version: 66.06
glider: 139
mission: 7
dive: 122
start: 4 26 110 5 22 24
data:
$ID,139
$MISSION,7
$DIVE,122
$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,-2122823.5
$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,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
$GPS1,051643,2102.077,-15758.225,35,2.0,41,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-68.4
$GPS2,052132,2102.048,-15758.276,12,2.0,12,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,-0.004
$KALMAN_X,-24369.1,-58.7,43.9,2819.7,-1563.0
$KALMAN_Y,-15130.3,-225.8,-160.1,11804.4,-215.7
$MHEAD_RNG_PITCHd_Wd,81.5,16441,-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,12,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,-58.55,0.000,6,0.000,0.000,424,1923,3369,0,0,0,0,0,0
$GC,79,-1.40,-77.9,4.0,-8.0,11,97,10.70,2.47,0.00,0.000,4,0.138,0.037,2404,497,3371,0,0,0,0,0,0
$GC,159,-1.21,-77.9,26.5,-20.2,28,166,0.17,2.33,0.00,0.000,6,0.080,0.021,2444,1923,3372,0,0,0,0,0,0
$GC,364,-1.21,-77.9,56.4,-13.6,49,368,0.00,2.50,0.00,0.000,4,0.000,0.046,2443,487,3372,0,0,0,0,0,0
$GC,416,-1.12,-77.9,63.7,-13.6,54,421,0.12,2.25,0.00,0.000,6,0.110,0.020,2468,1905,3372,0,0,0,0,0,0
$GC,677,-1.21,-77.9,87.9,-8.7,78,681,0.00,2.42,0.00,0.000,4,0.000,0.044,2467,490,3374,0,0,0,0,0,0
$GC,755,-1.28,-77.9,95.3,-9.4,86,760,0.15,2.25,0.00,0.000,6,0.058,0.020,2418,1899,3374,0,0,0,0,0,0
$GC,1016,-1.28,-77.9,123.8,-12.0,110,1020,0.00,2.42,0.00,0.000,4,0.000,0.044,2420,493,3375,0,0,0,0,0,0
$GC,1039,-1.28,-77.9,126.5,-11.1,112,1044,0.00,2.25,0.00,0.000,6,0.000,0.020,2421,1907,3375,0,0,0,0,0,0
$GC,1300,-1.28,-77.9,152.1,-9.7,136,1304,0.00,2.45,0.00,0.000,4,0.000,0.044,2421,486,3376,0,0,0,0,0,0
$GC,1324,-1.25,-77.9,154.7,-10.8,138,1329,0.10,2.28,0.00,0.000,6,0.110,0.021,2441,1899,3376,0,0,0,0,0,0
$GC,1584,-1.33,-77.9,175.8,-7.4,162,1589,0.00,2.40,0.00,0.000,4,0.000,0.044,2442,494,3376,0,0,0,0,0,0
$GC,1645,-1.37,-77.9,180.6,-8.2,168,1649,0.12,2.25,0.00,0.000,6,0.065,0.021,2400,1900,3376,0,0,0,0,0,0
$GC,1905,-1.37,-77.9,207.9,-11.4,189,1909,0.00,2.42,0.00,0.000,4,0.000,0.044,2400,494,3376,0,0,0,0,0,0
$GC,1928,-1.34,-77.9,211.3,-13.5,190,1933,0.10,2.25,0.00,0.000,6,0.110,0.021,2421,1898,3376,0,0,0,0,0,0
$GC,2254,-1.40,-77.9,246.2,-9.6,206,2258,0.00,2.42,0.00,0.000,4,0.000,0.047,2421,492,3377,0,0,0,0,0,0
$GC,2325,-1.44,-77.9,253.1,-9.2,209,2329,0.00,2.25,0.00,0.000,6,0.000,0.022,2421,1896,3377,0,0,0,0,0,0
$GC,2658,-1.52,-77.9,275.7,-5.5,225,2663,0.17,2.45,0.00,0.000,4,0.055,0.049,2370,495,3376,0,0,0,0,0,0
$GC,2703,-1.44,-77.9,279.6,-9.0,227,2708,0.15,2.30,0.00,0.000,6,0.097,0.024,2401,1906,3376,0,0,0,0,0,0
$GC,3033,-1.48,-77.9,304.5,-7.6,242,3037,0.00,2.45,0.00,0.000,4,0.000,0.050,2400,494,3375,0,0,0,0,0,0
$GC,3143,-1.48,-77.9,315.4,-9.6,244,3147,0.00,2.28,0.00,0.000,6,0.000,0.025,2401,1901,3375,0,0,0,0,0,0
$GC,3492,-1.53,-77.9,353.9,-11.9,253,3496,0.00,2.45,0.00,0.000,4,0.000,0.051,2400,491,3373,0,0,0,0,0,0
$GC,3572,-1.53,-77.9,363.6,-12.2,254,3576,0.00,2.30,0.00,0.000,6,0.000,0.026,2400,1901,3373,0,0,0,0,0,0
$GC,3902,-1.58,-77.9,403.1,-12.0,262,3907,0.15,2.47,0.00,0.000,4,0.064,0.053,2359,495,3371,0,0,0,0,0,0
$GC,3972,-1.48,-77.9,412.1,-12.2,263,3977,0.15,2.33,0.00,0.000,6,0.102,0.028,2389,1900,3371,0,0,0,0,0,0
$GC,4312,-1.48,-77.9,441.9,-8.7,272,4313,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1905,3368,0,0,0,0,0,0
$STATE,4473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4473,begin apogee
$GC,4478,-0.31,0.0,452.0,6.2,276,4547,1.20,0.00,65.12,0.877,6,0.076,0.000,2646,2063,3050,0,0,0,0,0,0
$STATE,4548,end apogee,CONTROL_FINISHED_OK
$STATE,4548,begin climb
$GC,4550,1.40,77.9,451.5,0.0,277,4624,1.65,2.45,64.70,0.854,4,0.037,0.047,3026,3405,2732,0,0,0,0,0,0
$GC,4685,1.18,79.8,443.6,7.9,280,4691,0.28,2.38,0.00,0.000,6,0.112,0.036,2975,2022,2730,0,0,0,0,0,0
$GC,5009,1.08,103.3,422.3,6.4,288,5034,0.15,0.00,22.15,0.823,6,0.120,0.000,2949,2022,2628,0,0,0,0,0,0
$GC,5334,1.10,144.2,404.4,5.2,296,5375,0.00,0.00,35.03,0.837,6,0.000,0.000,2949,2022,2461,0,0,0,0,0,0
$GC,5700,1.10,144.2,376.4,8.2,305,5704,0.00,2.47,0.00,0.000,4,0.000,0.054,2948,629,2456,0,0,0,0,0,0
$GC,5816,1.02,144.2,366.1,8.4,307,5820,0.00,2.33,0.00,0.000,6,0.000,0.030,2948,2011,2454,0,0,0,0,0,0
$GC,6160,1.02,144.2,334.1,9.6,316,6161,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2015,2453,0,0,0,0,0,0
$GC,6485,1.02,144.2,303.7,8.9,324,6489,0.00,2.42,0.00,0.000,4,0.000,0.052,2948,626,2451,0,0,0,0,0,0
$GC,6665,0.96,144.2,287.0,11.6,330,6670,0.12,2.35,0.00,0.000,6,0.124,0.029,2926,2038,2449,0,0,0,0,0,0
$GC,7000,1.01,149.2,257.8,7.7,346,7005,0.00,2.47,0.00,0.000,4,0.000,0.051,2926,623,2449,0,0,0,0,0,0
$GC,7083,1.03,165.2,251.9,6.9,349,7110,0.00,2.35,17.08,0.739,6,0.000,0.028,2926,2043,2376,0,0,0,0,0,0
$GC,7418,1.19,231.8,238.8,3.4,366,7484,0.20,2.42,59.08,0.752,4,0.064,0.037,2975,3426,2103,0,0,0,0,0,0
$GC,7490,1.19,231.8,233.4,9.2,369,7495,0.00,2.42,0.00,0.000,6,0.000,0.036,2974,2036,2103,0,0,0,0,0,0
$GC,7817,1.19,231.8,191.4,15.0,387,7821,0.00,2.45,0.00,0.000,4,0.000,0.051,2974,631,2097,0,0,0,0,0,0
$GC,7980,1.14,231.8,166.1,14.9,404,7987,0.00,2.38,0.00,0.000,6,0.000,0.025,2974,2040,2093,0,0,0,0,0,0
$GC,8242,1.14,231.8,138.7,9.1,429,8246,0.00,2.47,0.00,0.000,4,0.000,0.049,2974,630,2092,0,0,0,0,0,0
$GC,8384,1.14,231.8,122.6,12.0,444,8388,0.00,2.33,0.00,0.000,6,0.000,0.025,2974,2037,2090,0,0,0,0,0,0
$GC,8646,1.19,231.8,92.9,11.9,468,8650,0.00,2.45,0.00,0.000,4,0.000,0.046,2974,629,2090,0,0,0,0,0,0
$GC,8798,1.19,231.8,75.2,10.5,484,8802,0.00,2.30,0.00,0.000,6,0.000,0.022,2974,2044,2089,0,0,0,0,0,0
$GC,9063,1.25,231.8,52.6,8.1,508,9067,0.00,2.45,0.00,0.000,4,0.000,0.044,2974,627,2089,0,0,0,0,0,0
$GC,9148,1.25,231.8,44.2,10.5,517,9152,0.00,2.30,0.00,0.000,6,0.000,0.021,2973,2047,2090,0,0,0,0,0,0
$GC,9416,1.30,231.8,16.8,8.8,554,9423,0.12,2.47,0.00,0.000,4,0.068,0.044,3010,623,2090,0,0,0,0,0,0
$GC,9498,1.22,231.8,7.7,11.1,572,9505,0.12,2.33,0.00,0.000,6,0.084,0.020,2982,2050,2090,0,0,0,0,0,0
$STATE,9538,end climb,SURFACE_DEPTH_REACHED
$STATE,9538,begin surface coast
$FINISH,0.5,1.023812
$STATE,9566,end surface coast,CONTROL_FINISHED_OK
$STATE,9566,begin surface
$SM_CCo,9585,34.05,0.525,0,0,1826,300.00
$SM_GC,1.34,0.00,0.00,34.05,0.000,0.000,0.525,425,1882,1826,-10.53,-0.51,300.00
$IRIDIUM_FIX,2054.83,-15756.91,210799,020242
$TT8_MAMPS,0.029146
$HUMID,44.88
$INTERNAL_PRESSURE,9.65511
$TCM_TEMP,21.20
$XPDR_PINGS,0
$24V_AH,23.4,11.808
$10V_AH,10.0,11.032
$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,26.950,105.100,263.150,34.050,0.000,40.934,25.787,132.460,0.000,0.000,12.552,1135.945,6318.225,353.074,1749.482,355.867,33.360,1115.859,0.000,1749.240,0.000,0.537,0.000
$DEVICE_MAMPS,138.060,54.457,876.681,524.628,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,395.815,376.389,842.743,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355512
$DATA_FILE_SIZE,31816,584
$CAP_FILE_SIZE,106001,0
$CFSIZE,260165632,251490304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260410,080451,2101.564,-15757.719,72,3.9,91,9.8