version: 66.06
glider: 139
mission: 7
dive: 215
start: 5 7 110 2 12 34
data:
$ID,139
$MISSION,7
$DIVE,215
$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,-2126441.5
$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,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
$GPS1,020140,2107.261,-15750.480,79,1.7,89,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-70.7
$GPS2,021143,2107.256,-15750.490,14,1.7,31,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.165,-0.082
$KALMAN_X,-96881.6,212.2,188.0,118771.4,-883.2
$KALMAN_Y,25337.3,-198.3,102.3,-26197.6,721.2
$MHEAD_RNG_PITCHd_Wd,106.6,13354,-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,-77.9,0.0,0.0,0,67,0.00,0.00,-49.97,0.000,2,0.000,0.000,422,1932,3148,0,0,0,0,0,0
$GC,70,-1.40,-77.9,3.3,-6.5,9,88,10.75,0.00,-4.32,0.000,6,0.139,0.000,2404,1933,3370,0,0,0,0,0,0
$GC,287,-1.31,-77.9,44.5,-15.1,41,292,0.12,2.53,0.00,0.000,4,0.112,0.046,2427,487,3372,0,0,0,0,0,0
$GC,348,-1.22,-77.9,53.4,-15.2,47,353,0.10,2.33,0.00,0.000,6,0.115,0.020,2448,1933,3373,0,0,0,0,0,0
$GC,610,-1.25,-77.9,84.9,-11.1,71,615,0.00,2.47,0.00,0.000,4,0.000,0.044,2448,487,3373,0,0,0,0,0,0
$GC,638,-1.21,-77.9,88.6,-12.9,73,643,0.00,2.28,0.00,0.000,6,0.000,0.020,2448,1903,3373,0,0,0,0,0,0
$GC,899,-1.25,-77.9,116.5,-10.7,98,903,0.00,2.45,0.00,0.000,4,0.000,0.044,2447,485,3374,0,0,0,0,0,0
$GC,941,-1.25,-77.9,121.6,-11.7,102,945,0.00,2.28,0.00,0.000,6,0.000,0.020,2448,1908,3374,0,0,0,0,0,0
$GC,1202,-1.32,-77.9,149.2,-10.6,126,1206,0.00,2.42,0.00,0.000,4,0.000,0.044,2447,486,3375,0,0,0,0,0,0
$GC,1293,-1.36,-77.9,159.4,-10.4,135,1299,0.15,2.25,0.00,0.000,6,0.057,0.021,2401,1900,3375,0,0,0,0,0,0
$GC,1553,-1.36,-77.9,191.8,-12.0,160,1554,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1906,3375,0,0,0,0,0,0
$GC,1805,-1.36,-77.9,221.3,-10.7,175,1808,0.00,2.42,0.00,0.000,4,0.000,0.044,2398,490,3375,0,0,0,0,0,0
$GC,1828,-1.31,-77.9,224.0,-10.3,176,1833,0.12,2.28,0.00,0.000,6,0.100,0.021,2426,1905,3375,0,0,0,0,0,0
$GC,2158,-1.38,-77.9,253.0,-8.7,192,2162,0.00,2.45,0.00,0.000,4,0.000,0.046,2426,485,3375,0,0,0,0,0,0
$GC,2240,-1.38,-77.9,260.8,-8.1,195,2245,0.00,2.28,0.00,0.000,6,0.000,0.022,2426,1905,3375,0,0,0,0,0,0
$GC,2557,-1.46,-77.9,286.2,-8.0,210,2562,0.15,2.47,0.00,0.000,4,0.060,0.048,2379,487,3374,0,0,0,0,0,0
$GC,2581,-1.41,-77.9,288.5,-9.3,211,2586,0.12,2.28,0.00,0.000,6,0.105,0.024,2405,1904,3374,0,0,0,0,0,0
$GC,2903,-1.46,-77.9,314.8,-8.4,223,2908,0.00,2.42,0.00,0.000,4,0.000,0.049,2404,495,3373,0,0,0,0,0,0
$GC,3065,-1.46,-77.9,329.6,-9.1,226,3069,0.00,2.30,0.00,0.000,6,0.000,0.025,2406,1902,3373,0,0,0,0,0,0
$GC,3405,-1.52,-77.9,358.3,-8.6,235,3410,0.10,2.47,0.00,0.000,4,0.081,0.051,2375,495,3371,0,0,0,0,0,0
$GC,3452,-1.47,-77.9,363.3,-11.4,236,3456,0.00,2.33,0.00,0.000,6,0.000,0.027,2375,1907,3370,0,0,0,0,0,0
$GC,3774,-1.47,-77.9,394.9,-9.7,244,3778,0.00,2.47,0.00,0.000,4,0.000,0.052,2375,495,3368,0,0,0,0,0,0
$GC,3852,-1.43,-77.9,402.9,-10.7,245,3857,0.12,2.33,0.00,0.000,6,0.106,0.028,2400,1902,3368,0,0,0,0,0,0
$GC,4183,-1.49,-77.9,429.0,-7.6,253,4187,0.00,2.45,0.00,0.000,4,0.000,0.054,2400,497,3365,0,0,0,0,0,0
$GC,4284,-1.49,-77.9,437.5,-8.8,255,4288,0.00,2.30,0.00,0.000,6,0.000,0.029,2399,1899,3365,0,0,0,0,0,0
$STATE,4473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4473,begin apogee
$GC,4478,-0.31,0.0,452.7,8.0,260,4546,1.12,0.00,64.20,0.881,6,0.074,0.000,2643,2062,3050,0,0,0,0,0,0
$STATE,4546,end apogee,CONTROL_FINISHED_OK
$STATE,4546,begin climb
$GC,4548,1.40,77.9,453.6,0.0,261,4623,1.65,2.45,64.70,0.858,4,0.035,0.048,3026,3408,2731,0,0,0,0,0,0
$GC,4819,1.24,132.2,448.0,4.3,267,4871,0.00,2.40,46.42,0.852,6,0.000,0.038,3023,2026,2509,0,0,0,0,0,0
$GC,5189,1.07,132.2,413.5,10.3,276,5196,0.38,2.50,0.00,0.000,4,0.106,0.054,2951,621,2502,0,0,0,0,0,0
$GC,5243,0.97,132.2,408.8,8.5,277,5248,0.12,2.38,0.00,0.000,6,0.127,0.031,2928,2022,2501,0,0,0,0,0,0
$GC,5561,1.00,156.9,386.6,6.3,285,5589,0.00,2.53,20.83,0.819,4,0.000,0.053,2928,621,2408,0,0,0,0,0,0
$GC,5704,1.00,156.9,373.5,10.2,288,5709,0.00,2.38,0.00,0.000,6,0.000,0.031,2928,2036,2404,0,0,0,0,0,0
$GC,6022,1.03,156.9,346.0,8.7,296,6023,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2041,2403,0,0,0,0,0,0
$GC,6347,1.08,160.7,319.3,7.8,304,6352,0.00,2.50,0.00,0.000,4,0.000,0.052,2929,621,2401,0,0,0,0,0,0
$GC,6365,1.08,160.7,317.7,8.5,304,6370,0.00,2.38,0.00,0.000,6,0.000,0.031,2929,2036,2400,0,0,0,0,0,0
$GC,6691,1.15,183.2,296.9,6.5,313,6720,0.15,2.55,22.85,0.784,4,0.072,0.051,2965,629,2302,0,0,0,0,0,0
$GC,6858,1.08,183.2,280.3,11.5,320,6862,0.00,2.35,0.00,0.000,6,0.000,0.029,2966,2039,2295,0,0,0,0,0,0
$GC,7177,1.08,185.6,251.7,7.9,336,7181,0.00,2.47,0.00,0.000,4,0.000,0.050,2964,619,2295,0,0,0,0,0,0
$GC,7246,1.03,185.6,244.9,9.3,339,7251,0.15,2.38,0.00,0.000,6,0.117,0.029,2939,2040,2293,0,0,0,0,0,0
$GC,7573,1.09,185.6,218.7,8.6,355,7578,0.00,2.47,0.00,0.000,4,0.000,0.048,2938,626,2293,0,0,0,0,0,0
$GC,7619,1.09,185.6,214.3,9.3,357,7623,0.00,2.33,0.00,0.000,6,0.000,0.028,2939,2041,2292,0,0,0,0,0,0
$GC,7950,1.18,204.3,191.6,6.7,379,7978,0.15,2.50,18.42,0.684,4,0.068,0.046,2977,624,2216,0,0,0,0,0,0
$GC,8063,1.13,204.3,179.7,11.2,391,8069,0.00,2.33,0.00,0.000,6,0.000,0.025,2977,2038,2211,0,0,0,0,0,0
$GC,8324,1.13,204.3,152.8,10.9,416,8329,0.00,2.47,0.00,0.000,4,0.000,0.046,2977,617,2212,0,0,0,0,0,0
$GC,8395,1.08,204.3,144.6,12.1,423,8400,0.15,2.33,0.00,0.000,6,0.115,0.024,2949,2041,2211,0,0,0,0,0,0
$GC,8657,1.17,213.0,123.0,7.4,447,8676,0.00,2.47,8.50,0.564,4,0.000,0.044,2949,617,2179,0,0,0,0,0,0
$GC,8807,1.21,213.0,109.8,8.9,463,8812,0.12,2.30,0.00,0.000,6,0.072,0.023,2982,2039,2178,0,0,0,0,0,0
$GC,9068,1.21,213.0,87.8,8.6,487,9072,0.00,2.45,0.00,0.000,4,0.000,0.043,2983,618,2177,0,0,0,0,0,0
$GC,9123,1.18,213.0,81.8,11.5,492,9130,0.00,2.33,0.00,0.000,6,0.000,0.022,2983,2036,2177,0,0,0,0,0,0
$GC,9384,1.18,213.0,54.0,10.9,517,9388,0.00,2.40,0.00,0.000,4,0.000,0.042,2982,624,2177,0,0,0,0,0,0
$GC,9521,1.18,213.0,39.7,10.8,532,9526,0.00,2.30,0.00,0.000,6,0.000,0.021,2983,2044,2177,0,0,0,0,0,0
$GC,9787,1.25,226.6,20.1,7.1,568,9805,0.00,2.30,13.40,0.510,4,0.000,0.027,2981,3428,2125,0,0,0,0,0,0
$GC,9906,1.34,226.6,9.5,10.3,594,9913,0.08,2.35,0.00,0.000,6,0.045,0.026,3012,2027,2125,0,0,0,0,0,0
$STATE,9978,end climb,SURFACE_DEPTH_REACHED
$STATE,9978,begin surface coast
$FINISH,0.5,1.003504
$STATE,10013,end surface coast,CONTROL_FINISHED_OK
$STATE,10013,begin surface
$SM_CCo,10032,37.53,0.520,0,0,1826,300.00
$SM_GC,1.29,0.00,0.00,37.53,0.000,0.000,0.520,425,1895,1826,-10.53,-0.14,300.00
$IRIDIUM_FIX,2059.45,-15750.89,010899,020256
$TT8_MAMPS,0.029146
$HUMID,44.92
$INTERNAL_PRESSURE,9.68441
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.4,19.332
$10V_AH,10.0,18.434
$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,26.850,115.225,259.325,37.525,0.000,57.322,55.508,307.850,4.500,0.000,31.783,1217.337,6560.690,351.864,1944.156,600.944,33.367,1181.149,0.000,1908.916,0.000,29.249,0.000
$DEVICE_MAMPS,138.827,63.661,881.283,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,414.926,393.645,882.529,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,34849,613
$CAP_FILE_SIZE,122478,0
$CFSIZE,260165632,246321152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070510,050150,2106.957,-15749.683,50,1.8,50,9.8