version: 66.06
glider: 139
mission: 7
dive: 189
start: 5 3 110 21 57 12
data:
$ID,139
$MISSION,7
$DIVE,189
$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,-2125667
$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
$GPS1,215113,2109.325,-15756.750,48,1.5,54,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-70.8
$GPS2,215620,2109.359,-15756.725,14,1.6,14,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.152,-0.103
$KALMAN_X,-58161.8,-106.9,-385.6,70175.7,-505.2
$KALMAN_Y,8841.2,-31.2,130.6,-6004.7,822.3
$MHEAD_RNG_PITCHd_Wd,114.2,24742,-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,-55.42,0.000,2,0.000,0.000,429,1870,3282,0,0,0,0,0,0
$GC,76,-1.40,-77.9,3.4,-5.1,10,95,10.70,2.42,-1.67,0.000,4,0.137,0.040,2406,3317,3367,0,0,0,0,0,0
$GC,255,-1.40,-77.9,36.3,-14.7,46,260,0.00,2.40,0.00,0.000,6,0.000,0.031,2407,1898,3369,0,0,0,0,0,0
$GC,518,-1.32,-77.9,75.8,-14.7,70,522,0.00,2.40,0.00,0.000,4,0.000,0.045,2404,494,3370,0,0,0,0,0,0
$GC,534,-1.20,-77.9,78.5,-14.8,71,540,0.22,2.33,0.00,0.000,6,0.095,0.020,2450,1940,3370,0,0,0,0,0,0
$GC,796,-1.24,-77.9,108.4,-9.9,95,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,1945,3370,0,0,0,0,0,0
$GC,1051,-1.29,-77.9,130.4,-8.4,119,1056,0.00,2.50,0.00,0.000,4,0.000,0.045,2448,495,3371,0,0,0,0,0,0
$GC,1143,-1.32,-77.9,139.4,-9.3,128,1150,0.08,2.28,0.00,0.000,6,0.040,0.020,2417,1893,3372,0,0,0,0,0,0
$GC,1404,-1.32,-77.9,166.6,-9.9,153,1408,0.00,2.42,0.00,0.000,4,0.000,0.044,2413,487,3373,0,0,0,0,0,0
$GC,1509,-1.32,-77.9,179.5,-12.3,164,1514,0.00,2.28,0.00,0.000,6,0.000,0.021,2416,1898,3373,0,0,0,0,0,0
$GC,1783,-1.32,-77.9,208.2,-9.7,186,1787,0.00,2.42,0.00,0.000,4,0.000,0.044,2414,488,3374,0,0,0,0,0,0
$GC,1796,-1.32,-77.9,209.8,-9.6,186,1803,0.00,2.30,0.00,0.000,6,0.000,0.021,2416,1903,3374,0,0,0,0,0,0
$GC,2111,-1.36,-77.9,237.3,-8.3,202,2115,0.00,2.40,0.00,0.000,4,0.000,0.044,2415,495,3374,0,0,0,0,0,0
$GC,2144,-1.36,-77.9,240.4,-10.0,203,2148,0.00,2.28,0.00,0.000,6,0.000,0.021,2415,1900,3374,0,0,0,0,0,0
$GC,2459,-1.42,-77.9,271.1,-10.4,218,2463,0.00,2.42,0.00,0.000,4,0.000,0.046,2416,496,3374,0,0,0,0,0,0
$GC,2541,-1.45,-77.9,279.9,-10.7,221,2548,0.00,2.28,0.00,0.000,6,0.000,0.023,2414,1898,3374,0,0,0,0,0,0
$GC,2875,-1.53,-77.9,313.8,-11.0,235,2880,0.15,2.45,0.00,0.000,4,0.060,0.049,2373,490,3373,0,0,0,0,0,0
$GC,2926,-1.47,-77.9,320.9,-14.6,236,2931,0.10,2.30,0.00,0.000,6,0.111,0.025,2392,1895,3373,0,0,0,0,0,0
$GC,3245,-1.50,-77.9,353.9,-9.5,244,3249,0.00,2.45,0.00,0.000,4,0.000,0.051,2393,495,3372,0,0,0,0,0,0
$GC,3370,-1.50,-77.9,366.0,-10.5,246,3374,0.00,2.33,0.00,0.000,6,0.000,0.026,2393,1902,3372,0,0,0,0,0,0
$GC,3700,-1.50,-77.9,394.8,-8.6,254,3704,0.00,2.47,0.00,0.000,4,0.000,0.054,2392,498,3369,0,0,0,0,0,0
$GC,3750,-1.50,-77.9,399.2,-9.5,255,3755,0.00,2.33,0.00,0.000,6,0.000,0.028,2392,1898,3369,0,0,0,0,0,0
$GC,4069,-1.54,-77.9,420.5,-6.4,263,4073,0.00,2.47,0.00,0.000,4,0.000,0.054,2391,496,3367,0,0,0,0,0,0
$GC,4161,-1.54,-77.9,427.4,-7.5,265,4166,0.00,2.33,0.00,0.000,6,0.000,0.029,2393,1898,3366,0,0,0,0,0,0
$GC,4485,-1.57,-77.9,447.6,-6.5,273,4487,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1903,3364,0,0,0,0,0,0
$STATE,4522,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4522,begin apogee
$GC,4527,-0.31,0.0,450.3,6.6,274,4595,1.17,0.00,64.28,0.887,6,0.077,0.000,2643,2056,3050,0,0,0,0,0,0
$STATE,4596,end apogee,CONTROL_FINISHED_OK
$STATE,4596,begin climb
$GC,4598,1.40,77.9,450.7,0.0,275,4673,1.65,2.42,64.82,0.864,4,0.035,0.045,3024,3418,2731,0,0,0,0,0,0
$GC,4735,1.23,134.7,448.8,4.1,279,4792,0.20,2.42,48.53,0.855,6,0.116,0.038,2982,2029,2500,0,0,0,0,0,0
$GC,5105,1.12,134.7,413.2,10.4,288,5110,0.12,2.42,0.00,0.000,4,0.128,0.044,2967,3412,2493,0,0,0,0,0,0
$GC,5199,1.06,134.7,403.8,9.9,290,5204,0.10,2.38,0.00,0.000,6,0.133,0.040,2948,2037,2492,0,0,0,0,0,0
$GC,5522,1.04,147.8,378.6,7.1,298,5539,0.00,2.58,10.75,0.767,4,0.000,0.056,2949,630,2447,0,0,0,0,0,0
$GC,5619,0.96,150.9,370.8,7.8,300,5629,0.12,2.35,3.92,0.525,6,0.124,0.031,2928,2016,2434,0,0,0,0,0,0
$GC,5943,1.01,190.5,352.1,5.3,308,5985,0.00,2.55,36.15,0.827,4,0.000,0.054,2927,624,2271,0,0,0,0,0,0
$GC,6114,1.01,190.5,337.1,10.1,311,6118,0.00,2.40,0.00,0.000,6,0.000,0.030,2927,2037,2265,0,0,0,0,0,0
$GC,6445,1.08,190.5,301.8,11.1,319,6449,0.00,2.53,0.00,0.000,4,0.000,0.054,2927,621,2264,0,0,0,0,0,0
$GC,6536,1.08,190.5,288.4,15.8,322,6541,0.00,2.38,0.00,0.000,6,0.000,0.030,2928,2043,2261,0,0,0,0,0,0
$GC,6861,1.15,190.5,254.6,8.5,338,6866,0.17,2.50,0.00,0.000,4,0.067,0.052,2969,628,2261,0,0,0,0,0,0
$GC,7059,1.09,190.5,237.4,8.9,346,7066,0.00,2.38,0.00,0.000,6,0.000,0.028,2969,2028,2258,0,0,0,0,0,0
$GC,7374,1.09,190.5,209.7,9.7,362,7378,0.00,2.45,0.00,0.000,4,0.000,0.050,2969,619,2259,0,0,0,0,0,0
$GC,7526,1.04,190.5,193.3,10.4,372,7531,0.15,2.38,0.00,0.000,6,0.119,0.027,2943,2046,2256,0,0,0,0,0,0
$GC,7786,1.10,190.5,170.1,8.1,396,7787,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2052,2257,0,0,0,0,0,0
$GC,8042,1.19,198.8,152.0,7.4,420,8054,0.15,2.47,6.03,0.546,4,0.067,0.045,2981,626,2238,0,0,0,0,0,0
$GC,8231,1.12,198.8,131.6,12.0,440,8238,0.08,2.35,0.00,0.000,6,0.097,0.024,2963,2039,2237,0,0,0,0,0,0
$GC,8493,1.18,204.1,110.6,7.7,465,8506,0.00,2.50,6.35,0.519,4,0.000,0.044,2964,630,2217,0,0,0,0,0,0
$GC,8588,1.18,204.1,101.6,10.5,475,8593,0.00,2.30,0.00,0.000,6,0.000,0.023,2963,2044,2215,0,0,0,0,0,0
$GC,8851,1.25,206.6,78.8,7.9,500,8856,0.10,2.30,0.00,0.000,4,0.081,0.031,2993,3430,2215,0,0,0,0,0,0
$GC,8884,1.25,206.6,75.7,9.4,503,8889,0.00,2.35,0.00,0.000,6,0.000,0.028,2993,2019,2215,0,0,0,0,0,0
$GC,9147,1.25,206.6,52.7,8.3,527,9148,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2019,2215,0,0,0,0,0,0
$GC,9401,1.26,219.1,34.0,7.2,551,9421,0.00,2.40,15.02,0.535,4,0.000,0.042,2993,628,2155,0,0,0,0,0,0
$GC,9459,1.21,219.1,29.2,8.9,558,9466,0.00,2.33,0.00,0.000,6,0.000,0.021,2991,2039,2152,0,0,0,0,0,0
$GC,9660,1.21,219.1,10.8,8.7,595,9666,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2044,2152,0,0,0,0,0,0
$STATE,9756,end climb,SURFACE_DEPTH_REACHED
$STATE,9756,begin surface coast
$FINISH,0.4,1.011371
$STATE,9790,end surface coast,CONTROL_FINISHED_OK
$STATE,9791,begin surface
$SM_CCo,9810,40.65,0.524,0,0,1827,300.00
$SM_GC,1.58,0.00,0.00,40.65,0.000,0.000,0.524,425,1888,1827,-10.53,-0.34,300.00
$IRIDIUM_FIX,2059.45,-15756.04,280799,191917
$TT8_MAMPS,0.029146
$HUMID,44.95
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.4,17.201
$10V_AH,10.0,16.276
$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,26.350,105.800,255.850,40.650,0.000,31.213,33.175,147.712,4.500,0.000,14.492,1211.158,6292.161,355.311,1940.261,361.652,33.356,1179.342,0.000,1913.712,0.000,29.255,0.000
$DEVICE_MAMPS,137.293,55.991,886.652,523.861,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,418.794,397.426,903.830,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,34829,619
$CAP_FILE_SIZE,114298,0
$CFSIZE,260165632,247828480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040510,004321,2109.077,-15755.975,63,3.0,82,9.8