version: 66.06
glider: 139
mission: 10
dive: 9
start: 5 22 112 3 8 36
data:
$ID,139
$MISSION,10
$DIVE,9
$D_SURF,2
$D_FLARE,3
$D_TGT,300
$D_ABORT,400
$D_NO_BLEED,500
$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,100
$T_MISSION,120
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$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,400
$N_FILEKB,4
$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,-2377394.2
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,355
$PITCH_MAX,3650
$C_PITCH,2960
$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,235
$ROLL_MAX,3935
$ROLL_DEG,40
$C_ROLL_DIVE,2079
$C_ROLL_CLIMB,2079
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.30000001
$ROLL_ADJ_DBAND,1
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,2925
$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,-14.664049
$PRESSURE_SLOPE,0.000115925
$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
$GPS1,025954,2113.331,-15751.145,36,1.8,52,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-73.5
$GPS2,030744,2113.322,-15751.194,12,1.9,12,9.8
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.172,-0.199
$KALMAN_X,-203.5,563.8,-295.7,4119.8,-572.9
$KALMAN_Y,384.6,-326.0,263.4,-4709.5,407.3
$MHEAD_RNG_PITCHd_Wd,211.0,20926,-18.1,-10.000
$D_GRID,300
$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,-1.31,-146.1,0.0,0.0,0,93,0.00,0.00,-74.97,0.000,2,0.000,0.000,348,2068,3152,0,0,0,0,0,0
$GC,97,-1.31,-146.1,3.1,-7.1,14,121,12.50,2.50,-6.88,0.000,4,0.137,0.059,2667,664,3524,0,0,0,0,0,0
$GC,178,-1.31,-146.1,24.9,-18.4,28,185,0.00,2.35,0.00,0.000,6,0.000,0.021,2667,2080,3524,0,0,0,0,0,0
$GC,380,-1.31,-146.1,58.6,-16.6,49,384,0.00,2.45,0.00,0.000,4,0.000,0.049,2667,667,3525,0,0,0,0,0,0
$GC,391,-1.31,-146.1,60.6,-16.1,49,398,0.00,2.33,0.00,0.000,6,0.000,0.021,2667,2089,3525,0,0,0,0,0,0
$GC,652,-1.31,-146.1,96.7,-13.4,74,656,0.00,2.45,0.00,0.000,4,0.000,0.051,2667,673,3525,0,0,0,0,0,0
$GC,675,-1.31,-146.1,100.1,-15.2,75,680,0.00,2.28,0.00,0.000,6,0.000,0.021,2667,2082,3525,0,0,0,0,0,0
$GC,936,-1.31,-146.1,137.7,-14.2,100,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2082,3525,0,0,0,0,0,0
$GC,1191,-1.31,-146.1,168.6,-12.8,124,1195,0.00,2.42,0.00,0.000,4,0.000,0.050,2666,672,3525,0,0,0,0,0,0
$GC,1219,-1.31,-146.1,172.5,-13.5,126,1223,0.00,2.28,0.00,0.000,6,0.000,0.021,2667,2072,3526,0,0,0,0,0,0
$GC,1490,-1.31,-146.1,204.7,-10.4,149,1495,0.00,2.42,0.00,0.000,4,0.000,0.050,2667,672,3525,0,0,0,0,0,0
$GC,1510,-1.31,-146.1,206.5,-9.7,150,1514,0.00,2.30,0.00,0.000,6,0.000,0.022,2667,2085,3526,0,0,0,0,0,0
$GC,1836,-1.31,-146.1,245.2,-13.2,166,1841,0.00,2.47,0.00,0.000,4,0.000,0.053,2667,669,3525,0,0,0,0,0,0
$GC,1908,-1.31,-146.1,255.5,-13.7,169,1912,0.00,2.33,0.00,0.000,6,0.000,0.025,2667,2082,3525,0,0,0,0,0,0
$GC,2224,-1.31,-146.1,289.5,-9.2,184,2228,0.00,2.45,0.00,0.000,4,0.000,0.053,2667,669,3524,0,0,0,0,0,0
$GC,2244,-1.31,-146.1,291.1,-9.2,185,2248,0.00,2.33,0.00,0.000,6,0.000,0.026,2667,2078,3524,0,0,0,0,0,0
$STATE,2342,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2342,begin apogee
$GC,2348,-0.31,0.0,301.8,10.5,190,2468,1.02,0.00,116.25,0.676,6,0.066,0.000,2891,2079,2924,0,0,0,0,0,0
$STATE,2468,end apogee,CONTROL_FINISHED_OK
$STATE,2469,begin climb
$GC,2471,1.31,146.1,307.3,0.0,193,2600,1.52,2.53,118.80,0.669,4,0.028,0.053,3256,673,2327,0,0,0,0,0,0
$GC,2634,1.31,146.1,301.8,13.5,197,2639,0.00,2.38,0.00,0.000,6,0.000,0.027,3256,2079,2321,0,0,0,0,0,0
$GC,2963,1.31,146.1,251.4,14.9,212,2967,0.00,2.38,0.00,0.000,4,0.000,0.039,3256,3481,2319,0,0,0,0,0,0
$GC,3006,1.31,146.1,244.7,15.2,214,3010,0.00,2.42,0.00,0.000,6,0.000,0.040,3255,2079,2318,0,0,0,0,0,0
$GC,3327,1.31,146.1,204.5,11.1,230,3332,0.00,2.47,0.00,0.000,4,0.000,0.056,3256,666,2315,0,0,0,0,0,0
$GC,3383,1.31,146.1,196.5,14.4,233,3389,0.00,2.38,0.00,0.000,6,0.000,0.028,3256,2087,2313,0,0,0,0,0,0
$GC,3646,1.32,153.1,169.0,9.7,258,3655,0.00,0.00,4.57,0.426,6,0.000,0.000,3256,2087,2299,0,0,0,0,0,0
$GC,3913,1.36,187.1,141.6,8.4,283,3945,0.00,0.00,30.17,0.580,6,0.000,0.000,3256,2087,2162,0,0,0,0,0,0
$GC,4199,1.36,187.1,105.9,13.6,310,4203,0.00,2.33,0.00,0.000,4,0.000,0.034,3256,3484,2156,0,0,0,0,0,0
$GC,4286,1.36,187.1,95.6,11.9,317,4292,0.00,2.42,0.00,0.000,6,0.000,0.037,3257,2071,2156,0,0,0,0,0,0
$GC,4551,1.47,271.6,73.2,6.1,342,4628,0.10,2.50,70.72,0.529,4,0.076,0.031,3290,3493,1816,0,0,0,0,0,0
$GC,4789,1.47,271.6,37.1,17.5,363,4796,0.00,2.45,0.00,0.000,6,0.000,0.037,3290,2086,1814,0,0,0,0,0,0
$STATE,4977,end climb,SURFACE_DEPTH_REACHED
$STATE,4978,begin surface coast
$FINISH,0.3,1.012737
$STATE,4989,end surface coast,CONTROL_FINISHED_OK
$STATE,4989,begin surface
$SM_CCo,5012,62.12,0.463,0,0,1293,400.08
$SM_GC,1.03,0.00,0.00,62.12,0.000,0.000,0.463,348,2083,1293,-12.02,0.11,400.08
$IRIDIUM_FIX,2104.07,-15750.02,160801,010140
$TT8_MAMPS,0.029146
$HUMID,59.52
$INTERNAL_PRESSURE,9.99692
$TCM_TEMP,21.20
$XPDR_PINGS,0
$24V_AH,23.5,39.925
$10V_AH,10.3,40.636
$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,27.825,57.600,340.525,62.125,0.000,26.301,31.556,266.887,2.750,0.000,12.775,697.778,2832.327,445.506,1057.615,519.086,33.321,912.702,0.000,1052.246,0.000,18.271,0.000
$DEVICE_MAMPS,137.293,59.059,676.494,463.268,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,265.731,287.351,645.263,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355892
$DATA_FILE_SIZE,22325,396
$CAP_FILE_SIZE,64466,0
$CFSIZE,260165632,255725568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220512,043436,2112.819,-15751.979,40,1.6,46,9.8