version: 66.06
glider: 139
mission: 7
dive: 268
start: 5 13 110 15 58 59
data:
$ID,139
$MISSION,7
$DIVE,268
$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,-2129570
$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
$GPS1,155313,2106.998,-15752.843,72,1.8,78,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-70.4
$GPS2,155808,2107.033,-15752.859,18,1.6,18,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.180,-0.036
$KALMAN_X,-1607.4,-214.7,-448.5,5860.9,-127.5
$KALMAN_Y,606.7,98.5,40.9,-521.9,154.6
$MHEAD_RNG_PITCHd_Wd,91.5,17326,-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,-49.38,0.000,2,0.000,0.000,426,1867,3113,0,0,0,0,0,0
$GC,69,-1.40,-77.9,3.0,-5.1,9,91,10.65,2.40,-5.22,0.000,4,0.137,0.053,2401,468,3369,0,0,0,0,0,0
$GC,112,-0.80,-77.9,14.9,-26.1,17,118,0.68,2.33,0.00,0.000,6,0.094,0.021,2538,1911,3370,0,0,0,0,0,0
$GC,322,-0.97,-77.9,35.2,-8.1,49,327,0.15,2.50,0.00,0.000,4,0.054,0.044,2485,467,3371,0,0,0,0,0,0
$GC,348,-1.05,-77.9,37.4,-9.2,51,352,0.00,2.28,0.00,0.000,6,0.000,0.020,2485,1885,3371,0,0,0,0,0,0
$GC,615,-1.15,-77.9,60.5,-8.8,76,620,0.00,2.42,0.00,0.000,4,0.000,0.044,2484,470,3373,0,0,0,0,0,0
$GC,702,-1.24,-77.9,68.4,-8.8,85,707,0.17,2.25,0.00,0.000,6,0.052,0.020,2432,1882,3373,0,0,0,0,0,0
$GC,964,-1.24,-77.9,98.4,-11.6,109,968,0.00,2.45,0.00,0.000,4,0.000,0.046,2430,466,3373,0,0,0,0,0,0
$GC,1045,-1.20,-77.9,109.2,-12.6,117,1051,0.10,2.25,0.00,0.000,6,0.109,0.020,2451,1881,3374,0,0,0,0,0,0
$GC,1305,-1.25,-77.9,134.4,-10.4,142,1309,0.00,2.45,0.00,0.000,4,0.000,0.045,2450,460,3374,0,0,0,0,0,0
$GC,1361,-1.29,-77.9,140.6,-10.7,147,1366,0.00,2.28,0.00,0.000,6,0.000,0.020,2450,1880,3375,0,0,0,0,0,0
$GC,1622,-1.37,-77.9,166.4,-9.6,172,1627,0.12,2.42,0.00,0.000,4,0.064,0.045,2402,470,3375,0,0,0,0,0,0
$GC,1641,-1.37,-77.9,168.2,-10.4,173,1645,0.00,2.25,0.00,0.000,6,0.000,0.021,2408,1886,3375,0,0,0,0,0,0
$GC,1903,-1.37,-77.9,195.8,-9.3,197,1907,0.00,2.42,0.00,0.000,4,0.000,0.044,2408,464,3375,0,0,0,0,0,0
$GC,1921,-1.33,-77.9,197.9,-9.9,198,1928,0.00,2.28,0.00,0.000,6,0.000,0.021,2406,1872,3375,0,0,0,0,0,0
$GC,2176,-1.33,-77.9,224.1,-9.8,212,2177,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,1877,3375,0,0,0,0,0,0
$GC,2486,-1.36,-77.9,255.0,-10.4,227,2490,0.00,2.40,0.00,0.000,4,0.000,0.047,2408,468,3375,0,0,0,0,0,0
$GC,2604,-1.36,-77.9,269.1,-11.4,232,2608,0.00,2.28,0.00,0.000,6,0.000,0.022,2409,1879,3375,0,0,0,0,0,0
$GC,2928,-1.40,-77.9,298.8,-8.6,248,2932,0.00,2.42,0.00,0.000,4,0.000,0.048,2409,466,3375,0,0,0,0,0,0
$GC,2974,-1.40,-77.9,303.1,-9.8,250,2978,0.00,2.30,0.00,0.000,6,0.000,0.025,2409,1880,3374,0,0,0,0,0,0
$GC,3301,-1.45,-77.9,330.7,-8.4,258,3305,0.00,2.45,0.00,0.000,4,0.000,0.050,2409,471,3374,0,0,0,0,0,0
$GC,3363,-1.49,-77.9,336.2,-8.9,259,3367,0.00,2.28,0.00,0.000,6,0.000,0.025,2408,1875,3373,0,0,0,0,0,0
$GC,3712,-1.54,-77.9,363.4,-7.9,268,3717,0.15,2.45,0.00,0.000,4,0.061,0.052,2365,471,3371,0,0,0,0,0,0
$GC,3786,-1.48,-77.9,371.1,-11.4,269,3792,0.12,2.30,0.00,0.000,6,0.104,0.027,2390,1880,3371,0,0,0,0,0,0
$GC,4123,-1.48,-77.9,402.0,-9.0,278,4127,0.00,2.45,0.00,0.000,4,0.000,0.053,2389,469,3369,0,0,0,0,0,0
$GC,4206,-1.48,-77.9,409.9,-9.3,279,4211,0.00,2.33,0.00,0.000,6,0.000,0.028,2390,1875,3368,0,0,0,0,0,0
$GC,4536,-1.48,-77.9,438.2,-8.6,288,4540,0.00,2.47,0.00,0.000,4,0.000,0.055,2390,471,3366,0,0,0,0,0,0
$GC,4582,-1.48,-77.9,443.0,-10.6,289,4586,0.00,2.33,0.00,0.000,6,0.000,0.029,2390,1872,3365,0,0,0,0,0,0
$STATE,4658,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4658,begin apogee
$GC,4664,-0.31,0.0,450.7,9.6,291,4732,1.20,0.00,64.40,0.874,6,0.077,0.000,2645,2032,3050,0,0,0,0,0,0
$STATE,4732,end apogee,CONTROL_FINISHED_OK
$STATE,4732,begin climb
$GC,4734,1.40,77.9,451.9,0.0,292,4808,1.62,2.45,64.88,0.852,4,0.033,0.046,3023,3383,2732,0,0,0,0,0,0
$GC,4874,1.25,140.6,452.8,3.7,295,4935,0.20,2.40,54.05,0.848,6,0.114,0.037,2987,2001,2475,0,0,0,0,0,0
$GC,5277,1.14,140.6,413.4,11.6,305,5282,0.12,2.47,0.00,0.000,4,0.124,0.054,2965,606,2466,0,0,0,0,0,0
$GC,5287,1.02,140.6,412.1,11.6,305,5292,0.15,2.35,0.00,0.000,6,0.125,0.031,2938,1992,2465,0,0,0,0,0,0
$GC,5601,1.03,143.7,386.0,7.8,313,5605,0.00,2.47,0.00,0.000,4,0.000,0.053,2939,603,2464,0,0,0,0,0,0
$GC,5744,0.96,143.7,374.8,8.0,316,5748,0.00,2.40,0.00,0.000,6,0.000,0.031,2939,2019,2460,0,0,0,0,0,0
$GC,6061,0.96,146.3,351.2,7.8,324,6065,0.00,2.50,0.00,0.000,4,0.000,0.053,2939,607,2460,0,0,0,0,0,0
$GC,6178,0.90,146.3,340.8,9.6,326,6183,0.15,2.35,0.00,0.000,6,0.118,0.031,2913,2012,2458,0,0,0,0,0,0
$GC,6519,0.98,163.0,316.3,6.9,335,6538,0.00,0.00,17.27,0.779,6,0.000,0.000,2913,2016,2385,0,0,0,0,0,0
$GC,6824,1.09,178.8,294.7,6.9,344,6848,0.17,2.58,14.65,0.750,4,0.066,0.053,2954,608,2321,0,0,0,0,0,0
$GC,6949,1.02,178.8,282.5,10.1,349,6953,0.00,2.35,0.00,0.000,6,0.000,0.030,2956,2010,2317,0,0,0,0,0,0
$GC,7270,1.04,190.9,256.7,7.2,365,7287,0.00,2.53,11.57,0.707,4,0.000,0.051,2954,599,2270,0,0,0,0,0,0
$GC,7296,1.04,191.0,254.6,8.0,365,7301,0.00,2.38,0.00,0.000,6,0.000,0.029,2954,2014,2269,0,0,0,0,0,0
$GC,7617,1.04,191.0,229.6,8.7,381,7621,0.00,2.47,0.00,0.000,4,0.000,0.050,2954,606,2267,0,0,0,0,0,0
$GC,7799,1.04,191.0,211.0,10.0,389,7803,0.00,2.35,0.00,0.000,6,0.000,0.027,2954,2016,2265,0,0,0,0,0,0
$GC,8126,1.08,191.4,185.0,8.0,413,8130,0.00,2.45,0.00,0.000,4,0.000,0.048,2954,601,2265,0,0,0,0,0,0
$GC,8151,1.08,191.4,182.8,8.3,415,8155,0.00,2.33,0.00,0.000,6,0.000,0.026,2954,2016,2264,0,0,0,0,0,0
$GC,8414,1.14,203.4,163.4,7.2,439,8433,0.00,2.53,11.52,0.627,4,0.000,0.048,2955,610,2220,0,0,0,0,0,0
$GC,8491,1.14,203.4,156.3,9.7,447,8495,0.00,2.33,0.00,0.000,6,0.000,0.025,2954,2015,2217,0,0,0,0,0,0
$GC,8754,1.19,203.4,134.7,8.8,471,8758,0.00,2.42,0.00,0.000,4,0.000,0.045,2954,604,2217,0,0,0,0,0,0
$GC,8778,1.19,203.4,132.1,10.6,473,8783,0.00,2.30,0.00,0.000,6,0.000,0.024,2954,2017,2216,0,0,0,0,0,0
$GC,9042,1.26,203.5,110.7,8.0,497,9047,0.15,2.45,0.00,0.000,4,0.063,0.045,2995,601,2217,0,0,0,0,0,0
$GC,9132,1.19,203.5,102.0,9.8,506,9137,0.12,2.28,0.00,0.000,6,0.110,0.022,2973,2012,2216,0,0,0,0,0,0
$GC,9392,1.23,203.7,81.2,8.0,530,9396,0.00,2.42,0.00,0.000,4,0.000,0.044,2973,602,2216,0,0,0,0,0,0
$GC,9473,1.23,203.7,74.1,8.4,538,9480,0.00,2.30,0.00,0.000,6,0.000,0.021,2972,2003,2216,0,0,0,0,0,0
$GC,9736,1.28,205.4,53.5,7.9,563,9740,0.00,2.40,0.00,0.000,4,0.000,0.043,2973,598,2216,0,0,0,0,0,0
$GC,9845,1.28,205.4,44.9,8.2,575,9850,0.00,2.30,0.00,0.000,6,0.000,0.021,2973,2021,2217,0,0,0,0,0,0
$GC,10108,1.37,227.4,27.4,6.5,602,10136,0.17,2.30,21.95,0.529,4,0.054,0.027,3023,3395,2122,0,0,0,0,0,0
$GC,10326,1.37,227.4,8.3,9.7,649,10332,0.00,2.30,0.00,0.000,6,0.000,0.025,3022,2000,2122,0,0,0,0,0,0
$STATE,10380,end climb,SURFACE_DEPTH_REACHED
$STATE,10380,begin surface coast
$FINISH,0.4,1.023274
$STATE,10408,end surface coast,CONTROL_FINISHED_OK
$STATE,10408,begin surface
$SM_CCo,10428,37.38,0.510,0,0,1826,300.00
$SM_GC,1.47,0.00,0.00,37.38,0.000,0.000,0.510,427,1861,1826,-10.52,-0.40,300.00
$IRIDIUM_FIX,2101.76,-15753.03,070899,131344
$TT8_MAMPS,0.029146
$HUMID,45.94
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,23.20
$XPDR_PINGS,1
$24V_AH,23.4,23.760
$10V_AH,10.1,22.882
$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,27.375,128.975,260.300,37.375,0.000,25.525,29.671,134.045,4.750,0.000,18.082,1292.424,6768.116,373.364,1954.938,373.395,32.352,1216.481,0.000,1931.765,0.000,29.241,0.000
$DEVICE_MAMPS,136.526,57.525,874.380,510.055,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,448.913,425.457,860.347,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355656
$DATA_FILE_SIZE,38125,664
$CAP_FILE_SIZE,122369,0
$CFSIZE,260165632,243232768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130510,185528,2107.135,-15751.399,68,2.9,87,9.8