version: 66.06
glider: 139
mission: 7
dive: 377
start: 5 27 110 8 10 17
data:
$ID,139
$MISSION,7
$DIVE,377
$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,-2134527
$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
$GPS1,080336,2107.817,-15755.069,60,2.0,70,9.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-72.5
$GPS2,080925,2107.800,-15755.061,40,1.7,40,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.179,-0.040
$KALMAN_X,-29795.7,200.9,459.7,28914.2,-1864.9
$KALMAN_Y,36082.0,-2.1,-111.2,-34319.2,428.1
$MHEAD_RNG_PITCHd_Wd,92.9,21301,-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,-52.50,0.000,2,0.000,0.000,424,1857,3185,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.2,-4.9,10,90,10.65,0.00,-3.70,0.000,6,0.134,0.000,2406,1857,3369,0,0,0,0,0,0
$GC,293,-1.23,-77.9,45.9,-15.9,41,298,0.20,2.40,0.00,0.000,4,0.100,0.044,2446,470,3372,0,0,0,0,0,0
$GC,336,-1.11,-77.9,52.4,-14.5,45,341,0.12,2.30,0.00,0.000,6,0.106,0.020,2470,1908,3371,0,0,0,0,0,0
$GC,599,-1.16,-77.9,77.2,-9.5,69,603,0.00,2.47,0.00,0.000,4,0.000,0.043,2470,463,3373,0,0,0,0,0,0
$GC,678,-1.19,-77.9,84.8,-9.0,77,682,0.00,2.28,0.00,0.000,6,0.000,0.019,2470,1883,3373,0,0,0,0,0,0
$GC,943,-1.28,-77.9,105.2,-6.8,101,948,0.15,2.45,0.00,0.000,4,0.055,0.044,2420,460,3373,0,0,0,0,0,0
$GC,1025,-1.28,-77.9,111.7,-6.7,109,1031,0.00,2.28,0.00,0.000,6,0.000,0.019,2420,1882,3374,0,0,0,0,0,0
$GC,1287,-1.28,-77.9,137.5,-12.8,134,1291,0.00,2.40,0.00,0.000,4,0.000,0.042,2420,468,3375,0,0,0,0,0,0
$GC,1323,-1.22,-77.9,143.2,-15.0,137,1330,0.12,2.25,0.00,0.000,6,0.099,0.020,2445,1882,3375,0,0,0,0,0,0
$GC,1584,-1.29,-77.9,173.9,-9.5,162,1588,0.00,2.40,0.00,0.000,4,0.000,0.043,2446,468,3376,0,0,0,0,0,0
$GC,1643,-1.34,-77.9,179.7,-9.9,168,1651,0.10,2.25,0.00,0.000,6,0.073,0.020,2408,1877,3376,0,0,0,0,0,0
$GC,1921,-1.34,-77.9,203.3,-8.0,192,1925,0.00,2.42,0.00,0.000,4,0.000,0.043,2408,463,3376,0,0,0,0,0,0
$GC,1976,-1.30,-77.9,208.6,-9.1,194,1981,0.12,2.28,0.00,0.000,6,0.098,0.021,2434,1882,3376,0,0,0,0,0,0
$GC,2294,-1.39,-77.9,234.0,-8.1,209,2298,0.00,2.45,0.00,0.000,4,0.000,0.045,2434,461,3376,0,0,0,0,0,0
$GC,2340,-1.42,-77.9,239.1,-10.4,211,2344,0.15,2.25,0.00,0.000,6,0.055,0.021,2385,1876,3376,0,0,0,0,0,0
$GC,2668,-1.42,-77.9,280.4,-11.6,227,2672,0.00,2.40,0.00,0.000,4,0.000,0.045,2385,470,3376,0,0,0,0,0,0
$GC,2742,-1.37,-77.9,289.5,-11.4,230,2746,0.15,2.28,0.00,0.000,6,0.094,0.022,2416,1881,3376,0,0,0,0,0,0
$GC,3061,-1.43,-77.9,311.0,-6.4,242,3066,0.00,2.45,0.00,0.000,4,0.000,0.048,2416,467,3375,0,0,0,0,0,0
$GC,3183,-1.43,-77.9,320.2,-8.1,244,3187,0.00,2.28,0.00,0.000,6,0.000,0.024,2416,1871,3375,0,0,0,0,0,0
$GC,3519,-1.50,-77.9,343.6,-7.3,253,3524,0.12,2.45,0.00,0.000,4,0.065,0.050,2377,471,3373,0,0,0,0,0,0
$GC,3594,-1.44,-77.9,351.1,-9.9,254,3599,0.10,2.28,0.00,0.000,6,0.109,0.025,2397,1877,3373,0,0,0,0,0,0
$GC,3931,-1.47,-77.9,382.3,-9.6,263,3935,0.00,2.45,0.00,0.000,4,0.000,0.051,2397,463,3371,0,0,0,0,0,0
$GC,4052,-1.47,-77.9,396.3,-11.9,265,4056,0.00,2.30,0.00,0.000,6,0.000,0.027,2397,1878,3370,0,0,0,0,0,0
$GC,4392,-1.51,-77.9,429.9,-9.2,274,4396,0.00,2.47,0.00,0.000,4,0.000,0.052,2397,467,3368,0,0,0,0,0,0
$GC,4437,-1.51,-77.9,434.5,-10.3,275,4441,0.00,2.33,0.00,0.000,6,0.000,0.028,2397,1873,3367,0,0,0,0,0,0
$STATE,4635,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4636,begin apogee
$GC,4641,-0.31,0.0,451.2,8.4,280,4710,1.15,0.00,64.90,0.871,6,0.076,0.000,2642,2035,3050,0,0,0,0,0,0
$STATE,4711,end apogee,CONTROL_FINISHED_OK
$STATE,4711,begin climb
$GC,4713,1.40,77.9,452.0,0.0,281,4787,1.65,2.42,65.03,0.851,4,0.032,0.044,3028,3375,2732,0,0,0,0,0,0
$GC,4895,1.21,112.4,448.4,5.6,285,4933,0.25,2.38,29.85,0.830,6,0.107,0.037,2980,2003,2591,0,0,0,0,0,0
$GC,5257,1.09,112.4,419.0,8.4,294,5262,0.15,2.40,0.00,0.000,4,0.117,0.042,2954,3381,2585,0,0,0,0,0,0
$GC,5526,1.08,148.3,401.8,5.6,299,5564,0.00,2.38,30.77,0.833,6,0.000,0.037,2955,2006,2444,0,0,0,0,0,0
$GC,5901,1.05,148.3,371.4,8.5,309,5905,0.00,2.47,0.00,0.000,4,0.000,0.053,2951,605,2438,0,0,0,0,0,0
$GC,5919,0.98,148.3,369.5,8.9,309,5924,0.12,2.35,0.00,0.000,6,0.123,0.030,2931,1996,2436,0,0,0,0,0,0
$GC,6265,0.98,148.3,341.9,8.2,318,6269,0.00,2.45,0.00,0.000,4,0.000,0.052,2933,601,2435,0,0,0,0,0,0
$GC,6329,0.94,148.3,335.7,9.9,319,6333,0.00,2.38,0.00,0.000,6,0.000,0.030,2932,2017,2434,0,0,0,0,0,0
$GC,6674,0.98,175.9,312.1,6.1,328,6702,0.00,2.58,23.15,0.786,4,0.000,0.052,2933,598,2332,0,0,0,0,0,0
$GC,6803,0.98,175.9,302.5,8.4,330,6809,0.00,2.38,0.00,0.000,6,0.000,0.030,2932,2014,2327,0,0,0,0,0,0
$GC,7119,1.02,175.9,279.3,8.1,345,7123,0.00,2.50,0.00,0.000,4,0.000,0.051,2933,601,2327,0,0,0,0,0,0
$GC,7317,1.02,175.9,257.8,10.0,353,7323,0.00,2.38,0.00,0.000,6,0.000,0.028,2932,2019,2324,0,0,0,0,0,0
$GC,7634,1.13,214.7,236.0,5.4,369,7679,0.12,2.58,34.35,0.742,4,0.074,0.050,2966,610,2173,0,0,0,0,0,0
$GC,7734,1.09,214.7,226.2,12.6,373,7739,0.00,2.38,0.00,0.000,6,0.000,0.028,2965,2019,2169,0,0,0,0,0,0
$GC,8056,1.13,214.7,190.9,11.2,392,8057,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2024,2167,0,0,0,0,0,0
$GC,8311,1.17,214.7,166.7,10.1,416,8315,0.00,2.50,0.00,0.000,4,0.000,0.048,2965,597,2166,0,0,0,0,0,0
$GC,8509,1.17,214.7,142.6,11.2,437,8513,0.00,2.33,0.00,0.000,6,0.000,0.025,2965,2016,2163,0,0,0,0,0,0
$GC,8772,1.21,214.7,116.8,8.4,461,8773,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2021,2163,0,0,0,0,0,0
$GC,9026,1.30,245.7,99.7,5.9,485,9064,0.15,2.35,26.75,0.609,4,0.061,0.028,3008,3402,2046,0,0,0,0,0,0
$GC,9085,1.30,245.7,93.6,11.0,491,9089,0.00,2.38,0.00,0.000,6,0.000,0.030,3006,2006,2046,0,0,0,0,0,0
$GC,9348,1.30,245.7,64.0,9.1,515,9352,0.00,2.40,0.00,0.000,4,0.000,0.043,3007,600,2044,0,0,0,0,0,0
$GC,9364,1.30,245.7,62.4,9.2,516,9368,0.00,2.30,0.00,0.000,6,0.000,0.022,3008,2022,2042,0,0,0,0,0,0
$GC,9628,1.30,245.7,41.5,8.2,540,9632,0.00,2.45,0.00,0.000,4,0.000,0.043,3008,604,2042,0,0,0,0,0,0
$GC,9750,1.26,245.7,30.3,8.9,553,9754,0.00,2.28,0.00,0.000,6,0.000,0.021,3008,2020,2041,0,0,0,0,0,0
$GC,10023,1.26,245.7,7.4,8.5,602,10030,0.00,2.45,0.00,0.000,4,0.000,0.042,3009,609,2041,0,0,0,0,0,0
$STATE,10066,end climb,SURFACE_DEPTH_REACHED
$STATE,10066,begin surface coast
$FINISH,0.8,1.023514
$STATE,10088,end surface coast,CONTROL_FINISHED_OK
$STATE,10088,begin surface
$SM_CCo,10110,27.50,0.509,0,0,1827,300.00
$SM_GC,1.00,0.00,0.00,27.50,0.000,0.000,0.509,425,1904,1827,-10.53,0.82,300.00
$IRIDIUM_FIX,2057.14,-15756.04,210899,050500
$TT8_MAMPS,0.029146
$HUMID,48.62
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,23.10
$XPDR_PINGS,0
$24V_AH,23.4,33.571
$10V_AH,10.1,31.788
$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,26.675,114.250,274.800,27.500,0.000,28.636,28.321,161.433,4.500,0.000,40.484,1217.636,6562.817,362.659,1929.142,416.291,33.393,1200.465,0.000,1884.207,0.000,29.253,0.000
$DEVICE_MAMPS,134.225,52.923,871.312,509.288,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,416.855,396.514,770.299,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,35013,616
$CAP_FILE_SIZE,116832,0
$CFSIZE,260165632,236818432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270510,110054,2107.715,-15755.040,45,1.9,63,9.8