version: 66.06
glider: 139
mission: 7
dive: 372
start: 5 26 110 17 30 44
data:
$ID,139
$MISSION,7
$DIVE,372
$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,-2134401.8
$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
$GPS1,172345,2108.948,-15757.477,85,5.0,104,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-68.8
$GPS2,172952,2108.947,-15757.527,19,4.6,38,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.147,-0.110
$KALMAN_X,-23487.4,-402.0,-227.9,19633.7,-191.9
$KALMAN_Y,34563.7,-328.3,-161.8,-30298.1,901.0
$MHEAD_RNG_PITCHd_Wd,117.0,25901,-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,-52.50,0.000,2,0.000,0.000,422,1901,3197,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.4,-5.5,10,94,10.65,2.50,-3.40,0.000,4,0.136,0.053,2402,469,3370,0,0,0,0,0,0
$GC,131,-1.14,-77.9,19.4,-19.4,22,138,0.25,2.35,0.00,0.000,6,0.085,0.021,2464,1897,3371,0,0,0,0,0,0
$GC,340,-1.10,-77.9,46.9,-13.3,48,344,0.00,2.45,0.00,0.000,4,0.000,0.043,2464,468,3372,0,0,0,0,0,0
$GC,393,-1.05,-77.9,54.8,-13.1,53,400,0.08,2.30,0.00,0.000,6,0.086,0.020,2482,1888,3372,0,0,0,0,0,0
$GC,656,-1.12,-77.9,78.8,-10.3,78,661,0.00,2.45,0.00,0.000,4,0.000,0.042,2483,467,3374,0,0,0,0,0,0
$GC,716,-1.16,-77.9,85.5,-10.4,84,721,0.10,2.28,0.00,0.000,6,0.074,0.019,2447,1891,3374,0,0,0,0,0,0
$GC,976,-1.16,-77.9,112.7,-9.3,108,981,0.00,2.45,0.00,0.000,4,0.000,0.042,2447,465,3374,0,0,0,0,0,0
$GC,1022,-1.16,-77.9,116.9,-9.2,112,1029,0.00,2.28,0.00,0.000,6,0.000,0.019,2447,1877,3374,0,0,0,0,0,0
$GC,1285,-1.19,-77.9,138.1,-8.9,137,1289,0.00,2.40,0.00,0.000,4,0.000,0.044,2447,468,3375,0,0,0,0,0,0
$GC,1373,-1.19,-77.9,145.6,-8.3,146,1377,0.00,2.25,0.00,0.000,6,0.000,0.020,2447,1878,3375,0,0,0,0,0,0
$GC,1635,-1.26,-77.9,168.8,-9.0,170,1639,0.00,2.42,0.00,0.000,4,0.000,0.043,2446,463,3376,0,0,0,0,0,0
$GC,1679,-1.30,-77.9,173.0,-10.2,174,1683,0.00,2.25,0.00,0.000,6,0.000,0.020,2447,1874,3376,0,0,0,0,0,0
$GC,1943,-1.37,-77.9,200.8,-11.4,198,1948,0.15,2.42,0.00,0.000,4,0.057,0.044,2398,463,3376,0,0,0,0,0,0
$GC,1989,-1.29,-77.9,207.6,-14.6,200,1994,0.15,2.28,0.00,0.000,6,0.096,0.021,2430,1881,3377,0,0,0,0,0,0
$GC,2315,-1.35,-77.9,239.6,-8.2,216,2320,0.00,2.42,0.00,0.000,4,0.000,0.044,2430,458,3376,0,0,0,0,0,0
$GC,2367,-1.40,-77.9,243.8,-8.0,218,2371,0.00,2.28,0.00,0.000,6,0.000,0.021,2430,1880,3376,0,0,0,0,0,0
$GC,2692,-1.48,-77.9,270.0,-8.0,234,2697,0.17,2.45,0.00,0.000,4,0.052,0.046,2376,468,3376,0,0,0,0,0,0
$GC,2801,-1.38,-77.9,281.7,-11.6,238,2808,0.12,2.28,0.00,0.000,6,0.075,0.022,2408,1867,3376,0,0,0,0,0,0
$GC,3134,-1.43,-77.9,313.1,-9.3,252,3139,0.00,2.40,0.00,0.000,4,0.000,0.048,2407,467,3375,0,0,0,0,0,0
$GC,3217,-1.43,-77.9,322.2,-11.2,253,3222,0.00,2.28,0.00,0.000,6,0.000,0.024,2408,1870,3375,0,0,0,0,0,0
$GC,3548,-1.48,-77.9,357.2,-10.4,262,3552,0.00,2.47,0.00,0.000,4,0.000,0.050,2408,462,3374,0,0,0,0,0,0
$GC,3659,-1.48,-77.9,368.4,-9.2,264,3664,0.00,2.30,0.00,0.000,6,0.000,0.025,2408,1871,3373,0,0,0,0,0,0
$GC,4004,-1.53,-77.9,392.7,-6.8,273,4009,0.12,2.45,0.00,0.000,4,0.068,0.051,2370,471,3371,0,0,0,0,0,0
$GC,4099,-1.47,-77.9,401.0,-8.8,275,4104,0.10,2.33,0.00,0.000,6,0.113,0.027,2391,1882,3370,0,0,0,0,0,0
$GC,4423,-1.50,-77.9,430.3,-10.0,283,4427,0.00,2.45,0.00,0.000,4,0.000,0.053,2389,473,3368,0,0,0,0,0,0
$GC,4507,-1.50,-77.9,440.5,-12.1,284,4513,0.00,2.30,0.00,0.000,6,0.000,0.028,2390,1872,3368,0,0,0,0,0,0
$STATE,4592,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4592,begin apogee
$GC,4597,-0.31,0.0,450.2,11.2,287,4665,1.20,0.00,64.85,0.871,6,0.076,0.000,2646,2030,3050,0,0,0,0,0,0
$STATE,4666,end apogee,CONTROL_FINISHED_OK
$STATE,4666,begin climb
$GC,4668,1.40,77.9,451.9,0.0,288,4743,1.62,2.45,64.70,0.850,4,0.033,0.043,3027,3387,2732,0,0,0,0,0,0
$GC,4785,1.30,179.0,455.4,1.1,290,4882,0.15,2.38,86.97,0.851,6,0.120,0.035,3000,2008,2319,0,0,0,0,0,0
$GC,5205,1.19,179.0,412.4,12.5,301,5207,0.15,0.00,0.00,0.000,6,0.117,0.000,2973,2008,2309,0,0,0,0,0,0
$GC,5530,1.14,179.0,374.4,11.7,309,5534,0.00,2.47,0.00,0.000,4,0.000,0.052,2971,605,2305,0,0,0,0,0,0
$GC,5656,1.03,179.0,359.7,12.4,311,5661,0.17,2.33,0.00,0.000,6,0.114,0.030,2942,1999,2302,0,0,0,0,0,0
$GC,5987,1.07,179.0,323.8,11.1,319,5991,0.00,2.45,0.00,0.000,4,0.000,0.051,2940,606,2301,0,0,0,0,0,0
$GC,6029,1.07,179.0,318.9,11.5,320,6033,0.00,2.38,0.00,0.000,6,0.000,0.030,2941,2019,2298,0,0,0,0,0,0
$GC,6358,1.12,192.2,291.9,7.1,330,6374,0.00,2.50,9.02,0.698,4,0.000,0.051,2941,606,2265,0,0,0,0,0,0
$GC,6533,1.12,192.2,276.8,8.7,337,6539,0.00,2.38,0.00,0.000,6,0.000,0.029,2941,2023,2261,0,0,0,0,0,0
$GC,6850,1.17,192.2,250.0,9.2,353,6855,0.12,2.53,0.00,0.000,4,0.075,0.049,2973,597,2261,0,0,0,0,0,0
$GC,6948,1.08,192.2,239.0,12.3,357,6953,0.12,2.38,0.00,0.000,6,0.123,0.028,2952,2017,2259,0,0,0,0,0,0
$GC,7271,1.13,194.0,208.5,7.9,373,7275,0.00,2.47,0.00,0.000,4,0.000,0.049,2952,604,2259,0,0,0,0,0,0
$GC,7344,1.13,194.0,202.1,8.3,376,7349,0.00,2.35,0.00,0.000,6,0.000,0.027,2951,2019,2258,0,0,0,0,0,0
$GC,7673,1.20,207.8,178.7,7.1,406,7693,0.10,2.50,14.43,0.655,4,0.082,0.046,2979,599,2201,0,0,0,0,0,0
$GC,7814,1.14,207.8,164.9,10.2,421,7818,0.00,2.35,0.00,0.000,6,0.000,0.025,2979,2019,2197,0,0,0,0,0,0
$GC,8077,1.14,207.8,140.8,8.8,445,8081,0.00,2.47,0.00,0.000,4,0.000,0.045,2979,594,2197,0,0,0,0,0,0
$GC,8168,1.10,207.8,131.6,10.6,454,8175,0.10,2.35,0.00,0.000,6,0.093,0.024,2957,2011,2196,0,0,0,0,0,0
$GC,8430,1.18,207.8,112.6,8.1,479,8434,0.00,2.45,0.00,0.000,4,0.000,0.044,2957,594,2196,0,0,0,0,0,0
$GC,8463,1.18,207.8,109.2,9.4,482,8468,0.00,2.33,0.00,0.000,6,0.000,0.023,2957,2018,2196,0,0,0,0,0,0
$GC,8725,1.31,242.0,89.5,5.7,506,8763,0.17,2.50,30.27,0.593,4,0.058,0.044,3006,603,2062,0,0,0,0,0,0
$GC,8820,1.24,242.0,82.1,9.1,516,8824,0.00,2.28,0.00,0.000,6,0.000,0.021,3006,2009,2059,0,0,0,0,0,0
$GC,9084,1.28,248.1,64.6,7.6,540,9095,0.00,2.33,6.50,0.461,4,0.000,0.027,3005,3404,2036,0,0,0,0,0,0
$GC,9195,1.33,248.1,54.9,9.5,552,9200,0.00,2.35,0.00,0.000,6,0.000,0.028,3004,2004,2036,0,0,0,0,0,0
$GC,9458,1.33,248.1,30.6,8.5,576,9462,0.00,2.38,0.00,0.000,4,0.000,0.043,3006,602,2036,0,0,0,0,0,0
$GC,9578,1.33,248.1,18.4,11.8,601,9584,0.00,2.28,0.00,0.000,6,0.000,0.020,3005,2008,2034,0,0,0,0,0,0
$STATE,9723,end climb,SURFACE_DEPTH_REACHED
$STATE,9723,begin surface coast
$FINISH,0.6,1.023397
$STATE,9747,end surface coast,CONTROL_FINISHED_OK
$STATE,9747,begin surface
$SM_CCo,9766,27.65,0.507,0,0,1827,300.00
$SM_GC,0.90,0.00,0.00,27.65,0.000,0.000,0.507,428,1859,1827,-10.52,-0.45,300.00
$IRIDIUM_FIX,2101.76,-15800.33,200899,141403
$TT8_MAMPS,0.029913
$HUMID,47.00
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.4,33.168
$10V_AH,10.0,31.394
$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,26.850,119.500,276.750,27.650,0.000,22.959,52.592,161.591,4.500,0.000,39.574,1227.348,6235.910,366.759,1912.659,419.714,33.398,1190.572,0.000,1859.598,0.000,29.266,0.000
$DEVICE_MAMPS,135.759,52.923,871.312,506.987,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,425.702,411.515,819.776,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,34876,631
$CAP_FILE_SIZE,118102,0
$CFSIZE,260165632,237113344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260510,201607,2108.583,-15756.523,93,2.0,93,9.8