version: 66.06
glider: 139
mission: 7
dive: 371
start: 5 26 110 14 31 8
data:
$ID,139
$MISSION,7
$DIVE,371
$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,-2134361.5
$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
$GPS1,142445,2109.150,-15758.093,103,2.1,122,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-69.6
$GPS2,143016,2109.182,-15758.140,12,2.4,31,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.172,-0.065
$KALMAN_X,-22495.9,-224.1,-525.3,17701.8,-798.1
$KALMAN_Y,34041.6,-362.7,106.9,-29575.7,455.1
$MHEAD_RNG_PITCHd_Wd,100.7,27031,-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,-52.53,0.000,2,0.000,0.000,425,1849,3191,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.3,-5.3,10,94,10.68,2.45,-3.50,0.000,4,0.137,0.039,2401,3295,3370,0,0,0,0,0,0
$GC,110,-0.68,-77.9,15.1,-30.5,17,117,0.77,2.40,0.00,0.000,6,0.083,0.032,2562,1874,3371,0,0,0,0,0,0
$GC,318,-0.89,-77.9,29.6,-7.9,54,325,0.20,2.45,0.00,0.000,4,0.047,0.043,2502,469,3372,0,0,0,0,0,0
$GC,394,-0.93,-77.9,38.5,-11.4,63,398,0.00,2.30,0.00,0.000,6,0.000,0.019,2501,1918,3372,0,0,0,0,0,0
$GC,657,-1.04,-77.9,64.7,-9.6,87,661,0.00,2.50,0.00,0.000,4,0.000,0.043,2501,464,3374,0,0,0,0,0,0
$GC,708,-1.13,-77.9,69.9,-9.6,92,713,0.15,2.25,0.00,0.000,6,0.056,0.019,2454,1878,3373,0,0,0,0,0,0
$GC,971,-1.13,-77.9,100.7,-12.4,116,975,0.00,2.40,0.00,0.000,4,0.000,0.043,2452,469,3374,0,0,0,0,0,0
$GC,1068,-1.13,-77.9,112.5,-11.1,126,1072,0.00,2.25,0.00,0.000,6,0.000,0.019,2453,1885,3375,0,0,0,0,0,0
$GC,1330,-1.20,-77.9,133.0,-7.6,150,1334,0.00,2.42,0.00,0.000,4,0.000,0.043,2452,462,3376,0,0,0,0,0,0
$GC,1394,-1.25,-77.9,138.1,-7.5,156,1401,0.00,2.28,0.00,0.000,6,0.000,0.020,2453,1873,3375,0,0,0,0,0,0
$GC,1657,-1.33,-77.9,159.6,-9.4,181,1663,0.12,2.40,0.00,0.000,4,0.063,0.044,2409,465,3376,0,0,0,0,0,0
$GC,1746,-1.29,-77.9,170.7,-12.9,190,1753,0.08,2.28,0.00,0.000,6,0.075,0.020,2430,1871,3376,0,0,0,0,0,0
$GC,2008,-1.33,-77.9,198.4,-9.5,215,2012,0.00,2.40,0.00,0.000,4,0.000,0.043,2428,468,3376,0,0,0,0,0,0
$GC,2032,-1.33,-77.9,200.8,-9.8,217,2037,0.00,2.25,0.00,0.000,6,0.000,0.021,2430,1887,3377,0,0,0,0,0,0
$GC,2358,-1.37,-77.9,231.4,-9.4,233,2363,0.00,2.42,0.00,0.000,4,0.000,0.045,2429,467,3376,0,0,0,0,0,0
$GC,2432,-1.41,-77.9,238.6,-8.3,236,2437,0.10,2.25,0.00,0.000,6,0.074,0.021,2393,1876,3376,0,0,0,0,0,0
$GC,2753,-1.41,-77.9,271.4,-12.0,252,2757,0.00,2.42,0.00,0.000,4,0.000,0.045,2393,467,3377,0,0,0,0,0,0
$GC,2785,-1.37,-77.9,275.5,-12.3,253,2790,0.12,2.28,0.00,0.000,6,0.098,0.022,2418,1873,3376,0,0,0,0,0,0
$GC,3100,-1.43,-77.9,310.2,-12.0,266,3104,0.00,2.42,0.00,0.000,4,0.000,0.046,2418,469,3376,0,0,0,0,0,0
$GC,3184,-1.49,-77.9,320.2,-11.5,267,3190,0.12,2.25,0.00,0.000,6,0.064,0.023,2378,1877,3376,0,0,0,0,0,0
$GC,3514,-1.49,-77.9,359.2,-12.1,276,3518,0.00,2.42,0.00,0.000,4,0.000,0.048,2377,468,3375,0,0,0,0,0,0
$GC,3542,-1.41,-77.9,362.8,-12.7,276,3547,0.15,2.30,0.00,0.000,6,0.096,0.025,2408,1881,3375,0,0,0,0,0,0
$GC,3878,-1.47,-77.9,394.0,-8.6,285,3882,0.00,2.45,0.00,0.000,4,0.000,0.050,2408,463,3373,0,0,0,0,0,0
$GC,3920,-1.47,-77.9,397.8,-9.0,286,3924,0.00,2.30,0.00,0.000,6,0.000,0.026,2409,1880,3373,0,0,0,0,0,0
$GC,4250,-1.54,-77.9,422.8,-7.4,294,4255,0.15,2.47,0.00,0.000,4,0.061,0.052,2366,466,3371,0,0,0,0,0,0
$GC,4340,-1.49,-77.9,431.7,-10.2,296,4345,0.12,2.30,0.00,0.000,6,0.102,0.028,2391,1871,3370,0,0,0,0,0,0
$STATE,4585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4585,begin apogee
$GC,4590,-0.31,0.0,452.0,8.1,302,4659,1.17,0.00,65.32,0.867,6,0.076,0.000,2642,2034,3050,0,0,0,0,0,0
$STATE,4660,end apogee,CONTROL_FINISHED_OK
$STATE,4660,begin climb
$GC,4662,1.40,77.9,452.7,0.0,303,4737,1.65,2.42,64.90,0.848,4,0.033,0.043,3019,3380,2732,0,0,0,0,0,0
$GC,4973,1.22,115.6,441.6,5.4,309,5012,0.22,2.38,32.17,0.835,6,0.114,0.036,2984,2006,2578,0,0,0,0,0,0
$GC,5343,1.10,115.6,414.9,8.2,319,5345,0.17,0.00,0.00,0.000,6,0.115,0.000,2953,2006,2572,0,0,0,0,0,0
$GC,5668,1.05,120.8,390.1,7.7,327,5679,0.00,2.50,4.75,0.597,4,0.000,0.051,2948,598,2555,0,0,0,0,0,0
$GC,5689,0.96,120.8,388.2,8.3,327,5694,0.15,2.33,0.00,0.000,6,0.122,0.031,2929,1989,2555,0,0,0,0,0,0
$GC,6035,1.00,155.4,365.6,5.6,336,6067,0.00,0.00,30.80,0.824,6,0.000,0.000,2928,1994,2416,0,0,0,0,0,0
$GC,6360,1.08,183.6,344.7,6.1,344,6393,0.00,2.58,25.45,0.803,4,0.000,0.052,2925,595,2299,0,0,0,0,0,0
$GC,6458,1.08,183.6,338.0,8.1,346,6462,0.00,2.40,0.00,0.000,6,0.000,0.030,2927,2011,2295,0,0,0,0,0,0
$GC,6776,1.14,183.6,312.3,9.2,354,6781,0.15,2.47,0.00,0.000,4,0.071,0.051,2964,607,2293,0,0,0,0,0,0
$GC,6809,1.02,183.6,309.0,9.9,354,6814,0.15,2.38,0.00,0.000,6,0.120,0.029,2938,2028,2291,0,0,0,0,0,0
$GC,7122,1.08,183.6,281.0,10.2,366,7126,0.00,2.50,0.00,0.000,4,0.000,0.050,2938,601,2291,0,0,0,0,0,0
$GC,7182,1.08,183.6,274.5,10.1,368,7189,0.00,2.38,0.00,0.000,6,0.000,0.028,2937,2005,2289,0,0,0,0,0,0
$GC,7497,1.18,211.7,251.2,6.1,384,7527,0.15,2.50,24.10,0.740,4,0.070,0.049,2975,606,2187,0,0,0,0,0,0
$GC,7613,1.12,211.7,241.1,10.9,389,7617,0.00,2.35,0.00,0.000,6,0.000,0.028,2975,2004,2181,0,0,0,0,0,0
$GC,7942,1.12,211.7,212.1,9.0,405,7947,0.00,2.42,0.00,0.000,4,0.000,0.048,2975,605,2180,0,0,0,0,0,0
$GC,8079,1.07,211.7,197.5,11.0,413,8084,0.15,2.35,0.00,0.000,6,0.117,0.025,2948,2023,2178,0,0,0,0,0,0
$GC,8342,1.14,217.7,174.8,7.6,437,8352,0.00,2.55,5.55,0.529,4,0.000,0.046,2949,602,2162,0,0,0,0,0,0
$GC,8393,1.14,217.7,170.1,9.4,442,8400,0.00,2.35,0.00,0.000,6,0.000,0.025,2949,2010,2160,0,0,0,0,0,0
$GC,8657,1.24,254.6,152.7,5.5,467,8695,0.15,0.00,33.83,0.651,6,0.064,0.000,2989,2015,2012,0,0,0,0,0,0
$GC,8950,1.25,261.3,129.6,7.6,495,8963,0.00,2.53,7.07,0.527,4,0.000,0.046,2989,598,1984,0,0,0,0,0,0
$GC,9091,1.22,261.3,111.8,16.0,510,9098,0.00,2.35,0.00,0.000,6,0.000,0.023,2990,2014,1981,0,0,0,0,0,0
$GC,9354,1.26,261.3,83.2,10.0,535,9358,0.00,2.42,0.00,0.000,4,0.000,0.044,2989,604,1981,0,0,0,0,0,0
$GC,9486,1.26,261.3,68.2,12.1,549,9491,0.00,2.28,0.00,0.000,6,0.000,0.021,2990,2019,1980,0,0,0,0,0,0
$GC,9749,1.33,261.3,41.5,9.2,573,9753,0.00,2.45,0.00,0.000,4,0.000,0.042,2990,598,1979,0,0,0,0,0,0
$GC,9846,1.33,261.3,31.1,10.8,583,9850,0.00,2.28,0.00,0.000,6,0.000,0.021,2989,2021,1979,0,0,0,0,0,0
$GC,10116,1.42,284.0,7.3,6.5,630,10144,0.15,2.47,20.77,0.510,4,0.058,0.039,3035,592,1890,0,0,0,0,0,0
$STATE,10153,end climb,SURFACE_DEPTH_REACHED
$STATE,10154,begin surface coast
$FINISH,0.5,1.012119
$STATE,10184,end surface coast,CONTROL_FINISHED_OK
$STATE,10185,begin surface
$SM_CCo,10206,9.57,0.463,0,0,1827,300.00
$SM_GC,2.02,0.00,0.00,9.57,0.000,0.000,0.463,423,1900,1827,-10.54,0.74,300.00
$IRIDIUM_FIX,2059.45,-15806.34,200899,111148
$TT8_MAMPS,0.029146
$HUMID,48.11
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.4,33.087
$10V_AH,10.0,31.314
$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,28.250,119.250,314.725,9.575,0.000,23.331,26.414,155.665,4.500,0.000,32.067,1244.768,6629.863,388.657,1894.542,389.179,33.369,1213.920,0.000,1850.864,0.000,29.257,0.000
$DEVICE_MAMPS,136.526,52.156,866.710,462.501,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,434.138,409.718,802.808,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,34934,644
$CAP_FILE_SIZE,119778,0
$CFSIZE,260165632,237166592
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260510,172345,2108.948,-15757.477,85,5.0,104,9.8