version: 66.06
glider: 139
mission: 9
dive: 46
start: 4 10 111 1 7 9
data:
$ID,139
$MISSION,9
$DIVE,46
$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,-2175485
$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,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,227
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,1830
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$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
$GPS1,010031,2101.864,-15802.312,14,1.5,31,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-72.1
$GPS2,010649,2101.834,-15802.361,14,1.2,19,9.8
$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,67.8,34394,-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,12,begin dive
$GC,15,-1.19,-116.8,0.0,0.0,0,93,0.00,0.00,-71.15,0.000,6,0.000,0.000,431,2136,3111,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.0,-4.4,14,115,13.30,2.22,0.00,0.000,4,0.138,0.026,2871,3472,3113,0,0,0,0,0,0
$GC,169,-0.93,-116.8,19.7,-16.2,29,176,0.25,2.35,0.00,0.000,6,0.082,0.028,2933,2094,3114,0,0,0,0,0,0
$GC,373,-0.74,-116.8,45.8,-11.9,54,378,0.20,2.28,0.00,0.000,4,0.096,0.028,2971,3461,3114,0,0,0,0,0,0
$GC,428,-0.71,-116.8,52.0,-9.7,59,434,0.00,2.30,0.00,0.000,6,0.000,0.028,2972,2099,3114,0,0,0,0,0,0
$GC,691,-0.64,-116.8,79.4,-10.9,84,695,0.12,2.42,0.00,0.000,4,0.104,0.041,2995,688,3115,0,0,0,0,0,0
$GC,792,-0.60,-116.8,88.7,-8.0,94,796,0.00,2.22,0.00,0.000,6,0.000,0.020,2996,2068,3116,0,0,0,0,0,0
$GC,1056,-0.60,-116.8,105.1,-5.9,118,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2071,3116,0,0,0,0,0,0
$GC,1308,-0.60,-116.8,119.2,-6.4,142,1312,0.00,2.33,0.00,0.000,4,0.000,0.039,2995,687,3116,0,0,0,0,0,0
$GC,1462,-0.60,-116.8,130.1,-5.8,158,1466,0.00,2.30,0.00,0.000,6,0.000,0.021,2996,2111,3117,0,0,0,0,0,0
$GC,1731,-0.64,-116.8,139.9,-3.5,183,1738,0.00,2.42,0.00,0.000,4,0.000,0.040,2995,685,3118,0,0,0,0,0,0
$GC,1784,-0.64,-116.8,142.5,-4.5,188,1791,0.00,2.33,0.00,0.000,6,0.000,0.021,2996,2095,3118,0,0,0,0,0,0
$GC,2049,-0.68,-116.8,156.9,-5.7,213,2054,0.00,2.38,0.00,0.000,4,0.000,0.040,2995,685,3117,0,0,0,0,0,0
$GC,2106,-0.72,-116.8,160.3,-6.0,218,2112,0.00,2.33,0.00,0.000,6,0.000,0.021,2996,2098,3117,0,0,0,0,0,0
$GC,2371,-0.77,-116.8,171.4,-4.3,243,2376,0.12,0.00,0.00,0.000,6,0.064,0.000,2954,2102,3118,0,0,0,0,0,0
$GC,2635,-0.73,-116.8,190.5,-8.6,268,2640,0.10,2.42,0.00,0.000,4,0.107,0.041,2974,684,3118,0,0,0,0,0,0
$GC,2772,-0.73,-116.8,201.5,-7.4,281,2776,0.00,2.30,0.00,0.000,6,0.000,0.022,2974,2108,3118,0,0,0,0,0,0
$GC,3105,-0.76,-116.8,217.8,-6.1,297,3109,0.00,2.42,0.00,0.000,4,0.000,0.041,2974,685,3117,0,0,0,0,0,0
$GC,3150,-0.76,-116.8,221.0,-7.5,299,3154,0.00,2.33,0.00,0.000,6,0.000,0.023,2974,2107,3117,0,0,0,0,0,0
$GC,3483,-0.79,-116.8,236.9,-4.0,315,3488,0.00,2.40,0.00,0.000,4,0.000,0.042,2974,689,3117,0,0,0,0,0,0
$GC,3512,-0.79,-116.8,238.5,-5.0,316,3516,0.00,2.30,0.00,0.000,6,0.000,0.023,2974,2108,3117,0,0,0,0,0,0
$GC,3833,-0.84,-116.8,254.8,-5.7,332,3837,0.00,2.35,0.00,0.000,4,0.000,0.037,2974,3499,3116,0,0,0,0,0,0
$GC,3855,-0.90,-116.8,256.1,-6.0,333,3860,0.15,2.35,0.00,0.000,6,0.060,0.030,2930,2097,3116,0,0,0,0,0,0
$GC,4190,-0.84,-116.8,280.2,-7.6,349,4192,0.12,0.00,0.00,0.000,6,0.100,0.000,2955,2097,3114,0,0,0,0,0,0
$GC,4495,-0.84,-116.8,297.3,-4.1,364,4499,0.00,2.40,0.00,0.000,4,0.000,0.047,2955,695,3113,0,0,0,0,0,0
$GC,4676,-0.84,-116.8,305.0,-4.1,370,4681,0.00,2.30,0.00,0.000,6,0.000,0.027,2955,2095,3112,0,0,0,0,0,0
$GC,5007,-0.84,-116.8,321.9,-5.4,378,5011,0.00,2.40,0.00,0.000,4,0.000,0.040,2955,3505,3111,0,0,0,0,0,0
$GC,5091,-0.88,-116.8,327.8,-7.0,379,5097,0.00,2.35,0.00,0.000,6,0.000,0.032,2955,2101,3110,0,0,0,0,0,0
$GC,5422,-0.88,-116.8,344.2,-4.1,388,5426,0.00,2.42,0.00,0.000,4,0.000,0.048,2955,688,3109,0,0,0,0,0,0
$GC,5450,-0.88,-116.8,345.3,-4.6,388,5455,0.00,2.33,0.00,0.000,6,0.000,0.028,2955,2099,3109,0,0,0,0,0,0
$GC,5791,-0.88,-116.8,356.4,-3.3,397,5795,0.00,2.42,0.00,0.000,4,0.000,0.049,2955,690,3106,0,0,0,0,0,0
$GC,5835,-0.88,-116.8,358.6,-5.3,398,5839,0.00,2.33,0.00,0.000,6,0.000,0.028,2955,2099,3106,0,0,0,0,0,0
$STATE,6037,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,6038,begin apogee
$GC,6045,-0.31,0.0,369.4,5.3,403,6142,0.52,0.00,94.12,0.768,6,0.077,0.000,3066,1824,2635,0,0,0,0,0,0
$STATE,6142,end apogee,CONTROL_FINISHED_OK
$STATE,6143,begin climb
$GC,6145,1.19,116.8,371.8,0.0,405,6257,1.50,2.58,100.03,0.747,4,0.060,0.057,3392,438,2156,0,0,0,0,0,0
$GC,6264,1.06,116.8,363.4,10.9,407,6269,0.12,2.38,0.00,0.000,6,0.109,0.028,3370,1844,2154,0,0,0,0,0,0
$GC,6595,1.02,116.8,328.8,10.4,415,6599,0.00,2.55,0.00,0.000,4,0.000,0.058,3369,424,2146,0,0,0,0,0,0
$GC,6675,0.96,116.8,319.6,12.2,416,6680,0.12,2.38,0.00,0.000,6,0.104,0.029,3345,1833,2142,0,0,0,0,0,0
$GC,6988,0.99,116.8,289.2,10.3,426,6992,0.00,2.53,0.00,0.000,4,0.000,0.058,3344,430,2140,0,0,0,0,0,0
$GC,7034,0.99,116.8,283.7,12.3,428,7038,0.00,2.35,0.00,0.000,6,0.000,0.029,3345,1835,2138,0,0,0,0,0,0
$GC,7360,1.03,116.8,249.3,9.6,444,7364,0.00,2.53,0.00,0.000,4,0.000,0.058,3345,424,2137,0,0,0,0,0,0
$GC,7420,1.03,116.8,243.3,8.9,446,7427,0.00,2.38,0.00,0.000,6,0.000,0.028,3345,1831,2136,0,0,0,0,0,0
$GC,7736,1.18,190.4,223.6,4.6,462,7805,0.22,2.45,61.58,0.680,4,0.050,0.035,3406,3224,1858,0,0,0,0,0,0
$GC,7822,1.15,198.6,217.5,7.6,465,7838,0.00,2.45,8.73,0.572,6,0.000,0.039,3405,1833,1824,0,0,0,0,0,0
$GC,8165,1.09,198.6,178.1,13.1,489,8170,0.15,2.47,0.00,0.000,4,0.099,0.054,3376,421,1817,0,0,0,0,0,0
$GC,8277,1.09,198.6,162.9,12.3,500,8284,0.00,2.35,0.00,0.000,6,0.000,0.025,3376,1835,1813,0,0,0,0,0,0
$GC,8542,1.12,198.6,130.0,11.8,525,8547,0.00,2.50,0.00,0.000,4,0.000,0.052,3376,421,1813,0,0,0,0,0,0
$GC,8612,1.12,198.6,121.4,11.2,532,8616,0.00,2.30,0.00,0.000,6,0.000,0.023,3376,1835,1810,0,0,0,0,0,0
$GC,8876,1.20,210.5,99.2,7.5,556,8891,0.00,2.50,9.70,0.503,4,0.000,0.049,3375,421,1775,0,0,0,0,0,0
$GC,8962,1.24,210.5,91.8,8.2,564,8969,0.10,2.33,0.00,0.000,6,0.037,0.021,3414,1832,1772,0,0,0,0,0,0
$GC,9228,1.24,210.5,66.6,10.1,589,9232,0.00,2.45,0.00,0.000,4,0.000,0.048,3414,419,1772,0,0,0,0,0,0
$GC,9253,1.18,210.5,63.6,12.6,591,9258,0.00,2.30,0.00,0.000,6,0.000,0.021,3414,1845,1772,0,0,0,0,0,0
$GC,9518,1.18,210.5,36.5,10.2,615,9522,0.00,2.47,0.00,0.000,4,0.000,0.048,3414,420,1772,0,0,0,0,0,0
$GC,9591,1.14,210.5,27.5,12.0,624,9598,0.10,2.30,0.00,0.000,6,0.075,0.020,3388,1830,1771,0,0,0,0,0,0
$GC,9795,1.21,210.5,8.9,9.0,661,9802,0.00,2.47,0.00,0.000,4,0.000,0.048,3387,421,1771,0,0,0,0,0,0
$GC,9826,1.21,210.5,5.3,11.8,667,9833,0.00,2.28,0.00,0.000,6,0.000,0.019,3388,1829,1771,0,0,0,0,0,0
$STATE,9850,end climb,SURFACE_DEPTH_REACHED
$STATE,9850,begin surface coast
$FINISH,0.4,1.011496
$STATE,9878,end surface coast,CONTROL_FINISHED_OK
$STATE,9879,begin surface
$SM_CCo,9903,62.83,0.468,0,0,1289,330.17
$SM_GC,1.20,0.00,0.00,62.83,0.000,0.000,0.468,431,2110,1289,-12.45,0.28,330.17
$IRIDIUM_FIX,2054.83,-15759.92,030700,222238
$TT8_MAMPS,0.028379
$HUMID,54.25
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.10
$XPDR_PINGS,0
$24V_AH,23.4,3.883
$10V_AH,10.5,3.528
$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,29.975,119.825,274.150,62.825,0.000,30.735,36.589,186.077,3.500,0.000,19.503,1264.903,6190.574,416.364,1940.352,531.222,0.000,1244.740,0.000,1930.243,0.000,24.786,0.000
$DEVICE_MAMPS,138.060,57.525,767.767,467.870,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,458.109,462.573,1007.572,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,37995,676
$CAP_FILE_SIZE,117325,0
$CFSIZE,260165632,254300160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,100411,035428,2101.914,-15802.726,15,5.5,34,9.8