version: 66.06
glider: 139
mission: 7
dive: 203
start: 5 5 110 14 42 26
data:
$ID,139
$MISSION,7
$DIVE,203
$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,-2126122.8
$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
$GPS1,143616,2108.349,-15755.043,90,2.7,109,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-69.1
$GPS2,144134,2108.379,-15755.052,15,5.3,34,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.182,-0.023
$KALMAN_X,-83381.2,11.5,481.3,97290.8,-2831.4
$KALMAN_Y,15727.8,43.0,16.2,-14665.2,440.5
$MHEAD_RNG_PITCHd_Wd,87.5,21497,-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,14,-1.40,-77.9,0.0,0.0,0,76,0.00,0.00,-58.38,0.000,6,0.000,0.000,427,1884,3369,0,0,0,0,0,0
$GC,79,-1.40,-77.9,4.2,-7.7,11,97,10.65,2.40,0.00,0.000,4,0.137,0.036,2403,490,3371,0,0,0,0,0,0
$GC,105,-0.11,-77.9,15.4,-34.3,15,112,1.35,2.38,0.00,0.000,6,0.096,0.021,2685,1928,3371,0,0,0,0,0,0
$GC,306,-0.75,-77.9,29.9,-9.3,52,313,0.57,2.47,0.00,0.000,4,0.045,0.040,2543,491,3372,0,0,0,0,0,0
$GC,350,-1.08,-77.9,34.2,-8.8,57,357,0.22,2.30,0.00,0.000,6,0.027,0.020,2461,1921,3373,0,0,0,0,0,0
$GC,612,-1.14,-77.9,66.2,-14.2,82,617,0.00,2.42,0.00,0.000,4,0.000,0.042,2460,494,3374,0,0,0,0,0,0
$GC,675,-1.14,-77.9,75.3,-14.6,88,682,0.00,2.25,0.00,0.000,6,0.000,0.020,2462,1885,3374,0,0,0,0,0,0
$GC,937,-1.21,-77.9,105.7,-11.3,113,941,0.00,2.38,0.00,0.000,4,0.000,0.044,2461,494,3375,0,0,0,0,0,0
$GC,992,-1.25,-77.9,112.0,-10.1,118,998,0.00,2.28,0.00,0.000,6,0.000,0.020,2462,1900,3375,0,0,0,0,0,0
$GC,1254,-1.34,-77.9,135.7,-8.4,143,1259,0.17,2.42,0.00,0.000,4,0.051,0.044,2407,492,3376,0,0,0,0,0,0
$GC,1327,-1.27,-77.9,144.3,-11.5,150,1335,0.10,2.28,0.00,0.000,6,0.074,0.020,2433,1895,3376,0,0,0,0,0,0
$GC,1589,-1.31,-77.9,169.9,-9.4,175,1593,0.00,2.45,0.00,0.000,4,0.000,0.044,2433,487,3377,0,0,0,0,0,0
$GC,1614,-1.31,-77.9,172.9,-11.9,177,1618,0.00,2.25,0.00,0.000,6,0.000,0.021,2434,1900,3377,0,0,0,0,0,0
$GC,1877,-1.39,-77.9,198.8,-9.6,201,1881,0.00,2.40,0.00,0.000,4,0.000,0.044,2433,492,3377,0,0,0,0,0,0
$GC,1919,-1.44,-77.9,203.5,-10.1,204,1924,0.15,2.28,0.00,0.000,6,0.057,0.021,2385,1904,3377,0,0,0,0,0,0
$GC,2249,-1.44,-77.9,240.4,-11.2,220,2254,0.00,2.42,0.00,0.000,4,0.000,0.044,2384,484,3378,0,0,0,0,0,0
$GC,2338,-1.38,-77.9,251.0,-11.2,224,2343,0.12,2.28,0.00,0.000,6,0.103,0.022,2411,1902,3378,0,0,0,0,0,0
$GC,2668,-1.44,-77.9,279.3,-7.9,240,2673,0.00,2.45,0.00,0.000,4,0.000,0.048,2408,488,3377,0,0,0,0,0,0
$GC,2714,-1.47,-77.9,283.5,-9.0,242,2718,0.00,2.28,0.00,0.000,6,0.000,0.024,2411,1900,3377,0,0,0,0,0,0
$GC,3041,-1.54,-77.9,312.3,-8.9,255,3046,0.15,2.45,0.00,0.000,4,0.060,0.050,2367,495,3376,0,0,0,0,0,0
$GC,3106,-1.47,-77.9,319.8,-12.4,256,3111,0.15,2.30,0.00,0.000,6,0.097,0.025,2397,1902,3376,0,0,0,0,0,0
$GC,3456,-1.51,-77.9,352.8,-9.2,265,3460,0.00,2.42,0.00,0.000,4,0.000,0.051,2397,497,3374,0,0,0,0,0,0
$GC,3548,-1.51,-77.9,362.2,-10.1,267,3552,0.00,2.28,0.00,0.000,6,0.000,0.027,2397,1896,3374,0,0,0,0,0,0
$GC,3872,-1.55,-77.9,392.9,-9.5,275,3876,0.00,2.47,0.00,0.000,4,0.000,0.054,2397,495,3372,0,0,0,0,0,0
$GC,3909,-1.55,-77.9,396.6,-9.6,275,3915,0.00,2.28,0.00,0.000,6,0.000,0.028,2397,1896,3371,0,0,0,0,0,0
$GC,4240,-1.60,-77.9,425.6,-8.7,284,4245,0.15,2.47,0.00,0.000,4,0.064,0.055,2354,497,3369,0,0,0,0,0,0
$GC,4269,-1.51,-77.9,428.7,-10.9,284,4274,0.15,2.30,0.00,0.000,6,0.104,0.029,2385,1897,3369,0,0,0,0,0,0
$STATE,4521,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4521,begin apogee
$GC,4527,-0.31,0.0,453.0,9.6,291,4595,1.23,0.00,65.18,0.887,6,0.077,0.000,2645,2054,3050,0,0,0,0,0,0
$STATE,4596,end apogee,CONTROL_FINISHED_OK
$STATE,4596,begin climb
$GC,4598,1.40,77.9,454.3,0.0,292,4672,1.62,2.45,64.75,0.866,4,0.035,0.045,3021,3412,2732,0,0,0,0,0,0
$GC,4715,1.28,162.3,455.5,2.2,294,4794,0.00,2.38,72.15,0.863,6,0.000,0.038,3018,2030,2388,0,0,0,0,0,0
$GC,5134,1.12,162.3,405.1,13.8,305,5139,0.28,2.50,0.00,0.000,4,0.108,0.054,2966,627,2378,0,0,0,0,0,0
$GC,5167,1.01,162.3,400.4,13.1,305,5172,0.17,2.35,0.00,0.000,6,0.121,0.031,2935,2015,2375,0,0,0,0,0,0
$GC,5497,1.01,162.3,370.3,8.9,313,5501,0.00,2.47,0.00,0.000,4,0.000,0.055,2935,624,2373,0,0,0,0,0,0
$GC,5571,0.97,162.3,362.2,11.2,314,5575,0.00,2.38,0.00,0.000,6,0.000,0.031,2935,2043,2372,0,0,0,0,0,0
$GC,5905,0.97,162.3,331.2,9.2,323,5910,0.00,2.50,0.00,0.000,4,0.000,0.054,2935,630,2371,0,0,0,0,0,0
$GC,5988,0.93,162.3,323.2,9.5,324,5994,0.00,2.38,0.00,0.000,6,0.000,0.031,2935,2041,2369,0,0,0,0,0,0
$GC,6301,0.96,162.3,296.9,8.1,333,6305,0.00,2.47,0.00,0.000,4,0.000,0.053,2935,625,2368,0,0,0,0,0,0
$GC,6425,0.96,162.3,284.4,9.9,338,6430,0.00,2.35,0.00,0.000,6,0.000,0.030,2935,2041,2367,0,0,0,0,0,0
$GC,6742,1.01,166.4,259.8,7.7,353,6746,0.00,2.45,0.00,0.000,4,0.000,0.051,2935,630,2367,0,0,0,0,0,0
$GC,6765,1.01,166.4,257.7,8.2,354,6769,0.00,2.33,0.00,0.000,6,0.000,0.030,2935,2037,2365,0,0,0,0,0,0
$GC,7089,1.09,191.6,234.0,6.3,370,7119,0.00,2.50,22.58,0.746,4,0.000,0.050,2935,631,2267,0,0,0,0,0,0
$GC,7353,1.09,191.6,212.8,8.6,381,7357,0.00,2.35,0.00,0.000,6,0.000,0.028,2936,2039,2262,0,0,0,0,0,0
$GC,7675,1.21,227.9,189.5,5.5,403,7712,0.20,0.00,32.70,0.709,6,0.060,0.000,2985,2044,2120,0,0,0,0,0,0
$GC,7966,1.21,227.9,162.5,11.3,431,7970,0.00,2.45,0.00,0.000,4,0.000,0.048,2985,629,2115,0,0,0,0,0,0
$GC,7984,1.16,227.9,160.1,11.5,432,7991,0.00,2.38,0.00,0.000,6,0.000,0.026,2985,2045,2113,0,0,0,0,0,0
$GC,8246,1.16,227.9,131.4,9.1,457,8251,0.00,2.45,0.00,0.000,4,0.000,0.046,2985,625,2113,0,0,0,0,0,0
$GC,8316,1.11,227.9,123.8,11.5,464,8321,0.15,2.30,0.00,0.000,6,0.114,0.024,2957,2039,2111,0,0,0,0,0,0
$GC,8576,1.18,227.9,98.2,9.6,488,8580,0.00,2.42,0.00,0.000,4,0.000,0.045,2958,628,2111,0,0,0,0,0,0
$GC,8623,1.18,227.9,93.1,11.7,493,8627,0.00,2.28,0.00,0.000,6,0.000,0.023,2957,2039,2110,0,0,0,0,0,0
$GC,8887,1.26,227.9,65.3,10.4,517,8892,0.15,2.42,0.00,0.000,4,0.062,0.044,2999,627,2111,0,0,0,0,0,0
$GC,9010,1.20,227.9,49.3,13.1,530,9015,0.12,2.30,0.00,0.000,6,0.110,0.022,2976,2048,2111,0,0,0,0,0,0
$GC,9272,1.28,233.3,26.3,7.6,558,9285,0.00,2.47,4.80,0.411,4,0.000,0.042,2976,632,2098,0,0,0,0,0,0
$GC,9338,1.28,233.3,20.6,9.3,572,9345,0.00,2.30,0.00,0.000,6,0.000,0.021,2976,2036,2097,0,0,0,0,0,0
$GC,9540,1.35,233.3,3.7,9.3,609,9547,0.15,0.00,0.00,0.000,6,0.060,0.000,3020,2040,2097,0,0,0,0,0,0
$STATE,9552,end climb,SURFACE_DEPTH_REACHED
$STATE,9552,begin surface coast
$FINISH,0.5,1.023519
$STATE,9586,end surface coast,CONTROL_FINISHED_OK
$STATE,9586,begin surface
$SM_CCo,9605,34.12,0.524,0,0,1827,300.00
$SM_GC,1.71,0.00,0.00,34.12,0.000,0.000,0.524,429,1888,1827,-10.51,-0.40,300.00
$IRIDIUM_FIX,2059.45,-15756.04,300799,121202
$TT8_MAMPS,0.029146
$HUMID,44.99
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,21.30
$XPDR_PINGS,0
$24V_AH,23.4,18.350
$10V_AH,10.0,17.428
$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,29.175,119.400,262.150,34.125,0.000,26.015,27.319,149.253,4.500,0.000,35.540,1191.450,6182.530,364.307,1866.179,357.042,33.367,1164.825,0.000,1826.487,0.000,29.244,0.000
$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,417.113,407.168,927.155,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,34986,617
$CAP_FILE_SIZE,114538,0
$CFSIZE,260165632,247021568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050510,172556,2108.443,-15754.917,115,2.7,134,9.8