version: 66.06
glider: 139
mission: 7
dive: 91
start: 4 22 110 11 37 28
data:
$ID,139
$MISSION,7
$DIVE,91
$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,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,-2121760.8
$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
$GPS1,112638,2104.842,-15744.574,97,1.7,97,9.8
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-67.8
$GPS2,113637,2104.865,-15744.637,15,1.8,32,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.155,0.099
$KALMAN_X,-4037.0,-134.8,-134.6,6320.4,-1068.7
$KALMAN_Y,-2650.8,-70.6,-59.5,4288.3,-711.1
$MHEAD_RNG_PITCHd_Wd,47.7,3450,-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,-55.03,0.000,2,0.000,0.000,426,1929,3262,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.1,-5.2,10,94,10.68,2.33,-2.17,0.000,4,0.137,0.038,2407,3326,3369,0,0,0,0,0,0
$GC,181,-1.40,-77.9,23.3,-12.1,33,188,0.00,2.45,0.00,0.000,6,0.000,0.032,2407,1898,3370,0,0,0,0,0,0
$GC,381,-1.30,-77.9,54.4,-15.5,56,383,0.10,0.00,0.00,0.000,6,0.120,0.000,2426,1898,3371,0,0,0,0,0,0
$GC,634,-1.30,-77.9,83.2,-9.6,80,638,0.00,2.42,0.00,0.000,4,0.000,0.045,2426,491,3372,0,0,0,0,0,0
$GC,703,-1.30,-77.9,90.8,-10.2,87,708,0.00,2.33,0.00,0.000,6,0.000,0.021,2425,1926,3372,0,0,0,0,0,0
$GC,965,-1.30,-77.9,121.4,-12.5,111,969,0.00,2.47,0.00,0.000,4,0.000,0.045,2425,494,3372,0,0,0,0,0,0
$GC,1008,-1.26,-77.9,127.1,-12.7,115,1012,0.00,2.28,0.00,0.000,6,0.000,0.021,2425,1903,3373,0,0,0,0,0,0
$GC,1271,-1.30,-77.9,157.7,-11.4,139,1275,0.00,2.45,0.00,0.000,4,0.000,0.046,2425,488,3373,0,0,0,0,0,0
$GC,1308,-1.30,-77.9,162.2,-10.9,142,1315,0.00,2.30,0.00,0.000,6,0.000,0.021,2425,1896,3373,0,0,0,0,0,0
$GC,1571,-1.36,-77.9,187.3,-9.4,167,1575,0.00,2.33,0.00,0.000,4,0.000,0.031,2424,3294,3374,0,0,0,0,0,0
$GC,1622,-1.47,-77.9,191.8,-8.5,172,1627,0.15,2.33,0.00,0.000,6,0.059,0.031,2379,1897,3374,0,0,0,0,0,0
$GC,1877,-1.47,-77.9,217.7,-11.1,188,1881,0.00,2.38,0.00,0.000,4,0.000,0.046,2379,497,3374,0,0,0,0,0,0
$GC,1944,-1.41,-77.9,225.6,-12.2,191,1948,0.12,2.25,0.00,0.000,6,0.104,0.022,2405,1900,3374,0,0,0,0,0,0
$GC,2275,-1.45,-77.9,256.8,-8.8,207,2279,0.00,2.42,0.00,0.000,4,0.000,0.048,2399,488,3374,0,0,0,0,0,0
$GC,2311,-1.45,-77.9,260.7,-10.8,208,2318,0.00,2.33,0.00,0.000,6,0.000,0.024,2405,1899,3374,0,0,0,0,0,0
$GC,2627,-1.50,-77.9,286.8,-7.5,224,2631,0.00,2.45,0.00,0.000,4,0.000,0.049,2404,492,3373,0,0,0,0,0,0
$GC,2686,-1.50,-77.9,292.1,-8.9,226,2692,0.00,2.33,0.00,0.000,6,0.000,0.025,2405,1897,3373,0,0,0,0,0,0
$GC,2998,-1.54,-77.9,316.1,-7.4,237,3003,0.12,2.45,0.00,0.000,4,0.071,0.051,2368,495,3372,0,0,0,0,0,0
$GC,3063,-1.47,-77.9,322.8,-11.0,238,3068,0.12,2.33,0.00,0.000,6,0.106,0.026,2392,1906,3372,0,0,0,0,0,0
$GC,3408,-1.51,-77.9,356.7,-10.1,247,3412,0.00,2.33,0.00,0.000,4,0.000,0.038,2394,3294,3369,0,0,0,0,0,0
$GC,3426,-1.57,-77.9,358.6,-9.3,247,3431,0.00,2.38,0.00,0.000,6,0.000,0.038,2386,1898,3369,0,0,0,0,0,0
$GC,3771,-1.61,-77.9,388.8,-9.0,256,3776,0.12,2.47,0.00,0.000,4,0.074,0.058,2359,491,3367,0,0,0,0,0,0
$GC,3836,-1.52,-77.9,396.3,-11.9,257,3841,0.10,2.33,0.00,0.000,6,0.121,0.028,2379,1897,3366,0,0,0,0,0,0
$GC,4181,-1.52,-77.9,431.6,-10.5,266,4185,0.00,2.47,0.00,0.000,4,0.000,0.058,2378,491,3365,0,0,0,0,0,0
$GC,4213,-1.52,-77.9,435.4,-11.8,266,4217,0.00,2.33,0.00,0.000,6,0.000,0.030,2379,1897,3364,0,0,0,0,0,0
$STATE,4379,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4379,begin apogee
$GC,4384,-0.31,0.0,453.5,10.9,270,4452,1.25,0.00,64.32,0.893,6,0.079,0.000,2643,2057,3050,0,0,0,0,0,0
$STATE,4452,end apogee,CONTROL_FINISHED_OK
$STATE,4452,begin climb
$GC,4454,1.40,77.9,455.0,0.0,271,4529,1.62,2.47,65.03,0.872,4,0.035,0.048,3021,3414,2732,0,0,0,0,0,0
$GC,4617,1.21,106.4,452.9,6.1,274,4649,0.22,2.40,24.80,0.843,6,0.116,0.039,2980,2029,2616,0,0,0,0,0,0
$GC,4958,1.10,106.4,426.0,8.5,283,4963,0.15,2.42,0.00,0.000,4,0.123,0.044,2955,3412,2611,0,0,0,0,0,0
$GC,5020,1.04,106.4,420.7,8.7,284,5024,0.00,2.40,0.00,0.000,6,0.000,0.041,2955,2028,2610,0,0,0,0,0,0
$GC,5370,1.02,137.1,397.9,5.9,293,5402,0.00,2.60,25.83,0.845,4,0.000,0.059,2954,628,2490,0,0,0,0,0,0
$GC,5407,1.00,172.7,395.6,5.6,293,5446,0.12,2.38,32.33,0.839,6,0.132,0.031,2933,2017,2346,0,0,0,0,0,0
$GC,5776,1.00,172.7,366.1,8.1,303,5780,0.00,2.47,0.00,0.000,4,0.000,0.058,2933,629,2338,0,0,0,0,0,0
$GC,5937,0.95,172.7,350.9,8.5,306,5941,0.00,2.38,0.00,0.000,6,0.000,0.031,2933,2035,2334,0,0,0,0,0,0
$GC,6276,0.95,172.7,321.7,9.5,315,6281,0.00,2.50,0.00,0.000,4,0.000,0.057,2933,629,2333,0,0,0,0,0,0
$GC,6350,0.95,172.7,313.2,11.5,316,6354,0.00,2.40,0.00,0.000,6,0.000,0.031,2933,2046,2332,0,0,0,0,0,0
$GC,6667,1.00,172.7,283.1,9.4,328,6671,0.00,2.53,0.00,0.000,4,0.000,0.054,2933,627,2331,0,0,0,0,0,0
$GC,6804,1.00,172.7,268.6,9.9,334,6808,0.00,2.35,0.00,0.000,6,0.000,0.030,2933,2040,2329,0,0,0,0,0,0
$GC,7128,1.06,176.6,243.2,7.7,350,7133,0.00,2.50,0.00,0.000,4,0.000,0.053,2933,626,2329,0,0,0,0,0,0
$GC,7371,1.06,176.6,224.4,8.1,360,7377,0.00,2.38,0.00,0.000,6,0.000,0.028,2933,2031,2328,0,0,0,0,0,0
$GC,7686,1.14,185.7,203.2,7.4,376,7703,0.12,2.53,9.50,0.670,4,0.079,0.050,2963,631,2292,0,0,0,0,0,0
$GC,7845,1.09,185.7,184.3,12.0,390,7852,0.00,2.38,0.00,0.000,6,0.000,0.027,2963,2036,2289,0,0,0,0,0,0
$GC,8108,1.10,200.3,161.5,7.0,415,8127,0.00,0.00,14.15,0.664,6,0.000,0.000,2963,2041,2233,0,0,0,0,0,0
$GC,8383,1.12,214.9,143.3,7.0,441,8403,0.00,2.50,14.25,0.640,4,0.000,0.047,2963,626,2173,0,0,0,0,0,0
$GC,8452,1.12,214.9,136.4,10.1,448,8459,0.00,2.38,0.00,0.000,6,0.000,0.025,2963,2040,2169,0,0,0,0,0,0
$GC,8715,1.17,214.9,109.0,11.2,473,8719,0.00,2.47,0.00,0.000,4,0.000,0.047,2963,622,2168,0,0,0,0,0,0
$GC,8803,1.17,214.9,98.1,12.5,482,8807,0.00,2.33,0.00,0.000,6,0.000,0.024,2963,2044,2167,0,0,0,0,0,0
$GC,9067,1.23,214.9,72.4,8.7,506,9071,0.00,2.47,0.00,0.000,4,0.000,0.044,2963,616,2167,0,0,0,0,0,0
$GC,9110,1.23,214.9,68.0,9.9,510,9117,0.00,2.35,0.00,0.000,6,0.000,0.023,2963,2039,2167,0,0,0,0,0,0
$GC,9373,1.32,230.8,47.7,6.9,535,9395,0.15,2.47,14.68,0.555,4,0.064,0.043,3004,623,2108,0,0,0,0,0,0
$GC,9487,1.25,230.8,36.7,12.2,547,9491,0.00,2.30,0.00,0.000,6,0.000,0.021,3005,2039,2105,0,0,0,0,0,0
$GC,9752,1.25,230.8,9.6,9.8,589,9757,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2045,2105,0,0,0,0,0,0
$STATE,9829,end climb,SURFACE_DEPTH_REACHED
$STATE,9829,begin surface coast
$FINISH,0.9,1.023814
$STATE,9862,end surface coast,CONTROL_FINISHED_OK
$STATE,9862,begin surface
$SM_CCo,9882,36.10,0.532,0,0,1827,300.00
$SM_GC,1.52,0.00,0.00,36.10,0.000,0.000,0.532,426,1883,1827,-10.52,-0.48,300.00
$IRIDIUM_FIX,2059.45,-15745.74,170799,111110
$TT8_MAMPS,0.029146
$HUMID,43.85
$INTERNAL_PRESSURE,9.65511
$TCM_TEMP,20.80
$XPDR_PINGS,0
$24V_AH,23.4,9.342
$10V_AH,10.0,8.535
$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,26.325,115.700,264.875,36.100,0.000,63.878,84.525,266.040,0.000,0.000,33.067,1183.019,6524.893,365.720,1879.504,566.345,33.355,1176.442,0.000,1846.444,0.000,0.539,0.000
$DEVICE_MAMPS,136.526,59.059,892.788,532.298,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,412.421,387.990,882.346,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355512
$DATA_FILE_SIZE,34889,609
$CAP_FILE_SIZE,115859,0
$CFSIZE,260165632,253235200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220410,142427,2105.042,-15744.231,46,2.1,65,9.8