version: 66.06
glider: 139
mission: 7
dive: 426
start: 6 2 110 11 31 8
data:
$ID,139
$MISSION,7
$DIVE,426
$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,-2136136.2
$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
$GPS1,112428,2107.069,-15750.189,88,1.3,89,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-70.4
$GPS2,113016,2107.106,-15750.221,12,2.1,31,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.167,0.076
$KALMAN_X,-117894.2,-118.6,478.5,125674.5,-2566.0
$KALMAN_Y,21126.4,59.1,312.3,-21134.6,-723.9
$MHEAD_RNG_PITCHd_Wd,55.7,12842,-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,-53.12,0.000,2,0.000,0.000,427,1854,3235,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.9,-6.9,10,91,10.62,0.00,-2.55,0.000,6,0.135,0.000,2404,1854,3368,0,0,0,0,0,0
$GC,289,-1.24,-77.9,47.0,-15.0,39,294,0.20,2.40,0.00,0.000,4,0.099,0.024,2443,3299,3370,0,0,0,0,0,0
$GC,358,-1.32,-77.9,56.6,-12.8,46,362,0.00,2.40,0.00,0.000,6,0.000,0.030,2442,1874,3371,0,0,0,0,0,0
$GC,625,-1.32,-77.9,85.5,-10.4,71,629,0.00,2.42,0.00,0.000,4,0.000,0.044,2444,462,3372,0,0,0,0,0,0
$GC,697,-1.32,-77.9,93.7,-10.9,78,704,0.00,2.35,0.00,0.000,6,0.000,0.020,2443,1910,3372,0,0,0,0,0,0
$GC,960,-1.32,-77.9,119.8,-10.1,103,967,0.00,2.45,0.00,0.000,4,0.000,0.044,2444,468,3373,0,0,0,0,0,0
$GC,1057,-1.32,-77.9,130.9,-10.2,113,1063,0.00,2.25,0.00,0.000,6,0.000,0.019,2444,1880,3373,0,0,0,0,0,0
$GC,1320,-1.36,-77.9,151.9,-10.2,138,1324,0.10,2.45,0.00,0.000,4,0.073,0.044,2407,462,3373,0,0,0,0,0,0
$GC,1379,-1.26,-77.9,159.7,-13.1,144,1389,0.10,2.28,0.00,0.000,6,0.074,0.020,2433,1874,3374,0,0,0,0,0,0
$GC,1641,-1.30,-77.9,186.7,-9.2,169,1646,0.00,2.40,0.00,0.000,4,0.000,0.043,2433,462,3374,0,0,0,0,0,0
$GC,1711,-1.34,-77.9,194.0,-10.3,176,1715,0.00,2.28,0.00,0.000,6,0.000,0.020,2433,1879,3375,0,0,0,0,0,0
$GC,1968,-1.38,-77.9,219.6,-9.8,191,1973,0.00,2.40,0.00,0.000,4,0.000,0.044,2433,468,3375,0,0,0,0,0,0
$GC,2005,-1.38,-77.9,223.5,-8.7,192,2009,0.00,2.28,0.00,0.000,6,0.000,0.021,2433,1886,3375,0,0,0,0,0,0
$GC,2323,-1.46,-77.9,246.4,-7.4,207,2325,0.17,0.00,0.00,0.000,6,0.052,0.000,2381,1891,3375,0,0,0,0,0,0
$GC,2632,-1.46,-77.9,281.2,-10.5,222,2636,0.00,2.42,0.00,0.000,4,0.000,0.044,2381,466,3375,0,0,0,0,0,0
$GC,2720,-1.41,-77.9,290.4,-9.6,226,2725,0.12,2.28,0.00,0.000,6,0.100,0.022,2407,1874,3375,0,0,0,0,0,0
$GC,3049,-1.46,-77.9,317.9,-7.7,237,3053,0.00,2.42,0.00,0.000,4,0.000,0.047,2407,470,3374,0,0,0,0,0,0
$GC,3165,-1.46,-77.9,328.6,-9.2,239,3170,0.00,2.25,0.00,0.000,6,0.000,0.024,2407,1879,3374,0,0,0,0,0,0
$GC,3505,-1.52,-77.9,359.1,-9.7,248,3510,0.10,2.45,0.00,0.000,4,0.077,0.050,2374,468,3372,0,0,0,0,0,0
$GC,3597,-1.46,-77.9,370.6,-13.5,250,3601,0.00,2.28,0.00,0.000,6,0.000,0.025,2375,1872,3372,0,0,0,0,0,0
$GC,3928,-1.46,-77.9,408.8,-11.2,258,3933,0.10,2.47,0.00,0.000,4,0.112,0.051,2394,466,3370,0,0,0,0,0,0
$GC,3951,-1.46,-77.9,411.4,-10.4,258,3956,0.00,2.33,0.00,0.000,6,0.000,0.027,2395,1878,3369,0,0,0,0,0,0
$GC,4292,-1.50,-77.9,438.8,-7.7,267,4297,0.00,2.45,0.00,0.000,4,0.000,0.053,2396,471,3367,0,0,0,0,0,0
$GC,4317,-1.50,-77.9,441.0,-8.8,267,4321,0.00,2.33,0.00,0.000,6,0.000,0.028,2394,1877,3367,0,0,0,0,0,0
$STATE,4451,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4451,begin apogee
$GC,4457,-0.31,0.0,453.5,9.1,271,4525,1.17,0.00,64.62,0.877,6,0.073,0.000,2647,2038,3050,0,0,0,0,0,0
$STATE,4526,end apogee,CONTROL_FINISHED_OK
$STATE,4526,begin climb
$GC,4528,1.40,77.9,454.6,0.0,272,4603,1.62,2.42,64.70,0.855,4,0.031,0.044,3024,3383,2732,0,0,0,0,0,0
$GC,4868,1.20,103.7,442.6,6.2,279,4897,0.28,2.38,22.55,0.826,6,0.107,0.037,2978,2009,2626,0,0,0,0,0,0
$GC,5220,1.11,116.6,417.0,7.1,288,5237,0.12,2.42,11.38,0.773,4,0.123,0.041,2954,3387,2574,0,0,0,0,0,0
$GC,5367,1.09,141.1,407.5,6.3,291,5397,0.00,2.40,22.60,0.822,6,0.000,0.037,2956,2002,2473,0,0,0,0,0,0
$GC,5722,1.05,141.1,379.8,8.2,300,5724,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2002,2467,0,0,0,0,0,0
$GC,6047,1.02,141.1,352.8,8.1,308,6052,0.00,2.45,0.00,0.000,4,0.000,0.053,2953,598,2466,0,0,0,0,0,0
$GC,6113,0.93,141.1,347.5,8.4,309,6118,0.20,2.35,0.00,0.000,6,0.113,0.031,2919,1996,2463,0,0,0,0,0,0
$GC,6458,1.00,155.0,324.0,7.1,318,6475,0.00,2.50,11.60,0.751,4,0.000,0.052,2919,598,2416,0,0,0,0,0,0
$GC,6556,1.00,157.6,316.4,7.8,320,6560,0.00,2.40,0.00,0.000,6,0.000,0.030,2919,2019,2414,0,0,0,0,0,0
$GC,6876,1.12,192.9,294.7,5.6,330,6920,0.17,2.55,34.20,0.788,4,0.066,0.051,2961,603,2262,0,0,0,0,0,0
$GC,7053,1.06,192.9,277.7,9.7,337,7058,0.00,2.38,0.00,0.000,6,0.000,0.029,2961,2011,2256,0,0,0,0,0,0
$GC,7369,1.06,195.4,252.7,7.9,353,7373,0.00,2.50,0.00,0.000,4,0.000,0.050,2961,594,2255,0,0,0,0,0,0
$GC,7495,1.03,195.4,239.9,10.2,358,7500,0.12,2.38,0.00,0.000,6,0.122,0.029,2939,2022,2253,0,0,0,0,0,0
$GC,7813,1.10,199.0,215.5,7.8,373,7825,0.00,2.38,5.20,0.549,4,0.000,0.035,2939,3408,2237,0,0,0,0,0,0
$GC,7831,1.17,207.5,213.8,7.4,373,7848,0.12,2.40,9.68,0.647,6,0.072,0.033,2973,2002,2202,0,0,0,0,0,0
$GC,8175,1.17,207.5,179.6,10.3,399,8179,0.00,2.42,0.00,0.000,4,0.000,0.048,2972,604,2200,0,0,0,0,0,0
$GC,8281,1.13,207.5,167.7,10.6,410,8286,0.00,2.33,0.00,0.000,6,0.000,0.025,2972,2017,2197,0,0,0,0,0,0
$GC,8544,1.13,208.7,143.0,7.9,434,8548,0.00,2.47,0.00,0.000,4,0.000,0.046,2973,598,2197,0,0,0,0,0,0
$GC,8560,1.13,208.7,141.6,8.4,435,8564,0.00,2.33,0.00,0.000,6,0.000,0.025,2972,2021,2197,0,0,0,0,0,0
$GC,8823,1.18,246.1,124.8,5.5,459,8862,0.00,2.55,34.33,0.636,4,0.000,0.045,2973,599,2046,0,0,0,0,0,0
$GC,8995,1.18,246.1,109.1,11.2,478,8999,0.00,2.33,0.00,0.000,6,0.000,0.023,2973,2016,2040,0,0,0,0,0,0
$GC,9257,1.24,246.1,84.4,8.9,502,9261,0.00,2.42,0.00,0.000,4,0.000,0.044,2972,603,2040,0,0,0,0,0,0
$GC,9335,1.24,246.1,76.1,10.5,510,9339,0.00,2.28,0.00,0.000,6,0.000,0.022,2972,2011,2038,0,0,0,0,0,0
$GC,9604,1.32,246.1,52.4,9.3,535,9609,0.12,2.45,0.00,0.000,4,0.067,0.044,3010,602,2039,0,0,0,0,0,0
$GC,9763,1.27,246.1,36.5,10.0,552,9767,0.00,2.30,0.00,0.000,6,0.000,0.021,3011,2016,2038,0,0,0,0,0,0
$GC,10037,1.33,262.1,17.9,6.9,594,10058,0.00,2.33,14.30,0.507,4,0.000,0.027,3011,3401,1981,0,0,0,0,0,0
$GC,10111,1.40,262.1,11.8,8.2,609,10116,0.00,2.35,0.00,0.000,6,0.000,0.026,3009,1998,1980,0,0,0,0,0,0
$STATE,10236,end climb,SURFACE_DEPTH_REACHED
$STATE,10237,begin surface coast
$FINISH,0.4,1.023291
$STATE,10278,end surface coast,CONTROL_FINISHED_OK
$STATE,10278,begin surface
$SM_CCo,10298,20.30,0.502,0,0,1827,300.00
$SM_GC,1.18,0.00,0.00,20.30,0.000,0.000,0.502,426,1852,1827,-10.52,-0.65,300.00
$IRIDIUM_FIX,2059.45,-15753.90,270899,080838
$TT8_MAMPS,0.029146
$HUMID,48.97
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,21.30
$XPDR_PINGS,0
$24V_AH,23.4,37.711
$10V_AH,10.0,35.743
$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,26.625,114.875,295.150,20.300,0.000,25.063,26.971,167.931,4.500,0.000,32.271,1253.459,6631.196,367.160,1976.822,436.898,33.369,1231.452,0.000,1935.941,0.000,29.264,0.000
$DEVICE_MAMPS,134.992,55.224,877.448,501.618,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,431.629,411.013,797.451,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,34846,639
$CAP_FILE_SIZE,119523,0
$CFSIZE,260165632,233914368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020610,142457,2107.271,-15750.239,54,2.9,73,9.8