version: 66.06
glider: 139
mission: 7
dive: 86
start: 4 21 110 20 51 4
data:
$ID,139
$MISSION,7
$DIVE,86
$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,-2121564.5
$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,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
$GPS1,204451,2103.738,-15746.043,57,4.0,76,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-68.4
$GPS2,205046,2103.735,-15746.075,15,4.2,34,9.8
$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,45.0,6676,-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,-55.85,0.000,2,0.000,0.000,428,1934,3279,0,0,0,0,0,0
$GC,76,-1.40,-77.9,3.2,-5.6,10,94,10.70,2.30,-1.77,0.000,4,0.138,0.038,2404,3321,3368,0,0,0,0,0,0
$GC,134,-1.36,-77.9,17.6,-15.4,22,141,0.10,2.45,0.00,0.000,6,0.079,0.032,2422,1897,3369,0,0,0,0,0,0
$GC,342,-1.31,-77.9,46.2,-12.8,49,346,0.00,2.40,0.00,0.000,4,0.000,0.046,2429,494,3370,0,0,0,0,0,0
$GC,376,-1.18,-77.9,50.9,-14.0,52,381,0.12,2.33,0.00,0.000,6,0.109,0.020,2453,1930,3370,0,0,0,0,0,0
$GC,640,-1.22,-77.9,79.3,-11.7,76,644,0.00,2.47,0.00,0.000,4,0.000,0.044,2453,491,3371,0,0,0,0,0,0
$GC,710,-1.22,-77.9,88.6,-13.2,83,714,0.00,2.28,0.00,0.000,6,0.000,0.020,2453,1898,3371,0,0,0,0,0,0
$GC,972,-1.27,-77.9,120.4,-10.8,107,976,0.00,2.42,0.00,0.000,4,0.000,0.045,2453,485,3372,0,0,0,0,0,0
$GC,1027,-1.31,-77.9,126.0,-8.4,112,1035,0.10,2.30,0.00,0.000,6,0.036,0.021,2413,1895,3372,0,0,0,0,0,0
$GC,1289,-1.31,-77.9,153.1,-11.3,137,1293,0.00,2.40,0.00,0.000,4,0.000,0.045,2413,494,3373,0,0,0,0,0,0
$GC,1351,-1.27,-77.9,160.8,-12.3,143,1355,0.10,2.28,0.00,0.000,6,0.112,0.021,2434,1899,3373,0,0,0,0,0,0
$GC,1614,-1.33,-77.9,182.4,-7.5,167,1618,0.00,2.40,0.00,0.000,4,0.000,0.044,2433,494,3373,0,0,0,0,0,0
$GC,1639,-1.33,-77.9,184.6,-8.7,169,1643,0.00,2.28,0.00,0.000,6,0.000,0.021,2433,1904,3373,0,0,0,0,0,0
$GC,1908,-1.41,-77.9,207.8,-8.6,190,1913,0.12,2.45,0.00,0.000,4,0.067,0.047,2393,494,3374,0,0,0,0,0,0
$GC,1982,-1.38,-77.9,216.9,-12.7,193,1987,0.00,2.25,0.00,0.000,6,0.000,0.021,2394,1894,3374,0,0,0,0,0,0
$GC,2303,-1.38,-77.9,252.0,-12.3,209,2307,0.00,2.40,0.00,0.000,4,0.000,0.048,2392,495,3374,0,0,0,0,0,0
$GC,2348,-1.35,-77.9,258.7,-14.6,211,2353,0.12,2.28,0.00,0.000,6,0.103,0.023,2419,1907,3374,0,0,0,0,0,0
$GC,2676,-1.41,-77.9,298.6,-11.9,227,2680,0.00,2.45,0.00,0.000,4,0.000,0.049,2419,488,3374,0,0,0,0,0,0
$GC,2731,-1.47,-77.9,305.8,-12.5,229,2736,0.12,2.30,0.00,0.000,6,0.068,0.024,2382,1897,3373,0,0,0,0,0,0
$GC,3044,-1.47,-77.9,340.1,-10.8,237,3049,0.00,2.47,0.00,0.000,4,0.000,0.051,2381,496,3373,0,0,0,0,0,0
$GC,3077,-1.42,-77.9,343.8,-11.1,237,3081,0.00,2.30,0.00,0.000,6,0.000,0.026,2382,1904,3373,0,0,0,0,0,0
$GC,3407,-1.42,-77.9,370.9,-7.0,245,3412,0.10,2.47,0.00,0.000,4,0.116,0.053,2401,494,3371,0,0,0,0,0,0
$GC,3441,-1.42,-77.9,373.0,-6.5,245,3445,0.00,2.33,0.00,0.000,6,0.000,0.027,2401,1900,3371,0,0,0,0,0,0
$GC,3772,-1.48,-77.9,392.8,-6.6,253,3776,0.00,2.47,0.00,0.000,4,0.000,0.054,2401,496,3369,0,0,0,0,0,0
$GC,3841,-1.51,-77.9,398.8,-9.0,254,3846,0.00,2.33,0.00,0.000,6,0.000,0.028,2401,1897,3368,0,0,0,0,0,0
$GC,4181,-1.58,-77.9,431.0,-9.6,263,4186,0.15,2.47,0.00,0.000,4,0.067,0.058,2361,498,3366,0,0,0,0,0,0
$GC,4294,-1.51,-77.9,445.2,-12.2,265,4299,0.10,2.33,0.00,0.000,6,0.120,0.030,2380,1906,3365,0,0,0,0,0,0
$STATE,4352,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4352,begin apogee
$GC,4357,-0.31,0.0,451.9,11.0,267,4426,1.23,0.00,64.78,0.888,6,0.080,0.000,2640,2060,3050,0,0,0,0,0,0
$STATE,4426,end apogee,CONTROL_FINISHED_OK
$STATE,4427,begin climb
$GC,4428,1.40,77.9,453.6,0.0,268,4504,1.65,2.47,65.00,0.868,4,0.036,0.048,3019,3416,2732,0,0,0,0,0,0
$GC,4546,1.25,142.7,455.1,3.6,271,4608,0.15,2.42,55.78,0.863,6,0.123,0.039,2990,2031,2468,0,0,0,0,0,0
$GC,4932,1.12,142.7,415.1,11.0,281,4937,0.17,2.50,0.00,0.000,4,0.118,0.058,2960,622,2459,0,0,0,0,0,0
$GC,4951,0.99,142.7,412.9,11.0,281,4956,0.17,2.35,0.00,0.000,6,0.121,0.030,2930,2019,2458,0,0,0,0,0,0
$GC,5296,0.99,142.7,382.7,8.6,290,5300,0.00,2.50,0.00,0.000,4,0.000,0.058,2930,626,2456,0,0,0,0,0,0
$GC,5374,0.94,142.7,375.8,8.5,291,5378,0.00,2.38,0.00,0.000,6,0.000,0.031,2931,2041,2454,0,0,0,0,0,0
$GC,5704,0.95,152.9,350.2,7.3,299,5717,0.00,2.55,7.53,0.713,4,0.000,0.056,2931,622,2426,0,0,0,0,0,0
$GC,5788,0.92,159.1,344.1,7.6,300,5800,0.00,2.40,7.00,0.694,6,0.000,0.031,2931,2043,2400,0,0,0,0,0,0
$GC,6125,0.97,170.6,321.1,7.2,309,6142,0.00,2.58,11.27,0.758,4,0.000,0.056,2930,630,2353,0,0,0,0,0,0
$GC,6217,0.97,170.6,312.9,10.3,311,6221,0.00,2.40,0.00,0.000,6,0.000,0.031,2931,2041,2350,0,0,0,0,0,0
$GC,6548,1.03,177.2,285.4,7.6,323,6560,0.00,2.58,6.72,0.665,4,0.000,0.054,2931,629,2326,0,0,0,0,0,0
$GC,6725,1.03,177.2,269.2,9.3,330,6731,0.00,2.40,0.00,0.000,6,0.000,0.029,2931,2037,2323,0,0,0,0,0,0
$GC,7040,1.13,214.7,247.5,5.4,346,7084,0.12,2.55,34.38,0.767,4,0.081,0.051,2960,621,2172,0,0,0,0,0,0
$GC,7122,1.08,214.7,240.3,10.9,349,7127,0.00,2.38,0.00,0.000,6,0.000,0.028,2960,2032,2168,0,0,0,0,0,0
$GC,7437,1.08,214.7,206.7,9.4,364,7441,0.00,2.47,0.00,0.000,4,0.000,0.051,2960,629,2166,0,0,0,0,0,0
$GC,7535,1.04,214.7,195.9,11.5,371,7540,0.00,2.35,0.00,0.000,6,0.000,0.027,2960,2043,2164,0,0,0,0,0,0
$GC,7798,1.08,214.7,169.1,10.7,395,7802,0.00,2.47,0.00,0.000,4,0.000,0.049,2960,623,2164,0,0,0,0,0,0
$GC,7913,1.08,214.7,155.6,11.7,407,7918,0.00,2.35,0.00,0.000,6,0.000,0.025,2959,2041,2162,0,0,0,0,0,0
$GC,8177,1.13,228.2,134.0,7.1,431,8196,0.00,2.40,11.35,0.615,4,0.000,0.034,2959,3429,2119,0,0,0,0,0,0
$GC,8207,1.20,228.2,131.4,8.3,434,8211,0.00,2.40,0.00,0.000,6,0.000,0.031,2959,2024,2118,0,0,0,0,0,0
$GC,8468,1.26,228.2,110.6,8.6,458,8473,0.12,2.42,0.00,0.000,4,0.074,0.047,2993,619,2118,0,0,0,0,0,0
$GC,8541,1.20,228.2,101.6,12.8,465,8547,0.00,2.33,0.00,0.000,6,0.000,0.023,2993,2041,2116,0,0,0,0,0,0
$GC,8802,1.20,228.2,70.2,12.4,490,8804,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2046,2116,0,0,0,0,0,0
$GC,9057,1.20,228.2,38.4,11.0,514,9061,0.00,2.42,0.00,0.000,4,0.000,0.044,2993,621,2115,0,0,0,0,0,0
$GC,9090,1.15,228.2,34.6,11.8,517,9095,0.17,2.30,0.00,0.000,6,0.104,0.021,2961,2047,2116,0,0,0,0,0,0
$GC,9354,1.22,236.8,11.7,7.4,561,9372,0.00,2.50,9.00,0.492,4,0.000,0.042,2959,629,2083,0,0,0,0,0,0
$STATE,9436,end climb,SURFACE_DEPTH_REACHED
$STATE,9436,begin surface coast
$FINISH,0.7,1.023782
$STATE,9460,end surface coast,CONTROL_FINISHED_OK
$STATE,9460,begin surface
$SM_CCo,9481,36.03,0.535,0,0,1826,300.00
$SM_GC,1.68,0.00,0.00,36.03,0.000,0.000,0.535,429,1938,1826,-10.50,1.05,300.00
$IRIDIUM_FIX,2057.14,-15746.61,160799,181848
$TT8_MAMPS,0.029146
$HUMID,44.25
$INTERNAL_PRESSURE,9.65511
$TCM_TEMP,21.00
$XPDR_PINGS,0
$24V_AH,23.4,8.901
$10V_AH,10.0,8.121
$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,26.650,124.775,272.800,36.025,0.000,30.925,38.477,169.367,0.000,0.000,35.393,1151.651,6167.819,369.351,1798.549,388.302,0.000,1154.573,0.000,1768.513,0.000,0.537,0.000
$DEVICE_MAMPS,138.060,58.292,888.186,534.599,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,395.231,371.484,841.363,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,31704,584
$CAP_FILE_SIZE,113894,0
$CFSIZE,260165632,253530112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210410,233137,2104.042,-15745.733,81,1.1,81,9.8