version: 66.06
glider: 139
mission: 7
dive: 101
start: 4 23 110 16 46 24
data:
$ID,139
$MISSION,7
$DIVE,101
$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,-2122131.2
$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,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
$GPS1,163957,2107.533,-15751.763,55,4.8,74,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-68.9
$GPS2,164534,2107.507,-15751.775,11,6.5,30,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.112,0.146
$KALMAN_X,-19708.4,416.6,557.1,8391.2,-1955.6
$KALMAN_Y,-13964.6,239.9,162.7,19950.0,-1355.1
$MHEAD_RNG_PITCHd_Wd,312.6,17838,-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,-77.9,0.0,0.0,0,78,0.00,0.00,-58.95,0.000,6,0.000,0.000,425,1871,3369,0,0,0,0,0,0
$GC,80,-1.40,-77.9,3.7,-6.5,11,99,10.77,2.45,0.00,0.000,4,0.140,0.026,2406,3323,3371,0,0,0,0,0,0
$GC,160,-1.40,-77.9,25.0,-16.4,28,166,0.00,2.45,0.00,0.000,6,0.000,0.033,2405,1901,3372,0,0,0,0,0,0
$GC,359,-1.29,-77.9,58.4,-16.6,49,364,0.12,2.42,0.00,0.000,4,0.117,0.047,2429,494,3372,0,0,0,0,0,0
$GC,395,-1.13,-77.9,65.2,-18.4,52,403,0.12,2.35,0.00,0.000,6,0.085,0.020,2459,1936,3372,0,0,0,0,0,0
$GC,658,-1.18,-77.9,95.0,-11.1,77,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1941,3373,0,0,0,0,0,0
$GC,911,-1.26,-77.9,120.9,-8.8,101,916,0.00,2.50,0.00,0.000,4,0.000,0.044,2459,487,3374,0,0,0,0,0,0
$GC,991,-1.32,-77.9,127.7,-7.6,109,996,0.15,2.28,0.00,0.000,6,0.058,0.020,2412,1899,3374,0,0,0,0,0,0
$GC,1253,-1.32,-77.9,156.2,-11.2,133,1257,0.00,2.42,0.00,0.000,4,0.000,0.044,2412,492,3374,0,0,0,0,0,0
$GC,1296,-1.27,-77.9,161.0,-11.6,137,1301,0.10,2.25,0.00,0.000,6,0.113,0.020,2433,1912,3375,0,0,0,0,0,0
$GC,1558,-1.33,-77.9,184.9,-9.7,161,1562,0.00,2.45,0.00,0.000,4,0.000,0.045,2433,494,3376,0,0,0,0,0,0
$GC,1648,-1.33,-77.9,195.4,-10.6,170,1655,0.00,2.28,0.00,0.000,6,0.000,0.021,2432,1889,3375,0,0,0,0,0,0
$GC,1913,-1.41,-77.9,219.9,-8.9,186,1915,0.12,0.00,0.00,0.000,6,0.067,0.000,2393,1894,3375,0,0,0,0,0,0
$GC,2224,-1.41,-77.9,250.4,-8.9,201,2228,0.00,2.42,0.00,0.000,4,0.000,0.047,2393,487,3376,0,0,0,0,0,0
$GC,2257,-1.35,-77.9,253.9,-10.6,202,2262,0.12,2.30,0.00,0.000,6,0.103,0.023,2418,1902,3376,0,0,0,0,0,0
$GC,2575,-1.42,-77.9,281.0,-7.8,217,2579,0.00,2.45,0.00,0.000,4,0.000,0.048,2417,492,3375,0,0,0,0,0,0
$GC,2621,-1.47,-77.9,284.9,-8.3,219,2626,0.12,2.30,0.00,0.000,6,0.067,0.024,2381,1902,3375,0,0,0,0,0,0
$GC,2964,-1.47,-77.9,316.8,-9.5,232,2968,0.00,2.42,0.00,0.000,4,0.000,0.050,2379,496,3374,0,0,0,0,0,0
$GC,2991,-1.40,-77.9,319.7,-10.6,232,2996,0.12,2.30,0.00,0.000,6,0.104,0.025,2405,1898,3374,0,0,0,0,0,0
$GC,3327,-1.46,-77.9,348.5,-8.6,241,3332,0.00,2.45,0.00,0.000,4,0.000,0.051,2403,496,3373,0,0,0,0,0,0
$GC,3391,-1.46,-77.9,355.5,-11.0,242,3396,0.00,2.30,0.00,0.000,6,0.000,0.027,2405,1897,3373,0,0,0,0,0,0
$GC,3736,-1.53,-77.9,385.5,-8.9,251,3741,0.12,2.50,0.00,0.000,4,0.072,0.054,2370,489,3371,0,0,0,0,0,0
$GC,3815,-1.47,-77.9,394.0,-10.7,252,3820,0.10,2.33,0.00,0.000,6,0.117,0.028,2389,1898,3370,0,0,0,0,0,0
$GC,4145,-1.51,-77.9,423.4,-8.8,260,4150,0.00,2.47,0.00,0.000,4,0.000,0.057,2390,498,3368,0,0,0,0,0,0
$GC,4168,-1.51,-77.9,425.6,-9.3,260,4172,0.00,2.33,0.00,0.000,6,0.000,0.029,2390,1899,3368,0,0,0,0,0,0
$STATE,4465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4465,begin apogee
$GC,4470,-0.31,0.0,453.2,9.4,268,4539,1.20,0.00,65.18,0.882,6,0.078,0.000,2644,2056,3050,0,0,0,0,0,0
$STATE,4539,end apogee,CONTROL_FINISHED_OK
$STATE,4539,begin climb
$GC,4541,1.40,77.9,454.2,0.0,269,4616,1.62,2.45,64.88,0.864,4,0.035,0.047,3018,3402,2731,0,0,0,0,0,0
$GC,4662,1.28,164.1,455.4,2.1,271,4745,0.17,2.40,74.00,0.860,6,0.123,0.037,2990,2025,2380,0,0,0,0,0,0
$GC,5081,1.18,164.1,414.2,10.8,282,5085,0.00,2.50,0.00,0.000,4,0.000,0.058,2990,629,2370,0,0,0,0,0,0
$GC,5131,1.02,164.1,408.0,12.2,283,5136,0.30,2.38,0.00,0.000,6,0.113,0.031,2935,2018,2367,0,0,0,0,0,0
$GC,5450,1.02,164.1,381.5,8.3,291,5454,0.00,2.47,0.00,0.000,4,0.000,0.057,2935,629,2365,0,0,0,0,0,0
$GC,5542,0.97,164.1,371.6,11.5,293,5546,0.00,2.40,0.00,0.000,6,0.000,0.031,2935,2044,2364,0,0,0,0,0,0
$GC,5864,0.97,164.1,339.5,10.0,301,5868,0.00,2.53,0.00,0.000,4,0.000,0.055,2934,626,2363,0,0,0,0,0,0
$GC,5989,0.97,164.1,325.3,11.4,303,5993,0.00,2.40,0.00,0.000,6,0.000,0.030,2935,2045,2361,0,0,0,0,0,0
$GC,6301,1.01,164.1,297.0,8.3,311,6305,0.00,2.50,0.00,0.000,4,0.000,0.054,2935,624,2360,0,0,0,0,0,0
$GC,6373,1.01,164.1,290.3,9.2,314,6378,0.00,2.38,0.00,0.000,6,0.000,0.029,2935,2041,2359,0,0,0,0,0,0
$GC,6693,1.06,175.4,266.4,7.2,330,6705,0.00,2.53,7.03,0.657,4,0.000,0.053,2935,629,2335,0,0,0,0,0,0
$GC,6831,1.06,175.4,254.3,9.2,336,6835,0.00,2.38,0.00,0.000,6,0.000,0.028,2935,2040,2332,0,0,0,0,0,0
$GC,7160,1.13,186.6,226.6,7.2,352,7177,0.10,2.53,11.25,0.690,4,0.087,0.051,2959,629,2288,0,0,0,0,0,0
$GC,7248,1.09,186.6,218.5,10.2,355,7254,0.00,2.38,0.00,0.000,6,0.000,0.027,2959,2044,2285,0,0,0,0,0,0
$GC,7566,1.09,186.6,190.4,8.6,375,7570,0.00,2.35,0.00,0.000,4,0.000,0.038,2959,3429,2285,0,0,0,0,0,0
$GC,7575,1.14,226.9,189.8,5.3,375,7617,0.00,2.38,36.25,0.708,6,0.000,0.031,2960,2024,2124,0,0,0,0,0,0
$GC,7871,1.19,226.9,160.8,11.2,404,7876,0.00,2.42,0.00,0.000,4,0.000,0.049,2957,626,2119,0,0,0,0,0,0
$GC,7971,1.19,226.9,148.4,13.3,414,7978,0.00,2.38,0.00,0.000,6,0.000,0.025,2958,2043,2116,0,0,0,0,0,0
$GC,8234,1.25,226.9,123.1,10.2,439,8239,0.12,2.45,0.00,0.000,4,0.072,0.047,2993,623,2116,0,0,0,0,0,0
$GC,8307,1.19,226.9,113.4,14.0,446,8314,0.08,2.35,0.00,0.000,6,0.092,0.024,2975,2034,2115,0,0,0,0,0,0
$GC,8569,1.22,226.9,86.8,9.4,471,8573,0.00,2.42,0.00,0.000,4,0.000,0.046,2975,629,2115,0,0,0,0,0,0
$GC,8745,1.22,226.9,68.3,11.8,490,8749,0.00,2.30,0.00,0.000,6,0.000,0.022,2975,2048,2115,0,0,0,0,0,0
$GC,9008,1.28,226.9,45.8,8.8,514,9012,0.00,2.30,0.00,0.000,4,0.000,0.030,2975,3434,2115,0,0,0,0,0,0
$GC,9033,1.36,226.9,43.4,9.5,516,9038,0.15,2.35,0.00,0.000,6,0.062,0.029,3015,2031,2115,0,0,0,0,0,0
$GC,9294,1.36,226.9,16.1,10.8,552,9301,0.00,2.42,0.00,0.000,4,0.000,0.044,3016,627,2115,0,0,0,0,0,0
$GC,9384,1.28,226.9,4.3,14.2,572,9391,0.10,2.33,0.00,0.000,6,0.086,0.021,2994,2044,2114,0,0,0,0,0,0
$STATE,9396,end climb,SURFACE_DEPTH_REACHED
$STATE,9396,begin surface coast
$FINISH,0.4,1.012546
$STATE,9419,end surface coast,CONTROL_FINISHED_OK
$STATE,9419,begin surface
$SM_CCo,9438,36.88,0.527,0,0,1826,300.00
$SM_GC,1.62,0.00,0.00,36.88,0.000,0.000,0.527,428,1887,1826,-10.51,-0.40,300.00
$IRIDIUM_FIX,2059.45,-15753.90,180799,131323
$TT8_MAMPS,0.029146
$HUMID,43.62
$INTERNAL_PRESSURE,9.65511
$TCM_TEMP,21.10
$XPDR_PINGS,0
$24V_AH,23.4,10.167
$10V_AH,10.0,9.338
$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,26.900,115.500,258.575,36.875,0.000,24.578,25.892,177.227,0.000,0.000,31.546,1122.413,6230.196,354.448,1740.461,365.999,33.353,1114.329,0.000,1711.269,0.000,0.538,0.000
$DEVICE_MAMPS,140.361,57.525,882.050,526.929,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,391.054,369.092,824.956,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355672
$DATA_FILE_SIZE,31872,578
$CAP_FILE_SIZE,109228,0
$CFSIZE,260165632,252682240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230410,192554,2108.219,-15752.591,41,1.7,59,9.8