version: 66.06
glider: 139
mission: 7
dive: 28
start: 4 15 110 6 59 34
data:
$ID,139
$MISSION,7
$DIVE,28
$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,-2119770.5
$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
$GPS1,065430,2108.059,-15759.610,62,1.2,72,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-68.5
$GPS2,065844,2108.023,-15759.598,13,1.4,13,9.8
$SPEED_LIMITS,0.144,0.186
$TGT_NAME,SOUTH
$TGT_LATLONG,2057.918,-15744.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.144,-0.118
$KALMAN_X,160.9,85.0,53.4,3287.4,175.0
$KALMAN_Y,121.8,92.7,22.0,-2293.9,-1.4
$MHEAD_RNG_PITCHd_Wd,119.4,31621,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.44,-77.9,0.0,0.0,0,76,0.00,0.00,-59.03,0.000,6,0.000,0.000,430,1957,3369,0,0,0,0,0,0
$GC,79,-1.44,-77.9,3.7,-6.8,11,97,10.75,2.42,0.00,0.000,4,0.143,0.038,2392,563,3371,0,0,0,0,0,0
$GC,171,-1.44,-77.9,30.8,-20.0,31,175,0.00,2.38,0.00,0.000,6,0.000,0.021,2392,2020,3372,0,0,0,0,0,0
$GC,432,-1.44,-77.9,76.8,-17.5,55,436,0.00,2.53,0.00,0.000,4,0.000,0.047,2392,570,3372,0,0,0,0,0,0
$GC,475,-1.44,-77.9,84.5,-18.2,59,479,0.00,2.30,0.00,0.000,6,0.000,0.021,2392,1983,3373,0,0,0,0,0,0
$GC,736,-1.44,-77.9,126.3,-15.6,83,740,0.00,2.42,0.00,0.000,4,0.000,0.046,2392,571,3374,0,0,0,0,0,0
$GC,799,-1.44,-77.9,136.0,-14.8,89,804,0.00,2.28,0.00,0.000,6,0.000,0.021,2392,1982,3374,0,0,0,0,0,0
$GC,1059,-1.44,-77.9,165.8,-12.1,114,1063,0.00,2.42,0.00,0.000,4,0.000,0.045,2391,567,3375,0,0,0,0,0,0
$GC,1140,-1.44,-77.9,176.8,-14.0,122,1147,0.00,2.33,0.00,0.000,6,0.000,0.023,2392,1977,3375,0,0,0,0,0,0
$GC,1398,-1.44,-77.9,208.1,-12.9,144,1402,0.00,2.33,0.00,0.000,4,0.000,0.031,2392,3387,3376,0,0,0,0,0,0
$GC,1461,-1.44,-77.9,216.0,-12.2,146,1468,0.00,2.40,0.00,0.000,6,0.000,0.034,2392,1980,3376,0,0,0,0,0,0
$GC,1776,-1.44,-77.9,250.4,-9.1,162,1780,0.00,2.42,0.00,0.000,4,0.000,0.048,2392,569,3376,0,0,0,0,0,0
$GC,1805,-1.44,-77.9,252.8,-9.3,163,1809,0.00,2.30,0.00,0.000,6,0.000,0.024,2391,1993,3376,0,0,0,0,0,0
$GC,2125,-1.44,-77.9,278.4,-9.6,179,2129,0.00,2.47,0.00,0.000,4,0.000,0.049,2392,569,3376,0,0,0,0,0,0
$GC,2175,-1.44,-77.9,283.8,-10.1,181,2179,0.00,2.30,0.00,0.000,6,0.000,0.025,2392,1976,3376,0,0,0,0,0,0
$GC,2492,-1.44,-77.9,314.5,-10.4,194,2496,0.00,2.45,0.00,0.000,4,0.000,0.051,2392,572,3375,0,0,0,0,0,0
$GC,2569,-1.44,-77.9,323.0,-11.3,195,2574,0.00,2.33,0.00,0.000,6,0.000,0.027,2392,1986,3375,0,0,0,0,0,0
$GC,2900,-1.44,-77.9,351.7,-7.8,203,2905,0.00,2.47,0.00,0.000,4,0.000,0.053,2391,564,3374,0,0,0,0,0,0
$GC,2946,-1.44,-77.9,355.5,-7.4,204,2950,0.00,2.35,0.00,0.000,6,0.000,0.028,2392,1981,3374,0,0,0,0,0,0
$GC,3268,-1.44,-77.9,387.8,-11.9,212,3272,0.00,2.47,0.00,0.000,4,0.000,0.056,2392,567,3373,0,0,0,0,0,0
$GC,3338,-1.44,-77.9,396.9,-12.5,213,3342,0.00,2.35,0.00,0.000,6,0.000,0.030,2392,1979,3372,0,0,0,0,0,0
$GC,3677,-1.44,-77.9,433.2,-10.3,222,3682,0.00,2.50,0.00,0.000,4,0.000,0.058,2392,570,3370,0,0,0,0,0,0
$GC,3695,-1.44,-77.9,435.0,-9.3,222,3700,0.00,2.35,0.00,0.000,6,0.000,0.031,2392,1979,3370,0,0,0,0,0,0
$STATE,3877,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3877,begin apogee
$GC,3881,-0.31,0.0,451.2,8.9,227,3950,1.17,0.00,64.88,0.882,6,0.081,0.000,2640,2059,3050,0,0,0,0,0,0
$STATE,3951,end apogee,CONTROL_FINISHED_OK
$STATE,3951,begin climb
$GC,3952,1.44,77.9,452.1,0.0,228,4027,1.67,2.45,64.53,0.860,4,0.037,0.044,3028,3412,2732,0,0,0,0,0,0
$GC,4291,1.48,111.1,437.1,6.0,235,4324,0.00,2.38,28.30,0.841,6,0.000,0.040,3028,2032,2596,0,0,0,0,0,0
$GC,4637,1.50,124.1,410.3,7.4,244,4654,0.00,2.45,11.70,0.782,4,0.000,0.044,3028,3419,2543,0,0,0,0,0,0
$GC,4917,1.50,124.1,380.8,10.7,250,4922,0.00,2.40,0.00,0.000,6,0.000,0.041,3028,2032,2540,0,0,0,0,0,0
$GC,5235,1.50,124.1,347.4,10.4,258,5236,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2032,2537,0,0,0,0,0,0
$GC,5560,1.53,153.2,324.0,6.3,266,5592,0.00,2.45,24.92,0.803,4,0.000,0.041,3028,3425,2425,0,0,0,0,0,0
$GC,5657,1.53,153.2,315.0,10.3,268,5661,0.00,2.42,0.00,0.000,6,0.000,0.041,3028,2035,2424,0,0,0,0,0,0
$GC,5976,1.53,153.2,279.9,10.9,280,5981,0.00,2.53,0.00,0.000,4,0.000,0.057,3028,626,2420,0,0,0,0,0,0
$GC,5998,1.53,153.2,277.6,10.6,281,6003,0.00,2.38,0.00,0.000,6,0.000,0.031,3028,2034,2418,0,0,0,0,0,0
$GC,6328,1.53,153.2,248.4,9.2,297,6329,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2039,2418,0,0,0,0,0,0
$GC,6636,1.57,182.0,222.7,6.3,312,6667,0.10,2.45,24.70,0.735,4,0.086,0.041,3055,3432,2307,0,0,0,0,0,0
$GC,6929,1.57,182.0,192.7,12.9,328,6936,0.00,2.42,0.00,0.000,6,0.000,0.036,3055,2033,2304,0,0,0,0,0,0
$GC,7191,1.57,182.0,163.1,10.3,353,7193,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2033,2302,0,0,0,0,0,0
$GC,7446,1.57,182.0,136.8,10.7,377,7451,0.00,2.45,0.00,0.000,4,0.000,0.047,3055,618,2302,0,0,0,0,0,0
$GC,7471,1.57,182.0,134.3,10.0,379,7476,0.00,2.35,0.00,0.000,6,0.000,0.026,3055,2043,2300,0,0,0,0,0,0
$GC,7734,1.57,186.3,112.6,8.0,403,7744,0.00,2.45,4.15,0.436,4,0.000,0.046,3055,629,2290,0,0,0,0,0,0
$GC,7937,1.57,186.3,90.2,12.3,425,7941,0.00,2.33,0.00,0.000,6,0.000,0.024,3055,2045,2288,0,0,0,0,0,0
$GC,8199,1.57,186.3,63.6,9.5,449,8203,0.00,2.45,0.00,0.000,4,0.000,0.044,3055,618,2289,0,0,0,0,0,0
$GC,8225,1.57,186.3,60.7,10.2,451,8232,0.00,2.35,0.00,0.000,6,0.000,0.023,3055,2044,2289,0,0,0,0,0,0
$GC,8488,1.62,223.7,41.3,5.7,476,8528,0.00,2.50,33.47,0.565,4,0.000,0.043,3055,623,2137,0,0,0,0,0,0
$GC,8603,1.62,223.7,31.6,11.8,488,8607,0.00,2.33,0.00,0.000,6,0.000,0.022,3055,2040,2133,0,0,0,0,0,0
$STATE,8829,end climb,SURFACE_DEPTH_REACHED
$STATE,8829,begin surface coast
$FINISH,0.5,1.011999
$STATE,8856,end surface coast,CONTROL_FINISHED_OK
$STATE,8857,begin surface
$SM_CCo,8876,39.62,0.527,0,0,1827,300.00
$SM_GC,1.38,0.00,0.00,39.62,0.000,0.000,0.527,429,1957,1827,-10.49,-0.65,300.00
$IRIDIUM_FIX,2101.76,-15803.33,100799,040456
$TT8_MAMPS,0.029146
$HUMID,42.51
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.3,4.227
$10V_AH,9.9,3.777
$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,25.125,96.275,256.650,39.625,0.000,27.162,31.116,111.241,0.000,0.000,13.547,1042.168,5792.295,339.833,1706.608,295.784,31.419,1091.046,0.000,1694.157,0.000,0.537,0.000
$DEVICE_MAMPS,142.662,101.244,882.050,526.929,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,360.491,338.366,760.255,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,28638,533
$CAP_FILE_SIZE,95016,0
$CFSIZE,260165632,256507904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150410,092921,2107.557,-15758.227,29,1.9,36,9.8