version: 66.06
glider: 139
mission: 7
dive: 430
start: 6 2 110 23 40 24
data:
$ID,139
$MISSION,7
$DIVE,430
$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,-2137174
$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
$GPS1,233202,2107.334,-15750.521,22,1.5,22,9.8
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-70.4
$GPS2,233932,2107.384,-15750.525,11,1.4,11,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.171,0.068
$KALMAN_X,-126485.1,212.3,315.0,133571.0,-1894.5
$KALMAN_Y,20098.2,-34.3,308.2,-19493.2,-771.7
$MHEAD_RNG_PITCHd_Wd,58.4,13462,-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,-53.05,0.000,2,0.000,0.000,423,1864,3218,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.6,-6.0,10,96,10.60,2.42,-2.90,0.000,4,0.133,0.052,2402,468,3371,0,0,0,0,0,0
$GC,103,-0.25,-77.9,14.2,-32.4,15,110,1.27,2.33,0.00,0.000,6,0.091,0.020,2659,1918,3371,0,0,0,0,0,0
$GC,309,-0.94,-77.9,27.9,-7.6,52,316,0.65,2.53,0.00,0.000,4,0.051,0.039,2505,467,3373,0,0,0,0,0,0
$GC,336,-1.22,-77.9,30.5,-9.2,56,343,0.20,2.28,0.00,0.000,6,0.028,0.019,2436,1888,3373,0,0,0,0,0,0
$GC,599,-1.15,-77.9,68.0,-13.7,81,604,0.15,2.22,0.00,0.000,4,0.094,0.025,2468,3250,3374,0,0,0,0,0,0
$GC,660,-1.30,-77.9,74.4,-9.4,87,665,0.15,2.30,0.00,0.000,6,0.057,0.028,2414,1864,3374,0,0,0,0,0,0
$GC,923,-1.26,-77.9,104.2,-11.7,111,927,0.00,2.38,0.00,0.000,4,0.000,0.043,2420,471,3375,0,0,0,0,0,0
$GC,1021,-1.22,-77.9,116.3,-11.5,121,1026,0.12,2.22,0.00,0.000,6,0.099,0.019,2445,1869,3376,0,0,0,0,0,0
$GC,1283,-1.30,-77.9,141.7,-9.6,145,1287,0.00,2.40,0.00,0.000,4,0.000,0.043,2445,470,3376,0,0,0,0,0,0
$GC,1315,-1.30,-77.9,144.6,-9.2,148,1319,0.00,2.25,0.00,0.000,6,0.000,0.020,2445,1877,3377,0,0,0,0,0,0
$GC,1578,-1.37,-77.9,165.5,-7.9,172,1583,0.12,2.42,0.00,0.000,4,0.063,0.044,2402,473,3377,0,0,0,0,0,0
$GC,1651,-1.28,-77.9,173.5,-11.8,179,1657,0.15,2.25,0.00,0.000,6,0.094,0.020,2434,1883,3377,0,0,0,0,0,0
$GC,1914,-1.32,-77.9,201.1,-11.9,204,1918,0.00,2.42,0.00,0.000,4,0.000,0.043,2434,466,3377,0,0,0,0,0,0
$GC,1973,-1.32,-77.9,209.3,-13.3,206,1980,0.00,2.28,0.00,0.000,6,0.000,0.021,2434,1872,3377,0,0,0,0,0,0
$GC,2290,-1.40,-77.9,240.4,-8.0,222,2295,0.10,2.40,0.00,0.000,4,0.074,0.044,2397,472,3377,0,0,0,0,0,0
$GC,2311,-1.40,-77.9,242.3,-8.6,223,2315,0.00,2.25,0.00,0.000,6,0.000,0.021,2396,1878,3377,0,0,0,0,0,0
$GC,2641,-1.40,-77.9,267.2,-6.1,239,2645,0.00,2.40,0.00,0.000,4,0.000,0.044,2397,468,3377,0,0,0,0,0,0
$GC,2719,-1.40,-77.9,273.5,-8.9,242,2723,0.00,2.25,0.00,0.000,6,0.000,0.021,2395,1871,3377,0,0,0,0,0,0
$GC,3033,-1.40,-77.9,305.1,-11.3,256,3037,0.00,2.40,0.00,0.000,4,0.000,0.047,2397,470,3376,0,0,0,0,0,0
$GC,3093,-1.40,-77.9,313.0,-12.7,257,3098,0.00,2.28,0.00,0.000,6,0.000,0.023,2397,1876,3376,0,0,0,0,0,0
$GC,3443,-1.43,-77.9,348.0,-9.3,266,3447,0.00,2.42,0.00,0.000,4,0.000,0.048,2396,474,3375,0,0,0,0,0,0
$GC,3590,-1.43,-77.9,362.4,-9.8,269,3594,0.00,2.28,0.00,0.000,6,0.000,0.025,2397,1869,3374,0,0,0,0,0,0
$GC,3903,-1.48,-77.9,388.8,-8.5,277,3907,0.00,2.42,0.00,0.000,4,0.000,0.051,2396,467,3372,0,0,0,0,0,0
$GC,3986,-1.48,-77.9,396.7,-9.3,278,3992,0.00,2.30,0.00,0.000,6,0.000,0.026,2397,1876,3372,0,0,0,0,0,0
$GC,4317,-1.52,-77.9,427.1,-9.6,287,4321,0.00,2.42,0.00,0.000,4,0.000,0.051,2397,475,3369,0,0,0,0,0,0
$GC,4381,-1.52,-77.9,433.7,-10.7,288,4386,0.00,2.30,0.00,0.000,6,0.000,0.028,2397,1873,3369,0,0,0,0,0,0
$STATE,4602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4602,begin apogee
$GC,4608,-0.31,0.0,451.4,7.7,294,4677,1.15,0.00,65.15,0.872,6,0.074,0.000,2642,2030,3050,0,0,0,0,0,0
$STATE,4677,end apogee,CONTROL_FINISHED_OK
$STATE,4678,begin climb
$GC,4680,1.40,77.9,451.9,0.0,295,4755,1.65,2.42,65.05,0.852,4,0.033,0.043,3013,3377,2731,0,0,0,0,0,0
$GC,4959,1.19,98.9,440.8,6.6,301,4984,0.28,2.35,18.70,0.810,6,0.112,0.036,2977,2012,2645,0,0,0,0,0,0
$GC,5322,1.12,129.0,417.4,6.0,310,5354,0.00,2.58,25.60,0.830,4,0.000,0.051,2973,602,2523,0,0,0,0,0,0
$GC,5378,0.95,134.9,413.5,7.6,311,5391,0.30,2.35,6.40,0.666,6,0.112,0.029,2922,1998,2500,0,0,0,0,0,0
$GC,5738,1.01,159.7,390.1,6.3,320,5762,0.00,0.00,22.60,0.819,6,0.000,0.000,2922,1998,2399,0,0,0,0,0,0
$GC,6061,1.07,171.3,367.9,7.2,328,6078,0.12,2.55,11.10,0.757,4,0.077,0.053,2951,602,2351,0,0,0,0,0,0
$GC,6246,1.00,171.3,347.3,11.4,332,6250,0.00,2.38,0.00,0.000,6,0.000,0.030,2953,2009,2346,0,0,0,0,0,0
$GC,6573,1.00,171.3,314.7,9.3,340,6577,0.00,2.45,0.00,0.000,4,0.000,0.051,2952,606,2345,0,0,0,0,0,0
$GC,6670,0.94,171.3,305.3,9.1,342,6675,0.17,2.38,0.00,0.000,6,0.115,0.030,2922,2018,2343,0,0,0,0,0,0
$GC,6995,1.06,212.9,285.4,5.2,355,7039,0.10,2.55,37.00,0.783,4,0.088,0.051,2946,604,2181,0,0,0,0,0,0
$GC,7183,1.06,212.9,267.8,11.0,363,7187,0.00,2.38,0.00,0.000,6,0.000,0.028,2946,2015,2174,0,0,0,0,0,0
$GC,7509,1.13,218.2,241.0,7.7,379,7521,0.00,2.50,4.90,0.548,4,0.000,0.049,2946,606,2159,0,0,0,0,0,0
$GC,7760,1.17,218.2,214.9,11.6,390,7764,0.00,2.35,0.00,0.000,6,0.000,0.028,2946,2016,2155,0,0,0,0,0,0
$GC,8085,1.25,218.2,181.9,10.4,414,8090,0.17,2.47,0.00,0.000,4,0.062,0.048,2991,601,2155,0,0,0,0,0,0
$GC,8194,1.16,218.2,169.4,11.4,425,8200,0.12,2.33,0.00,0.000,6,0.115,0.026,2969,2019,2154,0,0,0,0,0,0
$GC,8456,1.19,239.5,149.2,6.6,449,8484,0.00,2.55,19.75,0.646,4,0.000,0.046,2969,603,2072,0,0,0,0,0,0
$GC,8569,1.19,239.5,138.7,9.6,461,8575,0.00,2.35,0.00,0.000,6,0.000,0.025,2969,2022,2069,0,0,0,0,0,0
$GC,8831,1.25,239.5,113.7,10.1,486,8832,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2026,2069,0,0,0,0,0,0
$GC,9085,1.33,239.5,90.5,8.1,510,9090,0.15,2.47,0.00,0.000,4,0.062,0.044,3010,601,2069,0,0,0,0,0,0
$GC,9212,1.27,239.5,78.7,8.9,523,9219,0.00,2.33,0.00,0.000,6,0.000,0.023,3010,2015,2067,0,0,0,0,0,0
$GC,9474,1.27,239.5,57.6,8.5,548,9478,0.00,2.40,0.00,0.000,4,0.000,0.042,3011,601,2067,0,0,0,0,0,0
$GC,9490,1.27,239.5,56.1,9.0,549,9494,0.00,2.30,0.00,0.000,6,0.000,0.022,3011,2023,2067,0,0,0,0,0,0
$GC,9755,1.29,253.6,34.8,7.1,573,9776,0.00,2.50,13.07,0.518,4,0.000,0.042,3010,601,2016,0,0,0,0,0,0
$GC,9831,1.29,253.6,28.1,9.3,583,9837,0.00,2.28,0.00,0.000,6,0.000,0.021,3011,2016,2013,0,0,0,0,0,0
$GC,10036,1.34,263.6,12.6,7.3,620,10054,0.00,2.33,10.40,0.481,4,0.000,0.028,3011,3391,1974,0,0,0,0,0,0
$GC,10120,1.41,263.6,4.8,10.2,637,10126,0.00,2.33,0.00,0.000,6,0.000,0.028,3010,2006,1973,0,0,0,0,0,0
$STATE,10135,end climb,SURFACE_DEPTH_REACHED
$STATE,10135,begin surface coast
$FINISH,0.5,1.022909
$STATE,10170,end surface coast,CONTROL_FINISHED_OK
$STATE,10170,begin surface
$SM_CCo,10190,19.58,0.498,0,0,1826,300.00
$SM_GC,1.04,0.00,0.00,19.58,0.000,0.000,0.498,431,1868,1826,-10.50,-0.23,300.00
$IRIDIUM_FIX,2059.45,-15751.76,270899,232331
$TT8_MAMPS,0.029146
$HUMID,49.01
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.4,38.039
$10V_AH,10.0,36.085
$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,28.925,119.075,299.725,19.575,0.000,53.269,80.820,153.716,4.500,0.000,12.127,1273.438,6511.419,384.154,1991.864,500.452,33.374,1260.555,0.000,1971.894,0.000,30.904,0.000
$DEVICE_MAMPS,133.458,60.593,872.079,497.783,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,435.600,415.593,807.852,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,35021,646
$CAP_FILE_SIZE,122738,0
$CFSIZE,260165632,233672704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030610,023232,2107.409,-15750.226,82,1.9,82,9.8