version: 66.06
glider: 139
mission: 7
dive: 248
start: 5 11 110 3 51 51
data:
$ID,139
$MISSION,7
$DIVE,248
$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,-2127816.5
$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
$GPS1,034543,2103.351,-15756.484,61,1.5,67,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-69.4
$GPS2,035100,2103.413,-15756.479,40,1.1,40,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.183,0.017
$KALMAN_X,-92857.6,-20.5,-293.7,105120.3,698.0
$KALMAN_Y,46775.2,90.7,-43.7,-54896.8,1093.3
$MHEAD_RNG_PITCHd_Wd,265.4,13271,-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,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,73,0.00,0.00,-54.28,0.000,2,0.000,0.000,425,1904,3266,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.7,-6.3,10,93,10.73,2.35,-1.95,0.000,4,0.139,0.037,2406,3325,3368,0,0,0,0,0,0
$GC,272,-1.33,-77.9,41.5,-14.8,46,277,0.20,2.40,0.00,0.000,6,0.096,0.031,2432,1893,3370,0,0,0,0,0,0
$GC,534,-1.33,-77.9,72.5,-11.2,70,538,0.00,2.38,0.00,0.000,4,0.000,0.044,2446,494,3371,0,0,0,0,0,0
$GC,629,-1.33,-77.9,84.3,-12.2,80,633,0.00,2.30,0.00,0.000,6,0.000,0.020,2446,1930,3371,0,0,0,0,0,0
$GC,890,-1.38,-77.9,113.7,-10.0,104,895,0.12,2.50,0.00,0.000,4,0.064,0.044,2404,492,3372,0,0,0,0,0,0
$GC,955,-1.27,-77.9,122.7,-14.8,110,962,0.12,2.30,0.00,0.000,6,0.074,0.020,2434,1901,3372,0,0,0,0,0,0
$GC,1217,-1.31,-77.9,150.2,-9.3,135,1221,0.00,2.40,0.00,0.000,4,0.000,0.043,2433,492,3373,0,0,0,0,0,0
$GC,1304,-1.31,-77.9,159.8,-10.8,144,1309,0.00,2.25,0.00,0.000,6,0.000,0.020,2434,1905,3373,0,0,0,0,0,0
$GC,1571,-1.37,-77.9,185.3,-9.8,169,1575,0.00,2.42,0.00,0.000,4,0.000,0.044,2433,494,3374,0,0,0,0,0,0
$GC,1657,-1.37,-77.9,194.7,-10.4,178,1661,0.00,2.28,0.00,0.000,6,0.000,0.021,2432,1905,3374,0,0,0,0,0,0
$GC,1924,-1.44,-77.9,217.6,-8.5,193,1929,0.15,2.42,0.00,0.000,4,0.058,0.046,2387,494,3374,0,0,0,0,0,0
$GC,2008,-1.37,-77.9,226.5,-10.4,196,2015,0.10,2.30,0.00,0.000,6,0.076,0.021,2413,1900,3374,0,0,0,0,0,0
$GC,2324,-1.41,-77.9,255.8,-9.3,212,2328,0.00,2.42,0.00,0.000,4,0.000,0.046,2413,495,3374,0,0,0,0,0,0
$GC,2355,-1.41,-77.9,259.3,-10.2,213,2360,0.00,2.28,0.00,0.000,6,0.000,0.023,2414,1906,3374,0,0,0,0,0,0
$GC,2671,-1.46,-77.9,289.0,-9.2,228,2675,0.00,2.45,0.00,0.000,4,0.000,0.048,2412,494,3374,0,0,0,0,0,0
$GC,2737,-1.46,-77.9,295.5,-10.3,231,2742,0.00,2.30,0.00,0.000,6,0.000,0.024,2413,1900,3374,0,0,0,0,0,0
$GC,3082,-1.52,-77.9,327.0,-9.2,241,3087,0.15,2.45,0.00,0.000,4,0.061,0.050,2365,492,3372,0,0,0,0,0,0
$GC,3167,-1.45,-77.9,336.6,-11.9,242,3173,0.12,2.33,0.00,0.000,6,0.104,0.025,2395,1903,3372,0,0,0,0,0,0
$GC,3497,-1.45,-77.9,370.8,-10.1,251,3501,0.00,2.47,0.00,0.000,4,0.000,0.051,2395,490,3370,0,0,0,0,0,0
$GC,3539,-1.45,-77.9,374.9,-9.7,252,3543,0.00,2.33,0.00,0.000,6,0.000,0.027,2394,1900,3370,0,0,0,0,0,0
$GC,3865,-1.45,-77.9,407.6,-10.3,260,3870,0.00,2.47,0.00,0.000,4,0.000,0.052,2395,491,3367,0,0,0,0,0,0
$GC,3893,-1.45,-77.9,410.5,-10.6,260,3897,0.00,2.33,0.00,0.000,6,0.000,0.028,2395,1905,3367,0,0,0,0,0,0
$GC,4231,-1.49,-77.9,440.1,-9.0,269,4235,0.00,2.50,0.00,0.000,4,0.000,0.054,2395,489,3365,0,0,0,0,0,0
$GC,4313,-1.49,-77.9,447.3,-8.5,270,4319,0.00,2.35,0.00,0.000,6,0.000,0.029,2396,1901,3365,0,0,0,0,0,0
$STATE,4357,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4358,begin apogee
$GC,4363,-0.31,0.0,450.6,7.6,272,4431,1.17,0.00,64.50,0.874,6,0.074,0.000,2647,2061,3050,0,0,0,0,0,0
$STATE,4432,end apogee,CONTROL_FINISHED_OK
$STATE,4432,begin climb
$GC,4433,1.40,77.9,451.1,0.0,273,4508,1.62,2.45,64.95,0.853,4,0.031,0.045,3027,3409,2732,0,0,0,0,0,0
$GC,4606,1.20,105.4,448.2,6.1,276,4636,0.25,2.40,24.02,0.821,6,0.116,0.038,2980,2027,2620,0,0,0,0,0,0
$GC,4976,1.09,105.4,418.3,8.2,286,4981,0.15,2.50,0.00,0.000,4,0.120,0.052,2954,619,2614,0,0,0,0,0,0
$GC,5028,0.96,118.8,414.2,7.1,287,5046,0.15,2.38,11.73,0.771,6,0.120,0.030,2927,2028,2565,0,0,0,0,0,0
$GC,5387,0.99,141.8,391.9,6.4,296,5415,0.00,2.53,20.98,0.816,4,0.000,0.052,2927,631,2469,0,0,0,0,0,0
$GC,5431,0.97,146.0,388.7,7.7,297,5442,0.00,2.40,4.82,0.587,6,0.000,0.031,2927,2038,2453,0,0,0,0,0,0
$GC,5761,1.00,149.2,362.1,7.8,305,5771,0.00,2.53,4.03,0.534,4,0.000,0.054,2927,631,2441,0,0,0,0,0,0
$GC,5808,0.97,149.2,358.2,8.7,306,5812,0.00,2.38,0.00,0.000,6,0.000,0.031,2927,2033,2439,0,0,0,0,0,0
$GC,6130,1.00,176.3,338.1,6.2,314,6162,0.00,2.55,24.75,0.805,4,0.000,0.051,2927,631,2330,0,0,0,0,0,0
$GC,6195,1.00,176.3,333.0,9.1,315,6199,0.00,2.40,0.00,0.000,6,0.000,0.031,2927,2044,2326,0,0,0,0,0,0
$GC,6539,1.05,176.3,303.1,8.9,324,6544,0.00,2.50,0.00,0.000,4,0.000,0.051,2928,630,2324,0,0,0,0,0,0
$GC,6654,1.05,176.3,291.7,10.3,328,6658,0.00,2.38,0.00,0.000,6,0.000,0.030,2928,2036,2322,0,0,0,0,0,0
$GC,6978,1.12,178.6,264.8,7.9,344,6983,0.12,2.50,0.00,0.000,4,0.077,0.051,2958,629,2322,0,0,0,0,0,0
$GC,7086,1.06,178.6,254.0,11.0,348,7093,0.00,2.38,0.00,0.000,6,0.000,0.029,2959,2031,2320,0,0,0,0,0,0
$GC,7401,1.06,178.6,227.3,8.7,364,7405,0.00,2.47,0.00,0.000,4,0.000,0.049,2959,622,2320,0,0,0,0,0,0
$GC,7489,1.02,178.6,219.3,8.8,368,7494,0.12,2.38,0.00,0.000,6,0.127,0.028,2937,2044,2318,0,0,0,0,0,0
$GC,7811,1.11,201.3,196.3,6.5,386,7840,0.00,2.58,21.15,0.699,4,0.000,0.048,2937,624,2228,0,0,0,0,0,0
$GC,7934,1.11,201.3,186.6,8.6,399,7939,0.00,2.38,0.00,0.000,6,0.000,0.026,2937,2044,2224,0,0,0,0,0,0
$GC,8197,1.19,201.3,164.7,8.5,423,8202,0.17,2.50,0.00,0.000,4,0.062,0.047,2982,624,2224,0,0,0,0,0,0
$GC,8216,1.19,201.3,162.5,10.2,424,8223,0.00,2.38,0.00,0.000,6,0.000,0.025,2981,2042,2223,0,0,0,0,0,0
$GC,8479,1.19,201.3,134.9,10.1,449,8483,0.00,2.45,0.00,0.000,4,0.000,0.045,2981,628,2223,0,0,0,0,0,0
$GC,8606,1.13,201.3,121.5,10.6,462,8613,0.00,2.35,0.00,0.000,6,0.000,0.024,2978,2040,2222,0,0,0,0,0,0
$GC,8868,1.13,201.3,96.4,9.7,487,8872,0.00,2.45,0.00,0.000,4,0.000,0.044,2981,623,2222,0,0,0,0,0,0
$GC,8993,1.09,201.3,84.7,8.5,500,8998,0.15,2.33,0.00,0.000,6,0.110,0.022,2954,2046,2222,0,0,0,0,0,0
$GC,9256,1.18,201.3,65.9,8.1,524,9260,0.00,2.42,0.00,0.000,4,0.000,0.043,2954,625,2223,0,0,0,0,0,0
$GC,9512,1.24,217.5,44.6,6.9,552,9532,0.10,2.33,14.80,0.538,6,0.044,0.021,2989,2049,2163,0,0,0,0,0,0
$GC,9790,1.31,236.8,24.2,6.7,585,9813,0.00,2.47,18.25,0.525,4,0.000,0.041,2989,622,2083,0,0,0,0,0,0
$GC,9880,1.31,236.8,16.9,9.2,604,9886,0.00,2.33,0.00,0.000,6,0.000,0.021,2989,2031,2079,0,0,0,0,0,0
$STATE,10079,end climb,SURFACE_DEPTH_REACHED
$STATE,10079,begin surface coast
$FINISH,0.5,1.023255
$STATE,10123,end surface coast,CONTROL_FINISHED_OK
$STATE,10124,begin surface
$SM_CCo,10143,37.45,0.518,0,0,1826,300.00
$SM_GC,1.34,0.00,0.00,37.45,0.000,0.000,0.518,427,1884,1826,-10.52,-0.48,300.00
$IRIDIUM_FIX,2057.14,-15756.04,050899,000014
$TT8_MAMPS,0.029146
$HUMID,45.07
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.4,22.125
$10V_AH,10.0,21.231
$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,26.750,125.450,273.975,37.450,0.000,31.026,30.094,130.183,4.500,0.000,40.386,1270.666,6458.947,366.958,2042.360,359.973,33.360,1229.721,0.000,1991.044,0.000,29.249,0.000
$DEVICE_MAMPS,138.827,57.525,874.380,517.725,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,438.435,422.269,968.394,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,35048,649
$CAP_FILE_SIZE,120587,0
$CFSIZE,260165632,244408320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,110510,064306,2103.977,-15757.514,53,1.4,59,9.8