version: 66.06
glider: 139
mission: 7
dive: 258
start: 5 12 110 9 48 43
data:
$ID,139
$MISSION,7
$DIVE,258
$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,-2129168.8
$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,1875
$C_ROLL_CLIMB,2010
$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
$GPS1,094221,2106.913,-15758.954,187,3.8,206,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-70.6
$GPS2,094752,2106.866,-15758.953,16,3.7,35,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.156,-0.097
$KALMAN_X,-100915.2,238.4,600.8,107742.6,-1701.0
$KALMAN_Y,57369.4,-97.5,-88.4,-58857.5,1084.7
$MHEAD_RNG_PITCHd_Wd,112.1,27776,-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,-77.9,0.0,0.0,0,71,0.00,0.00,-52.85,0.000,2,0.000,0.000,425,1865,3195,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.5,-6.5,10,96,10.68,2.42,-3.45,0.000,4,0.135,0.039,2410,3296,3369,0,0,0,0,0,0
$GC,103,-0.27,-77.9,13.4,-29.5,15,109,1.20,2.42,0.00,0.000,6,0.077,0.031,2655,1866,3370,0,0,0,0,0,0
$GC,310,-0.98,-77.9,26.0,-6.3,52,318,0.68,2.42,0.00,0.000,4,0.040,0.041,2494,466,3371,0,0,0,0,0,0
$GC,356,-1.08,-77.9,29.6,-8.4,61,361,0.00,2.33,0.00,0.000,6,0.000,0.020,2494,1904,3371,0,0,0,0,0,0
$GC,554,-1.20,-77.9,51.0,-9.1,80,559,0.17,2.47,0.00,0.000,4,0.051,0.044,2437,469,3372,0,0,0,0,0,0
$GC,606,-1.13,-77.9,57.3,-13.2,85,611,0.15,2.25,0.00,0.000,6,0.097,0.020,2467,1880,3372,0,0,0,0,0,0
$GC,869,-1.19,-77.9,86.1,-11.2,109,873,0.00,2.45,0.00,0.000,4,0.000,0.044,2467,463,3373,0,0,0,0,0,0
$GC,939,-1.22,-77.9,94.2,-11.8,116,943,0.00,2.28,0.00,0.000,6,0.000,0.020,2462,1883,3373,0,0,0,0,0,0
$GC,1200,-1.32,-77.9,121.7,-10.6,140,1205,0.17,2.45,0.00,0.000,4,0.051,0.045,2411,460,3374,0,0,0,0,0,0
$GC,1261,-1.27,-77.9,129.9,-13.9,146,1266,0.15,2.28,0.00,0.000,6,0.095,0.020,2438,1875,3374,0,0,0,0,0,0
$GC,1522,-1.32,-77.9,156.0,-9.2,170,1526,0.00,2.40,0.00,0.000,4,0.000,0.044,2443,467,3375,0,0,0,0,0,0
$GC,1558,-1.32,-77.9,159.7,-10.2,173,1564,0.00,2.28,0.00,0.000,6,0.000,0.021,2441,1884,3375,0,0,0,0,0,0
$GC,1820,-1.40,-77.9,183.2,-8.7,198,1825,0.15,2.47,0.00,0.000,4,0.056,0.046,2392,460,3375,0,0,0,0,0,0
$GC,1868,-1.33,-77.9,188.9,-11.9,202,1874,0.10,2.30,0.00,0.000,6,0.075,0.021,2417,1872,3375,0,0,0,0,0,0
$GC,2124,-1.33,-77.9,213.8,-9.6,220,2128,0.00,2.40,0.00,0.000,4,0.000,0.045,2420,466,3375,0,0,0,0,0,0
$GC,2215,-1.33,-77.9,224.9,-12.4,224,2219,0.00,2.25,0.00,0.000,6,0.000,0.021,2419,1876,3375,0,0,0,0,0,0
$GC,2544,-1.38,-77.9,257.8,-10.4,240,2548,0.00,2.42,0.00,0.000,4,0.000,0.046,2420,470,3375,0,0,0,0,0,0
$GC,2610,-1.38,-77.9,264.7,-11.6,243,2614,0.00,2.28,0.00,0.000,6,0.000,0.022,2419,1876,3375,0,0,0,0,0,0
$GC,2941,-1.46,-77.9,291.5,-7.1,259,2946,0.12,2.47,0.00,0.000,4,0.066,0.049,2380,460,3374,0,0,0,0,0,0
$GC,3020,-1.41,-77.9,299.7,-10.4,262,3028,0.12,2.30,0.00,0.000,6,0.102,0.024,2406,1879,3374,0,0,0,0,0,0
$GC,3359,-1.45,-77.9,327.4,-8.8,271,3363,0.00,2.42,0.00,0.000,4,0.000,0.050,2405,471,3373,0,0,0,0,0,0
$GC,3428,-1.45,-77.9,334.7,-10.8,272,3432,0.00,2.30,0.00,0.000,6,0.000,0.025,2406,1877,3373,0,0,0,0,0,0
$GC,3769,-1.52,-77.9,367.2,-9.5,281,3774,0.10,2.47,0.00,0.000,4,0.078,0.053,2374,472,3370,0,0,0,0,0,0
$GC,3853,-1.47,-77.9,376.4,-10.6,282,3859,0.00,2.33,0.00,0.000,6,0.000,0.027,2374,1881,3370,0,0,0,0,0,0
$GC,4185,-1.47,-77.9,407.4,-9.3,291,4189,0.00,2.45,0.00,0.000,4,0.000,0.054,2375,473,3368,0,0,0,0,0,0
$GC,4236,-1.41,-77.9,412.8,-10.3,292,4241,0.15,2.33,0.00,0.000,6,0.098,0.028,2405,1877,3368,0,0,0,0,0,0
$GC,4555,-1.47,-77.9,439.5,-8.8,300,4559,0.00,2.47,0.00,0.000,4,0.000,0.055,2405,473,3365,0,0,0,0,0,0
$GC,4596,-1.47,-77.9,443.7,-10.1,301,4601,0.00,2.30,0.00,0.000,6,0.000,0.029,2405,1874,3365,0,0,0,0,0,0
$STATE,4677,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4677,begin apogee
$GC,4682,-0.31,0.0,451.7,9.4,303,4750,1.12,0.00,64.35,0.877,6,0.074,0.000,2647,2033,3050,0,0,0,0,0,0
$STATE,4751,end apogee,CONTROL_FINISHED_OK
$STATE,4751,begin climb
$GC,4753,1.40,77.9,453.1,0.0,304,4828,1.62,2.45,64.80,0.855,4,0.031,0.045,3029,3385,2732,0,0,0,0,0,0
$GC,4921,1.25,149.3,454.6,3.1,307,4991,0.22,2.38,61.15,0.854,6,0.114,0.037,2988,2011,2440,0,0,0,0,0,0
$GC,5300,1.14,149.3,422.0,9.9,317,5305,0.15,2.38,0.00,0.000,4,0.120,0.041,2960,3386,2431,0,0,0,0,0,0
$GC,5351,1.14,149.3,416.6,10.9,318,5356,0.00,2.40,0.00,0.000,6,0.000,0.038,2961,2006,2431,0,0,0,0,0,0
$GC,5669,1.09,149.3,384.4,10.5,326,5673,0.00,2.47,0.00,0.000,4,0.000,0.054,2961,604,2428,0,0,0,0,0,0
$GC,5706,0.98,149.3,379.9,12.2,326,5712,0.17,2.35,0.00,0.000,6,0.119,0.029,2930,1997,2426,0,0,0,0,0,0
$GC,6037,0.99,155.8,353.4,7.6,335,6046,0.00,2.47,4.22,0.554,4,0.000,0.051,2929,599,2413,0,0,0,0,0,0
$GC,6097,0.95,155.8,347.2,11.4,336,6101,0.00,2.38,0.00,0.000,6,0.000,0.031,2930,2007,2412,0,0,0,0,0,0
$GC,6410,0.98,155.8,319.8,8.0,344,6411,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2012,2411,0,0,0,0,0,0
$GC,6715,1.03,171.6,297.9,6.9,352,6738,0.00,2.58,14.62,0.762,4,0.000,0.054,2930,604,2349,0,0,0,0,0,0
$GC,6867,1.03,171.6,284.9,9.2,358,6871,0.00,2.38,0.00,0.000,6,0.000,0.030,2930,2014,2345,0,0,0,0,0,0
$GC,7183,1.09,172.3,258.5,8.0,373,7188,0.00,2.47,0.00,0.000,4,0.000,0.052,2930,602,2345,0,0,0,0,0,0
$GC,7238,1.10,179.8,254.2,7.5,375,7252,0.10,2.35,8.07,0.667,6,0.087,0.030,2956,2026,2316,0,0,0,0,0,0
$GC,7577,1.10,179.8,232.5,8.4,392,7581,0.00,2.50,0.00,0.000,4,0.000,0.050,2956,596,2314,0,0,0,0,0,0
$GC,7645,1.06,179.8,225.9,10.3,395,7649,0.00,2.35,0.00,0.000,6,0.000,0.028,2956,2013,2312,0,0,0,0,0,0
$GC,7975,1.09,198.9,200.3,6.7,411,8002,0.00,2.58,17.73,0.695,4,0.000,0.049,2956,602,2237,0,0,0,0,0,0
$GC,8158,1.09,198.9,184.5,10.2,430,8163,0.00,2.35,0.00,0.000,6,0.000,0.026,2956,2015,2233,0,0,0,0,0,0
$GC,8420,1.13,198.9,159.5,9.8,454,8424,0.00,2.47,0.00,0.000,4,0.000,0.047,2956,598,2233,0,0,0,0,0,0
$GC,8490,1.13,198.9,152.1,10.4,461,8494,0.00,2.35,0.00,0.000,6,0.000,0.025,2956,2018,2232,0,0,0,0,0,0
$GC,8753,1.18,202.6,129.9,7.8,485,8754,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2023,2232,0,0,0,0,0,0
$GC,9007,1.25,209.8,110.3,7.5,509,9028,0.12,2.53,10.32,0.568,4,0.070,0.045,2991,601,2193,0,0,0,0,0,0
$GC,9056,1.17,209.8,105.5,9.8,514,9061,0.12,2.33,0.00,0.000,6,0.112,0.023,2969,2018,2191,0,0,0,0,0,0
$GC,9317,1.22,209.8,84.1,8.2,538,9318,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2023,2191,0,0,0,0,0,0
$GC,9573,1.27,209.8,62.2,9.1,562,9578,0.10,2.47,0.00,0.000,4,0.077,0.044,3000,595,2191,0,0,0,0,0,0
$GC,9609,1.19,209.8,58.2,11.1,565,9616,0.10,2.33,0.00,0.000,6,0.084,0.022,2977,2014,2192,0,0,0,0,0,0
$GC,9871,1.24,209.8,34.4,8.1,590,9875,0.00,2.42,0.00,0.000,4,0.000,0.043,2977,590,2191,0,0,0,0,0,0
$GC,10131,1.24,211.3,14.4,7.9,642,10138,0.00,2.33,0.00,0.000,6,0.000,0.021,2977,2016,2191,0,0,0,0,0,0
$STATE,10314,end climb,SURFACE_DEPTH_REACHED
$STATE,10314,begin surface coast
$FINISH,0.4,1.023562
$STATE,10352,end surface coast,CONTROL_FINISHED_OK
$STATE,10352,begin surface
$SM_CCo,10371,47.45,0.515,0,0,1826,300.00
$SM_GC,1.68,0.00,0.00,47.45,0.000,0.000,0.515,426,1858,1826,-10.52,-0.48,300.00
$IRIDIUM_FIX,2059.45,-15750.89,060899,060654
$TT8_MAMPS,0.029146
$HUMID,45.58
$INTERNAL_PRESSURE,9.68441
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.4,22.914
$10V_AH,10.0,22.067
$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,28.625,124.925,245.275,47.450,0.000,23.612,31.199,157.079,4.500,0.000,36.386,1311.619,6709.451,378.262,1968.110,384.100,33.362,1220.947,0.000,1926.373,0.000,29.261,0.000
$DEVICE_MAMPS,134.992,55.224,876.681,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,460.990,439.294,859.686,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,38161,682
$CAP_FILE_SIZE,123248,0
$CFSIZE,260165632,243826688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120510,124410,2404.367,-16733.926,52,5.9,71,9.5