version: 66.06
glider: 139
mission: 9
dive: 84
start: 4 14 111 11 18 16
data:
$ID,139
$MISSION,9
$DIVE,84
$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,-2176326.8
$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,93
$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
$GPS1,110831,2106.144,-15757.759,36,1.9,36,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-75.3
$GPS2,111758,2105.958,-15757.578,14,2.4,33,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$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,80.8,25332,-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,-71.07,0.000,6,0.000,0.000,426,2142,3113,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.0,-4.6,14,115,13.32,2.20,0.00,0.000,4,0.139,0.031,2870,3447,3114,0,0,0,0,0,0
$GC,358,-1.19,-116.8,54.1,-17.1,57,365,0.00,2.30,0.00,0.000,6,0.000,0.028,2870,2090,3116,0,0,0,0,0,0
$GC,619,-1.19,-116.8,94.2,-13.0,82,623,0.00,2.28,0.00,0.000,4,0.000,0.028,2870,3448,3116,0,0,0,0,0,0
$GC,726,-1.19,-116.8,106.8,-11.4,93,730,0.00,2.22,0.00,0.000,6,0.000,0.025,2870,2096,3116,0,0,0,0,0,0
$GC,990,-1.19,-116.8,132.9,-9.2,117,994,0.00,2.25,0.00,0.000,4,0.000,0.029,2870,3452,3117,0,0,0,0,0,0
$GC,1254,-1.19,-116.8,164.1,-12.6,145,1259,0.00,2.22,0.00,0.000,6,0.000,0.026,2870,2094,3117,0,0,0,0,0,0
$GC,1517,-1.19,-116.8,194.2,-9.4,170,1518,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2093,3118,0,0,0,0,0,0
$GC,1775,-1.19,-116.8,217.7,-8.7,186,1779,0.00,2.28,0.00,0.000,4,0.000,0.030,2870,3454,3118,0,0,0,0,0,0
$GC,1857,-1.19,-116.8,224.8,-8.3,189,1861,0.00,2.22,0.00,0.000,6,0.000,0.027,2870,2098,3118,0,0,0,0,0,0
$GC,2172,-1.19,-116.8,257.4,-11.2,204,2176,0.00,2.28,0.00,0.000,4,0.000,0.031,2870,3454,3118,0,0,0,0,0,0
$GC,2306,-1.19,-116.8,271.6,-11.4,210,2310,0.00,2.25,0.00,0.000,6,0.000,0.028,2870,2092,3119,0,0,0,0,0,0
$GC,2636,-1.19,-116.8,294.0,-5.6,226,2640,0.00,2.28,0.00,0.000,4,0.000,0.034,2870,3445,3118,0,0,0,0,0,0
$GC,2821,-1.19,-116.8,306.6,-7.4,232,2825,0.00,2.25,0.00,0.000,6,0.000,0.030,2870,2100,3118,0,0,0,0,0,0
$GC,3149,-1.19,-116.8,328.9,-6.7,240,3153,0.00,2.42,0.00,0.000,4,0.000,0.044,2870,692,3116,0,0,0,0,0,0
$GC,3200,-1.19,-116.8,333.1,-8.2,241,3204,0.00,2.22,0.00,0.000,6,0.000,0.025,2870,2048,3116,0,0,0,0,0,0
$GC,3522,-1.19,-116.8,358.1,-8.1,249,3527,0.00,2.38,0.00,0.000,4,0.000,0.038,2870,3451,3114,0,0,0,0,0,0
$GC,3565,-1.19,-116.8,361.8,-8.7,250,3569,0.00,2.25,0.00,0.000,6,0.000,0.032,2870,2103,3114,0,0,0,0,0,0
$GC,3893,-1.19,-116.8,385.6,-6.9,258,3897,0.00,2.42,0.00,0.000,4,0.000,0.048,2870,692,3111,0,0,0,0,0,0
$GC,3912,-1.19,-116.8,387.1,-7.1,258,3916,0.00,2.22,0.00,0.000,6,0.000,0.027,2870,2047,3111,0,0,0,0,0,0
$GC,4262,-1.19,-116.8,408.6,-5.8,267,4265,0.00,2.35,0.00,0.000,4,0.000,0.048,2870,686,3109,0,0,0,0,0,0
$GC,4331,-1.19,-116.8,412.8,-6.7,268,4335,0.00,2.25,0.00,0.000,6,0.000,0.028,2870,2053,3108,0,0,0,0,0,0
$GC,4677,-1.19,-116.8,435.9,-7.1,277,4681,0.00,2.45,0.00,0.000,4,0.000,0.042,2870,3496,3106,0,0,0,0,0,0
$GC,4696,-1.19,-116.8,437.5,-7.9,277,4700,0.00,2.35,0.00,0.000,6,0.000,0.035,2870,2103,3106,0,0,0,0,0,0
$STATE,4876,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4876,begin apogee
$GC,4883,-0.31,0.0,451.8,7.8,282,4981,0.95,0.00,95.00,0.831,6,0.087,0.000,3065,1798,2634,0,0,0,0,0,0
$STATE,4982,end apogee,CONTROL_FINISHED_OK
$STATE,4982,begin climb
$GC,4985,1.19,116.8,454.8,0.0,284,5097,1.50,2.55,100.68,0.810,4,0.059,0.061,3391,400,2156,0,0,0,0,0,0
$GC,5116,1.19,116.8,445.3,12.7,287,5120,0.00,2.38,0.00,0.000,6,0.000,0.028,3392,1811,2152,0,0,0,0,0,0
$GC,5439,1.19,116.8,405.6,13.0,295,5440,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1816,2145,0,0,0,0,0,0
$GC,5764,1.19,116.8,364.3,13.3,303,5768,0.00,2.58,0.00,0.000,4,0.000,0.059,3391,384,2142,0,0,0,0,0,0
$GC,5834,1.19,116.8,354.5,13.8,304,5838,0.00,2.38,0.00,0.000,6,0.000,0.028,3391,1808,2138,0,0,0,0,0,0
$GC,6174,1.19,116.8,321.4,8.7,313,6178,0.00,2.53,0.00,0.000,4,0.000,0.058,3392,391,2137,0,0,0,0,0,0
$GC,6244,1.19,116.8,315.5,8.7,314,6248,0.00,2.38,0.00,0.000,6,0.000,0.028,3392,1807,2136,0,0,0,0,0,0
$GC,6566,1.19,116.8,282.0,11.4,326,6570,0.00,2.35,0.00,0.000,4,0.000,0.033,3392,3212,2135,0,0,0,0,0,0
$GC,6622,1.19,116.8,275.3,11.5,328,6626,0.00,2.45,0.00,0.000,6,0.000,0.038,3392,1797,2135,0,0,0,0,0,0
$GC,6939,1.19,116.8,241.3,10.6,343,6940,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1797,2133,0,0,0,0,0,0
$GC,7246,1.19,116.8,210.4,10.7,358,7251,0.00,2.47,0.00,0.000,4,0.000,0.054,3391,384,2133,0,0,0,0,0,0
$GC,7320,1.19,116.8,201.8,11.7,361,7325,0.00,2.35,0.00,0.000,6,0.000,0.024,3392,1815,2131,0,0,0,0,0,0
$GC,7651,1.19,116.8,170.5,8.2,391,7655,0.00,2.47,0.00,0.000,4,0.000,0.050,3391,385,2131,0,0,0,0,0,0
$GC,7679,1.19,116.8,167.5,9.7,393,7684,0.00,2.33,0.00,0.000,6,0.000,0.022,3392,1810,2130,0,0,0,0,0,0
$GC,7940,1.19,116.8,143.6,9.5,418,7944,0.00,2.47,0.00,0.000,4,0.000,0.049,3392,377,2131,0,0,0,0,0,0
$GC,7975,1.19,116.8,139.9,11.6,421,7979,0.00,2.33,0.00,0.000,6,0.000,0.021,3392,1806,2130,0,0,0,0,0,0
$GC,8239,1.19,116.8,116.3,8.8,445,8244,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1812,2131,0,0,0,0,0,0
$GC,8500,1.21,127.6,94.2,7.5,470,8510,0.00,0.00,5.78,0.431,6,0.000,0.000,3392,1812,2114,0,0,0,0,0,0
$GC,8769,1.29,194.3,78.6,5.0,495,8838,0.12,2.55,58.30,0.535,4,0.063,0.046,3434,387,1841,0,0,0,0,0,0
$GC,8870,1.29,194.3,69.2,11.3,505,8874,0.00,2.30,0.00,0.000,6,0.000,0.019,3434,1806,1837,0,0,0,0,0,0
$GC,9132,1.29,194.3,37.8,11.6,529,9133,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1812,1835,0,0,0,0,0,0
$GC,9389,1.29,194.3,8.3,11.3,570,9396,0.00,2.50,0.00,0.000,4,0.000,0.046,3434,381,1835,0,0,0,0,0,0
$GC,9412,1.29,194.3,5.6,11.4,574,9419,0.00,2.33,0.00,0.000,6,0.000,0.018,3434,1806,1833,0,0,0,0,0,0
$STATE,9435,end climb,SURFACE_DEPTH_REACHED
$STATE,9435,begin surface coast
$FINISH,0.7,1.023334
$STATE,9464,end surface coast,CONTROL_FINISHED_OK
$STATE,9464,begin surface
$SM_CCo,9488,70.03,0.465,0,0,1289,330.17
$SM_GC,1.16,0.00,0.00,70.03,0.000,0.000,0.465,432,2147,1289,-12.45,1.33,330.17
$IRIDIUM_FIX,2057.14,-15753.90,080700,111110
$TT8_MAMPS,0.028379
$HUMID,53.26
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.4,6.863
$10V_AH,10.6,6.469
$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,28.850,94.975,259.750,70.025,0.000,63.382,77.519,217.033,4.500,0.000,34.088,1095.864,6284.583,392.221,1756.997,596.921,0.000,1149.255,0.000,1720.437,0.000,29.253,0.000
$DEVICE_MAMPS,138.827,60.593,830.661,464.802,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,394.710,373.092,819.984,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,31741,583
$CAP_FILE_SIZE,101927,0
$CFSIZE,260165632,252452864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,140411,135846,2105.416,-15757.464,13,2.1,32,9.8