version: 66.06
glider: 139
mission: 7
dive: 171
start: 5 1 110 21 5 36
data:
$ID,139
$MISSION,7
$DIVE,171
$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,-2124306.8
$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
$GPS1,205957,2107.922,-15800.701,35,2.1,54,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-70.5
$GPS2,210444,2107.949,-15800.738,13,1.3,13,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.182,0.028
$KALMAN_X,-30349.2,-617.6,-28.4,35559.6,-2208.0
$KALMAN_Y,1960.1,95.8,157.7,-1885.7,-292.5
$MHEAD_RNG_PITCHd_Wd,71.4,31043,-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,-58.85,0.000,6,0.000,0.000,426,1883,3369,0,0,0,0,0,0
$GC,80,-1.40,-77.9,4.0,-7.2,11,98,10.75,2.42,0.00,0.000,4,0.140,0.026,2403,3317,3371,0,0,0,0,0,0
$GC,306,-1.36,-77.9,45.0,-13.1,49,313,0.00,2.40,0.00,0.000,6,0.000,0.031,2403,1905,3372,0,0,0,0,0,0
$GC,567,-1.27,-77.9,86.6,-14.8,74,572,0.15,2.45,0.00,0.000,4,0.102,0.046,2432,493,3373,0,0,0,0,0,0
$GC,649,-1.22,-77.9,98.6,-14.2,82,656,0.00,2.33,0.00,0.000,6,0.000,0.020,2434,1921,3373,0,0,0,0,0,0
$GC,913,-1.22,-77.9,127.3,-11.6,107,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1926,3373,0,0,0,0,0,0
$GC,1174,-1.26,-77.9,157.9,-13.0,132,1178,0.00,2.45,0.00,0.000,4,0.000,0.044,2432,488,3375,0,0,0,0,0,0
$GC,1228,-1.29,-77.9,165.1,-12.3,137,1234,0.00,2.28,0.00,0.000,6,0.000,0.021,2433,1905,3375,0,0,0,0,0,0
$GC,1489,-1.34,-77.9,192.5,-10.2,162,1494,0.00,2.42,0.00,0.000,4,0.000,0.044,2433,487,3375,0,0,0,0,0,0
$GC,1548,-1.34,-77.9,198.1,-9.8,168,1553,0.00,2.28,0.00,0.000,6,0.000,0.021,2433,1908,3376,0,0,0,0,0,0
$GC,1804,-1.41,-77.9,216.7,-6.7,181,1809,0.12,2.45,0.00,0.000,4,0.067,0.046,2393,490,3376,0,0,0,0,0,0
$GC,1860,-1.35,-77.9,221.6,-8.6,183,1865,0.12,2.28,0.00,0.000,6,0.101,0.021,2418,1898,3376,0,0,0,0,0,0
$GC,2175,-1.39,-77.9,244.0,-8.2,198,2180,0.00,2.42,0.00,0.000,4,0.000,0.047,2416,486,3376,0,0,0,0,0,0
$GC,2207,-1.39,-77.9,247.1,-9.4,199,2211,0.00,2.28,0.00,0.000,6,0.000,0.022,2417,1906,3376,0,0,0,0,0,0
$GC,2522,-1.45,-77.9,273.7,-8.4,214,2526,0.00,2.45,0.00,0.000,4,0.000,0.048,2420,494,3376,0,0,0,0,0,0
$GC,2536,-1.49,-77.9,274.9,-7.9,214,2543,0.10,2.30,0.00,0.000,6,0.038,0.024,2382,1897,3376,0,0,0,0,0,0
$GC,2870,-1.49,-77.9,313.3,-13.7,229,2874,0.00,2.42,0.00,0.000,4,0.000,0.050,2382,495,3375,0,0,0,0,0,0
$GC,2930,-1.44,-77.9,320.7,-12.3,230,2934,0.00,2.28,0.00,0.000,6,0.000,0.025,2382,1899,3375,0,0,0,0,0,0
$GC,3280,-1.44,-77.9,351.8,-7.9,239,3285,0.00,2.42,0.00,0.000,4,0.000,0.051,2382,495,3373,0,0,0,0,0,0
$GC,3378,-1.40,-77.9,362.8,-12.2,241,3383,0.12,2.28,0.00,0.000,6,0.104,0.027,2407,1896,3373,0,0,0,0,0,0
$GC,3698,-1.46,-77.9,389.5,-7.8,249,3702,0.00,2.50,0.00,0.000,4,0.000,0.055,2407,493,3371,0,0,0,0,0,0
$GC,3716,-1.46,-77.9,391.4,-8.9,249,3720,0.00,2.33,0.00,0.000,6,0.000,0.028,2407,1899,3371,0,0,0,0,0,0
$GC,4061,-1.52,-77.9,418.5,-8.0,258,4066,0.12,2.50,0.00,0.000,4,0.071,0.056,2369,496,3369,0,0,0,0,0,0
$GC,4104,-1.46,-77.9,422.7,-10.4,259,4109,0.10,2.33,0.00,0.000,6,0.117,0.029,2391,1897,3369,0,0,0,0,0,0
$GC,4434,-1.50,-77.9,447.7,-7.3,267,4438,0.00,2.47,0.00,0.000,4,0.000,0.056,2389,497,3366,0,0,0,0,0,0
$STATE,4455,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4455,begin apogee
$GC,4463,-0.31,0.0,450.3,9.4,267,4531,1.17,0.00,64.45,0.889,6,0.081,0.000,2641,2040,3050,0,0,0,0,0,0
$STATE,4532,end apogee,CONTROL_FINISHED_OK
$STATE,4532,begin climb
$GC,4533,1.40,77.9,452.1,0.0,269,4608,1.65,2.53,64.70,0.866,4,0.035,0.046,3024,3430,2732,0,0,0,0,0,0
$GC,4706,1.25,138.0,452.1,3.9,272,4763,0.17,2.42,51.42,0.861,6,0.119,0.038,2988,2032,2487,0,0,0,0,0,0
$GC,5082,1.13,138.0,412.2,12.3,282,5087,0.15,2.47,0.00,0.000,4,0.120,0.054,2966,630,2479,0,0,0,0,0,0
$GC,5120,1.00,138.0,407.7,12.1,282,5126,0.17,2.40,0.00,0.000,6,0.121,0.029,2934,2046,2477,0,0,0,0,0,0
$GC,5450,1.00,138.0,376.1,9.5,291,5451,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2050,2476,0,0,0,0,0,0
$GC,5775,1.00,138.0,346.4,9.4,299,5779,0.00,2.53,0.00,0.000,4,0.000,0.054,2935,628,2474,0,0,0,0,0,0
$GC,5901,0.95,138.0,335.2,8.8,301,5905,0.00,2.38,0.00,0.000,6,0.000,0.030,2935,2046,2472,0,0,0,0,0,0
$GC,6231,0.98,165.3,313.1,6.1,309,6259,0.00,2.60,21.90,0.798,4,0.000,0.053,2934,633,2375,0,0,0,0,0,0
$GC,6330,0.99,194.6,306.9,6.0,311,6364,0.00,2.38,26.98,0.792,6,0.000,0.030,2935,2038,2255,0,0,0,0,0,0
$GC,6672,1.03,194.6,283.1,8.3,324,6677,0.00,2.47,0.00,0.000,4,0.000,0.053,2935,632,2250,0,0,0,0,0,0
$GC,6808,1.03,194.6,268.8,11.1,330,6813,0.00,2.38,0.00,0.000,6,0.000,0.029,2935,2041,2245,0,0,0,0,0,0
$GC,7133,1.11,210.5,242.4,6.9,346,7156,0.00,2.45,13.70,0.721,4,0.000,0.038,2935,3429,2191,0,0,0,0,0,0
$GC,7194,1.22,217.7,238.1,7.5,348,7208,0.20,2.42,8.35,0.659,6,0.058,0.037,2984,2032,2161,0,0,0,0,0,0
$GC,7539,1.19,217.7,204.4,10.4,365,7543,0.00,2.47,0.00,0.000,4,0.000,0.051,2983,620,2157,0,0,0,0,0,0
$GC,7636,1.10,217.7,192.3,12.7,373,7642,0.17,2.35,0.00,0.000,6,0.114,0.026,2953,2043,2154,0,0,0,0,0,0
$GC,7898,1.15,226.9,169.9,7.4,397,7912,0.00,2.50,8.40,0.613,4,0.000,0.048,2952,624,2124,0,0,0,0,0,0
$GC,7968,1.15,226.9,164.2,8.7,404,7973,0.00,2.33,0.00,0.000,6,0.000,0.025,2953,2037,2122,0,0,0,0,0,0
$GC,8230,1.21,226.9,142.2,8.8,428,8235,0.12,2.45,0.00,0.000,4,0.073,0.047,2987,628,2121,0,0,0,0,0,0
$GC,8258,1.14,226.9,139.0,10.9,430,8265,0.08,2.35,0.00,0.000,6,0.098,0.025,2969,2037,2120,0,0,0,0,0,0
$GC,8520,1.19,226.9,113.8,10.2,455,8524,0.00,2.42,0.00,0.000,4,0.000,0.046,2968,628,2120,0,0,0,0,0,0
$GC,8680,1.19,226.9,94.7,10.6,472,8684,0.00,2.30,0.00,0.000,6,0.000,0.023,2969,2046,2120,0,0,0,0,0,0
$GC,8942,1.25,226.9,71.2,9.0,496,8947,0.00,2.45,0.00,0.000,4,0.000,0.044,2969,616,2119,0,0,0,0,0,0
$GC,9108,1.25,226.9,54.3,11.0,514,9112,0.00,2.30,0.00,0.000,6,0.000,0.021,2966,2041,2119,0,0,0,0,0,0
$GC,9376,1.34,245.4,35.0,6.7,539,9396,0.17,0.00,17.52,0.546,6,0.056,0.000,3017,2046,2048,0,0,0,0,0,0
$GC,9652,1.31,245.4,5.0,11.2,585,9658,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2046,2047,0,0,0,0,0,0
$STATE,9673,end climb,SURFACE_DEPTH_REACHED
$STATE,9673,begin surface coast
$FINISH,0.3,1.023375
$STATE,9701,end surface coast,CONTROL_FINISHED_OK
$STATE,9702,begin surface
$SM_CCo,9721,28.38,0.525,0,0,1826,300.00
$SM_GC,1.11,0.00,0.00,28.38,0.000,0.000,0.525,431,1859,1826,-10.50,-1.16,300.00
$IRIDIUM_FIX,2101.76,-15800.33,260799,181828
$TT8_MAMPS,0.028379
$HUMID,45.43
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,21.00
$XPDR_PINGS,0
$24V_AH,23.4,15.838
$10V_AH,10.0,14.838
$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,26.850,110.950,277.425,28.375,0.000,30.847,30.563,132.120,4.500,0.000,13.413,1163.316,6350.935,357.623,1823.022,345.117,33.350,1156.058,0.000,1800.148,0.000,29.236,0.000
$DEVICE_MAMPS,140.361,55.991,888.953,524.628,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,401.885,378.993,854.920,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,31801,594
$CAP_FILE_SIZE,112078,0
$CFSIZE,260165632,248823808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010510,234943,2107.922,-15759.854,50,1.2,62,9.8