version: 66.06
glider: 139
mission: 7
dive: 309
start: 5 18 110 17 5 28
data:
$ID,139
$MISSION,7
$DIVE,309
$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,-2131985
$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
$GPS1,165143,2108.505,-15758.766,59,1.4,65,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-71.3
$GPS2,170437,2108.575,-15758.882,32,1.9,32,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.174,-0.060
$KALMAN_X,10778.3,-574.3,-239.9,-16786.7,-1079.7
$KALMAN_Y,11497.0,-310.9,-127.3,-7976.6,516.3
$MHEAD_RNG_PITCHd_Wd,99.4,28054,-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,-53.62,0.000,2,0.000,0.000,429,1854,3232,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.4,-5.6,10,96,10.60,2.42,-2.67,0.000,4,0.135,0.052,2402,464,3370,0,0,0,0,0,0
$GC,106,-0.41,-77.9,14.8,-33.1,16,113,1.02,2.35,0.00,0.000,6,0.093,0.020,2621,1922,3371,0,0,0,0,0,0
$GC,314,-0.78,-77.9,27.6,-4.6,53,320,0.30,2.45,0.00,0.000,4,0.051,0.042,2542,470,3372,0,0,0,0,0,0
$GC,390,-0.95,-77.9,33.5,-8.9,65,395,0.15,2.20,0.00,0.000,6,0.058,0.019,2493,1872,3372,0,0,0,0,0,0
$GC,653,-1.06,-77.9,58.4,-8.7,89,657,0.00,2.42,0.00,0.000,4,0.000,0.044,2494,469,3373,0,0,0,0,0,0
$GC,679,-1.12,-77.9,61.3,-10.3,91,687,0.08,2.25,0.00,0.000,6,0.038,0.020,2455,1869,3373,0,0,0,0,0,0
$GC,941,-1.16,-77.9,88.2,-10.2,116,945,0.00,2.42,0.00,0.000,4,0.000,0.044,2456,468,3373,0,0,0,0,0,0
$GC,1014,-1.16,-77.9,96.3,-10.7,124,1018,0.00,2.22,0.00,0.000,6,0.000,0.019,2456,1876,3374,0,0,0,0,0,0
$GC,1274,-1.22,-77.9,122.7,-10.1,148,1278,0.00,2.25,0.00,0.000,4,0.000,0.025,2456,3269,3375,0,0,0,0,0,0
$GC,1290,-1.31,-77.9,124.3,-11.0,149,1295,0.12,2.33,0.00,0.000,6,0.063,0.028,2411,1862,3374,0,0,0,0,0,0
$GC,1551,-1.31,-77.9,153.9,-11.2,173,1555,0.00,2.38,0.00,0.000,4,0.000,0.044,2412,472,3375,0,0,0,0,0,0
$GC,1620,-1.24,-77.9,162.9,-12.8,180,1625,0.15,2.22,0.00,0.000,6,0.095,0.020,2442,1878,3375,0,0,0,0,0,0
$GC,1881,-1.31,-77.9,188.5,-10.1,204,1885,0.00,2.40,0.00,0.000,4,0.000,0.044,2443,469,3375,0,0,0,0,0,0
$GC,1951,-1.35,-77.9,195.7,-10.1,211,1956,0.12,2.22,0.00,0.000,6,0.063,0.020,2401,1874,3375,0,0,0,0,0,0
$GC,2218,-1.35,-77.9,227.1,-11.1,225,2222,0.00,2.40,0.00,0.000,4,0.000,0.044,2400,473,3376,0,0,0,0,0,0
$GC,2268,-1.28,-77.9,234.3,-13.1,227,2273,0.15,2.25,0.00,0.000,6,0.095,0.021,2433,1877,3375,0,0,0,0,0,0
$GC,2591,-1.38,-77.9,266.7,-9.2,243,2596,0.00,2.42,0.00,0.000,4,0.000,0.045,2433,468,3375,0,0,0,0,0,0
$GC,2674,-1.44,-77.9,273.4,-7.4,246,2681,0.10,2.28,0.00,0.000,6,0.035,0.021,2391,1870,3375,0,0,0,0,0,0
$GC,2989,-1.44,-77.9,299.2,-8.4,262,2993,0.00,2.30,0.00,0.000,4,0.000,0.029,2387,3265,3375,0,0,0,0,0,0
$GC,3016,-1.50,-77.9,302.1,-10.5,263,3021,0.00,2.30,0.00,0.000,6,0.000,0.031,2391,1878,3375,0,0,0,0,0,0
$GC,3351,-1.50,-77.9,334.8,-9.7,272,3356,0.00,2.42,0.00,0.000,4,0.000,0.049,2390,471,3373,0,0,0,0,0,0
$GC,3412,-1.46,-77.9,341.1,-10.6,273,3416,0.00,2.28,0.00,0.000,6,0.000,0.025,2390,1869,3373,0,0,0,0,0,0
$GC,3762,-1.46,-77.9,377.4,-10.1,282,3766,0.00,2.42,0.00,0.000,4,0.000,0.051,2390,470,3371,0,0,0,0,0,0
$GC,3814,-1.46,-77.9,383.3,-10.9,283,3818,0.00,2.30,0.00,0.000,6,0.000,0.026,2391,1870,3371,0,0,0,0,0,0
$GC,4132,-1.49,-77.9,409.9,-8.0,291,4136,0.00,2.45,0.00,0.000,4,0.000,0.053,2387,473,3369,0,0,0,0,0,0
$GC,4182,-1.49,-77.9,414.6,-9.0,292,4186,0.00,2.30,0.00,0.000,6,0.000,0.028,2391,1880,3368,0,0,0,0,0,0
$STATE,4194,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4194,begin apogee
$GC,4199,-0.31,0.0,415.8,9.1,292,4267,1.15,0.00,64.22,0.842,6,0.074,0.000,2641,2029,3050,0,0,0,0,0,0
$STATE,4268,end apogee,CONTROL_FINISHED_OK
$STATE,4268,begin climb
$GC,4270,1.40,77.9,416.5,0.0,294,4345,1.65,2.45,64.03,0.821,4,0.033,0.044,3022,3384,2732,0,0,0,0,0,0
$GC,4428,1.21,112.4,413.1,5.6,297,4465,0.25,2.35,29.67,0.801,6,0.113,0.035,2979,2010,2590,0,0,0,0,0,0
$GC,4774,1.13,138.7,391.6,6.2,306,4799,0.00,0.00,22.73,0.792,6,0.000,0.000,2979,2011,2483,0,0,0,0,0,0
$GC,5099,1.05,138.7,364.9,8.6,314,5101,0.20,0.00,0.00,0.000,6,0.112,0.000,2942,2010,2479,0,0,0,0,0,0
$GC,5424,1.08,162.2,341.5,6.4,322,5451,0.00,2.53,20.33,0.783,4,0.000,0.051,2939,605,2386,0,0,0,0,0,0
$GC,5525,1.04,170.4,334.7,7.5,324,5538,0.00,2.33,7.93,0.681,6,0.000,0.030,2941,1999,2355,0,0,0,0,0,0
$GC,5878,1.04,170.4,304.9,9.4,333,5882,0.00,2.47,0.00,0.000,4,0.000,0.051,2940,598,2352,0,0,0,0,0,0
$GC,5939,1.00,170.4,297.9,11.2,334,5946,0.00,2.40,0.00,0.000,6,0.000,0.030,2942,2013,2349,0,0,0,0,0,0
$GC,6255,1.05,183.4,273.2,7.1,350,6268,0.00,0.00,12.02,0.716,6,0.000,0.000,2941,2017,2302,0,0,0,0,0,0
$GC,6565,1.13,210.7,253.6,6.1,365,6598,0.00,2.42,25.27,0.742,4,0.000,0.035,2942,3407,2189,0,0,0,0,0,0
$GC,6649,1.24,220.6,248.0,7.3,368,6667,0.15,2.45,10.12,0.667,6,0.040,0.035,2986,2006,2150,0,0,0,0,0,0
$GC,6988,1.24,220.6,217.7,8.4,385,6992,0.00,2.45,0.00,0.000,4,0.000,0.049,2986,602,2144,0,0,0,0,0,0
$GC,7189,1.16,220.6,196.0,12.2,395,7194,0.00,2.33,0.00,0.000,6,0.000,0.025,2987,2018,2140,0,0,0,0,0,0
$GC,7452,1.16,220.6,167.9,11.4,419,7456,0.00,2.45,0.00,0.000,4,0.000,0.048,2986,602,2140,0,0,0,0,0,0
$GC,7521,1.08,220.6,158.9,13.0,426,7526,0.20,2.30,0.00,0.000,6,0.109,0.025,2951,2014,2139,0,0,0,0,0,0
$GC,7782,1.15,220.6,133.6,8.8,450,7786,0.00,2.42,0.00,0.000,4,0.000,0.045,2950,601,2139,0,0,0,0,0,0
$GC,7852,1.15,220.6,126.0,11.5,457,7856,0.00,2.30,0.00,0.000,6,0.000,0.023,2950,2020,2139,0,0,0,0,0,0
$GC,8115,1.27,231.6,105.4,7.3,481,8136,0.17,2.30,9.27,0.551,4,0.058,0.028,2998,3403,2105,0,0,0,0,0,0
$GC,8146,1.27,231.6,102.5,8.9,484,8150,0.00,2.38,0.00,0.000,6,0.000,0.029,2998,2000,2105,0,0,0,0,0,0
$GC,8409,1.27,231.6,76.9,9.4,508,8413,0.00,2.38,0.00,0.000,4,0.000,0.043,2998,600,2105,0,0,0,0,0,0
$GC,8479,1.21,231.6,69.5,10.8,515,8483,0.00,2.28,0.00,0.000,6,0.000,0.021,2998,2015,2103,0,0,0,0,0,0
$GC,8743,1.21,231.6,48.2,9.3,539,8747,0.00,2.42,0.00,0.000,4,0.000,0.041,2998,602,2103,0,0,0,0,0,0
$GC,8785,1.21,231.6,43.9,10.3,543,8789,0.00,2.28,0.00,0.000,6,0.000,0.021,2998,2008,2103,0,0,0,0,0,0
$GC,9049,1.26,232.6,21.9,7.9,576,9055,0.00,2.42,0.00,0.000,4,0.000,0.042,2998,607,2102,0,0,0,0,0,0
$GC,9077,1.26,232.6,19.7,8.5,581,9083,0.00,2.25,0.00,0.000,6,0.000,0.021,2998,2020,2103,0,0,0,0,0,0
$GC,9281,1.32,250.6,5.1,6.8,618,9308,0.00,2.50,17.85,0.505,4,0.000,0.041,2998,605,2026,0,0,0,0,0,0
$STATE,9312,end climb,SURFACE_DEPTH_REACHED
$STATE,9312,begin surface coast
$FINISH,0.7,1.023337
$STATE,9350,end surface coast,CONTROL_FINISHED_OK
$STATE,9350,begin surface
$SM_CCo,9371,24.83,0.500,0,0,1826,300.00
$SM_GC,1.29,0.00,0.00,24.83,0.000,0.000,0.500,430,1905,1826,-10.51,0.85,300.00
$IRIDIUM_FIX,2059.45,-15801.19,120899,171701
$TT8_MAMPS,0.029146
$HUMID,46.18
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,380.6,65.2
$24V_AH,23.5,27.228
$10V_AH,10.1,26.143
$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,27.650,117.775,283.450,24.825,0.000,89.952,170.418,160.340,4.250,0.000,32.586,1207.763,6074.177,376.650,1794.218,720.005,33.362,1155.549,0.000,1763.051,0.000,28.856,0.000
$DEVICE_MAMPS,134.992,55.991,842.166,500.084,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,426.048,414.883,829.731,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,34959,632
$CAP_FILE_SIZE,116167,0
$CFSIZE,260165632,240869376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180510,194338,2108.343,-15758.471,58,1.9,58,9.8