version: 66.06
glider: 139
mission: 7
dive: 160
start: 4 30 110 14 49 27
data:
$ID,139
$MISSION,7
$DIVE,160
$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,-2123983.2
$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,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,20
$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
$GPS1,144324,2107.682,-15800.703,68,2.0,86,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-70.7
$GPS2,144836,2107.667,-15800.796,36,1.1,40,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.181,-0.030
$KALMAN_X,-9036.4,267.1,-271.2,13537.3,-2387.4
$KALMAN_Y,1187.7,-232.5,-18.6,-1132.2,378.1
$MHEAD_RNG_PITCHd_Wd,89.7,31080,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,74,0.00,0.00,-55.60,0.000,2,0.000,0.000,429,1888,3282,0,0,0,0,0,0
$GC,76,-1.40,-77.9,3.4,-5.9,10,95,10.68,2.38,-1.70,0.000,4,0.137,0.038,2405,3319,3368,0,0,0,0,0,0
$GC,140,-1.40,-77.9,19.1,-15.3,23,146,0.00,2.45,0.00,0.000,6,0.000,0.034,2404,1901,3369,0,0,0,0,0,0
$GC,346,-1.30,-77.9,48.9,-13.9,49,351,0.12,2.42,0.00,0.000,4,0.110,0.047,2428,495,3371,0,0,0,0,0,0
$GC,391,-1.21,-77.9,56.2,-14.9,53,398,0.00,2.35,0.00,0.000,6,0.000,0.021,2429,1931,3370,0,0,0,0,0,0
$GC,652,-1.21,-77.9,83.6,-10.5,78,656,0.00,2.50,0.00,0.000,4,0.000,0.045,2427,494,3371,0,0,0,0,0,0
$GC,694,-1.15,-77.9,88.5,-13.2,82,698,0.15,2.25,0.00,0.000,6,0.096,0.020,2460,1899,3371,0,0,0,0,0,0
$GC,955,-1.25,-77.9,113.0,-9.5,106,959,0.00,2.42,0.00,0.000,4,0.000,0.044,2460,494,3372,0,0,0,0,0,0
$GC,998,-1.31,-77.9,117.4,-11.0,110,1003,0.15,2.25,0.00,0.000,6,0.058,0.020,2413,1905,3373,0,0,0,0,0,0
$GC,1258,-1.31,-77.9,147.4,-10.5,134,1263,0.00,2.42,0.00,0.000,4,0.000,0.044,2413,488,3373,0,0,0,0,0,0
$GC,1310,-1.31,-77.9,153.4,-11.8,139,1314,0.00,2.28,0.00,0.000,6,0.000,0.021,2414,1898,3374,0,0,0,0,0,0
$GC,1571,-1.31,-77.9,183.8,-12.4,163,1572,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1903,3374,0,0,0,0,0,0
$GC,1833,-1.35,-77.9,212.8,-10.0,182,1837,0.00,2.42,0.00,0.000,4,0.000,0.045,2414,494,3374,0,0,0,0,0,0
$GC,1909,-1.35,-77.9,220.8,-9.7,185,1913,0.00,2.25,0.00,0.000,6,0.000,0.021,2414,1897,3374,0,0,0,0,0,0
$GC,2224,-1.40,-77.9,250.7,-10.7,200,2228,0.00,2.42,0.00,0.000,4,0.000,0.047,2414,495,3375,0,0,0,0,0,0
$GC,2260,-1.40,-77.9,255.1,-11.9,201,2265,0.00,2.28,0.00,0.000,6,0.000,0.023,2414,1899,3375,0,0,0,0,0,0
$GC,2577,-1.45,-77.9,285.9,-9.2,217,2581,0.00,2.42,0.00,0.000,4,0.000,0.048,2414,491,3375,0,0,0,0,0,0
$GC,2701,-1.45,-77.9,298.2,-9.5,222,2706,0.00,2.28,0.00,0.000,6,0.000,0.024,2414,1899,3374,0,0,0,0,0,0
$GC,3013,-1.51,-77.9,322.4,-8.1,230,3018,0.12,2.45,0.00,0.000,4,0.069,0.051,2377,495,3373,0,0,0,0,0,0
$GC,3075,-1.47,-77.9,329.0,-10.5,231,3080,0.00,2.28,0.00,0.000,6,0.000,0.025,2377,1895,3373,0,0,0,0,0,0
$GC,3425,-1.47,-77.9,361.9,-9.2,240,3429,0.00,2.47,0.00,0.000,4,0.000,0.053,2377,497,3372,0,0,0,0,0,0
$GC,3522,-1.42,-77.9,371.5,-10.2,242,3527,0.12,2.33,0.00,0.000,6,0.105,0.027,2402,1902,3371,0,0,0,0,0,0
$GC,3840,-1.47,-77.9,398.7,-8.9,250,3844,0.00,2.35,0.00,0.000,4,0.000,0.038,2400,3297,3369,0,0,0,0,0,0
$GC,3858,-1.54,-77.9,400.6,-9.5,250,3863,0.00,2.40,0.00,0.000,6,0.000,0.038,2401,1894,3369,0,0,0,0,0,0
$GC,4208,-1.59,-77.9,429.6,-7.8,259,4213,0.15,2.47,0.00,0.000,4,0.066,0.058,2356,485,3366,0,0,0,0,0,0
$GC,4251,-1.50,-77.9,433.9,-11.0,260,4256,0.12,2.35,0.00,0.000,6,0.109,0.029,2385,1898,3366,0,0,0,0,0,0
$STATE,4455,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4455,begin apogee
$GC,4460,-0.31,0.0,451.7,8.5,265,4528,1.23,0.00,64.47,0.887,6,0.078,0.000,2645,2056,3050,0,0,0,0,0,0
$STATE,4529,end apogee,CONTROL_FINISHED_OK
$STATE,4529,begin climb
$GC,4531,1.40,77.9,452.7,0.0,266,4606,1.62,2.47,64.75,0.867,4,0.034,0.048,3024,3412,2732,0,0,0,0,0,0
$GC,4870,1.22,115.2,439.0,5.5,273,4908,0.22,2.40,31.92,0.850,6,0.117,0.038,2983,2025,2580,0,0,0,0,0,0
$GC,5217,1.17,167.3,420.2,4.4,282,5269,0.00,2.50,45.40,0.854,4,0.000,0.043,2984,3417,2367,0,0,0,0,0,0
$GC,5422,1.10,167.3,405.6,8.4,286,5427,0.15,2.42,0.00,0.000,6,0.123,0.040,2957,2028,2364,0,0,0,0,0,0
$GC,5762,1.07,167.3,377.4,8.9,295,5767,0.00,2.50,0.00,0.000,4,0.000,0.057,2955,625,2358,0,0,0,0,0,0
$GC,5828,0.98,167.3,370.7,10.6,296,5833,0.15,2.38,0.00,0.000,6,0.123,0.031,2930,2023,2356,0,0,0,0,0,0
$GC,6173,1.01,167.3,341.8,8.9,305,6177,0.00,2.47,0.00,0.000,4,0.000,0.054,2930,619,2354,0,0,0,0,0,0
$GC,6209,1.01,167.3,337.9,10.3,305,6215,0.00,2.40,0.00,0.000,6,0.000,0.031,2930,2037,2353,0,0,0,0,0,0
$GC,6540,1.05,167.3,309.3,8.1,314,6545,0.00,2.50,0.00,0.000,4,0.000,0.053,2929,626,2353,0,0,0,0,0,0
$GC,6661,1.05,167.3,299.5,8.3,316,6665,0.00,2.35,0.00,0.000,6,0.000,0.030,2930,2038,2351,0,0,0,0,0,0
$GC,6981,1.09,167.3,275.1,8.1,332,6986,0.10,2.50,0.00,0.000,4,0.087,0.052,2954,619,2351,0,0,0,0,0,0
$GC,7140,1.03,167.3,257.9,11.5,339,7144,0.00,2.38,0.00,0.000,6,0.000,0.029,2955,2037,2349,0,0,0,0,0,0
$GC,7470,1.04,176.4,228.3,7.4,355,7482,0.00,2.53,6.07,0.607,4,0.000,0.051,2954,631,2330,0,0,0,0,0,0
$GC,7524,0.99,176.4,223.9,8.3,357,7529,0.12,2.35,0.00,0.000,6,0.123,0.028,2932,2043,2329,0,0,0,0,0,0
$GC,7847,1.11,211.8,204.6,5.6,373,7890,0.10,2.55,32.55,0.722,4,0.085,0.048,2957,626,2184,0,0,0,0,0,0
$GC,7921,1.08,211.8,199.0,8.9,377,7925,0.00,2.38,0.00,0.000,6,0.000,0.027,2957,2043,2180,0,0,0,0,0,0
$GC,8188,1.11,211.8,172.0,10.6,402,8192,0.00,2.47,0.00,0.000,4,0.000,0.048,2957,621,2179,0,0,0,0,0,0
$GC,8233,1.11,211.8,166.8,10.9,406,8240,0.00,2.38,0.00,0.000,6,0.000,0.025,2958,2037,2177,0,0,0,0,0,0
$GC,8496,1.15,211.8,141.5,9.6,431,8500,0.00,2.45,0.00,0.000,4,0.000,0.047,2957,620,2177,0,0,0,0,0,0
$GC,8721,1.15,211.8,114.2,13.0,455,8725,0.00,2.33,0.00,0.000,6,0.000,0.024,2957,2037,2176,0,0,0,0,0,0
$GC,8984,1.21,211.8,88.5,8.4,479,8988,0.00,2.45,0.00,0.000,4,0.000,0.044,2957,622,2176,0,0,0,0,0,0
$GC,9027,1.21,211.8,84.7,9.6,483,9031,0.00,2.30,0.00,0.000,6,0.000,0.023,2957,2039,2176,0,0,0,0,0,0
$GC,9289,1.28,211.8,62.3,9.0,507,9291,0.15,0.00,0.00,0.000,6,0.064,0.000,2998,2044,2176,0,0,0,0,0,0
$GC,9543,1.28,211.8,39.0,8.5,531,9547,0.00,2.42,0.00,0.000,4,0.000,0.043,2998,616,2176,0,0,0,0,0,0
$GC,9694,1.21,211.8,24.2,10.7,553,9701,0.08,2.33,0.00,0.000,6,0.088,0.022,2980,2033,2176,0,0,0,0,0,0
$GC,9897,1.24,211.8,6.9,8.6,590,9904,0.00,2.45,0.00,0.000,4,0.000,0.042,2980,618,2176,0,0,0,0,0,0
$STATE,9938,end climb,SURFACE_DEPTH_REACHED
$STATE,9939,begin surface coast
$FINISH,0.5,1.011152
$STATE,9970,end surface coast,CONTROL_FINISHED_OK
$STATE,9970,begin surface
$SM_CCo,9991,43.55,0.528,0,0,1826,300.00
$SM_GC,1.21,0.00,0.00,43.55,0.000,0.000,0.528,425,1908,1826,-10.53,0.23,300.00
$IRIDIUM_FIX,2059.45,-15758.18,250799,111120
$TT8_MAMPS,0.029146
$HUMID,44.76
$INTERNAL_PRESSURE,9.65511
$TCM_TEMP,21.20
$XPDR_PINGS,0
$24V_AH,23.4,14.962
$10V_AH,10.0,13.979
$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,26.500,119.850,245.175,43.550,0.000,29.788,27.236,134.076,4.500,0.000,40.446,1211.353,6459.006,356.195,1959.860,362.546,33.344,1188.302,0.000,1916.903,0.000,30.352,0.000
$DEVICE_MAMPS,137.293,57.525,887.419,527.696,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,410.766,390.140,879.908,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,34956,606
$CAP_FILE_SIZE,116339,0
$CFSIZE,260165632,249425920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300410,173850,2107.762,-15801.202,93,1.9,93,9.8