version: 66.06
glider: 139
mission: 7
dive: 445
start: 6 4 110 21 28 40
data:
$ID,139
$MISSION,7
$DIVE,445
$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,-2137708.8
$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
$GPS1,211526,2107.454,-15748.154,71,1.4,71,9.8
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-68.8
$GPS2,212749,2107.521,-15748.238,38,1.8,55,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.176,-0.054
$KALMAN_X,-151157.6,-260.5,-553.8,163541.2,-948.3
$KALMAN_Y,18053.9,2.6,-123.2,-16796.6,248.1
$MHEAD_RNG_PITCHd_Wd,97.1,9721,-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,16,-1.40,-77.9,0.0,0.0,0,71,0.00,0.00,-52.62,0.000,2,0.000,0.000,422,1868,3203,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.3,-4.6,10,95,10.60,2.40,-3.28,0.000,4,0.133,0.037,2405,3301,3371,0,0,0,0,0,0
$GC,115,-0.93,-77.9,15.6,-25.8,18,122,0.47,2.45,0.00,0.000,6,0.075,0.031,2512,1868,3372,0,0,0,0,0,0
$GC,320,-1.02,-77.9,38.2,-10.5,48,325,0.10,2.40,0.00,0.000,4,0.073,0.044,2479,470,3373,0,0,0,0,0,0
$GC,372,-1.02,-77.9,44.9,-12.5,53,377,0.00,2.30,0.00,0.000,6,0.000,0.019,2479,1910,3373,0,0,0,0,0,0
$GC,636,-1.08,-77.9,74.7,-10.7,77,640,0.00,2.47,0.00,0.000,4,0.000,0.042,2478,460,3374,0,0,0,0,0,0
$GC,704,-1.11,-77.9,82.4,-10.8,84,709,0.00,2.25,0.00,0.000,6,0.000,0.019,2479,1882,3374,0,0,0,0,0,0
$GC,967,-1.20,-77.9,108.4,-9.3,108,969,0.12,0.00,0.00,0.000,6,0.062,0.000,2436,1886,3375,0,0,0,0,0,0
$GC,1221,-1.20,-77.9,133.0,-8.2,132,1223,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,1886,3376,0,0,0,0,0,0
$GC,1475,-1.24,-77.9,153.6,-8.8,156,1479,0.00,2.42,0.00,0.000,4,0.000,0.043,2435,469,3376,0,0,0,0,0,0
$GC,1511,-1.24,-77.9,157.5,-11.0,159,1517,0.00,2.25,0.00,0.000,6,0.000,0.020,2434,1881,3376,0,0,0,0,0,0
$GC,1774,-1.29,-77.9,184.6,-10.2,184,1778,0.00,2.40,0.00,0.000,4,0.000,0.044,2435,468,3377,0,0,0,0,0,0
$GC,1851,-1.29,-77.9,192.6,-9.6,192,1855,0.00,2.25,0.00,0.000,6,0.000,0.020,2436,1879,3377,0,0,0,0,0,0
$GC,2121,-1.35,-77.9,211.8,-7.0,209,2125,0.00,2.42,0.00,0.000,4,0.000,0.043,2435,464,3377,0,0,0,0,0,0
$GC,2175,-1.35,-77.9,216.7,-8.4,211,2180,0.00,2.22,0.00,0.000,6,0.000,0.021,2436,1872,3377,0,0,0,0,0,0
$GC,2492,-1.44,-77.9,243.9,-9.7,226,2497,0.15,2.40,0.00,0.000,4,0.056,0.044,2385,470,3376,0,0,0,0,0,0
$GC,2585,-1.44,-77.9,256.5,-12.6,230,2589,0.00,2.22,0.00,0.000,6,0.000,0.021,2386,1870,3376,0,0,0,0,0,0
$GC,2910,-1.44,-77.9,293.4,-9.6,246,2914,0.00,2.42,0.00,0.000,4,0.000,0.047,2386,470,3375,0,0,0,0,0,0
$GC,2964,-1.44,-77.9,299.4,-10.6,248,2968,0.00,2.25,0.00,0.000,6,0.000,0.022,2386,1877,3375,0,0,0,0,0,0
$GC,3299,-1.44,-77.9,328.7,-8.8,257,3303,0.00,2.42,0.00,0.000,4,0.000,0.048,2386,466,3374,0,0,0,0,0,0
$GC,3327,-1.37,-77.9,331.6,-10.4,257,3332,0.12,2.25,0.00,0.000,6,0.100,0.024,2413,1876,3374,0,0,0,0,0,0
$GC,3663,-1.44,-77.9,359.1,-8.1,266,3667,0.00,2.42,0.00,0.000,4,0.000,0.050,2412,470,3372,0,0,0,0,0,0
$GC,3776,-1.47,-77.9,369.4,-9.2,268,3780,0.00,2.28,0.00,0.000,6,0.000,0.025,2412,1877,3371,0,0,0,0,0,0
$GC,4121,-1.54,-77.9,396.9,-8.0,277,4126,0.15,2.45,0.00,0.000,4,0.060,0.051,2369,472,3369,0,0,0,0,0,0
$GC,4187,-1.47,-77.9,404.1,-11.3,278,4192,0.12,2.30,0.00,0.000,6,0.100,0.027,2394,1872,3368,0,0,0,0,0,0
$GC,4532,-1.51,-77.9,437.2,-9.4,287,4536,0.00,2.45,0.00,0.000,4,0.000,0.052,2394,471,3366,0,0,0,0,0,0
$GC,4647,-1.51,-77.9,449.3,-10.6,289,4652,0.00,2.33,0.00,0.000,6,0.000,0.028,2394,1878,3365,0,0,0,0,0,0
$STATE,4654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4655,begin apogee
$GC,4660,-0.31,0.0,450.2,10.1,289,4728,1.15,0.00,64.30,0.867,6,0.074,0.000,2643,2029,3050,0,0,0,0,0,0
$STATE,4729,end apogee,CONTROL_FINISHED_OK
$STATE,4729,begin climb
$GC,4731,1.40,77.9,452.1,0.0,291,4806,1.65,2.45,64.70,0.847,4,0.032,0.043,3022,3391,2731,0,0,0,0,0,0
$GC,4853,1.28,174.4,454.7,1.4,293,4946,0.17,2.40,82.07,0.846,6,0.117,0.035,2996,2000,2339,0,0,0,0,0,0
$GC,5268,1.17,174.4,412.0,12.0,304,5273,0.12,2.47,0.00,0.000,4,0.124,0.053,2974,604,2329,0,0,0,0,0,0
$GC,5359,1.05,174.4,400.2,12.0,306,5365,0.17,2.35,0.00,0.000,6,0.117,0.030,2942,2006,2325,0,0,0,0,0,0
$GC,5688,1.05,174.4,368.7,9.0,314,5692,0.00,2.47,0.00,0.000,4,0.000,0.051,2942,605,2324,0,0,0,0,0,0
$GC,5725,0.99,174.4,365.1,9.7,314,5730,0.00,2.35,0.00,0.000,6,0.000,0.030,2943,2013,2322,0,0,0,0,0,0
$GC,6055,0.99,174.4,336.3,9.0,323,6060,0.00,2.47,0.00,0.000,4,0.000,0.052,2943,602,2321,0,0,0,0,0,0
$GC,6153,0.95,174.4,325.7,10.9,325,6157,0.00,2.38,0.00,0.000,6,0.000,0.030,2943,2016,2319,0,0,0,0,0,0
$GC,6471,0.95,174.4,294.2,9.6,334,6475,0.00,2.50,0.00,0.000,4,0.000,0.052,2943,601,2319,0,0,0,0,0,0
$GC,6530,0.95,174.4,288.0,10.6,336,6538,0.08,2.40,0.00,0.000,6,0.105,0.030,2926,2015,2317,0,0,0,0,0,0
$GC,6847,1.06,200.6,266.5,6.2,352,6873,0.00,2.58,20.25,0.747,4,0.000,0.051,2926,608,2231,0,0,0,0,0,0
$GC,6948,1.06,200.6,258.7,8.6,356,6953,0.00,2.35,0.00,0.000,6,0.000,0.029,2926,2016,2228,0,0,0,0,0,0
$GC,7268,1.15,203.9,233.4,7.8,372,7274,0.17,2.50,0.00,0.000,4,0.063,0.051,2969,605,2227,0,0,0,0,0,0
$GC,7348,1.10,203.9,225.3,11.0,375,7352,0.00,2.35,0.00,0.000,6,0.000,0.028,2969,2016,2225,0,0,0,0,0,0
$GC,7663,1.10,203.9,198.4,9.2,390,7667,0.00,2.45,0.00,0.000,4,0.000,0.049,2969,605,2225,0,0,0,0,0,0
$GC,7871,1.06,203.9,176.9,9.2,412,7878,0.10,2.35,0.00,0.000,6,0.096,0.026,2948,2010,2223,0,0,0,0,0,0
$GC,8135,1.16,218.8,156.3,7.0,437,8157,0.00,2.53,16.05,0.644,4,0.000,0.048,2948,608,2158,0,0,0,0,0,0
$GC,8258,1.19,218.8,144.5,9.2,450,8264,0.08,2.35,0.00,0.000,6,0.049,0.025,2974,2008,2154,0,0,0,0,0,0
$GC,8522,1.23,226.6,122.7,7.5,475,8532,0.00,0.00,8.00,0.551,6,0.000,0.000,2974,2013,2126,0,0,0,0,0,0
$GC,8785,1.32,249.1,100.5,6.5,500,8814,0.12,0.00,21.38,0.597,6,0.068,0.000,3011,2013,2034,0,0,0,0,0,0
$GC,9068,1.32,249.1,76.6,8.6,527,9072,0.00,2.45,0.00,0.000,4,0.000,0.044,3010,596,2030,0,0,0,0,0,0
$GC,9086,1.29,249.1,74.8,9.0,528,9093,0.00,2.35,0.00,0.000,6,0.000,0.023,3011,2015,2029,0,0,0,0,0,0
$GC,9348,1.29,249.1,51.0,9.3,553,9349,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2020,2029,0,0,0,0,0,0
$GC,9602,1.33,249.1,28.3,8.9,578,9609,0.00,2.30,0.00,0.000,4,0.000,0.027,3011,3397,2029,0,0,0,0,0,0
$GC,9648,1.38,249.1,24.2,9.2,587,9654,0.00,2.33,0.00,0.000,6,0.000,0.028,3008,2006,2029,0,0,0,0,0,0
$GC,9853,1.38,249.1,6.1,9.3,624,9860,0.00,2.42,0.00,0.000,4,0.000,0.043,3011,599,2029,0,0,0,0,0,0
$STATE,9882,end climb,SURFACE_DEPTH_REACHED
$STATE,9882,begin surface coast
$FINISH,0.5,1.009383
$STATE,9915,end surface coast,CONTROL_FINISHED_OK
$STATE,9915,begin surface
$SM_CCo,9938,26.30,0.504,0,0,1827,300.00
$SM_GC,0.96,0.00,0.00,26.30,0.000,0.000,0.504,425,1919,1827,-10.53,1.24,300.00
$IRIDIUM_FIX,2059.45,-15748.75,290899,212154
$TT8_MAMPS,0.029146
$HUMID,48.93
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.4,39.317
$10V_AH,10.0,37.309
$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,26.750,114.300,276.750,26.300,0.000,60.442,59.855,400.642,4.750,0.000,56.050,1216.916,6504.692,367.983,1877.408,740.005,33.382,1172.501,0.000,1815.769,0.000,32.078,0.000
$DEVICE_MAMPS,132.691,52.923,866.710,503.919,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,429.277,418.937,811.824,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355760
$DATA_FILE_SIZE,34903,637
$CAP_FILE_SIZE,121566,0
$CFSIZE,260165632,232775680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,9
$GPS,050610,001636,2107.107,-15747.740,70,1.2,75,9.8