version: 66.06
glider: 139
mission: 7
dive: 434
start: 6 3 110 11 54 26
data:
$ID,139
$MISSION,7
$DIVE,434
$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,-2137342.8
$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
$GPS1,114820,2107.405,-15750.606,126,2.3,145,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-71.6
$GPS2,115335,2107.408,-15750.632,12,3.2,31,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.174,0.060
$KALMAN_X,-134245.3,4.7,209.9,141460.8,-2106.5
$KALMAN_Y,18406.7,-23.1,265.5,-17726.0,-635.0
$MHEAD_RNG_PITCHd_Wd,61.3,13651,-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,-77.9,0.0,0.0,0,67,0.00,0.00,-49.10,0.000,2,0.000,0.000,425,1861,3122,0,0,0,0,0,0
$GC,69,-1.40,-77.9,3.1,-5.0,9,92,10.57,0.00,-4.95,0.000,6,0.132,0.000,2407,1862,3371,0,0,0,0,0,0
$GC,289,-1.26,-77.9,44.6,-14.3,40,294,0.15,2.40,0.00,0.000,4,0.102,0.043,2437,463,3373,0,0,0,0,0,0
$GC,306,-1.11,-77.9,47.0,-14.3,41,311,0.17,2.33,0.00,0.000,6,0.097,0.020,2472,1925,3372,0,0,0,0,0,0
$GC,571,-1.15,-77.9,74.1,-10.6,65,575,0.00,2.50,0.00,0.000,4,0.000,0.044,2472,466,3373,0,0,0,0,0,0
$GC,679,-1.20,-77.9,86.3,-9.6,76,686,0.00,2.25,0.00,0.000,6,0.000,0.019,2472,1867,3374,0,0,0,0,0,0
$GC,943,-1.29,-77.9,110.4,-10.3,101,948,0.17,2.42,0.00,0.000,4,0.050,0.044,2416,469,3375,0,0,0,0,0,0
$GC,1078,-1.23,-77.9,127.7,-12.1,115,1083,0.15,2.22,0.00,0.000,6,0.092,0.019,2448,1876,3375,0,0,0,0,0,0
$GC,1340,-1.30,-77.9,153.3,-9.5,139,1344,0.00,2.42,0.00,0.000,4,0.000,0.043,2448,463,3376,0,0,0,0,0,0
$GC,1402,-1.36,-77.9,159.5,-9.8,145,1408,0.12,2.22,0.00,0.000,6,0.061,0.020,2404,1879,3376,0,0,0,0,0,0
$GC,1668,-1.36,-77.9,189.8,-11.0,170,1672,0.00,2.22,0.00,0.000,4,0.000,0.026,2404,3255,3377,0,0,0,0,0,0
$GC,1703,-1.39,-77.9,193.3,-10.4,173,1707,0.00,2.33,0.00,0.000,6,0.000,0.030,2401,1867,3377,0,0,0,0,0,0
$GC,1957,-1.39,-77.9,219.0,-8.8,188,1962,0.00,2.38,0.00,0.000,4,0.000,0.045,2404,466,3377,0,0,0,0,0,0
$GC,2049,-1.31,-77.9,227.7,-9.8,192,2054,0.12,2.25,0.00,0.000,6,0.101,0.021,2430,1884,3377,0,0,0,0,0,0
$GC,2376,-1.37,-77.9,252.7,-8.0,208,2380,0.00,2.45,0.00,0.000,4,0.000,0.045,2430,462,3377,0,0,0,0,0,0
$GC,2445,-1.40,-77.9,259.5,-9.2,211,2450,0.00,2.25,0.00,0.000,6,0.000,0.021,2429,1867,3377,0,0,0,0,0,0
$GC,2773,-1.51,-77.9,287.3,-7.9,227,2778,0.20,2.40,0.00,0.000,4,0.048,0.046,2370,473,3376,0,0,0,0,0,0
$GC,2829,-1.44,-77.9,293.6,-10.2,229,2834,0.15,2.25,0.00,0.000,6,0.094,0.022,2401,1871,3376,0,0,0,0,0,0
$GC,3164,-1.48,-77.9,321.4,-8.8,239,3168,0.00,2.40,0.00,0.000,4,0.000,0.047,2401,470,3375,0,0,0,0,0,0
$GC,3237,-1.48,-77.9,329.2,-10.7,240,3241,0.00,2.28,0.00,0.000,6,0.000,0.023,2401,1877,3375,0,0,0,0,0,0
$GC,3574,-1.53,-77.9,362.7,-10.2,249,3578,0.00,2.42,0.00,0.000,4,0.000,0.049,2400,473,3373,0,0,0,0,0,0
$GC,3656,-1.53,-77.9,371.7,-10.2,250,3660,0.00,2.28,0.00,0.000,6,0.000,0.025,2401,1879,3373,0,0,0,0,0,0
$GC,3988,-1.57,-77.9,401.0,-8.7,258,3993,0.12,2.47,0.00,0.000,4,0.067,0.051,2363,471,3371,0,0,0,0,0,0
$GC,4035,-1.50,-77.9,405.9,-11.2,259,4040,0.12,2.28,0.00,0.000,6,0.104,0.027,2388,1870,3370,0,0,0,0,0,0
$GC,4360,-1.50,-77.9,430.4,-7.5,267,4364,0.00,2.45,0.00,0.000,4,0.000,0.053,2389,474,3368,0,0,0,0,0,0
$GC,4434,-1.50,-77.9,437.2,-9.2,268,4438,0.00,2.33,0.00,0.000,6,0.000,0.028,2388,1882,3368,0,0,0,0,0,0
$STATE,4606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4606,begin apogee
$GC,4611,-0.31,0.0,451.6,8.4,273,4680,1.20,0.00,64.70,0.872,6,0.075,0.000,2644,2029,3050,0,0,0,0,0,0
$STATE,4681,end apogee,CONTROL_FINISHED_OK
$STATE,4681,begin climb
$GC,4683,1.40,77.9,452.6,0.0,274,4758,1.62,2.45,64.45,0.851,4,0.032,0.043,3007,3387,2731,0,0,0,0,0,0
$GC,4837,1.27,159.4,453.6,2.4,277,4917,0.15,2.38,69.60,0.847,6,0.120,0.036,2996,2011,2400,0,0,0,0,0,0
$GC,5231,1.15,159.4,415.4,10.7,287,5233,0.17,0.00,0.00,0.000,6,0.115,0.000,2965,2010,2390,0,0,0,0,0,0
$GC,5556,1.10,159.4,383.9,9.8,295,5560,0.00,2.47,0.00,0.000,4,0.000,0.052,2965,604,2387,0,0,0,0,0,0
$GC,5584,0.98,159.4,380.6,11.3,295,5589,0.20,2.35,0.00,0.000,6,0.114,0.030,2929,1998,2385,0,0,0,0,0,0
$GC,5920,0.98,159.4,350.2,8.3,304,5921,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2003,2384,0,0,0,0,0,0
$GC,6246,1.06,189.2,329.2,6.0,312,6278,0.00,2.50,24.45,0.791,4,0.000,0.051,2930,605,2276,0,0,0,0,0,0
$GC,6344,1.06,189.2,321.8,8.5,314,6348,0.00,2.38,0.00,0.000,6,0.000,0.030,2930,2016,2272,0,0,0,0,0,0
$GC,6662,1.12,190.8,298.1,7.9,322,6667,0.12,2.50,0.00,0.000,4,0.077,0.051,2960,602,2271,0,0,0,0,0,0
$GC,6788,1.06,190.8,284.9,11.2,327,6793,0.00,2.35,0.00,0.000,6,0.000,0.030,2960,2014,2268,0,0,0,0,0,0
$GC,7104,1.06,190.8,255.5,9.5,342,7105,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2018,2268,0,0,0,0,0,0
$GC,7414,1.06,192.7,229.9,7.9,357,7419,0.00,2.45,0.00,0.000,4,0.000,0.050,2961,604,2268,0,0,0,0,0,0
$GC,7590,1.03,192.7,214.7,8.2,364,7597,0.00,2.38,0.00,0.000,6,0.000,0.028,2960,2016,2266,0,0,0,0,0,0
$GC,7909,1.07,192.7,188.6,8.1,386,7913,0.00,2.47,0.00,0.000,4,0.000,0.047,2961,597,2266,0,0,0,0,0,0
$GC,8063,1.07,192.7,175.0,9.7,402,8069,0.00,2.38,0.00,0.000,6,0.000,0.026,2960,2017,2265,0,0,0,0,0,0
$GC,8326,1.10,192.7,153.0,8.5,427,8330,0.00,2.33,0.00,0.000,4,0.000,0.033,2959,3407,2265,0,0,0,0,0,0
$GC,8363,1.16,192.7,149.3,9.3,430,8369,0.00,2.40,0.00,0.000,6,0.000,0.031,2960,2002,2265,0,0,0,0,0,0
$GC,8627,1.22,204.4,128.7,7.2,455,8646,0.00,2.40,12.65,0.600,4,0.000,0.030,2956,3398,2216,0,0,0,0,0,0
$GC,8688,1.31,215.6,123.8,7.2,461,8706,0.17,2.35,11.48,0.583,6,0.058,0.031,3005,2010,2170,0,0,0,0,0,0
$GC,8967,1.31,215.6,99.9,9.5,488,8971,0.00,2.45,0.00,0.000,4,0.000,0.044,3006,602,2168,0,0,0,0,0,0
$GC,9002,1.22,215.6,96.6,9.4,491,9007,0.12,2.30,0.00,0.000,6,0.110,0.023,2982,2020,2165,0,0,0,0,0,0
$GC,9264,1.26,215.6,78.0,8.2,515,9268,0.00,2.45,0.00,0.000,4,0.000,0.042,2983,596,2165,0,0,0,0,0,0
$GC,9309,1.26,215.6,74.0,8.6,519,9316,0.00,2.33,0.00,0.000,6,0.000,0.022,2984,2017,2165,0,0,0,0,0,0
$GC,9573,1.31,217.9,54.0,7.9,544,9577,0.00,2.40,0.00,0.000,4,0.000,0.042,2984,604,2165,0,0,0,0,0,0
$GC,9634,1.31,217.9,48.7,8.6,550,9638,0.00,2.25,0.00,0.000,6,0.000,0.021,2984,2012,2165,0,0,0,0,0,0
$GC,9897,1.41,244.8,30.7,6.2,574,9934,0.17,2.53,26.30,0.536,4,0.054,0.041,3034,601,2049,0,0,0,0,0,0
$GC,10036,1.33,244.8,17.1,10.2,601,10042,0.15,2.28,0.00,0.000,6,0.101,0.021,3006,2008,2045,0,0,0,0,0,0
$STATE,10202,end climb,SURFACE_DEPTH_REACHED
$STATE,10202,begin surface coast
$FINISH,0.5,1.023249
$STATE,10241,end surface coast,CONTROL_FINISHED_OK
$STATE,10241,begin surface
$SM_CCo,10262,28.38,0.503,0,0,1826,300.00
$SM_GC,1.29,0.00,0.00,28.38,0.000,0.000,0.503,426,1851,1826,-10.52,-0.68,300.00
$IRIDIUM_FIX,2059.45,-15748.75,280899,080825
$TT8_MAMPS,0.029146
$HUMID,48.74
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.4,38.388
$10V_AH,10.0,36.416
$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,27.325,114.100,273.625,28.375,0.000,27.964,29.111,131.849,4.500,0.000,32.879,1231.953,6744.459,361.986,1879.298,386.002,33.379,1179.755,0.000,1842.000,0.000,29.255,0.000
$DEVICE_MAMPS,131.924,54.457,872.079,503.152,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,430.955,414.266,817.830,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,34849,638
$CAP_FILE_SIZE,116815,0
$CFSIZE,260165632,233435136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030610,144754,2107.544,-15750.375,61,3.0,80,9.8