version: 66.06
glider: 139
mission: 7
dive: 249
start: 5 11 110 6 49 21
data:
$ID,139
$MISSION,7
$DIVE,249
$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,-2127858.5
$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
$GPS1,064306,2103.977,-15757.514,53,1.4,59,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-70.1
$GPS2,064830,2104.013,-15757.513,36,1.0,41,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.164,0.084
$KALMAN_X,-92918.3,35.3,-32.3,103078.7,378.3
$KALMAN_Y,47386.5,176.1,180.4,-54705.1,542.8
$MHEAD_RNG_PITCHd_Wd,287.3,11219,-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,-77.9,0.0,0.0,0,73,0.00,0.00,-55.42,0.000,2,0.000,0.000,427,1887,3309,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.7,-6.3,10,94,10.73,2.40,-1.12,0.000,4,0.140,0.050,2404,481,3369,0,0,0,0,0,0
$GC,293,-1.21,-77.9,52.7,-15.7,44,298,0.22,2.35,0.00,0.000,6,0.095,0.020,2447,1936,3371,0,0,0,0,0,0
$GC,554,-1.21,-77.9,81.8,-10.1,68,558,0.00,2.50,0.00,0.000,4,0.000,0.044,2449,489,3372,0,0,0,0,0,0
$GC,635,-1.21,-77.9,91.2,-11.3,76,642,0.00,2.30,0.00,0.000,6,0.000,0.020,2448,1897,3372,0,0,0,0,0,0
$GC,898,-1.27,-77.9,117.9,-10.0,101,902,0.00,2.42,0.00,0.000,4,0.000,0.043,2447,490,3374,0,0,0,0,0,0
$GC,959,-1.31,-77.9,124.7,-10.4,107,963,0.00,2.28,0.00,0.000,6,0.000,0.020,2448,1906,3374,0,0,0,0,0,0
$GC,1223,-1.38,-77.9,148.9,-8.9,131,1228,0.17,2.45,0.00,0.000,4,0.052,0.044,2394,484,3374,0,0,0,0,0,0
$GC,1296,-1.32,-77.9,159.2,-14.3,138,1303,0.12,2.30,0.00,0.000,6,0.073,0.021,2426,1894,3374,0,0,0,0,0,0
$GC,1558,-1.36,-77.9,188.5,-10.7,163,1562,0.00,2.42,0.00,0.000,4,0.000,0.044,2426,487,3375,0,0,0,0,0,0
$GC,1631,-1.36,-77.9,196.6,-9.9,170,1638,0.00,2.30,0.00,0.000,6,0.000,0.021,2425,1898,3375,0,0,0,0,0,0
$GC,1898,-1.40,-77.9,221.8,-9.7,185,1902,0.00,2.40,0.00,0.000,4,0.000,0.044,2426,494,3375,0,0,0,0,0,0
$GC,1946,-1.40,-77.9,226.6,-9.7,187,1950,0.00,2.25,0.00,0.000,6,0.000,0.021,2422,1903,3375,0,0,0,0,0,0
$GC,2276,-1.47,-77.9,256.3,-9.4,203,2281,0.15,2.45,0.00,0.000,4,0.059,0.047,2379,495,3375,0,0,0,0,0,0
$GC,2367,-1.42,-77.9,266.5,-11.9,207,2372,0.12,2.25,0.00,0.000,6,0.103,0.022,2406,1894,3375,0,0,0,0,0,0
$GC,2705,-1.46,-77.9,300.3,-10.3,223,2706,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,1898,3374,0,0,0,0,0,0
$GC,3028,-1.51,-77.9,330.2,-8.7,231,3033,0.10,2.45,0.00,0.000,4,0.078,0.051,2374,487,3373,0,0,0,0,0,0
$GC,3139,-1.45,-77.9,342.2,-11.0,233,3144,0.10,2.33,0.00,0.000,6,0.112,0.025,2395,1902,3373,0,0,0,0,0,0
$GC,3484,-1.45,-77.9,374.3,-9.2,242,3488,0.00,2.47,0.00,0.000,4,0.000,0.051,2395,489,3371,0,0,0,0,0,0
$GC,3526,-1.45,-77.9,378.4,-9.7,243,3530,0.00,2.30,0.00,0.000,6,0.000,0.027,2394,1900,3371,0,0,0,0,0,0
$GC,3855,-1.49,-77.9,404.4,-7.4,251,3859,0.00,2.47,0.00,0.000,4,0.000,0.053,2395,492,3369,0,0,0,0,0,0
$GC,3900,-1.49,-77.9,408.4,-8.5,252,3904,0.00,2.33,0.00,0.000,6,0.000,0.028,2395,1897,3369,0,0,0,0,0,0
$GC,4223,-1.53,-77.9,433.3,-7.8,260,4227,0.00,2.45,0.00,0.000,4,0.000,0.054,2395,496,3367,0,0,0,0,0,0
$GC,4254,-1.53,-77.9,436.3,-9.1,260,4259,0.00,2.33,0.00,0.000,6,0.000,0.028,2395,1898,3366,0,0,0,0,0,0
$STATE,4427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4427,begin apogee
$GC,4432,-0.31,0.0,450.2,8.1,265,4500,1.17,0.00,64.53,0.877,6,0.077,0.000,2645,2059,3050,0,0,0,0,0,0
$STATE,4500,end apogee,CONTROL_FINISHED_OK
$STATE,4501,begin climb
$GC,4503,1.40,77.9,451.0,0.0,266,4577,1.62,2.45,64.62,0.855,4,0.032,0.046,3023,3405,2732,0,0,0,0,0,0
$GC,4841,1.22,110.5,437.3,5.8,273,4875,0.22,2.35,27.95,0.837,6,0.118,0.037,2982,2028,2599,0,0,0,0,0,0
$GC,5189,1.11,117.1,410.7,7.6,282,5202,0.15,2.53,6.35,0.675,4,0.120,0.051,2954,630,2572,0,0,0,0,0,0
$GC,5221,1.01,139.0,408.4,6.5,282,5246,0.00,2.35,20.20,0.814,6,0.000,0.031,2954,2022,2483,0,0,0,0,0,0
$GC,5561,0.98,139.0,383.1,8.2,291,5563,0.15,0.00,0.00,0.000,6,0.119,0.000,2927,2022,2479,0,0,0,0,0,0
$GC,5884,0.98,146.7,358.0,7.5,299,5896,0.00,2.53,6.85,0.688,4,0.000,0.054,2928,633,2452,0,0,0,0,0,0
$GC,5942,0.98,146.7,352.9,8.3,300,5947,0.00,2.38,0.00,0.000,6,0.000,0.031,2928,2036,2450,0,0,0,0,0,0
$GC,6256,1.04,163.0,331.6,6.9,308,6277,0.00,2.55,15.62,0.782,4,0.000,0.053,2929,631,2384,0,0,0,0,0,0
$GC,6360,1.04,163.0,322.7,8.9,310,6364,0.00,2.35,0.00,0.000,6,0.000,0.031,2929,2036,2380,0,0,0,0,0,0
$GC,6691,1.10,170.1,297.1,7.5,319,6703,0.10,2.53,6.93,0.663,4,0.086,0.051,2954,627,2356,0,0,0,0,0,0
$GC,6785,1.04,170.1,288.7,9.6,323,6790,0.00,2.35,0.00,0.000,6,0.000,0.029,2954,2038,2353,0,0,0,0,0,0
$GC,7116,1.04,172.8,259.6,7.8,339,7120,0.00,2.47,0.00,0.000,4,0.000,0.050,2954,630,2353,0,0,0,0,0,0
$GC,7199,1.00,172.8,252.2,9.0,342,7205,0.08,2.38,0.00,0.000,6,0.104,0.029,2937,2034,2351,0,0,0,0,0,0
$GC,7514,1.07,188.2,230.9,7.0,358,7537,0.00,2.50,16.85,0.716,4,0.000,0.048,2938,632,2281,0,0,0,0,0,0
$GC,7678,1.07,188.2,215.8,10.1,365,7682,0.00,2.35,0.00,0.000,6,0.000,0.027,2937,2037,2276,0,0,0,0,0,0
$GC,8001,1.15,192.9,191.1,7.7,386,8013,0.12,2.47,4.82,0.517,4,0.075,0.047,2969,629,2263,0,0,0,0,0,0
$GC,8168,1.10,192.9,174.3,9.0,404,8172,0.00,2.33,0.00,0.000,6,0.000,0.025,2969,2044,2261,0,0,0,0,0,0
$GC,8429,1.11,202.1,153.8,7.4,428,8443,0.00,2.35,9.48,0.600,4,0.000,0.031,2970,3435,2226,0,0,0,0,0,0
$GC,8490,1.17,202.1,148.3,9.2,434,8494,0.00,2.40,0.00,0.000,6,0.000,0.031,2969,2024,2226,0,0,0,0,0,0
$GC,8751,1.20,202.1,124.8,9.3,458,8755,0.00,2.40,0.00,0.000,4,0.000,0.046,2967,629,2226,0,0,0,0,0,0
$GC,8930,1.20,202.1,108.8,8.1,477,8934,0.00,2.30,0.00,0.000,6,0.000,0.023,2969,2044,2224,0,0,0,0,0,0
$GC,9193,1.26,221.5,90.4,6.7,501,9214,0.00,0.00,18.65,0.587,6,0.000,0.000,2969,2050,2146,0,0,0,0,0,0
$GC,9471,1.32,221.5,67.7,9.2,527,9476,0.15,2.47,0.00,0.000,4,0.061,0.044,3011,624,2144,0,0,0,0,0,0
$GC,9665,1.24,221.5,45.2,10.1,548,9670,0.15,2.30,0.00,0.000,6,0.101,0.021,2984,2041,2141,0,0,0,0,0,0
$GC,9929,1.33,248.1,27.9,6.2,575,9958,0.00,2.47,24.17,0.536,4,0.000,0.041,2983,624,2037,0,0,0,0,0,0
$GC,10017,1.37,253.6,22.4,7.6,593,10031,0.10,2.33,5.62,0.420,6,0.040,0.021,3022,2041,2015,0,0,0,0,0,0
$STATE,10219,end climb,SURFACE_DEPTH_REACHED
$STATE,10220,begin surface coast
$FINISH,0.4,1.022840
$STATE,10253,end surface coast,CONTROL_FINISHED_OK
$STATE,10253,begin surface
$SM_CCo,10272,25.75,0.513,0,0,1827,300.00
$SM_GC,0.94,0.00,0.00,25.75,0.000,0.000,0.513,426,1877,1827,-10.52,-0.62,300.00
$IRIDIUM_FIX,2057.14,-15756.04,050899,030304
$TT8_MAMPS,0.029146
$HUMID,45.58
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,21.60
$XPDR_PINGS,1
$24V_AH,23.4,22.204
$10V_AH,10.0,21.314
$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,26.900,110.500,292.650,25.750,0.000,29.002,35.670,134.598,4.750,0.000,41.250,1253.803,6599.955,353.663,2036.075,380.065,33.356,1221.882,0.000,1989.190,0.000,29.238,0.000
$DEVICE_MAMPS,139.594,54.457,876.681,513.123,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,429.858,411.328,912.184,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,34824,636
$CAP_FILE_SIZE,119187,0
$CFSIZE,260165632,244350976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110510,064830,2104.013,-15757.513,901,99.0,901,9.8