version: 66.06
glider: 139
mission: 7
dive: 272
start: 5 14 110 4 13 21
data:
$ID,139
$MISSION,7
$DIVE,272
$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,-2130634.8
$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
$GPS1,040621,2106.902,-15747.304,164,2.7,183,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-69.0
$GPS2,041230,2106.975,-15747.253,60,1.1,60,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.142,-0.117
$KALMAN_X,-623.5,523.4,-361.3,13710.2,582.2
$KALMAN_Y,3177.1,28.7,-60.8,-3025.8,691.6
$MHEAD_RNG_PITCHd_Wd,119.8,7793,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,72,0.00,0.00,-53.60,0.000,2,0.000,0.000,428,1870,3217,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.2,-5.0,10,96,10.65,2.45,-3.00,0.000,4,0.137,0.054,2405,469,3370,0,0,0,0,0,0
$GC,103,-0.26,-77.9,13.3,-30.9,15,110,1.23,2.30,0.00,0.000,6,0.094,0.020,2653,1922,3371,0,0,0,0,0,0
$GC,310,-0.72,-77.9,25.3,-4.7,52,318,0.40,2.53,0.00,0.000,4,0.047,0.039,2551,468,3372,0,0,0,0,0,0
$GC,359,-0.94,-77.9,29.3,-9.2,62,367,0.15,2.25,0.00,0.000,6,0.030,0.020,2498,1863,3371,0,0,0,0,0,0
$GC,566,-1.05,-77.9,51.0,-9.0,82,567,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1867,3372,0,0,0,0,0,0
$GC,820,-1.18,-77.9,72.8,-8.6,106,825,0.17,2.42,0.00,0.000,4,0.051,0.044,2442,469,3373,0,0,0,0,0,0
$GC,863,-1.18,-77.9,77.6,-11.8,110,868,0.00,2.25,0.00,0.000,6,0.000,0.019,2442,1878,3374,0,0,0,0,0,0
$GC,1125,-1.18,-77.9,108.7,-11.6,134,1129,0.00,2.42,0.00,0.000,4,0.000,0.044,2442,467,3374,0,0,0,0,0,0
$GC,1140,-1.18,-77.9,110.5,-11.8,135,1144,0.00,2.25,0.00,0.000,6,0.000,0.020,2443,1879,3374,0,0,0,0,0,0
$GC,1403,-1.23,-77.9,136.8,-9.3,159,1408,0.00,2.42,0.00,0.000,4,0.000,0.044,2442,467,3375,0,0,0,0,0,0
$GC,1484,-1.23,-77.9,145.9,-11.4,167,1490,0.00,2.25,0.00,0.000,6,0.000,0.020,2441,1873,3375,0,0,0,0,0,0
$GC,1746,-1.30,-77.9,171.4,-9.8,192,1750,0.00,2.40,0.00,0.000,4,0.000,0.044,2442,464,3375,0,0,0,0,0,0
$GC,1770,-1.30,-77.9,174.2,-11.1,194,1774,0.00,2.28,0.00,0.000,6,0.000,0.021,2437,1886,3375,0,0,0,0,0,0
$GC,2031,-1.36,-77.9,198.7,-8.4,218,2036,0.12,2.45,0.00,0.000,4,0.064,0.044,2399,468,3375,0,0,0,0,0,0
$GC,2053,-1.36,-77.9,200.8,-9.0,220,2057,0.00,2.25,0.00,0.000,6,0.000,0.021,2401,1876,3375,0,0,0,0,0,0
$GC,2381,-1.36,-77.9,233.9,-9.5,236,2385,0.00,2.42,0.00,0.000,4,0.000,0.045,2400,464,3375,0,0,0,0,0,0
$GC,2436,-1.36,-77.9,239.9,-11.0,238,2443,0.00,2.28,0.00,0.000,6,0.000,0.021,2401,1875,3375,0,0,0,0,0,0
$GC,2758,-1.36,-77.9,271.7,-9.6,254,2762,0.00,2.42,0.00,0.000,4,0.000,0.047,2400,464,3375,0,0,0,0,0,0
$GC,2826,-1.36,-77.9,278.5,-9.8,257,2830,0.00,2.28,0.00,0.000,6,0.000,0.023,2401,1876,3375,0,0,0,0,0,0
$GC,3175,-1.36,-77.9,312.9,-9.2,271,3179,0.00,2.45,0.00,0.000,4,0.000,0.048,2399,460,3374,0,0,0,0,0,0
$GC,3239,-1.36,-77.9,319.3,-9.0,272,3243,0.00,2.30,0.00,0.000,6,0.000,0.025,2401,1871,3374,0,0,0,0,0,0
$GC,3583,-1.40,-77.9,346.3,-8.4,281,3587,0.00,2.45,0.00,0.000,4,0.000,0.051,2400,466,3373,0,0,0,0,0,0
$GC,3606,-1.40,-77.9,348.6,-9.9,281,3610,0.00,2.30,0.00,0.000,6,0.000,0.026,2400,1874,3372,0,0,0,0,0,0
$GC,3946,-1.44,-77.9,378.3,-9.0,290,3947,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1879,3370,0,0,0,0,0,0
$GC,4270,-1.48,-77.9,404.8,-8.3,298,4274,0.00,2.45,0.00,0.000,4,0.000,0.054,2399,468,3368,0,0,0,0,0,0
$GC,4362,-1.48,-77.9,413.3,-9.4,300,4366,0.00,2.33,0.00,0.000,6,0.000,0.028,2401,1871,3367,0,0,0,0,0,0
$GC,4685,-1.53,-77.9,439.0,-7.9,308,4689,0.00,2.45,0.00,0.000,4,0.000,0.055,2396,470,3364,0,0,0,0,0,0
$GC,4758,-1.53,-77.9,446.0,-9.1,309,4763,0.00,2.33,0.00,0.000,6,0.000,0.029,2401,1876,3364,0,0,0,0,0,0
$STATE,4848,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4848,begin apogee
$GC,4853,-0.31,0.0,452.8,7.6,312,4921,1.12,0.00,64.22,0.877,6,0.074,0.000,2642,2035,3049,0,0,0,0,0,0
$STATE,4922,end apogee,CONTROL_FINISHED_OK
$STATE,4922,begin climb
$GC,4923,1.40,77.9,453.8,0.0,313,4998,1.65,2.45,64.82,0.855,4,0.034,0.046,3025,3384,2732,0,0,0,0,0,0
$GC,5262,1.21,114.6,442.4,5.5,320,5299,0.17,2.38,31.38,0.840,6,0.122,0.038,2989,2003,2582,0,0,0,0,0,0
$GC,5613,1.08,114.6,415.7,8.2,329,5618,0.22,2.40,0.00,0.000,4,0.111,0.041,2952,3383,2576,0,0,0,0,0,0
$GC,5697,1.05,128.0,409.8,7.1,330,5714,0.00,2.38,11.52,0.772,6,0.000,0.037,2952,2010,2528,0,0,0,0,0,0
$GC,6034,1.03,140.9,385.6,7.1,339,6053,0.00,2.50,12.45,0.774,4,0.000,0.052,2950,605,2474,0,0,0,0,0,0
$GC,6133,0.93,140.9,376.6,9.0,341,6138,0.17,2.35,0.00,0.000,6,0.117,0.031,2919,1991,2471,0,0,0,0,0,0
$GC,6451,0.95,159.4,355.8,6.7,349,6475,0.00,2.47,16.60,0.793,4,0.000,0.042,2921,3406,2400,0,0,0,0,0,0
$GC,6495,1.03,177.3,352.8,6.8,350,6519,0.00,2.45,17.33,0.784,6,0.000,0.038,2921,2004,2327,0,0,0,0,0,0
$GC,6865,1.09,177.3,323.1,8.3,359,6867,0.15,0.00,0.00,0.000,6,0.071,0.000,2957,2005,2321,0,0,0,0,0,0
$GC,7169,1.09,177.3,293.7,9.2,368,7173,0.00,2.45,0.00,0.000,4,0.000,0.054,2955,604,2319,0,0,0,0,0,0
$GC,7224,1.04,177.3,288.3,10.6,370,7228,0.00,2.38,0.00,0.000,6,0.000,0.030,2957,2013,2317,0,0,0,0,0,0
$GC,7540,1.04,177.3,257.8,9.8,385,7544,0.00,2.40,0.00,0.000,4,0.000,0.041,2957,3413,2317,0,0,0,0,0,0
$GC,7559,1.04,177.3,255.8,10.6,386,7563,0.00,2.42,0.00,0.000,6,0.000,0.037,2957,2006,2318,0,0,0,0,0,0
$GC,7888,1.06,193.4,228.4,6.9,402,7911,0.00,2.53,13.60,0.700,4,0.000,0.051,2956,606,2260,0,0,0,0,0,0
$GC,7930,1.02,193.4,224.9,8.3,403,7936,0.00,2.38,0.00,0.000,6,0.000,0.028,2955,2016,2258,0,0,0,0,0,0
$GC,8247,1.07,203.7,200.6,7.3,419,8263,0.00,2.55,10.12,0.652,4,0.000,0.050,2956,609,2218,0,0,0,0,0,0
$GC,8355,1.07,203.7,190.9,9.6,430,8360,0.00,2.35,0.00,0.000,6,0.000,0.027,2956,2015,2215,0,0,0,0,0,0
$GC,8617,1.11,203.7,166.1,9.6,454,8621,0.00,2.35,0.00,0.000,4,0.000,0.035,2955,3408,2215,0,0,0,0,0,0
$GC,8687,1.18,203.7,159.5,9.2,461,8692,0.00,2.38,0.00,0.000,6,0.000,0.031,2955,2007,2215,0,0,0,0,0,0
$GC,8951,1.25,223.0,139.8,6.7,485,8974,0.12,2.47,17.77,0.630,4,0.071,0.046,2989,596,2140,0,0,0,0,0,0
$GC,9097,1.18,223.0,124.2,12.0,500,9104,0.00,2.38,0.00,0.000,6,0.000,0.023,2990,2018,2136,0,0,0,0,0,0
$GC,9360,1.18,223.0,97.6,9.4,525,9361,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2022,2135,0,0,0,0,0,0
$GC,9613,1.18,223.0,72.8,9.3,549,9617,0.00,2.45,0.00,0.000,4,0.000,0.044,2990,599,2136,0,0,0,0,0,0
$GC,9647,1.12,223.0,69.2,12.2,552,9652,0.15,2.30,0.00,0.000,6,0.107,0.022,2962,2027,2135,0,0,0,0,0,0
$GC,9908,1.20,223.0,45.1,8.3,576,9912,0.00,2.42,0.00,0.000,4,0.000,0.043,2962,603,2135,0,0,0,0,0,0
$GC,9971,1.21,229.4,39.5,7.6,582,9987,0.00,2.30,6.57,0.459,6,0.000,0.021,2962,2015,2114,0,0,0,0,0,0
$GC,10246,1.38,262.7,22.4,5.7,620,10283,0.22,2.33,30.27,0.532,4,0.048,0.028,3024,3397,1978,0,0,0,0,0,0
$GC,10340,1.38,262.7,14.0,10.8,639,10346,0.00,2.35,0.00,0.000,6,0.000,0.029,3025,2006,1977,0,0,0,0,0,0
$STATE,10433,end climb,SURFACE_DEPTH_REACHED
$STATE,10433,begin surface coast
$FINISH,0.4,1.023256
$STATE,10458,end surface coast,CONTROL_FINISHED_OK
$STATE,10458,begin surface
$SM_CCo,10477,20.10,0.499,0,0,1826,300.00
$SM_GC,1.01,0.00,0.00,20.10,0.000,0.000,0.499,424,1870,1826,-10.53,-0.14,300.00
$IRIDIUM_FIX,2057.14,-15746.61,080899,010158
$TT8_MAMPS,0.029146
$HUMID,46.81
$INTERNAL_PRESSURE,9.68441
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.4,24.090
$10V_AH,10.0,23.223
$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,27.925,124.325,296.675,20.100,0.000,24.284,33.987,162.681,4.500,0.000,60.530,1265.138,6875.500,375.969,1948.468,402.670,33.353,1224.561,0.000,1883.898,0.000,29.257,0.000
$DEVICE_MAMPS,136.526,60.593,876.681,499.317,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,445.294,417.416,830.360,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,38096,660
$CAP_FILE_SIZE,121315,0
$CFSIZE,260165632,242999296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140510,070926,2106.657,-15745.709,32,1.8,32,9.8