version: 66.06
glider: 139
mission: 7
dive: 382
start: 5 27 110 23 2 22
data:
$ID,139
$MISSION,7
$DIVE,382
$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,-2134700.8
$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
$GPS1,225537,2107.126,-15754.231,106,2.0,106,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-71.8
$GPS2,230131,2107.139,-15754.236,44,1.4,44,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.182,-0.025
$KALMAN_X,-38584.8,192.6,642.6,38947.0,-2628.9
$KALMAN_Y,36895.7,30.5,-5.5,-36493.5,354.2
$MHEAD_RNG_PITCHd_Wd,88.0,19710,-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,17,-1.40,-77.9,0.0,0.0,0,72,0.00,0.00,-52.83,0.000,2,0.000,0.000,428,1851,3187,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.2,-4.7,10,96,10.60,2.45,-3.67,0.000,4,0.135,0.040,2401,3298,3370,0,0,0,0,0,0
$GC,113,-0.69,-77.9,14.4,-28.5,17,119,0.77,2.40,0.00,0.000,6,0.082,0.031,2562,1871,3371,0,0,0,0,0,0
$GC,323,-0.90,-77.9,32.8,-7.9,52,328,0.20,2.40,0.00,0.000,4,0.045,0.043,2500,467,3372,0,0,0,0,0,0
$GC,403,-0.96,-77.9,42.3,-12.8,60,407,0.00,2.30,0.00,0.000,6,0.000,0.020,2500,1908,3372,0,0,0,0,0,0
$GC,666,-1.10,-77.9,72.2,-11.1,84,671,0.12,2.50,0.00,0.000,4,0.063,0.044,2455,460,3374,0,0,0,0,0,0
$GC,743,-1.10,-77.9,81.4,-11.3,92,747,0.00,2.25,0.00,0.000,6,0.000,0.019,2455,1874,3374,0,0,0,0,0,0
$GC,1005,-1.16,-77.9,107.3,-8.9,116,1009,0.00,2.40,0.00,0.000,4,0.000,0.044,2455,469,3375,0,0,0,0,0,0
$GC,1082,-1.16,-77.9,114.8,-9.6,124,1087,0.00,2.25,0.00,0.000,6,0.000,0.019,2455,1888,3376,0,0,0,0,0,0
$GC,1344,-1.24,-77.9,136.7,-8.4,148,1349,0.00,2.45,0.00,0.000,4,0.000,0.043,2455,463,3376,0,0,0,0,0,0
$GC,1396,-1.28,-77.9,141.2,-8.8,153,1401,0.00,2.28,0.00,0.000,6,0.000,0.020,2455,1889,3377,0,0,0,0,0,0
$GC,1660,-1.38,-77.9,165.1,-9.5,177,1665,0.17,2.45,0.00,0.000,4,0.050,0.044,2399,464,3377,0,0,0,0,0,0
$GC,1759,-1.32,-77.9,178.2,-12.1,187,1764,0.12,2.22,0.00,0.000,6,0.100,0.021,2425,1867,3377,0,0,0,0,0,0
$GC,2031,-1.36,-77.9,202.8,-9.3,211,2035,0.00,2.40,0.00,0.000,4,0.000,0.044,2424,469,3377,0,0,0,0,0,0
$GC,2063,-1.36,-77.9,206.2,-10.2,212,2067,0.00,2.22,0.00,0.000,6,0.000,0.021,2425,1876,3377,0,0,0,0,0,0
$GC,2380,-1.43,-77.9,234.9,-8.4,227,2384,0.00,2.40,0.00,0.000,4,0.000,0.044,2425,470,3377,0,0,0,0,0,0
$GC,2463,-1.48,-77.9,242.1,-8.9,230,2470,0.12,2.28,0.00,0.000,6,0.033,0.022,2377,1868,3377,0,0,0,0,0,0
$GC,2777,-1.48,-77.9,276.5,-10.8,246,2781,0.00,2.30,0.00,0.000,4,0.000,0.030,2373,3274,3377,0,0,0,0,0,0
$GC,2791,-1.48,-77.9,278.0,-10.8,246,2798,0.00,2.38,0.00,0.000,6,0.000,0.031,2376,1875,3377,0,0,0,0,0,0
$GC,3124,-1.48,-77.9,312.0,-9.5,260,3128,0.00,2.40,0.00,0.000,4,0.000,0.048,2376,470,3376,0,0,0,0,0,0
$GC,3203,-1.42,-77.9,319.4,-9.4,261,3208,0.12,2.28,0.00,0.000,6,0.101,0.024,2402,1882,3376,0,0,0,0,0,0
$GC,3535,-1.46,-77.9,341.4,-6.3,269,3539,0.00,2.45,0.00,0.000,4,0.000,0.050,2401,464,3373,0,0,0,0,0,0
$GC,3627,-1.46,-77.9,347.7,-6.7,271,3632,0.00,2.30,0.00,0.000,6,0.000,0.025,2402,1882,3373,0,0,0,0,0,0
$GC,3952,-1.50,-77.9,368.8,-6.9,279,3956,0.00,2.45,0.00,0.000,4,0.000,0.051,2401,467,3371,0,0,0,0,0,0
$GC,4031,-1.50,-77.9,375.1,-8.0,280,4035,0.00,2.30,0.00,0.000,6,0.000,0.027,2402,1881,3371,0,0,0,0,0,0
$GC,4363,-1.55,-77.9,404.0,-9.7,288,4368,0.12,2.50,0.00,0.000,4,0.068,0.053,2365,467,3369,0,0,0,0,0,0
$GC,4425,-1.48,-77.9,412.3,-13.8,289,4430,0.12,2.33,0.00,0.000,6,0.104,0.028,2390,1874,3369,0,0,0,0,0,0
$STATE,4773,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4773,begin apogee
$GC,4780,-0.31,0.0,452.3,10.4,298,4848,1.20,0.00,64.90,0.881,6,0.092,0.000,2645,2033,3050,0,0,0,0,0,0
$STATE,4849,end apogee,CONTROL_FINISHED_OK
$STATE,4849,begin climb
$GC,4851,1.40,77.9,453.9,0.0,299,4926,1.62,2.42,64.88,0.858,4,0.032,0.043,3026,3379,2732,0,0,0,0,0,0
$GC,5085,1.25,141.8,452.4,3.6,304,5146,0.20,2.38,54.85,0.853,6,0.114,0.037,2988,2002,2470,0,0,0,0,0,0
$GC,5488,1.15,141.8,416.2,9.4,314,5493,0.12,2.40,0.00,0.000,4,0.126,0.041,2969,3393,2462,0,0,0,0,0,0
$GC,5587,1.10,147.8,408.4,7.6,316,5599,0.00,2.40,5.00,0.607,6,0.000,0.038,2969,2011,2447,0,0,0,0,0,0
$GC,5909,1.05,147.8,379.6,9.3,324,5911,0.12,0.00,0.00,0.000,6,0.121,0.000,2947,2011,2444,0,0,0,0,0,0
$GC,6233,1.06,153.9,353.3,7.6,332,6245,0.00,2.53,6.07,0.657,4,0.000,0.052,2944,607,2422,0,0,0,0,0,0
$GC,6256,1.03,165.2,351.5,7.2,332,6272,0.00,2.35,11.60,0.753,6,0.000,0.030,2944,2003,2375,0,0,0,0,0,0
$GC,6598,1.03,165.2,323.3,8.7,340,6602,0.00,2.47,0.00,0.000,4,0.000,0.051,2946,602,2373,0,0,0,0,0,0
$GC,6706,0.98,165.2,311.8,12.3,342,6710,0.00,2.38,0.00,0.000,6,0.000,0.030,2946,2013,2370,0,0,0,0,0,0
$GC,7038,0.98,165.2,282.0,8.2,355,7043,0.00,2.50,0.00,0.000,4,0.000,0.051,2946,598,2369,0,0,0,0,0,0
$GC,7084,0.95,165.2,278.1,9.1,357,7089,0.12,2.38,0.00,0.000,6,0.119,0.030,2924,2012,2368,0,0,0,0,0,0
$GC,7417,1.08,212.4,259.9,4.8,373,7466,0.12,2.42,41.88,0.766,4,0.076,0.037,2956,3408,2182,0,0,0,0,0,0
$GC,7545,1.14,212.4,248.9,10.2,378,7552,0.00,2.45,0.00,0.000,6,0.000,0.037,2956,2012,2181,0,0,0,0,0,0
$GC,7860,1.14,212.4,220.3,8.3,394,7864,0.00,2.45,0.00,0.000,4,0.000,0.050,2955,600,2176,0,0,0,0,0,0
$GC,7956,1.14,212.4,209.7,11.7,398,7961,0.00,2.38,0.00,0.000,6,0.000,0.028,2955,2022,2173,0,0,0,0,0,0
$GC,8284,1.20,212.4,176.3,9.0,424,8288,0.00,2.33,0.00,0.000,4,0.000,0.035,2955,3412,2173,0,0,0,0,0,0
$GC,8303,1.27,212.4,174.5,9.2,426,8308,0.15,2.40,0.00,0.000,6,0.063,0.033,2996,2006,2172,0,0,0,0,0,0
$GC,8563,1.31,241.2,154.7,6.0,450,8595,0.00,2.53,24.80,0.658,4,0.000,0.048,2994,604,2065,0,0,0,0,0,0
$GC,8649,1.24,241.2,147.7,10.6,459,8653,0.00,2.33,0.00,0.000,6,0.000,0.025,2995,2015,2061,0,0,0,0,0,0
$GC,8915,1.24,241.2,121.4,9.7,484,8919,0.00,2.47,0.00,0.000,4,0.000,0.044,2994,595,2061,0,0,0,0,0,0
$GC,8943,1.17,241.2,118.5,10.0,486,8950,0.10,2.35,0.00,0.000,6,0.087,0.024,2973,2012,2059,0,0,0,0,0,0
$GC,9205,1.23,241.2,93.2,9.6,511,9209,0.00,2.30,0.00,0.000,4,0.000,0.029,2971,3405,2059,0,0,0,0,0,0
$GC,9274,1.34,241.2,85.9,10.5,518,9279,0.15,2.35,0.00,0.000,6,0.061,0.030,3014,2001,2059,0,0,0,0,0,0
$GC,9536,1.31,241.2,59.4,10.7,542,9540,0.00,2.33,0.00,0.000,4,0.000,0.028,3014,3405,2059,0,0,0,0,0,0
$GC,9571,1.31,241.2,54.9,10.9,545,9578,0.00,2.38,0.00,0.000,6,0.000,0.028,3016,2003,2059,0,0,0,0,0,0
$GC,9835,1.33,255.0,32.6,7.1,570,9856,0.00,2.38,12.45,0.512,4,0.000,0.028,3014,3395,2010,0,0,0,0,0,0
$GC,9877,1.36,259.3,29.3,7.7,574,9888,0.00,2.35,5.75,0.427,6,0.000,0.028,3015,2010,1992,0,0,0,0,0,0
$GC,10086,1.36,259.3,10.2,10.5,612,10093,0.00,2.42,0.00,0.000,4,0.000,0.042,3016,606,1991,0,0,0,0,0,0
$GC,10149,1.32,259.3,3.2,12.6,625,10155,0.00,2.28,0.00,0.000,6,0.000,0.020,3016,2007,1988,0,0,0,0,0,0
$STATE,10160,end climb,SURFACE_DEPTH_REACHED
$STATE,10160,begin surface coast
$FINISH,0.4,1.013089
$STATE,10184,end surface coast,CONTROL_FINISHED_OK
$STATE,10184,begin surface
$SM_CCo,10204,21.38,0.504,0,0,1827,300.00
$SM_GC,1.24,0.00,0.00,21.38,0.000,0.000,0.504,425,1850,1827,-10.53,-0.71,300.00
$IRIDIUM_FIX,2101.76,-15753.03,210899,202029
$TT8_MAMPS,0.029146
$HUMID,48.18
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,21.50
$XPDR_PINGS,1
$24V_AH,23.4,33.978
$10V_AH,10.0,32.182
$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,27.600,128.825,292.175,21.375,0.000,29.820,34.704,154.247,4.750,0.000,44.214,1240.016,6652.361,372.633,1887.611,427.812,33.370,1209.103,0.000,1842.830,0.000,29.235,0.000
$DEVICE_MAMPS,134.992,52.923,880.516,503.919,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,426.240,407.909,797.520,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,34839,631
$CAP_FILE_SIZE,121281,0
$CFSIZE,260165632,236523520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280510,015436,2107.204,-15754.194,56,1.6,72,9.8