version: 66.06
glider: 139
mission: 7
dive: 81
start: 4 21 110 6 29 2
data:
$ID,139
$MISSION,7
$DIVE,81
$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,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,80
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,51995
$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,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,-2121432
$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,2712
$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,1900
$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
$GPS1,062001,2101.239,-15746.430,89,1.4,89,9.8
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-68.8
$GPS2,062845,2101.302,-15746.503,38,1.5,38,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.177,0.048
$KALMAN_X,-10622.7,142.5,584.3,29179.9,-1774.9
$KALMAN_Y,-1714.3,205.2,435.2,-12797.6,-689.5
$MHEAD_RNG_PITCHd_Wd,26.8,10402,-20.8,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,73,0.00,0.00,-55.55,0.000,2,0.000,0.000,429,1883,3306,0,0,0,0,0,0
$GC,76,-1.40,-77.9,3.8,-7.4,10,94,10.77,0.00,-1.20,0.000,6,0.141,0.000,2403,1883,3369,0,0,0,0,0,0
$GC,287,-1.31,-77.9,48.8,-18.7,40,292,0.10,2.42,0.00,0.000,4,0.123,0.028,2426,3325,3370,0,0,0,0,0,0
$GC,356,-1.36,-77.9,60.1,-15.6,47,361,0.00,2.40,0.00,0.000,6,0.000,0.031,2425,1892,3370,0,0,0,0,0,0
$GC,618,-1.36,-77.9,98.2,-13.2,71,622,0.00,2.42,0.00,0.000,4,0.000,0.046,2427,485,3371,0,0,0,0,0,0
$GC,706,-1.33,-77.9,110.6,-13.2,80,710,0.00,2.33,0.00,0.000,6,0.000,0.021,2426,1936,3372,0,0,0,0,0,0
$GC,967,-1.33,-77.9,140.9,-11.8,104,971,0.00,2.50,0.00,0.000,4,0.000,0.044,2426,487,3373,0,0,0,0,0,0
$GC,1037,-1.33,-77.9,149.3,-11.3,111,1041,0.00,2.30,0.00,0.000,6,0.000,0.021,2425,1909,3373,0,0,0,0,0,0
$GC,1300,-1.37,-77.9,172.7,-8.8,135,1304,0.00,2.42,0.00,0.000,4,0.000,0.045,2425,492,3373,0,0,0,0,0,0
$GC,1332,-1.37,-77.9,175.7,-9.2,138,1336,0.00,2.28,0.00,0.000,6,0.000,0.021,2425,1912,3373,0,0,0,0,0,0
$GC,1599,-1.44,-77.9,200.2,-10.2,163,1604,0.12,2.47,0.00,0.000,4,0.066,0.046,2386,492,3374,0,0,0,0,0,0
$GC,1690,-1.39,-77.9,212.7,-13.7,167,1695,0.10,2.25,0.00,0.000,6,0.113,0.021,2407,1895,3374,0,0,0,0,0,0
$GC,2021,-1.39,-77.9,252.1,-10.7,183,2025,0.00,2.42,0.00,0.000,4,0.000,0.048,2406,495,3374,0,0,0,0,0,0
$GC,2089,-1.39,-77.9,259.3,-9.4,186,2093,0.00,2.28,0.00,0.000,6,0.000,0.023,2407,1907,3374,0,0,0,0,0,0
$GC,2414,-1.43,-77.9,284.1,-7.7,202,2418,0.00,2.30,0.00,0.000,4,0.000,0.033,2407,3294,3373,0,0,0,0,0,0
$GC,2450,-1.52,-77.9,287.3,-9.0,203,2455,0.12,2.35,0.00,0.000,6,0.069,0.034,2370,1894,3373,0,0,0,0,0,0
$GC,2782,-1.52,-77.9,320.8,-10.2,214,2786,0.00,2.40,0.00,0.000,4,0.000,0.051,2370,495,3373,0,0,0,0,0,0
$GC,2814,-1.45,-77.9,324.3,-10.4,214,2819,0.12,2.28,0.00,0.000,6,0.106,0.025,2394,1896,3373,0,0,0,0,0,0
$GC,3145,-1.49,-77.9,355.8,-9.7,222,3149,0.00,2.47,0.00,0.000,4,0.000,0.052,2394,497,3371,0,0,0,0,0,0
$GC,3187,-1.49,-77.9,360.0,-10.4,223,3191,0.00,2.33,0.00,0.000,6,0.000,0.027,2396,1904,3371,0,0,0,0,0,0
$GC,3514,-1.53,-77.9,395.1,-10.9,231,3518,0.00,2.47,0.00,0.000,4,0.000,0.052,2395,495,3369,0,0,0,0,0,0
$GC,3578,-1.53,-77.9,401.9,-11.3,232,3582,0.00,2.33,0.00,0.000,6,0.000,0.028,2396,1900,3369,0,0,0,0,0,0
$GC,3922,-1.57,-77.9,432.7,-8.4,241,3924,0.12,0.00,0.00,0.000,6,0.076,0.000,2363,1906,3366,0,0,0,0,0,0
$STATE,4123,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4123,begin apogee
$GC,4128,-0.31,0.0,452.1,9.6,246,4196,1.33,0.00,64.70,0.889,6,0.081,0.000,2642,2060,3050,0,0,0,0,0,0
$STATE,4197,end apogee,CONTROL_FINISHED_OK
$STATE,4197,begin climb
$GC,4199,1.40,77.9,453.1,0.0,247,4273,1.65,2.45,65.20,0.866,4,0.037,0.045,3021,3411,2731,0,0,0,0,0,0
$GC,4357,1.26,131.7,449.9,4.3,250,4410,0.17,2.40,46.35,0.856,6,0.123,0.039,2988,2035,2512,0,0,0,0,0,0
$GC,4741,1.14,131.7,416.3,9.2,260,4746,0.15,2.55,0.00,0.000,4,0.125,0.058,2961,621,2504,0,0,0,0,0,0
$GC,4844,1.03,148.7,408.6,6.9,262,4865,0.15,2.35,14.68,0.802,6,0.127,0.030,2938,2019,2442,0,0,0,0,0,0
$GC,5202,1.05,162.6,383.4,7.1,271,5222,0.00,2.53,12.80,0.789,4,0.000,0.056,2938,621,2385,0,0,0,0,0,0
$GC,5311,1.02,185.1,375.5,6.5,273,5337,0.00,2.40,20.92,0.818,6,0.000,0.031,2938,2040,2294,0,0,0,0,0,0
$GC,5661,1.02,185.1,342.9,9.8,282,5665,0.00,2.53,0.00,0.000,4,0.000,0.057,2938,630,2289,0,0,0,0,0,0
$GC,5750,0.98,185.1,333.4,10.5,284,5754,0.00,2.38,0.00,0.000,6,0.000,0.031,2938,2040,2286,0,0,0,0,0,0
$GC,6077,1.02,185.1,304.8,8.9,292,6081,0.00,2.50,0.00,0.000,4,0.000,0.057,2938,630,2286,0,0,0,0,0,0
$GC,6190,1.02,185.1,291.8,12.1,295,6194,0.00,2.38,0.00,0.000,6,0.000,0.030,2938,2034,2283,0,0,0,0,0,0
$GC,6520,1.07,185.1,258.2,9.2,311,6524,0.00,2.50,0.00,0.000,4,0.000,0.053,2938,622,2283,0,0,0,0,0,0
$GC,6551,1.07,185.1,255.1,8.7,312,6556,0.00,2.38,0.00,0.000,6,0.000,0.029,2938,2037,2282,0,0,0,0,0,0
$GC,6868,1.12,185.1,226.9,8.7,327,6873,0.00,2.50,0.00,0.000,4,0.000,0.053,2938,621,2282,0,0,0,0,0,0
$GC,7076,1.13,190.1,208.7,7.7,336,7080,0.00,2.35,0.00,0.000,6,0.000,0.028,2938,2043,2279,0,0,0,0,0,0
$GC,7408,1.22,208.1,186.0,6.8,361,7437,0.17,2.58,19.05,0.696,4,0.067,0.050,2981,626,2200,0,0,0,0,0,0
$GC,7618,1.15,208.1,162.6,12.7,384,7623,0.00,2.35,0.00,0.000,6,0.000,0.025,2980,2039,2195,0,0,0,0,0,0
$GC,7879,1.15,208.1,135.8,9.2,408,7884,0.00,2.47,0.00,0.000,4,0.000,0.047,2980,622,2195,0,0,0,0,0,0
$GC,7907,1.07,208.1,133.1,9.7,410,7914,0.15,2.35,0.00,0.000,6,0.096,0.025,2949,2037,2194,0,0,0,0,0,0
$GC,8169,1.16,215.0,113.6,7.5,435,8179,0.00,0.00,6.72,0.537,6,0.000,0.000,2949,2043,2173,0,0,0,0,0,0
$GC,8435,1.27,236.4,96.4,6.6,460,8464,0.17,2.53,20.33,0.609,4,0.063,0.046,2994,628,2085,0,0,0,0,0,0
$GC,8565,1.23,236.4,84.2,9.4,474,8569,0.00,2.30,0.00,0.000,6,0.000,0.022,2994,2041,2081,0,0,0,0,0,0
$GC,8828,1.23,236.4,61.7,8.8,498,8832,0.00,2.45,0.00,0.000,4,0.000,0.044,2992,626,2081,0,0,0,0,0,0
$GC,8888,1.20,236.4,55.0,11.7,504,8892,0.10,2.28,0.00,0.000,6,0.120,0.021,2976,2038,2080,0,0,0,0,0,0
$GC,9149,1.27,236.4,30.9,10.5,528,9150,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2044,2080,0,0,0,0,0,0
$GC,9405,1.32,236.4,5.0,11.6,575,9412,0.10,2.47,0.00,0.000,4,0.081,0.045,3006,630,2080,0,0,0,0,0,0
$STATE,9422,end climb,SURFACE_DEPTH_REACHED
$STATE,9422,begin surface coast
$FINISH,1.0,1.023795
$STATE,9432,end surface coast,CONTROL_FINISHED_OK
$STATE,9432,begin surface
$SM_CCo,9453,33.20,0.529,0,0,1825,300.00
$SM_GC,1.57,0.00,0.00,33.20,0.000,0.000,0.529,425,1931,1825,-10.52,0.88,300.00
$IRIDIUM_FIX,2054.83,-15746.61,160799,060615
$TT8_MAMPS,0.029913
$HUMID,43.93
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.4,8.490
$10V_AH,10.0,7.727
$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,26.675,105.675,270.750,33.200,0.000,59.378,55.521,220.945,0.000,0.000,38.310,1130.542,6228.240,350.044,1804.450,499.325,0.000,1125.862,0.000,1774.841,0.000,0.539,0.000
$DEVICE_MAMPS,141.128,58.292,888.953,529.230,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,392.932,371.099,819.983,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355452
$DATA_FILE_SIZE,31799,580
$CAP_FILE_SIZE,110761,0
$CFSIZE,260165632,253812736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210410,090832,2101.836,-15746.024,48,1.8,48,9.8