version: 66.06
glider: 139
mission: 7
dive: 27
start: 4 15 110 4 20 41
data:
$ID,139
$MISSION,7
$DIVE,27
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,550
$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,180
$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,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,300
$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,-2119756.2
$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,2710
$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,1980
$C_ROLL_CLIMB,2035
$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,3050
$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
$GPS1,041450,2108.656,-15800.851,103,2.6,122,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-68.8
$GPS2,041954,2108.616,-15800.830,33,1.2,43,9.8
$SPEED_LIMITS,0.144,0.186
$TGT_NAME,SOUTH
$TGT_LATLONG,2057.918,-15744.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.150,-0.110
$KALMAN_X,-40.3,-40.3,-40.3,1592.3,-36.3
$KALMAN_Y,50.9,50.9,50.9,-1116.4,45.9
$MHEAD_RNG_PITCHd_Wd,116.3,33991,-21.5,-8.333
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.44,-77.9,0.0,0.0,0,77,0.00,0.00,-58.92,0.000,6,0.000,0.000,425,2022,3369,0,0,0,0,0,0
$GC,80,-1.44,-77.9,3.9,-7.0,11,98,10.73,2.55,0.00,0.000,4,0.142,0.041,2390,569,3370,0,0,0,0,0,0
$GC,134,-1.44,-77.9,24.0,-30.2,22,141,0.00,2.38,0.00,0.000,6,0.000,0.021,2390,2012,3371,0,0,0,0,0,0
$GC,334,-1.44,-77.9,62.2,-16.8,43,339,0.00,2.50,0.00,0.000,4,0.000,0.047,2390,564,3371,0,0,0,0,0,0
$GC,376,-1.44,-77.9,69.3,-17.3,47,380,0.00,2.28,0.00,0.000,6,0.000,0.021,2390,1979,3371,0,0,0,0,0,0
$GC,640,-1.44,-77.9,108.2,-13.0,72,645,0.00,2.42,0.00,0.000,4,0.000,0.046,2390,569,3373,0,0,0,0,0,0
$GC,667,-1.44,-77.9,112.0,-14.1,74,674,0.00,2.30,0.00,0.000,6,0.000,0.021,2390,1972,3372,0,0,0,0,0,0
$GC,928,-1.44,-77.9,150.1,-14.5,99,932,0.00,2.40,0.00,0.000,4,0.000,0.046,2390,571,3374,0,0,0,0,0,0
$GC,946,-1.44,-77.9,152.9,-13.9,100,953,0.00,2.30,0.00,0.000,6,0.000,0.021,2390,1981,3374,0,0,0,0,0,0
$GC,1208,-1.44,-77.9,179.6,-11.6,125,1212,0.00,2.45,0.00,0.000,4,0.000,0.047,2390,568,3375,0,0,0,0,0,0
$GC,1288,-1.44,-77.9,190.9,-13.9,133,1292,0.00,2.30,0.00,0.000,6,0.000,0.022,2390,1982,3375,0,0,0,0,0,0
$GC,1542,-1.44,-77.9,222.1,-10.7,148,1546,0.00,2.45,0.00,0.000,4,0.000,0.046,2390,565,3376,0,0,0,0,0,0
$GC,1578,-1.44,-77.9,225.7,-9.6,149,1584,0.00,2.30,0.00,0.000,6,0.000,0.023,2390,1979,3376,0,0,0,0,0,0
$GC,1894,-1.44,-77.9,259.2,-10.2,165,1898,0.00,2.42,0.00,0.000,4,0.000,0.048,2390,567,3376,0,0,0,0,0,0
$GC,1948,-1.44,-77.9,265.5,-11.3,167,1952,0.00,2.30,0.00,0.000,6,0.000,0.025,2390,1980,3376,0,0,0,0,0,0
$GC,2263,-1.44,-77.9,299.0,-10.4,182,2267,0.00,2.30,0.00,0.000,4,0.000,0.035,2390,3372,3376,0,0,0,0,0,0
$GC,2299,-1.44,-77.9,302.8,-10.2,183,2304,0.00,2.35,0.00,0.000,6,0.000,0.036,2390,1973,3376,0,0,0,0,0,0
$GC,2629,-1.44,-77.9,339.4,-11.1,192,2633,0.00,2.45,0.00,0.000,4,0.000,0.052,2390,565,3374,0,0,0,0,0,0
$GC,2684,-1.44,-77.9,345.4,-10.2,193,2688,0.00,2.33,0.00,0.000,6,0.000,0.028,2390,1974,3375,0,0,0,0,0,0
$GC,2996,-1.44,-77.9,374.3,-9.4,201,3001,0.00,2.47,0.00,0.000,4,0.000,0.054,2390,569,3373,0,0,0,0,0,0
$GC,3065,-1.44,-77.9,381.3,-9.7,202,3069,0.00,2.35,0.00,0.000,6,0.000,0.029,2390,1983,3373,0,0,0,0,0,0
$GC,3404,-1.44,-77.9,409.2,-8.6,211,3409,0.00,2.50,0.00,0.000,4,0.000,0.057,2390,570,3372,0,0,0,0,0,0
$GC,3487,-1.44,-77.9,417.9,-11.3,212,3493,0.00,2.35,0.00,0.000,6,0.000,0.031,2390,1978,3371,0,0,0,0,0,0
$STATE,3816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3816,begin apogee
$GC,3821,-0.31,0.0,453.3,10.6,221,3889,1.17,0.00,64.78,0.885,6,0.081,0.000,2639,2057,3050,0,0,0,0,0,0
$STATE,3890,end apogee,CONTROL_FINISHED_OK
$STATE,3890,begin climb
$GC,3891,1.44,77.9,455.0,0.0,222,3966,1.67,2.47,64.50,0.863,4,0.036,0.045,3026,3422,2732,0,0,0,0,0,0
$GC,4220,1.51,133.9,449.4,4.3,229,4273,0.00,2.42,47.28,0.860,6,0.000,0.041,3026,2027,2504,0,0,0,0,0,0
$GC,4617,1.51,138.1,418.9,8.0,239,4623,0.00,0.00,4.12,0.554,6,0.000,0.000,3026,2028,2486,0,0,0,0,0,0
$GC,4942,1.51,138.1,387.1,9.8,247,4943,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2028,2484,0,0,0,0,0,0
$GC,5267,1.51,138.1,354.7,9.4,255,5268,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2028,2482,0,0,0,0,0,0
$GC,5592,1.55,168.0,333.0,6.2,263,5625,0.00,2.50,25.77,0.812,4,0.000,0.041,3026,3418,2365,0,0,0,0,0,0
$GC,5671,1.55,168.0,326.2,9.8,264,5675,0.00,2.42,0.00,0.000,6,0.000,0.040,3026,2029,2364,0,0,0,0,0,0
$GC,5983,1.55,168.0,292.3,11.2,273,5987,0.00,2.40,0.00,0.000,4,0.000,0.041,3026,3430,2361,0,0,0,0,0,0
$GC,6119,1.55,168.0,277.8,10.4,279,6123,0.00,2.40,0.00,0.000,6,0.000,0.038,3026,2033,2360,0,0,0,0,0,0
$GC,6448,1.55,168.0,246.2,9.6,295,6452,0.00,2.47,0.00,0.000,4,0.000,0.053,3026,625,2358,0,0,0,0,0,0
$GC,6502,1.55,168.0,240.3,10.5,297,6507,0.00,2.35,0.00,0.000,6,0.000,0.029,3026,2030,2356,0,0,0,0,0,0
$GC,6817,1.56,172.5,214.8,8.0,312,6829,0.10,2.47,4.28,0.504,4,0.086,0.049,3053,628,2345,0,0,0,0,0,0
$GC,6956,1.56,172.5,200.1,11.1,318,6961,0.00,2.35,0.00,0.000,6,0.000,0.028,3053,2038,2343,0,0,0,0,0,0
$GC,7290,1.56,172.5,169.3,11.2,349,7295,0.00,2.33,0.00,0.000,4,0.000,0.035,3053,3432,2344,0,0,0,0,0,0
$GC,7353,1.56,172.5,161.3,13.3,355,7359,0.00,2.38,0.00,0.000,6,0.000,0.031,3053,2025,2343,0,0,0,0,0,0
$GC,7614,1.56,172.5,129.5,11.4,380,7615,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2024,2344,0,0,0,0,0,0
$GC,7868,1.56,172.5,106.2,9.0,404,7869,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2024,2343,0,0,0,0,0,0
$GC,8123,1.56,172.5,83.7,9.0,428,8127,0.00,2.40,0.00,0.000,4,0.000,0.045,3053,621,2343,0,0,0,0,0,0
$GC,8169,1.56,172.5,79.5,9.6,432,8176,0.00,2.35,0.00,0.000,6,0.000,0.024,3053,2042,2344,0,0,0,0,0,0
$GC,8432,1.59,198.2,61.4,6.5,457,8462,0.00,2.35,23.62,0.577,4,0.000,0.030,3053,3434,2240,0,0,0,0,0,0
$GC,8509,1.59,198.2,54.0,10.8,465,8513,0.00,2.38,0.00,0.000,6,0.000,0.031,3053,2030,2239,0,0,0,0,0,0
$GC,8772,1.59,198.2,26.5,8.7,492,8778,0.00,2.42,0.00,0.000,4,0.000,0.044,3053,633,2237,0,0,0,0,0,0
$GC,8810,1.59,198.2,22.8,9.6,500,8817,0.00,2.33,0.00,0.000,6,0.000,0.023,3053,2041,2236,0,0,0,0,0,0
$GC,9012,1.59,203.2,3.6,8.0,537,9020,0.00,0.10,5.28,0.413,3,0.000,0.087,3053,1961,2221,0,0,0,0,0,0
$STATE,9020,end climb,SURFACE_DEPTH_REACHED
$STATE,9020,begin surface coast
$FINISH,0.4,1.023993
$STATE,9054,end surface coast,CONTROL_FINISHED_OK
$STATE,9054,begin surface
$SM_CCo,9072,49.88,0.531,0,0,1827,300.00
$SM_GC,1.56,0.00,0.00,49.88,0.000,0.000,0.531,430,1958,1827,-10.49,-0.62,300.00
$IRIDIUM_FIX,2101.76,-15800.33,100799,010133
$TT8_MAMPS,0.029146
$HUMID,42.79
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.3,4.153
$10V_AH,9.9,3.706
$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,25.025,95.825,239.625,49.875,0.000,28.643,28.773,130.784,0.000,0.000,43.808,1027.801,6115.180,349.922,1630.893,308.247,30.184,1052.728,0.000,1591.664,0.000,0.540,0.000
$DEVICE_MAMPS,141.895,102.011,885.118,530.764,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,367.599,341.657,780.267,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355532
$DATA_FILE_SIZE,31755,544
$CAP_FILE_SIZE,92699,0
$CFSIZE,260165632,256552960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150410,065430,2108.059,-15759.610,62,1.2,72,9.8