version: 66.06
glider: 139
mission: 9
dive: 65
start: 4 12 111 7 3 57
data:
$ID,139
$MISSION,9
$DIVE,65
$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,2
$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,-2175929.5
$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,20
$R_STBD_OVSHOOT,80
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,065736,2104.898,-15805.371,36,1.0,36,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-71.2
$GPS2,070338,2104.938,-15805.426,13,1.6,13,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,32.9,8559,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.19,-116.8,0.0,0.0,0,95,0.00,0.00,-70.72,0.000,6,0.000,0.000,432,2143,3112,0,0,0,0,0,0
$GC,99,-1.19,-116.8,3.1,-5.1,14,117,13.32,2.22,0.00,0.000,4,0.140,0.028,2870,3472,3114,0,0,0,0,0,0
$GC,314,-1.19,-116.8,44.9,-15.6,52,318,0.00,2.30,0.00,0.000,6,0.000,0.026,2869,2088,3115,0,0,0,0,0,0
$GC,582,-1.19,-116.8,84.8,-14.0,77,587,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2088,3116,0,0,0,0,0,0
$GC,843,-1.19,-116.8,117.2,-14.4,102,848,0.00,2.35,0.00,0.000,4,0.000,0.038,2869,693,3116,0,0,0,0,0,0
$GC,909,-1.19,-116.8,126.4,-13.2,108,916,0.00,2.25,0.00,0.000,6,0.000,0.020,2870,2067,3117,0,0,0,0,0,0
$GC,1173,-1.19,-116.8,155.6,-9.6,133,1178,0.00,2.35,0.00,0.000,4,0.000,0.031,2869,3494,3117,0,0,0,0,0,0
$GC,1374,-1.19,-116.8,178.0,-11.9,154,1381,0.00,2.35,0.00,0.000,6,0.000,0.027,2869,2096,3118,0,0,0,0,0,0
$GC,1637,-1.19,-116.8,203.7,-7.9,177,1641,0.00,2.35,0.00,0.000,4,0.000,0.031,2869,3496,3119,0,0,0,0,0,0
$GC,1744,-1.19,-116.8,212.6,-7.7,181,1749,0.00,2.33,0.00,0.000,6,0.000,0.028,2869,2095,3118,0,0,0,0,0,0
$GC,2060,-1.19,-116.8,243.4,-10.5,197,2061,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2093,3118,0,0,0,0,0,0
$GC,2369,-1.19,-116.8,273.4,-8.4,212,2373,0.00,2.35,0.00,0.000,4,0.000,0.034,2869,3499,3118,0,0,0,0,0,0
$GC,2383,-1.19,-116.8,274.6,-8.0,212,2390,0.00,2.38,0.00,0.000,6,0.000,0.029,2870,2096,3118,0,0,0,0,0,0
$GC,2699,-1.19,-116.8,296.7,-7.1,228,2703,0.00,2.35,0.00,0.000,4,0.000,0.035,2870,3493,3117,0,0,0,0,0,0
$GC,2874,-1.19,-116.8,311.4,-7.8,232,2878,0.00,2.33,0.00,0.000,6,0.000,0.031,2869,2091,3116,0,0,0,0,0,0
$GC,3206,-1.19,-116.8,334.9,-7.0,240,3207,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2091,3115,0,0,0,0,0,0
$GC,3530,-1.19,-116.8,357.1,-7.1,248,3535,0.00,2.38,0.00,0.000,4,0.000,0.038,2870,3493,3113,0,0,0,0,0,0
$GC,3669,-1.19,-116.8,368.6,-8.1,251,3673,0.00,2.35,0.00,0.000,6,0.000,0.033,2869,2094,3112,0,0,0,0,0,0
$GC,3992,-1.19,-116.8,395.9,-8.8,259,3993,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2093,3110,0,0,0,0,0,0
$GC,4316,-1.19,-116.8,424.2,-8.4,267,4321,0.00,2.40,0.00,0.000,4,0.000,0.050,2869,693,3108,0,0,0,0,0,0
$GC,4372,-1.19,-116.8,429.4,-9.7,268,4377,0.00,2.33,0.00,0.000,6,0.000,0.028,2869,2091,3107,0,0,0,0,0,0
$STATE,4643,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4643,begin apogee
$GC,4650,-0.31,0.0,452.0,8.2,275,4749,0.95,0.00,95.60,0.824,6,0.087,0.000,3064,1807,2634,0,0,0,0,0,0
$STATE,4749,end apogee,CONTROL_FINISHED_OK
$STATE,4750,begin climb
$GC,4752,1.19,116.8,454.3,0.0,277,4865,1.50,2.60,100.68,0.805,4,0.059,0.058,3391,401,2156,0,0,0,0,0,0
$GC,4875,1.19,116.8,443.6,12.6,279,4880,0.00,2.38,0.00,0.000,6,0.000,0.027,3391,1814,2153,0,0,0,0,0,0
$GC,5206,1.19,116.8,397.2,14.1,288,5210,0.00,2.55,0.00,0.000,4,0.000,0.058,3391,391,2146,0,0,0,0,0,0
$GC,5244,1.19,116.8,391.5,15.2,288,5249,0.00,2.38,0.00,0.000,6,0.000,0.028,3391,1803,2143,0,0,0,0,0,0
$GC,5575,1.19,116.8,352.3,10.8,297,5579,0.00,2.53,0.00,0.000,4,0.000,0.058,3391,389,2141,0,0,0,0,0,0
$GC,5612,1.19,116.8,348.0,11.9,297,5618,0.00,2.38,0.00,0.000,6,0.000,0.028,3391,1813,2139,0,0,0,0,0,0
$GC,5944,1.19,116.8,315.1,10.1,306,5948,0.00,2.55,0.00,0.000,4,0.000,0.058,3391,388,2138,0,0,0,0,0,0
$GC,5972,1.19,116.8,311.7,11.6,306,5976,0.00,2.38,0.00,0.000,6,0.000,0.028,3391,1805,2137,0,0,0,0,0,0
$GC,6292,1.19,116.8,280.6,9.7,319,6293,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,1810,2136,0,0,0,0,0,0
$GC,6600,1.19,116.8,250.5,9.7,334,6604,0.00,2.50,0.00,0.000,4,0.000,0.054,3391,393,2135,0,0,0,0,0,0
$GC,6666,1.19,116.8,242.8,12.0,337,6671,0.00,2.33,0.00,0.000,6,0.000,0.026,3391,1803,2133,0,0,0,0,0,0
$GC,6997,1.19,116.8,211.5,9.5,353,7002,0.00,2.47,0.00,0.000,4,0.000,0.051,3391,392,2133,0,0,0,0,0,0
$GC,7017,1.19,116.8,209.3,10.3,354,7022,0.00,2.33,0.00,0.000,6,0.000,0.025,3391,1816,2132,0,0,0,0,0,0
$GC,7345,1.19,116.8,183.4,8.1,379,7350,0.00,2.47,0.00,0.000,4,0.000,0.051,3391,391,2132,0,0,0,0,0,0
$GC,7409,1.19,116.8,176.9,10.0,385,7415,0.00,2.30,0.00,0.000,6,0.000,0.023,3391,1794,2132,0,0,0,0,0,0
$GC,7672,1.19,116.8,152.6,10.1,410,7676,0.00,2.33,0.00,0.000,4,0.000,0.029,3391,3204,2131,0,0,0,0,0,0
$GC,7721,1.19,116.8,147.8,10.3,415,7725,0.00,2.40,0.00,0.000,6,0.000,0.035,3391,1799,2132,0,0,0,0,0,0
$GC,7985,1.21,132.3,125.8,7.3,439,8005,0.00,2.40,10.00,0.524,4,0.000,0.028,3392,3204,2095,0,0,0,0,0,0
$GC,8040,1.24,150.2,121.7,7.2,444,8065,0.00,2.42,17.35,0.555,6,0.000,0.034,3391,1803,2021,0,0,0,0,0,0
$GC,8320,1.24,150.2,96.2,9.5,471,8324,0.00,2.45,0.00,0.000,4,0.000,0.048,3391,389,2017,0,0,0,0,0,0
$GC,8437,1.24,150.2,84.4,10.0,483,8441,0.00,2.30,0.00,0.000,6,0.000,0.021,3391,1821,2015,0,0,0,0,0,0
$GC,8701,1.25,159.0,63.4,7.6,507,8715,0.00,2.55,8.32,0.448,4,0.000,0.047,3391,387,1986,0,0,0,0,0,0
$GC,8758,1.25,159.0,58.4,8.8,513,8762,0.00,2.28,0.00,0.000,6,0.000,0.020,3391,1792,1983,0,0,0,0,0,0
$GC,9022,1.25,161.5,36.0,7.9,537,9026,0.00,2.33,0.00,0.000,4,0.000,0.025,3391,3210,1983,0,0,0,0,0,0
$GC,9039,1.25,161.5,34.6,8.1,538,9043,0.00,2.38,0.00,0.000,6,0.000,0.029,3391,1792,1983,0,0,0,0,0,0
$GC,9303,1.25,161.5,15.7,8.1,580,9309,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,1792,1983,0,0,0,0,0,0
$STATE,9495,end climb,SURFACE_DEPTH_REACHED
$STATE,9495,begin surface coast
$FINISH,0.6,1.023345
$STATE,9529,end surface coast,CONTROL_FINISHED_OK
$STATE,9529,begin surface
$SM_CCo,9553,86.90,0.463,0,0,1288,330.17
$SM_GC,1.19,0.00,0.00,86.90,0.000,0.000,0.463,431,2117,1288,-12.45,0.48,330.17
$IRIDIUM_FIX,2057.14,-15806.34,060700,040449
$TT8_MAMPS,0.029146
$HUMID,52.16
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.3,5.399
$10V_AH,10.5,5.032
$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,28.525,96.300,231.950,86.900,0.000,32.774,54.366,160.620,4.500,0.000,13.334,1140.467,6208.242,401.004,1767.313,487.506,0.000,1142.965,0.000,1758.668,0.000,29.252,0.000
$DEVICE_MAMPS,139.594,58.292,823.758,463.268,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,421.315,409.969,937.462,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,34899,622
$CAP_FILE_SIZE,97556,0
$CFSIZE,260165632,253362176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120411,094546,2105.638,-15805.348,10,2.4,29,9.8