version: 66.06
glider: 139
mission: 7
dive: 282
start: 5 15 110 9 58 56
data:
$ID,139
$MISSION,7
$DIVE,282
$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,-2130999.8
$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
$GPS1,095227,2102.870,-15747.073,56,3.9,75,9.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-70.2
$GPS2,095804,2102.879,-15747.066,12,4.3,31,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.075,-0.168
$KALMAN_X,6961.1,93.8,610.6,5928.5,32.5
$KALMAN_Y,10058.9,-32.6,305.0,-17787.9,354.9
$MHEAD_RNG_PITCHd_Wd,194.1,10382,-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,-77.9,0.0,0.0,0,70,0.00,0.00,-52.83,0.000,2,0.000,0.000,432,1895,3197,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.2,-4.7,10,94,10.62,2.50,-3.47,0.000,4,0.137,0.054,2400,470,3371,0,0,0,0,0,0
$GC,205,-1.16,-77.9,34.9,-19.2,36,212,0.22,2.33,0.00,0.000,6,0.085,0.020,2457,1901,3372,0,0,0,0,0,0
$GC,468,-1.16,-77.9,69.1,-10.8,61,472,0.00,2.47,0.00,0.000,4,0.000,0.044,2456,469,3373,0,0,0,0,0,0
$GC,521,-1.16,-77.9,76.0,-11.8,66,528,0.00,2.28,0.00,0.000,6,0.000,0.020,2455,1871,3374,0,0,0,0,0,0
$GC,786,-1.19,-77.9,103.4,-10.5,91,790,0.00,2.42,0.00,0.000,4,0.000,0.044,2456,467,3374,0,0,0,0,0,0
$GC,847,-1.19,-77.9,110.6,-11.0,97,851,0.00,2.25,0.00,0.000,6,0.000,0.019,2455,1883,3375,0,0,0,0,0,0
$GC,1111,-1.25,-77.9,138.4,-10.5,121,1115,0.00,2.45,0.00,0.000,4,0.000,0.044,2452,460,3376,0,0,0,0,0,0
$GC,1137,-1.25,-77.9,141.8,-12.1,123,1142,0.00,2.28,0.00,0.000,6,0.000,0.019,2455,1882,3376,0,0,0,0,0,0
$GC,1398,-1.34,-77.9,168.0,-8.9,148,1403,0.15,2.45,0.00,0.000,4,0.057,0.044,2406,469,3376,0,0,0,0,0,0
$GC,1453,-1.27,-77.9,175.2,-14.0,153,1460,0.12,2.22,0.00,0.000,6,0.101,0.020,2430,1877,3377,0,0,0,0,0,0
$GC,1725,-1.33,-77.9,204.8,-10.6,177,1729,0.00,2.42,0.00,0.000,4,0.000,0.044,2435,463,3377,0,0,0,0,0,0
$GC,1784,-1.40,-77.9,211.5,-10.3,179,1790,0.12,2.28,0.00,0.000,6,0.065,0.021,2394,1883,3377,0,0,0,0,0,0
$GC,2100,-1.40,-77.9,245.5,-9.9,195,2101,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1888,3377,0,0,0,0,0,0
$GC,2408,-1.40,-77.9,276.6,-10.1,210,2412,0.00,2.42,0.00,0.000,4,0.000,0.047,2394,470,3377,0,0,0,0,0,0
$GC,2480,-1.36,-77.9,284.5,-9.7,213,2485,0.10,2.28,0.00,0.000,6,0.109,0.023,2414,1879,3376,0,0,0,0,0,0
$GC,2804,-1.42,-77.9,311.8,-9.0,226,2808,0.00,2.45,0.00,0.000,4,0.000,0.048,2414,465,3376,0,0,0,0,0,0
$GC,2868,-1.42,-77.9,319.3,-11.5,227,2872,0.00,2.30,0.00,0.000,6,0.000,0.025,2415,1877,3376,0,0,0,0,0,0
$GC,3213,-1.49,-77.9,352.0,-8.7,236,3218,0.12,2.45,0.00,0.000,4,0.068,0.051,2377,471,3374,0,0,0,0,0,0
$GC,3296,-1.44,-77.9,359.9,-9.5,237,3303,0.10,2.30,0.00,0.000,6,0.111,0.026,2397,1874,3374,0,0,0,0,0,0
$GC,3627,-1.49,-77.9,386.0,-7.3,246,3632,0.00,2.47,0.00,0.000,4,0.000,0.052,2397,464,3371,0,0,0,0,0,0
$GC,3683,-1.49,-77.9,390.5,-7.9,247,3687,0.00,2.30,0.00,0.000,6,0.000,0.028,2397,1872,3371,0,0,0,0,0,0
$GC,4001,-1.53,-77.9,417.3,-9.5,255,4005,0.00,2.47,0.00,0.000,4,0.000,0.054,2397,466,3369,0,0,0,0,0,0
$GC,4081,-1.56,-77.9,426.6,-12.0,256,4085,0.00,2.33,0.00,0.000,6,0.000,0.028,2397,1881,3368,0,0,0,0,0,0
$STATE,4328,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4328,begin apogee
$GC,4333,-0.31,0.0,452.6,10.1,262,4402,1.15,0.00,64.90,0.880,6,0.074,0.000,2643,2026,3050,0,0,0,0,0,0
$STATE,4402,end apogee,CONTROL_FINISHED_OK
$STATE,4402,begin climb
$GC,4405,1.40,77.9,454.0,0.0,263,4479,1.65,2.47,65.12,0.857,4,0.032,0.046,3026,3389,2732,0,0,0,0,0,0
$GC,4743,1.20,112.3,443.8,5.7,270,4780,0.28,2.38,29.45,0.841,6,0.115,0.038,2978,2009,2592,0,0,0,0,0,0
$GC,5094,1.10,115.9,417.3,7.8,279,5104,0.12,2.40,3.83,0.518,4,0.127,0.041,2956,3386,2577,0,0,0,0,0,0
$GC,5118,1.04,115.9,415.2,8.1,279,5122,0.00,2.38,0.00,0.000,6,0.000,0.038,2957,2009,2576,0,0,0,0,0,0
$GC,5458,0.99,115.9,388.7,8.1,288,5463,0.15,2.50,0.00,0.000,4,0.121,0.054,2929,604,2574,0,0,0,0,0,0
$GC,5544,0.93,121.9,382.3,7.6,289,5557,0.00,2.35,5.97,0.666,6,0.000,0.031,2930,1998,2553,0,0,0,0,0,0
$GC,5879,0.97,147.6,361.5,6.3,298,5908,0.00,2.55,23.42,0.821,4,0.000,0.054,2929,601,2447,0,0,0,0,0,0
$GC,5970,0.93,147.6,354.8,8.9,300,5974,0.00,2.40,0.00,0.000,6,0.000,0.031,2929,2017,2444,0,0,0,0,0,0
$GC,6292,0.97,147.6,327.1,8.9,308,6297,0.00,2.53,0.00,0.000,4,0.000,0.053,2929,598,2442,0,0,0,0,0,0
$GC,6381,0.97,147.6,318.1,10.1,310,6385,0.00,2.38,0.00,0.000,6,0.000,0.031,2930,2015,2441,0,0,0,0,0,0
$GC,6710,1.04,173.8,291.8,6.2,320,6739,0.00,2.60,23.00,0.781,4,0.000,0.052,2929,604,2340,0,0,0,0,0,0
$GC,6816,1.04,173.8,283.4,8.7,324,6823,0.00,2.40,0.00,0.000,6,0.000,0.030,2929,2009,2336,0,0,0,0,0,0
$GC,7132,1.11,177.1,261.8,7.8,340,7134,0.12,0.00,0.00,0.000,6,0.077,0.000,2960,2013,2335,0,0,0,0,0,0
$GC,7442,1.11,177.1,228.8,11.1,355,7446,0.00,2.47,0.00,0.000,4,0.000,0.049,2959,599,2333,0,0,0,0,0,0
$GC,7461,1.08,177.1,226.6,10.6,356,7466,0.00,2.38,0.00,0.000,6,0.000,0.028,2959,2018,2332,0,0,0,0,0,0
$GC,7790,1.13,219.4,202.7,5.1,372,7836,0.00,2.60,39.65,0.718,4,0.000,0.050,2959,598,2154,0,0,0,0,0,0
$GC,7944,1.13,219.4,189.0,9.7,386,7951,0.00,2.38,0.00,0.000,6,0.000,0.026,2960,2005,2148,0,0,0,0,0,0
$GC,8207,1.19,219.4,162.3,10.8,411,8211,0.00,2.45,0.00,0.000,4,0.000,0.047,2960,604,2148,0,0,0,0,0,0
$GC,8296,1.19,219.4,152.2,12.1,420,8300,0.00,2.33,0.00,0.000,6,0.000,0.025,2960,2024,2146,0,0,0,0,0,0
$GC,8557,1.27,219.4,127.2,9.1,444,8559,0.12,0.00,0.00,0.000,6,0.071,0.000,2995,2029,2146,0,0,0,0,0,0
$GC,8811,1.27,219.4,102.6,9.6,468,8815,0.00,2.47,0.00,0.000,4,0.000,0.044,2995,595,2145,0,0,0,0,0,0
$GC,8908,1.21,219.4,92.8,10.0,478,8913,0.00,2.33,0.00,0.000,6,0.000,0.022,2995,2022,2145,0,0,0,0,0,0
$GC,9171,1.21,219.4,70.3,8.0,502,9175,0.00,2.45,0.00,0.000,4,0.000,0.044,2995,601,2144,0,0,0,0,0,0
$GC,9241,1.21,219.4,63.2,10.3,509,9248,0.00,2.30,0.00,0.000,6,0.000,0.021,2994,2009,2145,0,0,0,0,0,0
$GC,9504,1.28,237.3,44.2,6.8,534,9526,0.00,2.40,15.62,0.532,4,0.000,0.041,2995,601,2081,0,0,0,0,0,0
$GC,9714,1.28,237.3,24.7,10.1,563,9720,0.00,2.30,0.00,0.000,6,0.000,0.020,2994,2022,2079,0,0,0,0,0,0
$GC,9918,1.34,251.2,7.4,7.1,600,9939,0.00,2.50,13.23,0.492,4,0.000,0.041,2994,607,2024,0,0,0,0,0,0
$STATE,9962,end climb,SURFACE_DEPTH_REACHED
$STATE,9962,begin surface coast
$FINISH,0.5,1.023256
$STATE,9994,end surface coast,CONTROL_FINISHED_OK
$STATE,9995,begin surface
$SM_CCo,10015,28.77,0.509,0,0,1827,300.00
$SM_GC,0.81,0.00,0.00,28.77,0.000,0.000,0.509,427,1907,1827,-10.52,0.90,300.00
$IRIDIUM_FIX,2052.52,-15746.61,090899,070747
$TT8_MAMPS,0.029146
$HUMID,46.02
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,23.4,24.924
$10V_AH,10.0,24.017
$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,26.225,115.050,284.200,28.775,0.000,30.256,30.017,161.078,4.500,0.000,32.093,1200.872,6539.594,370.502,1875.051,398.016,33.354,1196.211,0.000,1838.784,0.000,29.253,0.000
$DEVICE_MAMPS,137.293,56.758,879.749,508.521,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,415.123,392.786,775.018,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,34917,616
$CAP_FILE_SIZE,115386,0
$CFSIZE,260165632,242429952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150510,124757,2101.807,-15747.484,41,2.8,60,9.8