version: 66.06
glider: 139
mission: 7
dive: 413
start: 5 31 110 19 58 26
data:
$ID,139
$MISSION,7
$DIVE,413
$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,-2135600.8
$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
$GPS1,195124,2106.243,-15750.260,106,1.8,106,9.8
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,1
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-71.8
$GPS2,195735,2106.281,-15750.251,21,2.1,40,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.178,0.047
$KALMAN_X,-91431.7,-296.1,-440.4,100255.9,-1013.3
$KALMAN_Y,27115.9,-55.5,204.7,-28429.9,-595.4
$MHEAD_RNG_PITCHd_Wd,65.4,12699,-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,12,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,-52.65,0.000,2,0.000,0.000,427,1864,3188,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.1,-4.3,10,94,10.52,2.42,-3.60,0.000,4,0.133,0.053,2399,472,3370,0,0,0,0,0,0
$GC,131,-1.16,-77.9,19.3,-20.1,22,139,0.25,2.35,0.00,0.000,6,0.084,0.020,2453,1909,3371,0,0,0,0,0,0
$GC,341,-1.12,-77.9,47.4,-13.9,48,346,0.00,2.47,0.00,0.000,4,0.000,0.044,2454,469,3372,0,0,0,0,0,0
$GC,402,-1.03,-77.9,56.7,-16.4,54,406,0.17,2.28,0.00,0.000,6,0.094,0.019,2490,1883,3372,0,0,0,0,0,0
$GC,664,-1.12,-77.9,88.1,-8.9,78,668,0.00,2.45,0.00,0.000,4,0.000,0.043,2490,463,3374,0,0,0,0,0,0
$GC,790,-1.21,-77.9,99.3,-8.5,91,795,0.17,2.25,0.00,0.000,6,0.050,0.019,2435,1889,3374,0,0,0,0,0,0
$GC,1056,-1.21,-77.9,130.1,-12.2,116,1060,0.00,2.42,0.00,0.000,4,0.000,0.043,2436,465,3375,0,0,0,0,0,0
$GC,1080,-1.16,-77.9,133.0,-12.4,118,1084,0.12,2.22,0.00,0.000,6,0.098,0.019,2461,1878,3375,0,0,0,0,0,0
$GC,1340,-1.24,-77.9,158.1,-8.3,142,1344,0.00,2.42,0.00,0.000,4,0.000,0.042,2461,465,3375,0,0,0,0,0,0
$GC,1392,-1.32,-77.9,162.5,-8.3,147,1397,0.15,2.22,0.00,0.000,6,0.055,0.020,2411,1875,3376,0,0,0,0,0,0
$GC,1654,-1.32,-77.9,187.2,-9.0,171,1655,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1880,3376,0,0,0,0,0,0
$GC,1905,-1.32,-77.9,212.4,-10.0,189,1909,0.00,2.42,0.00,0.000,4,0.000,0.043,2410,460,3376,0,0,0,0,0,0
$GC,1928,-1.32,-77.9,215.1,-10.7,190,1932,0.00,2.25,0.00,0.000,6,0.000,0.021,2410,1880,3377,0,0,0,0,0,0
$GC,2254,-1.36,-77.9,248.8,-9.4,206,2258,0.00,2.40,0.00,0.000,4,0.000,0.044,2411,469,3377,0,0,0,0,0,0
$GC,2336,-1.36,-77.9,256.7,-9.7,209,2341,0.00,2.22,0.00,0.000,6,0.000,0.021,2411,1871,3377,0,0,0,0,0,0
$GC,2653,-1.40,-77.9,285.5,-9.9,225,2654,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1877,3377,0,0,0,0,0,0
$GC,2978,-1.45,-77.9,315.2,-8.5,237,2983,0.00,2.42,0.00,0.000,4,0.000,0.047,2411,468,3376,0,0,0,0,0,0
$GC,3090,-1.45,-77.9,325.9,-9.8,239,3094,0.00,2.25,0.00,0.000,6,0.000,0.024,2411,1870,3375,0,0,0,0,0,0
$GC,3435,-1.50,-77.9,359.0,-9.6,248,3440,0.10,2.42,0.00,0.000,4,0.076,0.050,2377,471,3374,0,0,0,0,0,0
$GC,3530,-1.45,-77.9,369.8,-10.7,250,3535,0.10,2.28,0.00,0.000,6,0.110,0.025,2397,1873,3373,0,0,0,0,0,0
$GC,3854,-1.48,-77.9,396.2,-7.6,258,3859,0.00,2.45,0.00,0.000,4,0.000,0.051,2397,464,3371,0,0,0,0,0,0
$GC,3949,-1.48,-77.9,403.4,-7.1,260,3953,0.00,2.30,0.00,0.000,6,0.000,0.027,2397,1881,3370,0,0,0,0,0,0
$GC,4271,-1.52,-77.9,428.0,-8.0,268,4275,0.00,2.47,0.00,0.000,4,0.000,0.053,2398,469,3368,0,0,0,0,0,0
$GC,4350,-1.52,-77.9,435.6,-10.0,269,4354,0.00,2.30,0.00,0.000,6,0.000,0.028,2397,1873,3368,0,0,0,0,0,0
$STATE,4516,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4516,begin apogee
$GC,4521,-0.31,0.0,451.5,9.5,273,4590,1.15,0.00,65.10,0.874,6,0.071,0.000,2644,2036,3050,0,0,0,0,0,0
$STATE,4591,end apogee,CONTROL_FINISHED_OK
$STATE,4591,begin climb
$GC,4593,1.40,77.9,452.9,0.0,274,4668,1.62,2.42,65.25,0.854,4,0.032,0.043,3025,3384,2732,0,0,0,0,0,0
$GC,4933,1.21,113.0,445.8,5.6,281,4970,0.25,2.35,30.15,0.841,6,0.110,0.036,2979,2008,2588,0,0,0,0,0,0
$GC,5284,1.11,123.1,421.8,7.3,290,5301,0.12,2.50,9.32,0.749,4,0.127,0.051,2958,605,2547,0,0,0,0,0,0
$GC,5393,0.99,123.1,413.0,9.0,292,5398,0.15,2.33,0.00,0.000,6,0.123,0.029,2932,1989,2545,0,0,0,0,0,0
$GC,5743,1.01,140.4,388.0,6.8,301,5764,0.00,2.50,15.68,0.806,4,0.000,0.051,2932,605,2477,0,0,0,0,0,0
$GC,5949,0.97,140.4,371.7,8.5,305,5953,0.00,2.38,0.00,0.000,6,0.000,0.030,2932,2014,2473,0,0,0,0,0,0
$GC,6289,0.97,140.4,344.4,8.4,314,6293,0.00,2.40,0.00,0.000,4,0.000,0.041,2932,3411,2472,0,0,0,0,0,0
$GC,6317,1.00,140.4,341.9,8.6,314,6321,0.00,2.42,0.00,0.000,6,0.000,0.037,2933,2004,2472,0,0,0,0,0,0
$GC,6652,1.02,156.9,317.3,6.9,323,6669,0.00,0.00,14.73,0.769,6,0.000,0.000,2933,2004,2410,0,0,0,0,0,0
$GC,6959,1.10,185.1,297.9,6.1,331,6991,0.00,2.55,25.77,0.781,4,0.000,0.052,2933,607,2294,0,0,0,0,0,0
$GC,7105,1.10,185.1,285.8,8.7,337,7109,0.00,2.35,0.00,0.000,6,0.000,0.028,2932,2015,2289,0,0,0,0,0,0
$GC,7421,1.17,185.1,261.3,8.2,352,7423,0.15,0.00,0.00,0.000,6,0.071,0.000,2970,2019,2288,0,0,0,0,0,0
$GC,7731,1.18,192.3,236.3,7.5,367,7743,0.00,2.55,6.38,0.607,4,0.000,0.050,2970,599,2266,0,0,0,0,0,0
$GC,7863,1.13,192.3,224.5,9.1,372,7869,0.00,2.38,0.00,0.000,6,0.000,0.028,2970,2011,2263,0,0,0,0,0,0
$GC,8177,1.13,192.3,198.9,8.7,388,8181,0.00,2.45,0.00,0.000,4,0.000,0.047,2970,594,2263,0,0,0,0,0,0
$GC,8313,1.08,192.3,185.9,10.0,402,8320,0.08,2.38,0.00,0.000,6,0.103,0.027,2954,2012,2261,0,0,0,0,0,0
$GC,8575,1.16,217.5,167.2,6.3,427,8604,0.00,2.50,23.58,0.664,4,0.000,0.044,2954,595,2162,0,0,0,0,0,0
$GC,8637,1.16,220.5,162.7,7.8,433,8643,0.00,2.35,0.00,0.000,6,0.000,0.025,2953,2016,2159,0,0,0,0,0,0
$GC,8899,1.24,220.5,142.3,8.2,458,8904,0.15,2.35,0.00,0.000,4,0.063,0.031,2994,3408,2158,0,0,0,0,0,0
$GC,8934,1.24,220.5,139.2,9.6,461,8938,0.00,2.35,0.00,0.000,6,0.000,0.030,2995,2005,2158,0,0,0,0,0,0
$GC,9197,1.24,220.5,116.1,8.2,485,9201,0.00,2.40,0.00,0.000,4,0.000,0.044,2995,604,2157,0,0,0,0,0,0
$GC,9279,1.19,220.5,107.6,10.6,493,9285,0.12,2.30,0.00,0.000,6,0.110,0.022,2972,2014,2155,0,0,0,0,0,0
$GC,9540,1.24,220.5,83.4,9.7,518,9541,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2019,2155,0,0,0,0,0,0
$GC,9796,1.29,220.5,60.3,8.1,542,9801,0.10,2.45,0.00,0.000,4,0.077,0.042,3004,599,2156,0,0,0,0,0,0
$GC,9962,1.25,220.5,44.5,9.2,560,9966,0.00,2.28,0.00,0.000,6,0.000,0.021,3004,2025,2156,0,0,0,0,0,0
$GC,10231,1.27,231.2,26.1,7.3,589,10254,0.00,2.50,12.62,0.506,4,0.000,0.041,3004,604,2106,0,0,0,0,0,0
$GC,10366,1.20,231.2,13.9,10.1,617,10373,0.15,2.28,0.00,0.000,6,0.097,0.021,2975,2009,2104,0,0,0,0,0,0
$STATE,10511,end climb,SURFACE_DEPTH_REACHED
$STATE,10511,begin surface coast
$FINISH,0.5,1.003788
$STATE,10549,end surface coast,CONTROL_FINISHED_OK
$STATE,10549,begin surface
$SM_CCo,10570,37.08,0.512,0,0,1826,300.00
$SM_GC,1.17,0.00,0.00,37.08,0.000,0.000,0.512,420,1867,1826,-10.55,-0.23,300.00
$IRIDIUM_FIX,2057.14,-15751.76,250899,171723
$TT8_MAMPS,0.029146
$HUMID,48.34
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.4,36.596
$10V_AH,10.0,34.668
$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,26.550,109.850,268.575,37.075,0.000,31.101,28.859,178.368,4.500,0.000,41.803,1265.792,6904.542,373.003,1992.551,442.504,33.367,1220.754,0.000,1938.504,0.000,29.261,0.000
$DEVICE_MAMPS,132.691,56.758,874.380,511.589,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,438.822,415.217,807.570,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,38048,650
$CAP_FILE_SIZE,119945,0
$CFSIZE,260165632,234676224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3
$GPS,310510,225650,2106.302,-15749.464,61,1.6,61,9.8