version: 66.06
glider: 139
mission: 7
dive: 411
start: 5 31 110 13 55 38
data:
$ID,139
$MISSION,7
$DIVE,411
$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,-2135472.8
$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
$GPS1,134928,2106.146,-15749.350,54,4.0,73,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-72.0
$GPS2,135447,2106.111,-15749.423,14,3.8,33,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.173,0.063
$KALMAN_X,-86891.4,-308.6,426.4,96289.9,-3479.4
$KALMAN_Y,28117.6,64.5,-156.1,-29506.0,-636.0
$MHEAD_RNG_PITCHd_Wd,60.0,11253,-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,-53.12,0.000,2,0.000,0.000,425,1859,3215,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.4,-5.2,10,95,10.57,2.45,-2.97,0.000,4,0.134,0.055,2400,463,3370,0,0,0,0,0,0
$GC,103,-0.23,-77.9,13.8,-32.0,15,109,1.30,2.33,0.00,0.000,6,0.094,0.020,2662,1921,3371,0,0,0,0,0,0
$GC,308,-0.90,-77.9,25.7,-5.8,52,316,0.62,2.53,0.00,0.000,4,0.049,0.041,2512,460,3372,0,0,0,0,0,0
$GC,349,-1.16,-77.9,28.9,-8.3,60,356,0.17,2.28,0.00,0.000,6,0.028,0.020,2448,1886,3372,0,0,0,0,0,0
$GC,550,-1.16,-77.9,50.1,-12.0,80,554,0.00,2.45,0.00,0.000,4,0.000,0.043,2449,463,3372,0,0,0,0,0,0
$GC,609,-1.16,-77.9,57.4,-11.1,86,614,0.00,2.22,0.00,0.000,6,0.000,0.020,2448,1868,3373,0,0,0,0,0,0
$GC,870,-1.16,-77.9,86.7,-11.6,110,875,0.00,2.40,0.00,0.000,4,0.000,0.043,2448,462,3373,0,0,0,0,0,0
$GC,923,-1.16,-77.9,93.3,-12.3,115,927,0.00,2.22,0.00,0.000,6,0.000,0.020,2448,1872,3374,0,0,0,0,0,0
$GC,1186,-1.22,-77.9,124.3,-10.8,139,1190,0.00,2.40,0.00,0.000,4,0.000,0.044,2448,465,3375,0,0,0,0,0,0
$GC,1267,-1.26,-77.9,133.8,-11.7,147,1271,0.00,2.22,0.00,0.000,6,0.000,0.020,2448,1872,3375,0,0,0,0,0,0
$GC,1529,-1.32,-77.9,160.9,-9.3,171,1533,0.10,2.42,0.00,0.000,4,0.074,0.044,2409,467,3376,0,0,0,0,0,0
$GC,1607,-1.27,-77.9,169.7,-11.7,179,1613,0.12,2.22,0.00,0.000,6,0.097,0.021,2435,1875,3376,0,0,0,0,0,0
$GC,1867,-1.32,-77.9,193.4,-9.5,204,1871,0.00,2.42,0.00,0.000,4,0.000,0.044,2435,466,3376,0,0,0,0,0,0
$GC,1945,-1.32,-77.9,202.3,-11.8,212,1949,0.00,2.25,0.00,0.000,6,0.000,0.021,2435,1883,3376,0,0,0,0,0,0
$GC,2269,-1.40,-77.9,235.0,-9.6,228,2274,0.12,2.45,0.00,0.000,4,0.063,0.045,2392,463,3377,0,0,0,0,0,0
$GC,2302,-1.33,-77.9,238.8,-11.9,229,2307,0.15,2.28,0.00,0.000,6,0.092,0.021,2423,1880,3376,0,0,0,0,0,0
$GC,2619,-1.39,-77.9,267.2,-8.2,244,2623,0.00,2.40,0.00,0.000,4,0.000,0.045,2423,470,3376,0,0,0,0,0,0
$GC,2719,-1.39,-77.9,275.6,-8.4,248,2724,0.00,2.25,0.00,0.000,6,0.000,0.021,2423,1882,3376,0,0,0,0,0,0
$GC,3037,-1.45,-77.9,301.0,-8.5,263,3042,0.12,2.47,0.00,0.000,4,0.065,0.046,2383,462,3376,0,0,0,0,0,0
$GC,3063,-1.39,-77.9,303.8,-10.9,263,3068,0.12,2.28,0.00,0.000,6,0.100,0.023,2408,1880,3375,0,0,0,0,0,0
$GC,3404,-1.44,-77.9,332.2,-7.6,272,3409,0.00,2.45,0.00,0.000,4,0.000,0.048,2408,464,3375,0,0,0,0,0,0
$GC,3441,-1.44,-77.9,335.1,-8.0,272,3447,0.00,2.30,0.00,0.000,6,0.000,0.025,2408,1878,3375,0,0,0,0,0,0
$GC,3773,-1.49,-77.9,359.0,-7.2,281,3777,0.00,2.42,0.00,0.000,4,0.000,0.049,2408,470,3373,0,0,0,0,0,0
$GC,3861,-1.49,-77.9,365.6,-7.6,283,3866,0.00,2.30,0.00,0.000,6,0.000,0.025,2408,1880,3373,0,0,0,0,0,0
$GC,4189,-1.56,-77.9,388.8,-7.4,291,4194,0.15,2.47,0.00,0.000,4,0.061,0.052,2363,464,3371,0,0,0,0,0,0
$GC,4273,-1.49,-77.9,397.3,-10.9,292,4280,0.12,2.30,0.00,0.000,6,0.103,0.027,2389,1869,3370,0,0,0,0,0,0
$GC,4604,-1.49,-77.9,427.6,-9.2,301,4608,0.00,2.45,0.00,0.000,4,0.000,0.053,2389,472,3368,0,0,0,0,0,0
$GC,4693,-1.49,-77.9,436.6,-10.5,303,4697,0.00,2.33,0.00,0.000,6,0.000,0.028,2389,1875,3368,0,0,0,0,0,0
$STATE,4855,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4855,begin apogee
$GC,4860,-0.31,0.0,451.1,8.7,307,4929,1.20,0.00,65.22,0.877,6,0.074,0.000,2646,2034,3050,0,0,0,0,0,0
$STATE,4930,end apogee,CONTROL_FINISHED_OK
$STATE,4930,begin climb
$GC,4932,1.40,77.9,451.7,0.0,308,5007,1.62,2.45,65.10,0.854,4,0.032,0.044,3026,3387,2732,0,0,0,0,0,0
$GC,5271,1.20,107.2,438.1,6.0,315,5304,0.25,2.38,25.30,0.832,6,0.114,0.037,2980,2002,2612,0,0,0,0,0,0
$GC,5623,1.13,135.5,415.7,6.1,324,5650,0.00,0.00,24.77,0.831,6,0.000,0.000,2980,2002,2497,0,0,0,0,0,0
$GC,5948,1.04,140.0,391.3,7.7,332,5955,0.20,0.00,4.72,0.594,6,0.110,0.000,2943,2002,2479,0,0,0,0,0,0
$GC,6272,1.05,155.6,368.2,7.0,340,6293,0.00,2.55,14.80,0.793,4,0.000,0.054,2942,607,2414,0,0,0,0,0,0
$GC,6331,0.99,155.6,363.5,8.4,341,6335,0.00,2.35,0.00,0.000,6,0.000,0.031,2943,1991,2412,0,0,0,0,0,0
$GC,6644,0.99,161.2,338.8,7.6,349,6656,0.00,2.53,5.97,0.654,4,0.000,0.053,2943,604,2391,0,0,0,0,0,0
$GC,6746,0.95,161.2,329.8,10.0,351,6751,0.12,2.38,0.00,0.000,6,0.123,0.031,2921,2009,2389,0,0,0,0,0,0
$GC,7065,1.05,183.7,308.9,6.5,359,7093,0.00,2.53,20.70,0.786,4,0.000,0.051,2921,604,2300,0,0,0,0,0,0
$GC,7121,1.05,183.7,304.3,9.1,360,7125,0.00,2.40,0.00,0.000,6,0.000,0.030,2921,2011,2296,0,0,0,0,0,0
$GC,7438,1.14,183.7,279.1,8.5,374,7443,0.17,2.40,0.00,0.000,4,0.064,0.038,2963,3413,2296,0,0,0,0,0,0
$GC,7474,1.14,183.7,275.6,9.7,375,7480,0.00,2.40,0.00,0.000,6,0.000,0.035,2964,2010,2295,0,0,0,0,0,0
$GC,7791,1.14,183.7,246.2,8.4,391,7796,0.00,2.47,0.00,0.000,4,0.000,0.050,2963,593,2294,0,0,0,0,0,0
$GC,7870,1.07,183.7,238.9,8.6,394,7874,0.00,2.38,0.00,0.000,6,0.000,0.028,2963,2015,2291,0,0,0,0,0,0
$GC,8186,1.07,183.7,210.8,10.2,409,8191,0.00,2.45,0.00,0.000,4,0.000,0.048,2963,602,2292,0,0,0,0,0,0
$GC,8305,1.03,183.7,197.7,10.8,415,8310,0.12,2.33,0.00,0.000,6,0.119,0.027,2941,2015,2290,0,0,0,0,0,0
$GC,8571,1.13,201.2,176.4,6.8,440,8593,0.00,2.55,15.38,0.665,4,0.000,0.047,2941,602,2228,0,0,0,0,0,0
$GC,8698,1.14,208.5,166.3,7.5,454,8712,0.00,2.35,7.43,0.580,6,0.000,0.025,2941,2023,2200,0,0,0,0,0,0
$GC,8973,1.27,233.9,148.1,6.3,480,9003,0.22,2.58,23.98,0.648,4,0.054,0.046,2998,602,2095,0,0,0,0,0,0
$GC,9128,1.21,233.9,133.5,9.8,496,9135,0.08,2.35,0.00,0.000,6,0.088,0.024,2981,2008,2090,0,0,0,0,0,0
$GC,9392,1.26,233.9,109.3,10.6,521,9396,0.00,2.42,0.00,0.000,4,0.000,0.044,2981,600,2090,0,0,0,0,0,0
$GC,9419,1.26,233.9,105.8,11.6,523,9425,0.00,2.33,0.00,0.000,6,0.000,0.023,2981,2018,2089,0,0,0,0,0,0
$GC,9681,1.32,233.9,83.1,8.3,548,9686,0.10,2.45,0.00,0.000,4,0.077,0.044,3013,601,2089,0,0,0,0,0,0
$GC,9814,1.29,250.5,72.0,6.9,562,9836,0.00,2.28,15.00,0.556,6,0.000,0.022,3013,2018,2028,0,0,0,0,0,0
$GC,10090,1.31,264.4,53.9,7.1,588,10111,0.00,2.33,13.45,0.530,4,0.000,0.028,3013,3384,1971,0,0,0,0,0,0
$GC,10159,1.37,264.7,48.6,8.0,595,10163,0.00,2.33,0.00,0.000,6,0.000,0.029,3013,2006,1971,0,0,0,0,0,0
$GC,10425,1.37,264.7,22.4,10.4,625,10430,0.00,2.40,0.00,0.000,4,0.000,0.042,3013,603,1971,0,0,0,0,0,0
$GC,10566,1.32,264.7,7.1,11.4,656,10572,0.00,2.30,0.00,0.000,6,0.000,0.021,3013,1999,1968,0,0,0,0,0,0
$STATE,10605,end climb,SURFACE_DEPTH_REACHED
$STATE,10606,begin surface coast
$FINISH,0.5,1.014946
$STATE,10633,end surface coast,CONTROL_FINISHED_OK
$STATE,10633,begin surface
$SM_CCo,10654,18.27,0.495,0,0,1827,300.00
$SM_GC,1.69,0.00,0.00,18.27,0.000,0.000,0.495,427,1862,1827,-10.52,-0.37,300.00
$IRIDIUM_FIX,2059.45,-15745.74,250899,111146
$TT8_MAMPS,0.029146
$HUMID,47.79
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.4,36.433
$10V_AH,10.0,34.506
$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,28.900,129.000,301.825,18.275,0.000,30.464,28.406,132.957,4.500,0.000,34.910,1302.339,6878.606,387.785,2013.379,409.192,33.369,1268.845,0.000,1969.778,0.000,29.238,0.000
$DEVICE_MAMPS,134.225,55.224,877.448,494.715,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,450.676,426.309,842.825,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,38075,668
$CAP_FILE_SIZE,125713,0
$CFSIZE,260165632,234795008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310510,165557,2106.078,-15750.260,91,9.7,110,9.8