version: 66.06
glider: 139
mission: 9
dive: 69
start: 4 12 111 18 10 55
data:
$ID,139
$MISSION,9
$DIVE,69
$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,-2176032.2
$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,20
$R_STBD_OVSHOOT,73
$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
$GPS1,180507,2106.910,-15805.018,38,0.9,38,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-69.9
$GPS2,181037,2106.925,-15805.060,13,0.9,19,9.8
$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,53.4,5794,-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,13,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,93,0.00,0.00,-71.20,0.000,6,0.000,0.000,430,2127,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.1,-5.0,14,115,13.35,2.25,0.00,0.000,4,0.140,0.028,2870,3471,3113,0,0,0,0,0,0
$GC,152,-1.19,-116.8,17.6,-18.6,25,159,0.00,2.35,0.00,0.000,6,0.000,0.030,2870,2096,3115,0,0,0,0,0,0
$GC,357,-1.19,-116.8,51.1,-15.8,51,361,0.00,2.30,0.00,0.000,4,0.000,0.028,2870,3468,3116,0,0,0,0,0,0
$GC,422,-1.19,-116.8,61.2,-16.1,58,426,0.00,2.28,0.00,0.000,6,0.000,0.027,2870,2095,3116,0,0,0,0,0,0
$GC,683,-1.19,-116.8,99.5,-15.1,82,689,0.00,2.30,0.00,0.000,4,0.000,0.028,2870,3477,3116,0,0,0,0,0,0
$GC,699,-1.19,-116.8,102.0,-14.6,83,704,0.00,2.30,0.00,0.000,6,0.000,0.027,2870,2097,3117,0,0,0,0,0,0
$GC,960,-1.19,-116.8,136.8,-13.7,108,964,0.00,2.28,0.00,0.000,4,0.000,0.029,2870,3467,3117,0,0,0,0,0,0
$GC,1051,-1.19,-116.8,147.1,-9.8,117,1056,0.00,2.30,0.00,0.000,6,0.000,0.026,2870,2090,3117,0,0,0,0,0,0
$GC,1314,-1.19,-116.8,170.6,-9.1,142,1318,0.00,2.35,0.00,0.000,4,0.000,0.039,2870,691,3118,0,0,0,0,0,0
$GC,1338,-1.19,-116.8,173.2,-10.1,144,1342,0.00,2.25,0.00,0.000,6,0.000,0.021,2870,2080,3118,0,0,0,0,0,0
$GC,1607,-1.19,-116.8,198.3,-9.6,169,1611,0.00,2.35,0.00,0.000,4,0.000,0.031,2870,3496,3118,0,0,0,0,0,0
$GC,1649,-1.19,-116.8,202.9,-10.5,172,1653,0.00,2.35,0.00,0.000,6,0.000,0.028,2870,2093,3118,0,0,0,0,0,0
$GC,1978,-1.19,-116.8,233.7,-8.8,188,1982,0.00,2.35,0.00,0.000,4,0.000,0.040,2870,688,3118,0,0,0,0,0,0
$GC,1992,-1.19,-116.8,235.1,-9.1,188,1999,0.00,2.33,0.00,0.000,6,0.000,0.023,2870,2095,3119,0,0,0,0,0,0
$GC,2310,-1.19,-116.8,260.4,-7.7,204,2311,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2099,3118,0,0,0,0,0,0
$GC,2620,-1.19,-116.8,281.0,-6.7,219,2624,0.00,2.38,0.00,0.000,4,0.000,0.035,2870,3506,3118,0,0,0,0,0,0
$GC,2698,-1.19,-116.8,287.8,-8.2,222,2703,0.00,2.38,0.00,0.000,6,0.000,0.030,2870,2093,3117,0,0,0,0,0,0
$GC,3011,-1.19,-116.8,315.3,-8.7,233,3015,0.00,2.38,0.00,0.000,4,0.000,0.035,2870,3502,3117,0,0,0,0,0,0
$GC,3115,-1.19,-116.8,323.7,-7.7,235,3119,0.00,2.35,0.00,0.000,6,0.000,0.031,2870,2098,3116,0,0,0,0,0,0
$GC,3433,-1.19,-116.8,343.6,-6.0,243,3438,0.00,2.40,0.00,0.000,4,0.000,0.046,2870,686,3115,0,0,0,0,0,0
$GC,3518,-1.19,-116.8,349.1,-6.2,244,3523,0.00,2.33,0.00,0.000,6,0.000,0.026,2870,2102,3114,0,0,0,0,0,0
$GC,3851,-1.19,-116.8,368.1,-5.8,253,3852,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2104,3112,0,0,0,0,0,0
$GC,4174,-1.19,-116.8,388.6,-5.6,261,4175,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2105,3110,0,0,0,0,0,0
$GC,4499,-1.19,-116.8,406.8,-5.7,269,4503,0.00,2.42,0.00,0.000,4,0.000,0.048,2870,694,3108,0,0,0,0,0,0
$GC,4518,-1.19,-116.8,408.1,-6.5,269,4522,0.00,2.35,0.00,0.000,6,0.000,0.028,2870,2106,3108,0,0,0,0,0,0
$GC,4864,-1.19,-116.8,429.5,-6.2,278,4865,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2110,3106,0,0,0,0,0,0
$STATE,5187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5187,begin apogee
$GC,5194,-0.31,0.0,452.2,7.2,286,5293,0.95,0.00,95.25,0.840,6,0.088,0.000,3065,1810,2635,0,0,0,0,0,0
$STATE,5293,end apogee,CONTROL_FINISHED_OK
$STATE,5293,begin climb
$GC,5296,1.19,116.8,454.3,0.0,288,5403,1.55,0.00,102.38,0.818,6,0.060,0.000,3398,1809,2157,0,0,0,0,0,0
$GC,5713,1.19,116.8,410.0,10.9,299,5718,0.00,2.55,0.00,0.000,4,0.000,0.060,3397,385,2146,0,0,0,0,0,0
$GC,5737,1.19,116.8,407.0,12.2,299,5741,0.00,2.40,0.00,0.000,6,0.000,0.028,3397,1808,2144,0,0,0,0,0,0
$GC,6077,1.19,116.8,369.1,10.7,308,6081,0.00,2.55,0.00,0.000,4,0.000,0.058,3397,392,2142,0,0,0,0,0,0
$GC,6096,1.19,116.8,366.7,11.8,308,6100,0.00,2.38,0.00,0.000,6,0.000,0.028,3397,1796,2140,0,0,0,0,0,0
$GC,6446,1.19,116.8,328.6,10.7,317,6450,0.00,2.50,0.00,0.000,4,0.000,0.057,3397,389,2138,0,0,0,0,0,0
$GC,6464,1.19,116.8,326.1,12.6,317,6469,0.00,2.38,0.00,0.000,6,0.000,0.028,3397,1802,2137,0,0,0,0,0,0
$GC,6791,1.19,116.8,289.6,10.6,327,6796,0.00,2.53,0.00,0.000,4,0.000,0.056,3397,387,2136,0,0,0,0,0,0
$GC,6815,1.19,116.8,286.2,13.7,328,6819,0.00,2.35,0.00,0.000,6,0.000,0.028,3398,1796,2135,0,0,0,0,0,0
$GC,7139,1.19,116.8,249.0,11.1,344,7141,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1802,2135,0,0,0,0,0,0
$GC,7450,1.19,116.8,216.2,9.4,359,7455,0.00,2.47,0.00,0.000,4,0.000,0.053,3397,392,2134,0,0,0,0,0,0
$GC,7496,1.19,116.8,210.5,12.0,361,7501,0.00,2.35,0.00,0.000,6,0.000,0.025,3398,1820,2132,0,0,0,0,0,0
$GC,7830,1.19,116.8,177.4,10.1,387,7834,0.00,2.28,0.00,0.000,4,0.000,0.030,3398,3200,2132,0,0,0,0,0,0
$GC,7869,1.19,116.8,173.0,10.7,390,7875,0.00,2.42,0.00,0.000,6,0.000,0.036,3398,1804,2132,0,0,0,0,0,0
$GC,8133,1.19,116.8,146.6,10.0,415,8137,0.00,2.47,0.00,0.000,4,0.000,0.050,3397,380,2132,0,0,0,0,0,0
$GC,8216,1.19,116.8,138.0,9.9,423,8221,0.00,2.30,0.00,0.000,6,0.000,0.022,3397,1793,2131,0,0,0,0,0,0
$GC,8479,1.21,127.6,118.7,7.5,448,8490,0.00,2.35,5.80,0.458,4,0.000,0.027,3398,3206,2114,0,0,0,0,0,0
$GC,8512,1.21,129.9,116.1,7.9,451,8522,0.00,2.42,3.90,0.370,6,0.000,0.033,3397,1788,2105,0,0,0,0,0,0
$GC,8777,1.21,129.9,93.2,9.2,476,8781,0.00,2.40,0.00,0.000,4,0.000,0.047,3397,382,2104,0,0,0,0,0,0
$GC,8805,1.21,129.9,90.4,10.6,478,8812,0.00,2.35,0.00,0.000,6,0.000,0.021,3398,1814,2103,0,0,0,0,0,0
$GC,9070,1.24,153.1,70.1,7.0,503,9093,0.00,0.00,21.75,0.518,6,0.000,0.000,3398,1820,2010,0,0,0,0,0,0
$GC,9345,1.24,153.1,50.5,8.0,529,9350,0.00,2.47,0.00,0.000,4,0.000,0.046,3397,379,2008,0,0,0,0,0,0
$GC,9406,1.24,153.1,44.8,9.2,535,9410,0.00,2.30,0.00,0.000,6,0.000,0.019,3398,1792,2005,0,0,0,0,0,0
$GC,9676,1.24,153.1,22.1,8.5,568,9682,0.00,2.35,0.00,0.000,4,0.000,0.026,3398,3204,2005,0,0,0,0,0,0
$GC,9711,1.24,153.1,19.3,8.2,575,9717,0.00,2.40,0.00,0.000,6,0.000,0.031,3397,1803,2005,0,0,0,0,0,0
$STATE,9911,end climb,SURFACE_DEPTH_REACHED
$STATE,9911,begin surface coast
$FINISH,0.4,1.023398
$STATE,9944,end surface coast,CONTROL_FINISHED_OK
$STATE,9944,begin surface
$SM_CCo,9968,89.75,0.468,0,0,1288,330.17
$SM_GC,1.02,0.00,0.00,89.75,0.000,0.000,0.468,430,2162,1288,-12.46,1.75,330.17
$IRIDIUM_FIX,2059.45,-15803.33,060700,151553
$TT8_MAMPS,0.029146
$HUMID,53.30
$INTERNAL_PRESSURE,9.58675
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.3,5.703
$10V_AH,10.5,5.340
$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,28.575,105.275,229.075,89.750,0.000,27.693,37.144,144.151,4.500,0.000,19.171,1124.059,6773.492,439.774,1618.046,434.113,0.000,1107.290,0.000,1600.776,0.000,29.246,0.000
$DEVICE_MAMPS,139.594,59.826,839.865,467.870,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,418.901,394.805,902.785,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,34985,618
$CAP_FILE_SIZE,96769,0
$CFSIZE,260165632,253165568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120411,205946,2107.610,-15804.770,14,2.1,33,9.8