version: 66.06
glider: 139
mission: 7
dive: 6
start: 4 13 110 0 53 49
data:
$ID,139
$MISSION,7
$DIVE,6
$D_SURF,3
$D_FLARE,3
$D_TGT,240
$D_ABORT,350
$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,80
$T_MISSION,100
$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,80
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,51995
$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,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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2119211.2
$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,2670
$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,2079
$C_ROLL_CLIMB,2079
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,3046
$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,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,-6.8056469e+38
$FG_AHR_24V,-6.8056469e+38
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.231706
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$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,0.0043401681
$SEABIRD_T_H,0.00063043466
$SEABIRD_T_I,2.4021314e-05
$SEABIRD_T_J,2.5358199e-06
$SEABIRD_C_G,-9.8272314
$SEABIRD_C_H,1.0932546
$SEABIRD_C_I,-0.0012359815
$SEABIRD_C_J,0.00017717193
$GPS1,004655,2115.640,-15754.035,18,2.0,23,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-67.9
$GPS2,005300,2115.640,-15754.079,43,1.1,43,9.8
$SPEED_LIMITS,0.173,0.195
$TGT_NAME,TRANSIT
$TGT_LATLONG,2112.000,-15757.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.133,-0.143
$KALMAN_X,485.8,276.5,148.7,-1668.7,142.7
$KALMAN_Y,-110.5,-59.8,-40.8,-1411.9,20.6
$MHEAD_RNG_PITCHd_Wd,213.2,8418,-24.9,-10.000
$D_GRID,240
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.65,-77.9,0.0,0.0,0,98,0.00,0.00,-78.30,0.000,6,0.000,0.000,429,2089,3363,0,0,0,0,0,0
$GC,100,-1.65,-77.9,3.4,-7.7,15,118,10.10,2.45,0.00,0.000,4,0.140,0.040,2304,666,3365,0,0,0,0,0,0
$GC,273,-1.65,-77.9,47.8,-22.3,45,279,0.00,2.35,0.00,0.000,6,0.000,0.024,2305,2097,3365,0,0,0,0,0,0
$GC,533,-1.65,-77.9,102.4,-21.3,70,537,0.00,2.42,0.00,0.000,4,0.000,0.044,2305,665,3364,0,0,0,0,0,0
$GC,550,-1.65,-77.9,106.3,-20.6,71,556,0.00,2.30,0.00,0.000,6,0.000,0.022,2305,2102,3365,0,0,0,0,0,0
$GC,811,-1.65,-77.9,153.8,-17.3,96,815,0.00,2.42,0.00,0.000,4,0.000,0.044,2305,664,3366,0,0,0,0,0,0
$GC,917,-1.65,-77.9,171.8,-15.9,107,921,0.00,2.28,0.00,0.000,6,0.000,0.024,2305,2074,3366,0,0,0,0,0,0
$GC,1185,-1.65,-77.9,214.5,-15.5,128,1186,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2078,3366,0,0,0,0,0,0
$STATE,1370,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1370,begin apogee
$GC,1374,-0.31,0.0,240.6,14.6,137,1441,1.40,0.00,62.40,0.693,6,0.084,0.000,2601,2078,3047,0,0,0,0,0,0
$STATE,1441,end apogee,CONTROL_FINISHED_OK
$STATE,1441,begin climb
$GC,1443,1.65,77.9,244.0,0.0,140,1516,1.90,2.40,61.70,0.686,4,0.043,0.033,3035,3481,2727,0,0,0,0,0,0
$GC,1714,1.75,157.3,237.9,3.2,152,1786,0.00,2.38,64.07,0.691,6,0.000,0.031,3035,2072,2404,0,0,0,0,0,0
$GC,2103,1.76,163.4,197.6,9.5,171,2113,0.00,2.45,5.45,0.509,4,0.000,0.049,3035,668,2379,0,0,0,0,0,0
$GC,2216,1.76,163.4,186.7,11.7,183,2220,0.00,2.33,0.00,0.000,6,0.000,0.027,3035,2077,2377,0,0,0,0,0,0
$GC,2478,1.76,165.4,159.1,9.8,207,2482,0.00,2.42,0.00,0.000,4,0.000,0.048,3035,676,2376,0,0,0,0,0,0
$GC,2521,1.76,165.4,154.6,10.7,211,2526,0.00,2.33,0.00,0.000,6,0.000,0.027,3035,2087,2375,0,0,0,0,0,0
$GC,2784,1.77,171.0,129.0,9.5,235,2796,0.00,2.35,7.22,0.548,4,0.000,0.034,3035,3469,2348,0,0,0,0,0,0
$GC,2858,1.79,189.2,122.3,8.4,243,2880,0.10,2.33,16.58,0.617,6,0.085,0.033,3063,2080,2274,0,0,0,0,0,0
$GC,3140,1.79,189.2,92.5,11.3,270,3145,0.00,2.40,0.00,0.000,4,0.000,0.046,3063,674,2270,0,0,0,0,0,0
$GC,3218,1.79,189.2,82.7,12.6,278,3222,0.00,2.30,0.00,0.000,6,0.000,0.025,3063,2087,2268,0,0,0,0,0,0
$GC,3481,1.80,197.6,55.1,9.3,302,3491,0.00,0.00,7.68,0.512,6,0.000,0.000,3063,2092,2240,0,0,0,0,0,0
$GC,3745,1.80,197.6,26.8,11.4,329,3752,0.00,2.30,0.00,0.000,4,0.000,0.031,3064,3468,2239,0,0,0,0,0,0
$GC,3864,1.80,197.6,13.4,10.9,356,3870,0.00,2.33,0.00,0.000,6,0.000,0.030,3063,2083,2239,0,0,0,0,0,0
$STATE,3962,end climb,SURFACE_DEPTH_REACHED
$STATE,3962,begin surface coast
$FINISH,0.4,1.023694
$STATE,3991,end surface coast,CONTROL_FINISHED_OK
$STATE,3992,begin surface
$SM_CCo,4010,98.35,0.548,0,0,1414,400.08
$SM_GC,1.09,0.00,0.00,98.35,0.000,0.000,0.548,429,2077,1414,-10.31,-0.06,400.08
$IRIDIUM_FIX,2106.38,-15755.17,070799,232338
$TT8_MAMPS,0.029146
$HUMID,43.93
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,21.30
$XPDR_PINGS,3
$24V_AH,23.6,2.567
$10V_AH,10.1,2.225
$FG_AHR_24Vo,-680564693277057719623408366969033850880.000
$FG_AHR_10Vo,-680564693277057719623408366969033850880.000
$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,24.850,42.525,225.100,98.350,0.000,22.072,33.787,189.369,0.750,0.000,43.285,664.353,2015.526,351.407,1111.676,339.804,33.334,813.834,0.000,1082.286,0.000,0.539,0.000
$DEVICE_MAMPS,139.594,49.088,692.601,548.405,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,253.962,273.504,672.736,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,22323,379
$CAP_FILE_SIZE,57331,0
$CFSIZE,260165632,257560576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130410,020320,2115.338,-15754.372,22,1.7,28,9.8