version: 66.06
glider: 139
mission: 7
dive: 312
start: 5 19 110 1 52 57
data:
$ID,139
$MISSION,7
$DIVE,312
$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,-2132089.2
$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
$GPS1,014646,2108.138,-15756.078,109,2.7,128,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-71.8
$GPS2,015206,2108.116,-15756.121,13,1.3,29,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.178,-0.044
$KALMAN_X,8239.2,2.7,632.2,-10930.2,-1010.9
$KALMAN_Y,11986.8,237.3,-20.3,-9972.7,308.9
$MHEAD_RNG_PITCHd_Wd,94.1,23208,-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,-77.9,0.0,0.0,0,71,0.00,0.00,-52.88,0.000,2,0.000,0.000,427,1902,3195,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.3,-5.2,10,91,10.68,0.00,-3.47,0.000,6,0.137,0.000,2404,1902,3370,0,0,0,0,0,0
$GC,288,-1.23,-77.9,46.1,-18.4,41,293,0.20,2.50,0.00,0.000,4,0.094,0.044,2445,463,3372,0,0,0,0,0,0
$GC,325,-1.16,-77.9,51.3,-11.9,44,332,0.00,2.35,0.00,0.000,6,0.000,0.020,2444,1914,3373,0,0,0,0,0,0
$GC,586,-1.16,-77.9,82.5,-12.5,69,591,0.00,2.47,0.00,0.000,4,0.000,0.042,2445,467,3374,0,0,0,0,0,0
$GC,666,-1.13,-77.9,92.4,-11.3,77,671,0.12,2.25,0.00,0.000,6,0.103,0.019,2470,1887,3374,0,0,0,0,0,0
$GC,928,-1.21,-77.9,114.1,-7.6,101,932,0.00,2.42,0.00,0.000,4,0.000,0.042,2470,463,3375,0,0,0,0,0,0
$GC,992,-1.25,-77.9,120.0,-10.2,107,998,0.12,2.25,0.00,0.000,6,0.063,0.020,2427,1872,3376,0,0,0,0,0,0
$GC,1252,-1.25,-77.9,147.0,-9.9,132,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,1878,3375,0,0,0,0,0,0
$GC,1508,-1.29,-77.9,172.9,-10.7,156,1512,0.00,2.42,0.00,0.000,4,0.000,0.044,2427,463,3376,0,0,0,0,0,0
$GC,1571,-1.29,-77.9,179.8,-10.9,162,1579,0.00,2.28,0.00,0.000,6,0.000,0.020,2426,1877,3376,0,0,0,0,0,0
$GC,1844,-1.34,-77.9,206.1,-9.2,185,1849,0.00,2.42,0.00,0.000,4,0.000,0.044,2427,466,3376,0,0,0,0,0,0
$GC,1904,-1.34,-77.9,212.8,-9.6,187,1909,0.00,2.25,0.00,0.000,6,0.000,0.021,2426,1872,3377,0,0,0,0,0,0
$GC,2220,-1.40,-77.9,239.4,-8.3,203,2224,0.00,2.42,0.00,0.000,4,0.000,0.045,2427,466,3376,0,0,0,0,0,0
$GC,2316,-1.40,-77.9,247.9,-8.4,207,2321,0.00,2.28,0.00,0.000,6,0.000,0.021,2427,1879,3377,0,0,0,0,0,0
$GC,2637,-1.48,-77.9,272.3,-8.6,223,2642,0.15,2.45,0.00,0.000,4,0.058,0.048,2381,463,3376,0,0,0,0,0,0
$GC,2698,-1.38,-77.9,279.4,-12.0,225,2704,0.15,2.28,0.00,0.000,6,0.097,0.023,2412,1867,3376,0,0,0,0,0,0
$GC,3033,-1.43,-77.9,312.3,-9.5,239,3037,0.00,2.40,0.00,0.000,4,0.000,0.048,2412,471,3375,0,0,0,0,0,0
$GC,3064,-1.43,-77.9,315.8,-10.3,239,3068,0.00,2.30,0.00,0.000,6,0.000,0.025,2411,1882,3375,0,0,0,0,0,0
$GC,3395,-1.48,-77.9,348.5,-9.6,247,3400,0.00,2.47,0.00,0.000,4,0.000,0.051,2411,466,3374,0,0,0,0,0,0
$GC,3437,-1.48,-77.9,352.2,-8.8,248,3442,0.00,2.30,0.00,0.000,6,0.000,0.026,2412,1872,3373,0,0,0,0,0,0
$GC,3766,-1.54,-77.9,380.9,-9.8,256,3771,0.15,2.45,0.00,0.000,4,0.062,0.052,2369,471,3371,0,0,0,0,0,0
$GC,3869,-1.47,-77.9,393.8,-11.7,258,3874,0.12,2.30,0.00,0.000,6,0.104,0.027,2395,1881,3370,0,0,0,0,0,0
$GC,4185,-1.50,-77.9,419.9,-7.7,266,4192,0.00,2.45,0.00,0.000,4,0.000,0.054,2393,468,3368,0,0,0,0,0,0
$GC,4307,-1.50,-77.9,431.2,-9.1,268,4312,0.00,2.30,0.00,0.000,6,0.000,0.028,2394,1872,3367,0,0,0,0,0,0
$STATE,4564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4564,begin apogee
$GC,4569,-0.31,0.0,452.6,8.3,275,4638,1.17,0.00,64.82,0.880,6,0.076,0.000,2645,2033,3050,0,0,0,0,0,0
$STATE,4638,end apogee,CONTROL_FINISHED_OK
$STATE,4639,begin climb
$GC,4640,1.40,77.9,453.4,0.0,276,4715,1.62,2.45,64.55,0.859,4,0.034,0.045,3016,3387,2732,0,0,0,0,0,0
$GC,4957,1.21,98.9,440.6,6.6,283,4982,0.22,2.40,18.48,0.817,6,0.112,0.038,2980,2005,2645,0,0,0,0,0,0
$GC,5329,1.12,119.2,413.8,6.6,292,5353,0.12,2.58,17.67,0.812,4,0.127,0.054,2957,599,2562,0,0,0,0,0,0
$GC,5377,1.00,139.8,410.6,6.6,293,5402,0.15,2.35,18.90,0.808,6,0.125,0.031,2931,1999,2479,0,0,0,0,0,0
$GC,5744,1.05,181.3,389.2,5.2,302,5786,0.00,2.53,36.85,0.837,4,0.000,0.053,2931,601,2309,0,0,0,0,0,0
$GC,5866,1.02,181.3,380.2,8.7,304,5870,0.00,2.38,0.00,0.000,6,0.000,0.031,2932,2013,2303,0,0,0,0,0,0
$GC,6201,1.06,181.3,352.8,8.7,313,6205,0.00,2.50,0.00,0.000,4,0.000,0.054,2931,597,2301,0,0,0,0,0,0
$GC,6316,1.06,181.3,338.8,13.0,315,6320,0.00,2.40,0.00,0.000,6,0.000,0.031,2932,2016,2298,0,0,0,0,0,0
$GC,6660,1.11,181.3,299.8,10.7,324,6665,0.10,2.50,0.00,0.000,4,0.087,0.053,2956,605,2297,0,0,0,0,0,0
$GC,6711,1.04,181.3,294.5,10.3,326,6716,0.00,2.35,0.00,0.000,6,0.000,0.030,2957,2016,2295,0,0,0,0,0,0
$GC,7031,1.04,181.3,268.4,8.6,342,7035,0.00,2.47,0.00,0.000,4,0.000,0.051,2956,602,2295,0,0,0,0,0,0
$GC,7119,0.99,181.3,258.7,12.8,346,7124,0.15,2.35,0.00,0.000,6,0.117,0.029,2930,2015,2293,0,0,0,0,0,0
$GC,7451,1.07,196.9,231.5,6.9,362,7468,0.00,2.50,12.07,0.700,4,0.000,0.049,2929,604,2247,0,0,0,0,0,0
$GC,7533,1.08,205.4,225.2,7.4,364,7547,0.00,2.40,9.05,0.658,6,0.000,0.028,2930,2023,2212,0,0,0,0,0,0
$GC,7869,1.19,219.5,198.5,7.1,382,7890,0.20,2.50,13.68,0.678,4,0.060,0.047,2979,604,2154,0,0,0,0,0,0
$GC,7959,1.13,219.5,189.7,10.5,391,7964,0.00,2.33,0.00,0.000,6,0.000,0.027,2979,2009,2150,0,0,0,0,0,0
$GC,8220,1.13,219.5,165.2,9.4,416,8224,0.00,2.47,0.00,0.000,4,0.000,0.048,2979,597,2150,0,0,0,0,0,0
$GC,8302,1.08,219.5,155.5,12.5,424,8309,0.12,2.38,0.00,0.000,6,0.095,0.026,2952,2017,2148,0,0,0,0,0,0
$GC,8566,1.14,219.5,133.5,8.1,449,8570,0.00,2.47,0.00,0.000,4,0.000,0.046,2952,597,2148,0,0,0,0,0,0
$GC,8609,1.14,219.5,129.7,8.7,453,8613,0.00,2.35,0.00,0.000,6,0.000,0.024,2952,2024,2148,0,0,0,0,0,0
$GC,8873,1.24,232.3,109.0,7.1,477,8893,0.15,2.53,11.73,0.582,4,0.064,0.044,2993,602,2103,0,0,0,0,0,0
$GC,9036,1.17,232.3,93.3,10.9,494,9043,0.10,2.33,0.00,0.000,6,0.087,0.022,2970,2012,2100,0,0,0,0,0,0
$GC,9298,1.23,239.2,71.9,7.5,519,9312,0.00,2.50,7.57,0.507,4,0.000,0.044,2970,598,2074,0,0,0,0,0,0
$GC,9372,1.23,239.2,65.5,10.0,527,9376,0.00,2.30,0.00,0.000,6,0.000,0.021,2970,2019,2072,0,0,0,0,0,0
$GC,9635,1.31,242.5,46.9,7.8,551,9647,0.12,2.45,4.53,0.403,4,0.067,0.042,3007,596,2061,0,0,0,0,0,0
$GC,9842,1.31,243.8,30.9,7.9,574,9846,0.00,2.30,0.00,0.000,6,0.000,0.021,3007,2023,2060,0,0,0,0,0,0
$GC,10114,1.31,243.8,7.8,8.1,622,10121,0.00,2.47,0.00,0.000,4,0.000,0.042,3007,595,2059,0,0,0,0,0,0
$STATE,10157,end climb,SURFACE_DEPTH_REACHED
$STATE,10157,begin surface coast
$FINISH,1.9,1.023299
$STATE,10168,end surface coast,CONTROL_FINISHED_OK
$STATE,10168,begin surface
$SM_CCo,10189,32.12,0.513,0,0,1827,300.00
$SM_GC,0.89,0.00,0.00,32.12,0.000,0.000,0.513,426,1911,1827,-10.53,1.02,300.00
$IRIDIUM_FIX,2101.76,-15758.18,120899,222224
$TT8_MAMPS,0.029146
$HUMID,46.02
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.4,27.470
$10V_AH,10.0,26.384
$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,27.075,119.850,279.900,32.125,0.000,25.581,35.481,141.635,4.500,0.000,29.617,1249.870,6562.916,373.842,1963.050,391.963,33.361,1230.176,0.000,1926.307,0.000,29.263,0.000
$DEVICE_MAMPS,137.293,53.690,879.749,513.123,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,427.729,406.567,812.286,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,34927,633
$CAP_FILE_SIZE,119634,0
$CFSIZE,260165632,240689152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190510,044506,2108.133,-15755.197,66,1.4,72,9.8