version: 66.06
glider: 139
mission: 9
dive: 257
start: 5 4 111 12 42 44
data:
$ID,139
$MISSION,9
$DIVE,257
$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,-2180955.2
$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,19
$R_STBD_OVSHOOT,89
$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
$GPS1,122700,2100.104,-15747.094,72,1.8,72,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-68.9
$GPS2,124149,2100.252,-15747.210,11,1.3,16,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.089,-0.203
$KALMAN_X,-156645.3,-266.3,344.7,162492.7,-781.5
$KALMAN_Y,-3455.5,-214.3,274.3,-16061.9,599.4
$MHEAD_RNG_PITCHd_Wd,193.9,6301,-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,-116.8,0.0,0.0,0,120,0.00,0.00,-100.12,0.000,6,0.000,0.000,424,2153,3113,0,0,0,0,0,0
$GC,124,-1.19,-116.8,3.4,-4.3,19,143,13.10,2.30,0.00,0.000,4,0.136,0.030,2869,3457,3115,0,0,0,0,0,0
$GC,394,-1.19,-116.8,61.0,-15.8,60,399,0.00,2.40,0.00,0.000,6,0.000,0.035,2869,2092,3116,0,0,0,0,0,0
$GC,656,-1.19,-116.8,97.2,-13.6,84,660,0.00,2.38,0.00,0.000,4,0.000,0.031,2869,3450,3115,0,0,0,0,0,0
$GC,711,-1.19,-116.8,104.3,-12.9,89,716,0.00,2.35,0.00,0.000,6,0.000,0.032,2868,2096,3116,0,0,0,0,0,0
$GC,974,-1.19,-116.8,136.4,-11.2,114,978,0.00,2.38,0.00,0.000,4,0.000,0.034,2869,3449,3116,0,0,0,0,0,0
$GC,1058,-1.19,-116.8,145.9,-10.2,123,1062,0.00,2.38,0.00,0.000,6,0.000,0.034,2869,2099,3116,0,0,0,0,0,0
$GC,1323,-1.19,-116.8,175.2,-12.1,147,1327,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2098,3116,0,0,0,0,0,0
$GC,1592,-1.19,-116.8,207.0,-10.9,170,1597,0.00,2.40,0.00,0.000,4,0.000,0.037,2869,3454,3116,0,0,0,0,0,0
$GC,1766,-1.19,-116.8,226.0,-10.6,177,1771,0.00,2.35,0.00,0.000,6,0.000,0.035,2869,2100,3116,0,0,0,0,0,0
$GC,2083,-1.19,-116.8,255.0,-8.0,193,2087,0.00,2.55,0.00,0.000,4,0.000,0.046,2869,693,3115,0,0,0,0,0,0
$GC,2206,-1.19,-116.8,266.2,-9.1,198,2210,0.00,2.30,0.00,0.000,6,0.000,0.022,2869,2052,3115,0,0,0,0,0,0
$GC,2526,-1.19,-116.8,293.5,-9.8,214,2531,0.00,2.60,0.00,0.000,4,0.000,0.042,2869,3504,3115,0,0,0,0,0,0
$GC,2548,-1.19,-116.8,295.6,-10.0,215,2552,0.00,2.47,0.00,0.000,6,0.000,0.038,2869,2099,3114,0,0,0,0,0,0
$GC,2894,-1.19,-116.8,324.0,-7.6,225,2898,0.00,2.50,0.00,0.000,4,0.000,0.043,2868,3496,3113,0,0,0,0,0,0
$GC,2998,-1.19,-116.8,331.7,-7.2,227,3003,0.00,2.47,0.00,0.000,6,0.000,0.040,2869,2095,3112,0,0,0,0,0,0
$GC,3313,-1.19,-116.8,355.3,-7.2,235,3317,0.00,2.53,0.00,0.000,4,0.000,0.049,2869,693,3110,0,0,0,0,0,0
$GC,3332,-1.19,-116.8,357.0,-7.9,235,3336,0.00,2.42,0.00,0.000,6,0.000,0.026,2869,2096,3110,0,0,0,0,0,0
$GC,3677,-1.19,-116.8,379.5,-5.5,244,3678,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2096,3107,0,0,0,0,0,0
$GC,4002,-1.19,-116.8,396.2,-5.1,252,4004,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2097,3105,0,0,0,0,0,0
$GC,4327,-1.19,-116.8,415.6,-6.3,260,4332,0.00,2.55,0.00,0.000,4,0.000,0.053,2869,690,3103,0,0,0,0,0,0
$GC,4342,-1.19,-116.8,416.7,-6.2,260,4347,0.00,2.47,0.00,0.000,6,0.000,0.029,2869,2102,3102,0,0,0,0,0,0
$GC,4693,-1.19,-116.8,436.4,-5.7,269,4697,0.00,2.58,0.00,0.000,4,0.000,0.054,2869,3502,3100,0,0,0,0,0,0
$GC,4726,-1.19,-116.8,438.9,-6.9,269,4730,0.00,2.50,0.00,0.000,6,0.000,0.044,2868,2104,3100,0,0,0,0,0,0
$STATE,4851,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4851,begin apogee
$GC,4859,-0.31,0.0,447.0,6.4,272,4956,0.95,0.00,94.00,0.820,6,0.084,0.000,3065,1787,2635,0,0,0,0,0,0
$STATE,4957,end apogee,CONTROL_FINISHED_OK
$STATE,4957,begin climb
$GC,4960,1.19,116.8,448.8,0.0,274,5066,1.52,0.00,101.95,0.799,6,0.055,0.000,3398,1787,2158,0,0,0,0,0,0
$GC,5379,1.19,116.8,399.5,13.0,285,5383,0.00,2.62,0.00,0.000,4,0.000,0.045,3398,3212,2146,0,0,0,0,0,0
$GC,5407,1.19,116.8,395.8,12.2,285,5412,0.00,2.65,0.00,0.000,6,0.000,0.054,3398,1800,2146,0,0,0,0,0,0
$GC,5743,1.19,116.8,356.9,11.5,294,5748,0.00,2.67,0.00,0.000,4,0.000,0.062,3398,388,2142,0,0,0,0,0,0
$GC,5772,1.19,116.8,353.1,13.9,294,5776,0.00,2.47,0.00,0.000,6,0.000,0.028,3398,1799,2139,0,0,0,0,0,0
$GC,6108,1.19,116.8,317.3,9.9,303,6109,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1800,2138,0,0,0,0,0,0
$GC,6415,1.19,116.8,287.6,9.0,313,6419,0.00,2.65,0.00,0.000,4,0.000,0.058,3398,393,2137,0,0,0,0,0,0
$GC,6435,1.19,116.8,285.6,9.7,314,6439,0.00,2.47,0.00,0.000,6,0.000,0.027,3398,1809,2135,0,0,0,0,0,0
$GC,6765,1.19,116.8,254.2,9.7,330,6769,0.00,2.65,0.00,0.000,4,0.000,0.058,3398,392,2134,0,0,0,0,0,0
$GC,6802,1.19,116.8,249.5,12.8,331,6808,0.00,2.47,0.00,0.000,6,0.000,0.025,3398,1805,2133,0,0,0,0,0,0
$GC,7119,1.19,116.8,215.5,10.3,347,7123,0.00,2.62,0.00,0.000,4,0.000,0.055,3398,392,2132,0,0,0,0,0,0
$GC,7165,1.19,116.8,210.6,11.4,349,7169,0.00,2.45,0.00,0.000,6,0.000,0.025,3398,1807,2132,0,0,0,0,0,0
$GC,7492,1.19,116.8,176.7,10.3,375,7496,0.00,2.45,0.00,0.000,4,0.000,0.035,3398,3207,2132,0,0,0,0,0,0
$GC,7529,1.19,116.8,172.8,9.4,378,7536,0.00,2.58,0.00,0.000,6,0.000,0.041,3398,1805,2132,0,0,0,0,0,0
$GC,7792,1.19,116.8,147.7,9.7,403,7793,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1805,2132,0,0,0,0,0,0
$GC,8047,1.23,146.3,127.1,6.7,427,8075,0.00,2.65,21.73,0.565,4,0.000,0.051,3398,390,2038,0,0,0,0,0,0
$GC,8123,1.23,146.3,121.1,9.1,435,8127,0.00,2.47,0.00,0.000,6,0.000,0.021,3398,1812,2034,0,0,0,0,0,0
$GC,8388,1.23,146.3,100.4,9.0,459,8392,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1818,2033,0,0,0,0,0,0
$GC,8650,1.23,146.3,77.0,8.8,484,8654,0.00,2.60,0.00,0.000,4,0.000,0.048,3398,390,2033,0,0,0,0,0,0
$GC,8676,1.23,146.3,74.7,10.0,486,8680,0.00,2.42,0.00,0.000,6,0.000,0.020,3398,1803,2032,0,0,0,0,0,0
$GC,8940,1.24,150.7,55.0,7.8,510,8952,0.00,2.42,4.70,0.366,4,0.000,0.028,3398,3200,2019,0,0,0,0,0,0
$GC,9017,1.28,187.8,49.1,6.3,518,9057,0.00,2.53,33.20,0.496,6,0.000,0.035,3398,1796,1869,0,0,0,0,0,0
$GC,9313,1.29,197.4,27.6,7.6,548,9331,0.00,2.62,8.93,0.422,4,0.000,0.048,3398,390,1829,0,0,0,0,0,0
$GC,9442,1.29,197.4,16.6,8.4,576,9448,0.00,2.42,0.00,0.000,6,0.000,0.018,3398,1798,1825,0,0,0,0,0,0
$STATE,9637,end climb,SURFACE_DEPTH_REACHED
$STATE,9637,begin surface coast
$FINISH,1.0,1.009726
$STATE,9681,end surface coast,CONTROL_FINISHED_OK
$STATE,9682,begin surface
$SM_CCo,9706,172.40,0.455,0,0,449,535.98
$SM_GC,1.58,0.00,0.00,172.40,0.000,0.000,0.455,427,2132,449,-12.47,0.88,535.98
$IRIDIUM_FIX,2052.52,-15747.49,280700,121201
$TT8_MAMPS,0.029146
$HUMID,53.07
$INTERNAL_PRESSURE,9.56722
$TCM_TEMP,22.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,441.8,34.8
$24V_AH,23.5,20.679
$10V_AH,10.5,19.844
$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,28.300,100.850,264.500,172.400,0.000,129.514,395.011,0.000,5.000,0.000,16.259,1120.115,6652.128,553.630,1688.978,755.949,33.366,1257.168,0.000,1667.804,0.000,35.094,0.000
$DEVICE_MAMPS,135.759,62.127,819.923,454.831,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,418.658,402.990,927.760,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355760
$DATA_FILE_SIZE,34972,620
$CAP_FILE_SIZE,95999,0
$CFSIZE,260165632,244023296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040511,152834,2059.119,-15748.086,13,2.5,32,9.8