3395,392,2140,0,0,0,0,0,0
$GC,6233,1.19,116.8,311.7,10.7,309,6239,0.00,2.50,0.00,0.000,6,0.000,0.028,3395,1802,2135,0,0,0,0,0,0
$GC,6547,1.19,116.8,280.4,10.7,322,6548,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1804,2135,0,0,0,0,0,0
$GC,6857,1.19,116.8,247.9,10.5,337,6858,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1804,2134,0,0,0,0,0,0
$GC,7165,1.19,116.8,215.1,10.6,352,7170,0.00,2.65,0.00,0.000,4,0.000,0.056,3395,390,2133,0,0,0,0,0,0
$GC,7189,1.19,116.8,212.1,13.1,353,7193,0.00,2.47,0.00,0.000,6,0.000,0.025,3395,1806,2132,0,0,0,0,0,0
$GC,7521,1.19,116.8,176.2,11.2,379,7526,0.00,2.47,0.00,0.000,4,0.000,0.037,3396,3203,2132,0,0,0,0,0,0
$GC,7558,1.19,116.8,172.1,10.3,382,7564,0.00,2.60,0.00,0.000,6,0.000,0.047,3395,1807,2131,0,0,0,0,0,0
$GC,7821,1.19,116.8,147.6,10.0,407,7825,0.00,2.60,0.00,0.000,4,0.000,0.053,3395,392,2132,0,0,0,0,0,0
$GC,7839,1.19,116.8,145.3,10.6,408,7846,0.00,2.47,0.00,0.000,6,0.000,0.022,3396,1810,2131,0,0,0,0,0,0
$GC,8104,1.19,116.8,122.5,8.3,433,8108,0.00,2.45,0.00,0.000,4,0.000,0.033,3396,3204,2131,0,0,0,0,0,0
$GC,8130,1.21,128.8,120.2,7.5,435,8142,0.00,2.55,6.85,0.476,6,0.000,0.038,3395,1792,2108,0,0,0,0,0,0
$GC,8405,1.25,157.9,97.9,6.7,461,8442,0.00,2.53,26.73,0.542,4,0.000,0.029,3396,3199,1990,0,0,0,0,0,0
$GC,8471,1.29,192.3,93.1,6.4,468,8509,0.00,2.55,30.52,0.537,6,0.000,0.038,3395,1794,1851,0,0,0,0,0,0
$GC,8765,1.29,192.3,66.8,10.8,496,8770,0.10,2.60,0.00,0.000,4,0.073,0.059,3432,392,1846,0,0,0,0,0,0
$GC,8854,1.29,192.3,54.1,14.3,505,8860,0.00,2.45,0.00,0.000,6,0.000,0.020,3432,1800,1842,0,0,0,0,0,0
$GC,9120,1.29,192.3,23.7,10.6,535,9127,0.00,2.47,0.00,0.000,4,0.000,0.028,3432,3199,1842,0,0,0,0,0,0
$GC,9143,1.29,192.3,20.8,11.4,539,9149,0.00,2.55,0.00,0.000,6,0.000,0.035,3432,1801,1842,0,0,0,0,0,0
$STATE,9337,end climb,SURFACE_DEPTH_REACHED
$STATE,9338,begin surface coast
$FINISH,1.0,1.022815
$STATE,9371,end surface coast,CONTROL_FINISHED_OK
$STATE,9371,begin surface
$SM_CCo,9395,176.65,0.460,0,0,449,535.98
$SM_GC,1.54,0.00,0.00,176.65,0.000,0.000,0.460,430,2106,449,-12.45,0.17,535.98
$IRIDIUM_FIX,2052.52,-15746.61,270700,191955
$TT8_MAMPS,0.028379
$HUMID,54.64
$INTERNAL_PRESSURE,9.53792
$TCM_TEMP,21.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,422.9,60.0
$24V_AH,23.5,20.091
$10V_AH,10.5,19.341
$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,28.500,111.925,260.250,176.650,0.000,131.269,399.831,0.000,4.750,0.000,16.722,1083.293,6408.854,528.813,1692.860,758.984,33.365,1279.678,0.000,1667.426,0.000,30.700,0.000
$DEVICE_MAMPS,134.992,64.428,824.525,460.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,392.604,377.187,832.749,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355780
$DATA_FILE_SIZE,31803,581
$CAP_FILE_SIZE,98548,0
$CFSIZE,260165632,244318208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030511,214528,2102.722,-15744.294,12,3.9,31,9.8