version: 66.06
glider: 139
mission: 7
dive: 104
start: 4 24 110 1 21 6
data:
$ID,139
$MISSION,7
$DIVE,104
$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,-2122292.2
$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,2714
$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
$GPS1,011519,2108.848,-15754.895,33,1.4,44,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-70.7
$GPS2,012016,2108.819,-15754.950,13,4.2,32,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.170,0.069
$KALMAN_X,-19804.3,296.4,-147.3,3829.3,-237.4
$KALMAN_Y,-15469.1,243.5,-60.0,24106.3,-932.6
$MHEAD_RNG_PITCHd_Wd,282.3,12322,-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,-77.9,0.0,0.0,0,77,0.00,0.00,-58.78,0.000,6,0.000,0.000,426,1875,3369,0,0,0,0,0,0
$GC,80,-1.40,-77.9,4.0,-7.5,11,98,10.73,2.42,0.00,0.000,4,0.139,0.042,2407,489,3371,0,0,0,0,0,0
$GC,276,-1.24,-77.9,47.2,-17.5,45,281,0.17,2.35,0.00,0.000,6,0.100,0.021,2442,1936,3372,0,0,0,0,0,0
$GC,539,-1.24,-77.9,85.2,-15.5,69,543,0.00,2.50,0.00,0.000,4,0.000,0.044,2442,492,3373,0,0,0,0,0,0
$GC,554,-1.19,-77.9,88.0,-15.7,70,558,0.00,2.28,0.00,0.000,6,0.000,0.020,2442,1912,3373,0,0,0,0,0,0
$GC,815,-1.23,-77.9,121.5,-11.6,94,816,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,1917,3374,0,0,0,0,0,0
$GC,1069,-1.29,-77.9,149.8,-10.6,118,1073,0.00,2.45,0.00,0.000,4,0.000,0.044,2442,492,3375,0,0,0,0,0,0
$GC,1111,-1.34,-77.9,154.7,-11.8,122,1115,0.00,2.25,0.00,0.000,6,0.000,0.020,2441,1889,3376,0,0,0,0,0,0
$GC,1372,-1.41,-77.9,176.7,-8.3,146,1377,0.15,2.42,0.00,0.000,4,0.060,0.046,2395,494,3376,0,0,0,0,0,0
$GC,1414,-1.33,-77.9,181.7,-13.2,150,1419,0.12,2.25,0.00,0.000,6,0.103,0.021,2421,1900,3376,0,0,0,0,0,0
$GC,1683,-1.37,-77.9,211.9,-10.2,170,1687,0.00,2.42,0.00,0.000,4,0.000,0.044,2421,492,3376,0,0,0,0,0,0
$GC,1733,-1.37,-77.9,217.0,-9.4,172,1737,0.00,2.25,0.00,0.000,6,0.000,0.021,2421,1903,3376,0,0,0,0,0,0
$GC,2052,-1.43,-77.9,247.1,-9.0,188,2056,0.00,2.42,0.00,0.000,4,0.000,0.046,2421,491,3377,0,0,0,0,0,0
$GC,2102,-1.43,-77.9,252.1,-9.9,190,2106,0.00,2.28,0.00,0.000,6,0.000,0.021,2421,1900,3376,0,0,0,0,0,0
$GC,2421,-1.50,-77.9,278.3,-8.8,206,2426,0.15,2.45,0.00,0.000,4,0.061,0.048,2376,492,3376,0,0,0,0,0,0
$GC,2490,-1.44,-77.9,285.5,-12.2,209,2495,0.12,2.28,0.00,0.000,6,0.104,0.024,2402,1900,3376,0,0,0,0,0,0
$GC,2817,-1.47,-77.9,315.9,-8.8,221,2821,0.00,2.45,0.00,0.000,4,0.000,0.049,2401,494,3375,0,0,0,0,0,0
$GC,2853,-1.47,-77.9,319.3,-9.1,221,2859,0.00,2.30,0.00,0.000,6,0.000,0.025,2402,1899,3376,0,0,0,0,0,0
$GC,3184,-1.51,-77.9,342.7,-6.7,230,3188,0.00,2.45,0.00,0.000,4,0.000,0.051,2400,497,3374,0,0,0,0,0,0
$GC,3257,-1.51,-77.9,349.4,-9.8,231,3262,0.00,2.30,0.00,0.000,6,0.000,0.026,2402,1901,3373,0,0,0,0,0,0
$GC,3597,-1.57,-77.9,381.1,-9.8,240,3602,0.12,2.47,0.00,0.000,4,0.072,0.053,2367,497,3372,0,0,0,0,0,0
$GC,3611,-1.57,-77.9,382.8,-9.8,240,3615,0.00,2.30,0.00,0.000,6,0.000,0.028,2366,1901,3372,0,0,0,0,0,0
$GC,3960,-1.57,-77.9,418.8,-10.0,249,3964,0.00,2.38,0.00,0.000,4,0.000,0.041,2367,3295,3370,0,0,0,0,0,0
$GC,3977,-1.57,-77.9,420.8,-10.4,249,3982,0.00,2.38,0.00,0.000,6,0.000,0.039,2366,1899,3370,0,0,0,0,0,0
$STATE,4238,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4238,begin apogee
$GC,4243,-0.31,0.0,450.4,11.5,256,4312,1.33,0.00,65.22,0.879,6,0.081,0.000,2645,2051,3050,0,0,0,0,0,0
$STATE,4313,end apogee,CONTROL_FINISHED_OK
$STATE,4313,begin climb
$GC,4315,1.40,77.9,452.1,0.0,257,4389,1.65,2.47,64.97,0.860,4,0.034,0.046,3029,3410,2731,0,0,0,0,0,0
$GC,4598,1.22,122.3,448.6,5.0,263,4643,0.25,2.40,37.97,0.852,6,0.117,0.039,2983,2032,2550,0,0,0,0,0,0
$GC,4956,1.12,122.3,422.4,8.3,272,4961,0.12,2.53,0.00,0.000,4,0.127,0.058,2960,627,2545,0,0,0,0,0,0
$GC,5036,0.99,122.3,415.5,8.3,273,5041,0.17,2.33,0.00,0.000,6,0.121,0.030,2930,2017,2543,0,0,0,0,0,0
$GC,5366,1.03,156.3,396.3,5.7,281,5402,0.00,2.55,29.05,0.841,4,0.000,0.055,2930,627,2410,0,0,0,0,0,0
$GC,5408,1.04,163.5,393.6,7.5,282,5420,0.00,2.40,7.65,0.704,6,0.000,0.031,2930,2036,2383,0,0,0,0,0,0
$GC,5734,1.07,163.5,363.9,9.7,290,5735,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2040,2377,0,0,0,0,0,0
$GC,6059,1.11,163.5,334.2,8.4,298,6064,0.12,2.53,0.00,0.000,4,0.080,0.055,2959,629,2375,0,0,0,0,0,0
$GC,6143,1.02,163.5,326.2,9.8,299,6149,0.12,2.40,0.00,0.000,6,0.130,0.031,2938,2046,2373,0,0,0,0,0,0
$GC,6473,1.02,163.5,299.9,8.2,308,6477,0.00,2.50,0.00,0.000,4,0.000,0.053,2937,625,2373,0,0,0,0,0,0
$GC,6642,0.99,163.5,283.9,9.5,315,6646,0.00,2.35,0.00,0.000,6,0.000,0.029,2937,2037,2370,0,0,0,0,0,0
$GC,6957,1.03,163.5,256.3,8.3,330,6961,0.00,2.47,0.00,0.000,4,0.000,0.052,2938,629,2370,0,0,0,0,0,0
$GC,6979,1.03,163.5,254.0,9.7,331,6983,0.00,2.35,0.00,0.000,6,0.000,0.029,2937,2040,2370,0,0,0,0,0,0
$GC,7309,1.06,164.9,227.6,7.9,347,7314,0.00,2.45,0.00,0.000,4,0.000,0.051,2937,628,2370,0,0,0,0,0,0
$GC,7434,1.06,164.9,217.3,8.5,352,7438,0.00,2.33,0.00,0.000,6,0.000,0.027,2937,2039,2368,0,0,0,0,0,0
$GC,7751,1.13,172.9,195.8,7.5,369,7765,0.10,2.53,7.00,0.613,4,0.087,0.048,2962,628,2345,0,0,0,0,0,0
$GC,7874,1.08,172.9,184.7,9.2,382,7881,0.00,2.35,0.00,0.000,6,0.000,0.026,2962,2033,2343,0,0,0,0,0,0
$GC,8137,1.08,174.5,164.0,7.9,407,8141,0.00,2.45,0.00,0.000,4,0.000,0.046,2962,625,2343,0,0,0,0,0,0
$GC,8199,1.03,174.5,158.8,9.0,413,8203,0.12,2.33,0.00,0.000,6,0.123,0.025,2941,2044,2342,0,0,0,0,0,0
$GC,8461,1.11,194.4,141.6,6.7,437,8489,0.00,2.55,20.02,0.649,4,0.000,0.045,2940,628,2256,0,0,0,0,0,0
$GC,8647,1.11,194.4,126.3,9.0,457,8653,0.00,2.33,0.00,0.000,6,0.000,0.023,2940,2040,2253,0,0,0,0,0,0
$GC,8909,1.24,208.1,106.1,7.1,482,8929,0.20,2.50,13.05,0.589,4,0.057,0.045,2992,625,2200,0,0,0,0,0,0
$GC,8989,1.19,208.1,97.9,11.2,490,8996,0.00,2.35,0.00,0.000,6,0.000,0.023,2993,2034,2197,0,0,0,0,0,0
$GC,9252,1.19,208.1,74.1,9.1,515,9256,0.00,2.33,0.00,0.000,4,0.000,0.031,2993,3429,2197,0,0,0,0,0,0
$GC,9313,1.22,208.1,68.3,8.9,521,9320,0.00,2.35,0.00,0.000,6,0.000,0.028,2992,2032,2197,0,0,0,0,0,0
$GC,9576,1.22,208.1,44.0,9.4,546,9580,0.00,2.40,0.00,0.000,4,0.000,0.042,2991,623,2197,0,0,0,0,0,0
$GC,9674,1.18,208.1,33.4,10.7,556,9681,0.10,2.33,0.00,0.000,6,0.086,0.021,2970,2043,2197,0,0,0,0,0,0
$GC,9938,1.27,237.3,14.8,6.0,601,9973,0.10,2.50,26.35,0.532,4,0.079,0.042,2999,633,2081,0,0,0,0,0,0
$GC,10015,1.27,237.3,7.7,11.8,616,10021,0.00,2.30,0.00,0.000,6,0.000,0.020,3000,2036,2077,0,0,0,0,0,0
$STATE,10060,end climb,SURFACE_DEPTH_REACHED
$STATE,10060,begin surface coast
$FINISH,0.4,1.010767
$STATE,10082,end surface coast,CONTROL_FINISHED_OK
$STATE,10083,begin surface
$SM_CCo,10102,35.38,0.520,0,0,1826,300.00
$SM_GC,1.54,0.00,0.00,35.38,0.000,0.000,0.520,431,1866,1826,-10.50,-0.96,300.00
$IRIDIUM_FIX,2101.76,-15756.04,180799,222211
$TT8_MAMPS,0.029146
$HUMID,43.03
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.4,10.402
$10V_AH,10.0,9.580
$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,27.075,120.100,271.300,35.375,0.000,31.774,26.322,126.801,0.000,0.000,33.825,1208.766,6623.378,364.269,1904.721,334.452,33.348,1191.192,0.000,1875.747,0.000,0.538,0.000
$DEVICE_MAMPS,138.827,57.525,878.982,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,424.316,406.454,905.276,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355488
$DATA_FILE_SIZE,35013,628
$CAP_FILE_SIZE,115162,0
$CFSIZE,260165632,252502016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240410,041254,2109.176,-15755.508,118,1.3,135,9.8