version: 66.06
glider: 139
mission: 7
dive: 108
start: 4 24 110 13 5 42
data:
$ID,139
$MISSION,7
$DIVE,108
$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,-2122435
$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
$GPS1,130007,2109.577,-15758.481,42,1.4,47,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-69.1
$GPS2,130450,2109.572,-15758.487,14,1.4,14,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.179,-0.042
$KALMAN_X,-17364.9,128.9,-399.1,-4297.9,809.4
$KALMAN_Y,-15151.4,146.0,-44.7,25263.8,24.5
$MHEAD_RNG_PITCHd_Wd,247.1,6590,-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,-59.05,0.000,6,0.000,0.000,429,1911,3369,0,0,0,0,0,0
$GC,79,-1.40,-77.9,3.7,-6.5,11,97,10.70,2.47,0.00,0.000,4,0.138,0.040,2407,493,3371,0,0,0,0,0,0
$GC,232,-1.24,-77.9,38.7,-17.5,40,237,0.17,2.33,0.00,0.000,6,0.100,0.021,2442,1936,3372,0,0,0,0,0,0
$GC,495,-1.20,-77.9,76.2,-15.7,64,499,0.00,2.50,0.00,0.000,4,0.000,0.046,2442,487,3373,0,0,0,0,0,0
$GC,547,-1.15,-77.9,84.9,-16.2,69,552,0.10,2.30,0.00,0.000,6,0.120,0.020,2460,1907,3373,0,0,0,0,0,0
$GC,810,-1.21,-77.9,114.7,-9.0,93,814,0.00,2.25,0.00,0.000,4,0.000,0.026,2460,3291,3374,0,0,0,0,0,0
$GC,836,-1.34,-77.9,117.5,-8.8,95,842,0.17,2.33,0.00,0.000,6,0.052,0.029,2408,1896,3374,0,0,0,0,0,0
$GC,1097,-1.34,-77.9,150.6,-11.6,120,1101,0.00,2.40,0.00,0.000,4,0.000,0.044,2408,495,3375,0,0,0,0,0,0
$GC,1223,-1.29,-77.9,167.7,-13.2,133,1228,0.12,2.28,0.00,0.000,6,0.102,0.020,2434,1903,3376,0,0,0,0,0,0
$GC,1484,-1.34,-77.9,197.2,-11.3,157,1489,0.00,2.40,0.00,0.000,4,0.000,0.044,2434,497,3376,0,0,0,0,0,0
$GC,1550,-1.34,-77.9,205.4,-11.4,161,1554,0.00,2.28,0.00,0.000,6,0.000,0.021,2434,1906,3376,0,0,0,0,0,0
$GC,1880,-1.42,-77.9,236.9,-7.5,177,1885,0.12,2.45,0.00,0.000,4,0.066,0.045,2394,496,3377,0,0,0,0,0,0
$GC,1950,-1.37,-77.9,244.6,-11.2,180,1955,0.10,2.28,0.00,0.000,6,0.112,0.021,2413,1907,3377,0,0,0,0,0,0
$GC,2276,-1.42,-77.9,275.3,-9.7,196,2280,0.00,2.45,0.00,0.000,4,0.000,0.048,2412,495,3377,0,0,0,0,0,0
$GC,2371,-1.42,-77.9,284.6,-9.6,200,2375,0.00,2.28,0.00,0.000,6,0.000,0.023,2414,1901,3377,0,0,0,0,0,0
$GC,2709,-1.48,-77.9,316.1,-9.6,213,2713,0.00,2.42,0.00,0.000,4,0.000,0.049,2408,495,3376,0,0,0,0,0,0
$GC,2773,-1.48,-77.9,321.6,-8.1,214,2777,0.00,2.30,0.00,0.000,6,0.000,0.025,2413,1900,3376,0,0,0,0,0,0
$GC,3122,-1.55,-77.9,347.7,-7.8,223,3127,0.17,2.47,0.00,0.000,4,0.058,0.051,2364,497,3375,0,0,0,0,0,0
$GC,3136,-1.55,-77.9,349.2,-8.7,223,3141,0.00,2.30,0.00,0.000,6,0.000,0.026,2365,1907,3375,0,0,0,0,0,0
$GC,3485,-1.55,-77.9,389.1,-11.5,232,3489,0.00,2.47,0.00,0.000,4,0.000,0.054,2364,499,3373,0,0,0,0,0,0
$GC,3499,-1.50,-77.9,390.8,-11.2,232,3504,0.12,2.33,0.00,0.000,6,0.110,0.027,2386,1907,3374,0,0,0,0,0,0
$GC,3848,-1.50,-77.9,423.2,-8.6,241,3852,0.00,2.50,0.00,0.000,4,0.000,0.057,2390,494,3371,0,0,0,0,0,0
$GC,3875,-1.50,-77.9,425.7,-9.5,241,3880,0.00,2.33,0.00,0.000,6,0.000,0.028,2387,1895,3371,0,0,0,0,0,0
$STATE,4208,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4209,begin apogee
$GC,4213,-0.31,0.0,452.8,8.1,250,4282,1.20,0.00,65.28,0.882,6,0.077,0.000,2644,2056,3050,0,0,0,0,0,0
$STATE,4283,end apogee,CONTROL_FINISHED_OK
$STATE,4283,begin climb
$GC,4285,1.40,77.9,453.4,0.0,251,4359,1.62,2.45,65.03,0.859,4,0.033,0.047,3024,3406,2732,0,0,0,0,0,0
$GC,4623,1.24,126.6,437.3,4.7,258,4672,0.22,2.38,41.35,0.850,6,0.117,0.038,2984,2036,2534,0,0,0,0,0,0
$GC,5013,1.13,126.6,406.2,8.4,268,5018,0.12,2.40,0.00,0.000,4,0.127,0.041,2963,3409,2526,0,0,0,0,0,0
$GC,5282,1.08,126.6,383.7,8.3,273,5287,0.00,2.38,0.00,0.000,6,0.000,0.041,2963,2039,2525,0,0,0,0,0,0
$GC,5612,1.03,126.6,356.9,8.7,282,5617,0.12,2.38,0.00,0.000,4,0.130,0.041,2942,3411,2522,0,0,0,0,0,0
$GC,5738,1.03,129.1,346.4,7.8,284,5742,0.00,2.38,0.00,0.000,6,0.000,0.039,2942,2023,2522,0,0,0,0,0,0
$GC,6068,1.08,170.3,326.1,5.2,292,6110,0.00,2.55,36.78,0.817,4,0.000,0.054,2941,622,2354,0,0,0,0,0,0
$GC,6135,1.02,175.2,322.2,7.7,293,6147,0.00,2.38,5.32,0.603,6,0.000,0.029,2940,2019,2335,0,0,0,0,0,0
$GC,6464,1.02,175.2,291.5,10.0,303,6468,0.00,2.47,0.00,0.000,4,0.000,0.054,2941,630,2331,0,0,0,0,0,0
$GC,6694,1.02,175.2,265.3,10.2,313,6699,0.00,2.38,0.00,0.000,6,0.000,0.029,2941,2039,2328,0,0,0,0,0,0
$GC,7020,1.09,188.6,240.5,7.1,329,7037,0.00,2.53,12.00,0.706,4,0.000,0.051,2941,621,2281,0,0,0,0,0,0
$GC,7252,1.12,212.7,223.6,6.4,338,7282,0.00,2.38,22.60,0.725,6,0.000,0.027,2940,2042,2182,0,0,0,0,0,0
$GC,7598,1.20,216.9,201.1,7.7,355,7610,0.15,2.47,4.55,0.505,4,0.069,0.048,2978,629,2165,0,0,0,0,0,0
$GC,7663,1.13,216.9,194.4,10.3,361,7667,0.00,2.35,0.00,0.000,6,0.000,0.025,2978,2036,2162,0,0,0,0,0,0
$GC,7926,1.13,216.9,165.2,11.8,385,7930,0.00,2.47,0.00,0.000,4,0.000,0.048,2978,620,2162,0,0,0,0,0,0
$GC,8008,1.09,216.9,154.2,12.4,393,8014,0.15,2.35,0.00,0.000,6,0.116,0.025,2952,2043,2161,0,0,0,0,0,0
$GC,8270,1.15,216.9,130.7,8.4,418,8274,0.00,2.47,0.00,0.000,4,0.000,0.046,2951,618,2160,0,0,0,0,0,0
$GC,8441,1.19,216.9,113.1,10.7,436,8447,0.00,2.35,0.00,0.000,6,0.000,0.023,2952,2039,2160,0,0,0,0,0,0
$GC,8704,1.30,216.9,92.5,8.7,461,8709,0.20,2.33,0.00,0.000,4,0.056,0.029,3004,3431,2160,0,0,0,0,0,0
$GC,8720,1.36,216.9,90.7,9.0,462,8724,0.00,2.33,0.00,0.000,6,0.000,0.029,3004,2028,2160,0,0,0,0,0,0
$GC,8983,1.36,216.9,66.8,8.3,486,8984,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2028,2160,0,0,0,0,0,0
$GC,9236,1.36,216.9,45.9,9.5,510,9240,0.00,2.38,0.00,0.000,4,0.000,0.043,3004,630,2160,0,0,0,0,0,0
$GC,9362,1.29,216.9,32.5,11.9,523,9368,0.00,2.30,0.00,0.000,6,0.000,0.021,3005,2040,2160,0,0,0,0,0,0
$GC,9625,1.29,216.9,6.4,10.8,570,9632,0.00,2.42,0.00,0.000,4,0.000,0.044,3003,642,2161,0,0,0,0,0,0
$STATE,9654,end climb,SURFACE_DEPTH_REACHED
$STATE,9654,begin surface coast
$FINISH,0.3,1.003868
$STATE,9685,end surface coast,CONTROL_FINISHED_OK
$STATE,9685,begin surface
$SM_CCo,9706,43.33,0.522,0,0,1826,300.00
$SM_GC,1.64,0.00,0.00,43.33,0.000,0.000,0.522,431,1934,1826,-10.50,0.96,300.00
$IRIDIUM_FIX,2101.76,-15758.18,190799,101041
$TT8_MAMPS,0.029146
$HUMID,43.10
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,21.60
$XPDR_PINGS,1
$24V_AH,23.4,10.717
$10V_AH,10.0,9.900
$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,26.675,109.625,252.900,43.325,0.000,26.273,31.458,128.706,0.250,0.000,14.703,1166.542,6260.103,353.126,1910.815,346.471,33.359,1178.905,0.000,1902.436,0.000,0.539,0.000
$DEVICE_MAMPS,138.060,56.758,882.050,522.327,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,394.842,374.690,837.752,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,31830,583
$CAP_FILE_SIZE,110582,0
$CFSIZE,260165632,252284928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240410,155005,2109.175,-15758.923,63,1.6,78,9.8