version: 66.06
glider: 139
mission: 7
dive: 326
start: 5 20 110 20 44 56
data:
$ID,139
$MISSION,7
$DIVE,326
$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,-2132648.5
$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
$GPS1,202231,2106.332,-15748.062,125,1.4,125,9.8
$_CALLS,5
$_XMS_NAKs,12
$_XMS_TOUTs,2
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-67.9
$GPS2,204402,2106.542,-15748.146,15,1.5,15,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.170,-0.070
$KALMAN_X,-3421.0,-445.7,-622.2,16211.2,-242.5
$KALMAN_Y,18103.6,-212.1,80.5,-18651.8,535.1
$MHEAD_RNG_PITCHd_Wd,102.5,9134,-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,-77.9,0.0,0.0,0,71,0.00,0.00,-53.35,0.000,2,0.000,0.000,428,1871,3208,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.0,-4.4,10,95,10.57,2.45,-3.30,0.000,4,0.133,0.054,2404,470,3370,0,0,0,0,0,0
$GC,112,-0.65,-77.9,14.0,-28.3,17,118,0.82,2.33,0.00,0.000,6,0.091,0.020,2570,1909,3371,0,0,0,0,0,0
$GC,323,-0.89,-77.9,31.4,-7.0,53,328,0.22,2.50,0.00,0.000,4,0.043,0.042,2502,467,3371,0,0,0,0,0,0
$GC,393,-0.93,-77.9,39.0,-11.8,60,397,0.00,2.28,0.00,0.000,6,0.000,0.019,2500,1880,3371,0,0,0,0,0,0
$GC,656,-1.04,-77.9,64.6,-8.8,84,660,0.00,2.45,0.00,0.000,4,0.000,0.043,2501,460,3372,0,0,0,0,0,0
$GC,718,-1.16,-77.9,70.5,-7.6,90,725,0.15,2.28,0.00,0.000,6,0.030,0.019,2445,1870,3372,0,0,0,0,0,0
$GC,981,-1.16,-77.9,99.8,-10.9,115,988,0.00,2.28,0.00,0.000,4,0.000,0.025,2445,3265,3373,0,0,0,0,0,0
$GC,1070,-1.28,-77.9,109.4,-9.1,124,1076,0.00,2.35,0.00,0.000,6,0.000,0.029,2447,1874,3373,0,0,0,0,0,0
$GC,1332,-1.34,-77.9,134.3,-8.9,149,1337,0.12,2.42,0.00,0.000,4,0.064,0.044,2403,464,3373,0,0,0,0,0,0
$GC,1377,-1.24,-77.9,139.7,-13.1,153,1385,0.20,2.25,0.00,0.000,6,0.089,0.019,2445,1876,3373,0,0,0,0,0,0
$GC,1646,-1.28,-77.9,168.4,-11.3,178,1647,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1880,3374,0,0,0,0,0,0
$GC,1901,-1.36,-77.9,192.4,-8.4,202,1906,0.12,2.42,0.00,0.000,4,0.064,0.044,2403,470,3374,0,0,0,0,0,0
$GC,1980,-1.30,-77.9,201.5,-11.6,209,1985,0.12,2.22,0.00,0.000,6,0.101,0.020,2428,1881,3374,0,0,0,0,0,0
$GC,2297,-1.33,-77.9,232.2,-10.0,224,2301,0.00,2.40,0.00,0.000,4,0.000,0.044,2428,469,3374,0,0,0,0,0,0
$GC,2394,-1.36,-77.9,243.4,-10.9,228,2398,0.00,2.25,0.00,0.000,6,0.000,0.021,2427,1875,3374,0,0,0,0,0,0
$GC,2720,-1.44,-77.9,271.8,-7.7,244,2725,0.12,2.42,0.00,0.000,4,0.065,0.047,2385,466,3373,0,0,0,0,0,0
$GC,2857,-1.44,-77.9,287.6,-11.2,250,2861,0.00,2.25,0.00,0.000,6,0.000,0.022,2386,1869,3373,0,0,0,0,0,0
$GC,3199,-1.44,-77.9,318.4,-8.5,262,3203,0.00,2.45,0.00,0.000,4,0.000,0.048,2386,469,3372,0,0,0,0,0,0
$GC,3222,-1.39,-77.9,320.7,-9.9,262,3226,0.12,2.28,0.00,0.000,6,0.100,0.024,2412,1882,3372,0,0,0,0,0,0
$GC,3568,-1.45,-77.9,348.5,-8.4,271,3572,0.00,2.45,0.00,0.000,4,0.000,0.049,2412,473,3370,0,0,0,0,0,0
$GC,3642,-1.45,-77.9,356.6,-10.6,272,3646,0.00,2.28,0.00,0.000,6,0.000,0.025,2408,1876,3370,0,0,0,0,0,0
$GC,3977,-1.52,-77.9,389.3,-9.4,281,3982,0.12,2.45,0.00,0.000,4,0.067,0.052,2373,473,3367,0,0,0,0,0,0
$GC,4052,-1.47,-77.9,397.7,-11.2,282,4056,0.00,2.28,0.00,0.000,6,0.000,0.027,2374,1868,3367,0,0,0,0,0,0
$GC,4387,-1.47,-77.9,426.2,-7.9,291,4391,0.00,2.42,0.00,0.000,4,0.000,0.054,2373,474,3364,0,0,0,0,0,0
$GC,4456,-1.42,-77.9,433.0,-9.7,292,4461,0.15,2.30,0.00,0.000,6,0.098,0.028,2404,1879,3363,0,0,0,0,0,0
$STATE,4715,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4715,begin apogee
$GC,4720,-0.31,0.0,452.8,7.7,299,4787,1.12,0.00,63.47,0.877,6,0.076,0.000,2645,2036,3050,0,0,0,0,0,0
$STATE,4788,end apogee,CONTROL_FINISHED_OK
$STATE,4788,begin climb
$GC,4790,1.40,77.9,453.8,0.0,300,4865,1.62,2.45,64.35,0.857,4,0.034,0.047,3007,3385,2731,0,0,0,0,0,0
$GC,5078,1.22,118.9,447.3,5.2,306,5119,0.22,2.38,34.85,0.848,6,0.116,0.037,2982,2008,2564,0,0,0,0,0,0
$GC,5433,1.12,124.1,420.3,7.7,315,5440,0.12,0.00,4.85,0.604,6,0.126,0.000,2960,2008,2544,0,0,0,0,0,0
$GC,5758,1.07,132.9,394.8,7.4,323,5774,0.00,2.50,8.73,0.740,4,0.000,0.051,2954,598,2506,0,0,0,0,0,0
$GC,5831,0.94,132.9,388.7,8.9,324,5836,0.20,2.38,0.00,0.000,6,0.117,0.031,2924,1999,2505,0,0,0,0,0,0
$GC,6172,0.97,155.1,367.2,6.5,333,6197,0.00,2.55,20.00,0.815,4,0.000,0.054,2923,601,2416,0,0,0,0,0,0
$GC,6207,0.98,159.6,364.7,7.7,333,6219,0.00,2.38,5.18,0.607,6,0.000,0.031,2923,2013,2400,0,0,0,0,0,0
$GC,6543,1.03,159.6,334.7,8.9,342,6547,0.00,2.50,0.00,0.000,4,0.000,0.052,2922,602,2396,0,0,0,0,0,0
$GC,6653,1.03,159.6,324.9,8.8,344,6657,0.00,2.38,0.00,0.000,6,0.000,0.031,2924,2010,2393,0,0,0,0,0,0
$GC,6998,1.13,189.6,302.7,6.0,353,7028,0.15,0.00,27.27,0.792,6,0.071,0.000,2960,2015,2276,0,0,0,0,0,0
$GC,7307,1.13,189.6,274.2,9.6,367,7311,0.00,2.47,0.00,0.000,4,0.000,0.051,2959,600,2270,0,0,0,0,0,0
$GC,7320,1.13,189.6,272.6,9.7,367,7326,0.00,2.40,0.00,0.000,6,0.000,0.030,2960,2023,2268,0,0,0,0,0,0
$GC,7636,1.13,189.6,245.1,8.2,383,7640,0.00,2.47,0.00,0.000,4,0.000,0.049,2960,604,2268,0,0,0,0,0,0
$GC,7664,1.08,197.9,242.9,7.5,384,7680,0.00,2.38,7.30,0.639,6,0.000,0.028,2959,2026,2243,0,0,0,0,0,0
$GC,7988,1.12,197.9,218.8,8.2,400,7992,0.00,2.33,0.00,0.000,4,0.000,0.035,2960,3405,2241,0,0,0,0,0,0
$GC,8002,1.15,197.9,217.4,8.6,400,8006,0.00,2.38,0.00,0.000,6,0.000,0.033,2959,2004,2241,0,0,0,0,0,0
$GC,8320,1.15,197.9,191.9,8.3,419,8324,0.00,2.40,0.00,0.000,4,0.000,0.048,2960,604,2240,0,0,0,0,0,0
$GC,8410,1.15,197.9,182.6,9.8,428,8417,0.00,2.35,0.00,0.000,6,0.000,0.025,2960,2010,2238,0,0,0,0,0,0
$GC,8673,1.19,197.9,159.7,8.3,453,8677,0.00,2.33,0.00,0.000,4,0.000,0.032,2960,3402,2238,0,0,0,0,0,0
$GC,8735,1.25,197.9,154.5,8.8,459,8740,0.12,2.35,0.00,0.000,6,0.071,0.031,2994,1999,2238,0,0,0,0,0,0
$GC,8998,1.22,197.9,128.3,10.4,483,9002,0.00,2.38,0.00,0.000,4,0.000,0.044,2995,601,2239,0,0,0,0,0,0
$GC,9079,1.14,197.9,118.3,11.5,491,9085,0.17,2.33,0.00,0.000,6,0.105,0.023,2962,2020,2238,0,0,0,0,0,0
$GC,9341,1.26,236.6,100.5,5.4,516,9381,0.12,2.38,34.33,0.608,4,0.070,0.031,2998,3411,2085,0,0,0,0,0,0
$GC,9390,1.29,255.5,97.4,6.7,521,9415,0.00,2.40,17.73,0.571,6,0.000,0.028,2999,2001,2008,0,0,0,0,0,0
$GC,9670,1.29,255.5,70.3,10.8,548,9671,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2000,2003,0,0,0,0,0,0
$GC,9926,1.33,255.5,43.7,11.2,572,9930,0.00,2.38,0.00,0.000,4,0.000,0.043,2998,604,2003,0,0,0,0,0,0
$GC,10082,1.33,255.5,24.7,11.3,594,10088,0.00,2.33,0.00,0.000,6,0.000,0.021,2999,2025,2000,0,0,0,0,0,0
$GC,10289,1.33,255.5,4.9,9.8,631,10294,0.00,2.42,0.00,0.000,4,0.000,0.039,2999,604,2000,0,0,0,0,0,0
$STATE,10308,end climb,SURFACE_DEPTH_REACHED
$STATE,10308,begin surface coast
$FINISH,0.6,1.023374
$STATE,10339,end surface coast,CONTROL_FINISHED_OK
$STATE,10339,begin surface
$SM_CCo,10361,22.08,0.502,0,0,1826,300.00
$SM_GC,1.02,0.00,0.00,22.08,0.000,0.000,0.502,424,1896,1826,-10.53,0.59,300.00
$IRIDIUM_FIX,2057.14,-15746.61,140899,202031
$TT8_MAMPS,0.029146
$HUMID,46.88
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.4,28.752
$10V_AH,10.0,27.542
$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,27.825,118.675,288.050,22.075,0.000,136.370,178.582,579.749,4.500,0.000,15.626,1242.643,7082.297,384.309,1851.443,1117.384,33.378,1196.261,0.000,1823.550,0.000,29.269,0.000
$DEVICE_MAMPS,133.458,53.690,876.681,502.385,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,433.234,404.476,797.503,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355592
$DATA_FILE_SIZE,34851,642
$CAP_FILE_SIZE,133330,0
$CFSIZE,260165632,239849472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200510,234051,2106.272,-15747.340,116,2.5,135,9.8