version: 66.06
glider: 139
mission: 9
dive: 253
start: 5 4 111 1 2 23
data:
$ID,139
$MISSION,9
$DIVE,253
$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,-2180870.8
$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,86
$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
$GPS1,004520,2102.102,-15744.594,29,1.5,29,9.8
$_CALLS,2
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-67.5
$GPS2,010131,2102.154,-15744.670,42,1.7,42,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.080,-0.207
$KALMAN_X,-158550.0,188.3,396.6,168269.0,-594.3
$KALMAN_Y,-8006.2,136.1,56.5,-8122.9,1011.7
$MHEAD_RNG_PITCHd_Wd,191.4,11922,-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,-116.8,0.0,0.0,0,115,0.00,0.00,-96.57,0.000,2,0.000,0.000,430,2157,3042,0,0,0,0,0,0
$GC,118,-1.19,-116.8,3.1,-3.9,18,143,13.05,2.65,-1.40,0.000,4,0.133,0.046,2870,684,3113,0,0,0,0,0,0
$GC,321,-1.19,-116.8,46.8,-21.0,53,328,0.00,2.35,0.00,0.000,6,0.000,0.021,2870,2045,3115,0,0,0,0,0,0
$GC,583,-1.19,-116.8,86.1,-13.7,78,587,0.00,2.50,0.00,0.000,4,0.000,0.035,2869,3451,3115,0,0,0,0,0,0
$GC,610,-1.19,-116.8,90.5,-14.7,80,617,0.00,2.42,0.00,0.000,6,0.000,0.033,2870,2090,3115,0,0,0,0,0,0
$GC,875,-1.19,-116.8,122.6,-13.1,105,879,0.00,2.42,0.00,0.000,4,0.000,0.034,2870,3460,3116,0,0,0,0,0,0
$GC,1011,-1.19,-116.8,138.9,-11.4,119,1015,0.00,2.40,0.00,0.000,6,0.000,0.033,2870,2093,3116,0,0,0,0,0,0
$GC,1274,-1.19,-116.8,168.1,-10.3,143,1278,0.00,2.50,0.00,0.000,4,0.000,0.043,2870,687,3116,0,0,0,0,0,0
$GC,1300,-1.19,-116.8,170.9,-10.6,145,1304,0.00,2.33,0.00,0.000,6,0.000,0.021,2870,2052,3115,0,0,0,0,0,0
$GC,1565,-1.19,-116.8,197.3,-9.2,169,1569,0.00,2.42,0.00,0.000,4,0.000,0.042,2870,685,3115,0,0,0,0,0,0
$GC,1592,-1.19,-116.8,200.2,-9.7,171,1596,0.00,2.40,0.00,0.000,6,0.000,0.021,2870,2106,3115,0,0,0,0,0,0
$GC,1919,-1.19,-116.8,233.0,-9.8,187,1920,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2106,3115,0,0,0,0,0,0
$GC,2226,-1.19,-116.8,262.5,-8.1,202,2227,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2107,3114,0,0,0,0,0,0
$GC,2537,-1.19,-116.8,283.9,-6.7,217,2541,0.00,2.50,0.00,0.000,4,0.000,0.043,2870,3498,3113,0,0,0,0,0,0
$GC,2584,-1.19,-116.8,287.9,-7.8,219,2588,0.00,2.47,0.00,0.000,6,0.000,0.037,2870,2101,3113,0,0,0,0,0,0
$GC,2928,-1.19,-116.8,313.9,-7.7,232,2932,0.00,2.55,0.00,0.000,4,0.000,0.048,2870,688,3111,0,0,0,0,0,0
$GC,3156,-1.19,-116.8,331.4,-7.7,237,3160,0.00,2.42,0.00,0.000,6,0.000,0.026,2870,2099,3110,0,0,0,0,0,0
$GC,3485,-1.19,-116.8,359.2,-8.5,245,3489,0.00,2.58,0.00,0.000,4,0.000,0.049,2870,685,3107,0,0,0,0,0,0
$GC,3532,-1.19,-116.8,362.8,-7.0,246,3537,0.00,2.45,0.00,0.000,6,0.000,0.027,2870,2111,3107,0,0,0,0,0,0
$GC,3856,-1.19,-116.8,384.3,-6.4,254,3860,0.00,2.53,0.00,0.000,4,0.000,0.049,2870,3503,3105,0,0,0,0,0,0
$GC,4125,-1.19,-116.8,404.1,-8.5,259,4130,0.00,2.53,0.00,0.000,6,0.000,0.041,2870,2095,3103,0,0,0,0,0,0
$GC,4456,-1.19,-116.8,426.8,-6.2,268,4457,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2096,3101,0,0,0,0,0,0
$GC,4782,-1.19,-116.8,448.7,-6.6,276,4786,0.00,2.58,0.00,0.000,4,0.000,0.055,2869,691,3098,0,0,0,0,0,0
$GC,4796,-1.19,-116.8,450.0,-6.6,276,4800,0.00,2.10,0.00,0.000,3,0.000,0.027,2869,1900,3098,0,0,0,0,0,0
$STATE,4801,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4801,begin apogee
$GC,4808,-0.31,0.0,450.4,7.8,276,4909,0.93,0.00,94.38,0.811,6,0.082,0.000,3065,1787,2635,0,0,0,0,0,0
$STATE,4910,end apogee,CONTROL_FINISHED_OK
$STATE,4910,begin climb
$GC,4913,1.19,116.8,452.2,0.0,279,5020,1.52,0.00,102.03,0.793,6,0.054,0.000,3399,1787,2158,0,0,0,0,0,0
$GC,5317,1.19,116.8,405.5,12.4,289,5321,0.00,2.60,0.00,0.000,4,0.000,0.061,3398,413,2147,0,0,0,0,0,0
$GC,5336,1.19,116.8,402.2,14.5,289,5340,0.00,2.42,0.00,0.000,6,0.000,0.027,3398,1799,2144,0,0,0,0,0,0
$GC,5681,1.19,116.8,358.3,12.3,298,5685,0.00,2.58,0.00,0.000,4,0.000,0.044,3398,3208,2142,0,0,0,0,0,0
$GC,5719,1.19,116.8,353.5,12.6,298,5724,0.00,2.60,0.00,0.000,6,0.000,0.051,3399,1818,2142,0,0,0,0,0,0
$GC,6050,1.19,116.8,314.5,11.3,307,6054,0.00,2.67,0.00,0.000,4,0.000,0.059,3399,394,2139,0,0,0,0,0,0
$GC,6157,1.19,116.8,301.7,11.4,309,6161,0.00,2.45,0.00,0.000,6,0.000,0.027,3398,1800,2137,0,0,0,0,0,0
$GC,6492,1.19,116.8,265.2,9.6,325,6497,0.00,2.55,0.00,0.000,4,0.000,0.041,3398,3213,2135,0,0,0,0,0,0
$GC,6553,1.19,116.8,259.1,9.8,327,6559,0.00,2.60,0.00,0.000,6,0.000,0.044,3398,1798,2136,0,0,0,0,0,0
$GC,6869,1.19,116.8,228.9,10.9,343,6871,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1798,2134,0,0,0,0,0,0
$GC,7180,1.19,116.8,195.7,10.3,359,7184,0.00,2.53,0.00,0.000,4,0.000,0.035,3399,3205,2133,0,0,0,0,0,0
$GC,7250,1.19,116.8,188.5,9.4,366,7254,0.00,2.55,0.00,0.000,6,0.000,0.041,3399,1796,2133,0,0,0,0,0,0
$GC,7513,1.19,116.8,164.9,9.3,390,7517,0.00,2.55,0.00,0.000,4,0.000,0.051,3398,393,2132,0,0,0,0,0,0
$GC,7548,1.19,116.8,161.5,9.6,393,7553,0.00,2.45,0.00,0.000,6,0.000,0.021,3399,1811,2130,0,0,0,0,0,0
$GC,7813,1.19,116.8,138.5,8.1,417,7817,0.00,2.42,0.00,0.000,4,0.000,0.032,3399,3204,2131,0,0,0,0,0,0
$GC,7832,1.19,116.8,136.6,8.2,418,7838,0.00,2.55,0.00,0.000,6,0.000,0.037,3399,1803,2131,0,0,0,0,0,0
$GC,8094,1.19,116.8,117.7,8.3,443,8098,0.00,2.45,0.00,0.000,4,0.000,0.029,3399,3204,2132,0,0,0,0,0,0
$GC,8138,1.19,116.8,113.7,9.3,447,8142,0.00,2.53,0.00,0.000,6,0.000,0.038,3399,1794,2131,0,0,0,0,0,0
$GC,8403,1.22,134.9,91.1,7.2,471,8423,0.00,2.58,12.07,0.496,4,0.000,0.031,3399,3205,2084,0,0,0,0,0,0
$GC,8434,1.26,171.6,88.7,6.3,474,8473,0.00,2.53,32.92,0.530,6,0.000,0.036,3399,1800,1934,0,0,0,0,0,0
$GC,8736,1.26,171.6,65.4,8.1,503,8741,0.00,2.60,0.00,0.000,4,0.000,0.050,3399,391,1929,0,0,0,0,0,0
$GC,8797,1.26,171.6,60.3,9.1,509,8801,0.00,2.42,0.00,0.000,6,0.000,0.019,3399,1805,1926,0,0,0,0,0,0
$GC,9062,1.30,205.1,40.0,6.5,533,9092,0.00,0.00,28.83,0.480,6,0.000,0.000,3399,1810,1798,0,0,0,0,0,0
$GC,9347,1.34,232.8,20.7,6.7,572,9377,0.12,2.65,24.00,0.459,4,0.059,0.045,3446,388,1684,0,0,0,0,0,0
$GC,9442,1.34,232.8,11.2,12.3,591,9449,0.00,2.45,0.00,0.000,6,0.000,0.018,3446,1815,1679,0,0,0,0,0,0
$STATE,9518,end climb,SURFACE_DEPTH_REACHED
$STATE,9518,begin surface coast
$FINISH,1.0,1.022627
$STATE,9548,end surface coast,CONTROL_FINISHED_OK
$STATE,9548,begin surface
$SM_CCo,9572,49.30,0.449,0,0,1288,330.17
$SM_GC,1.73,0.00,0.00,49.30,0.000,0.000,0.449,428,2123,1288,-12.47,0.65,330.17
$IRIDIUM_FIX,2054.83,-15746.61,280700,000003
$TT8_MAMPS,0.028379
$HUMID,55.90
$INTERNAL_PRESSURE,9.63558
$TCM_TEMP,22.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,440.5,56.1
$24V_AH,23.5,20.301
$10V_AH,10.5,19.512
$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,28.500,105.425,294.225,49.300,0.000,54.716,76.818,622.882,4.750,0.000,42.689,1119.678,6247.426,434.153,1786.992,1005.976,33.378,1192.972,0.000,1741.439,0.000,32.259,0.000
$DEVICE_MAMPS,133.458,60.593,811.486,449.462,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,411.474,402.197,907.790,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,34918,610
$CAP_FILE_SIZE,112624,0
$CFSIZE,260165632,244252672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040511,034437,2101.181,-15745.088,73,0.8,73,9.8