version: 66.06
glider: 139
mission: 7
dive: 447
start: 6 5 110 3 23 38
data:
$ID,139
$MISSION,7
$DIVE,447
$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,-2137766.8
$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
$GPS1,031340,2107.010,-15747.254,108,3.6,127,9.8
$_CALLS,1
$_XMS_NAKs,25
$_XMS_TOUTs,1
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-70.5
$GPS2,032246,2106.974,-15747.299,22,9.8,41,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.169,0.072
$KALMAN_X,-155192.4,290.4,518.9,167569.0,-2594.6
$KALMAN_Y,17259.1,18.6,61.2,-17217.9,-610.8
$MHEAD_RNG_PITCHd_Wd,57.1,7869,-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,-53.05,0.000,2,0.000,0.000,422,1858,3215,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.5,-6.0,10,96,10.62,2.42,-2.97,0.000,4,0.133,0.053,2404,468,3371,0,0,0,0,0,0
$GC,112,-0.63,-77.9,16.0,-31.7,17,118,0.82,2.35,0.00,0.000,6,0.084,0.020,2574,1927,3372,0,0,0,0,0,0
$GC,322,-0.87,-77.9,33.2,-7.3,51,327,0.20,2.53,0.00,0.000,4,0.044,0.042,2507,462,3372,0,0,0,0,0,0
$GC,394,-0.91,-77.9,40.8,-12.6,58,398,0.00,2.30,0.00,0.000,6,0.000,0.019,2507,1909,3373,0,0,0,0,0,0
$GC,657,-1.03,-77.9,64.2,-8.4,82,661,0.00,2.47,0.00,0.000,4,0.000,0.043,2507,468,3374,0,0,0,0,0,0
$GC,756,-1.15,-77.9,73.7,-8.8,92,762,0.15,2.28,0.00,0.000,6,0.028,0.019,2449,1875,3374,0,0,0,0,0,0
$GC,1019,-1.15,-77.9,105.8,-12.5,117,1023,0.00,2.40,0.00,0.000,4,0.000,0.042,2450,464,3375,0,0,0,0,0,0
$GC,1099,-1.15,-77.9,116.6,-12.7,125,1103,0.00,2.25,0.00,0.000,6,0.000,0.019,2450,1878,3375,0,0,0,0,0,0
$GC,1362,-1.22,-77.9,144.2,-9.6,149,1366,0.00,2.42,0.00,0.000,4,0.000,0.042,2450,464,3376,0,0,0,0,0,0
$GC,1443,-1.29,-77.9,152.3,-9.8,157,1447,0.00,2.25,0.00,0.000,6,0.000,0.020,2450,1873,3377,0,0,0,0,0,0
$GC,1706,-1.37,-77.9,174.0,-8.4,181,1711,0.15,2.42,0.00,0.000,4,0.055,0.044,2400,460,3377,0,0,0,0,0,0
$GC,1764,-1.31,-77.9,180.3,-11.5,186,1770,0.10,2.28,0.00,0.000,6,0.072,0.020,2425,1869,3377,0,0,0,0,0,0
$GC,2026,-1.35,-77.9,204.6,-9.3,209,2030,0.00,2.40,0.00,0.000,4,0.000,0.044,2425,467,3377,0,0,0,0,0,0
$GC,2104,-1.35,-77.9,213.2,-10.6,212,2108,0.00,2.25,0.00,0.000,6,0.000,0.021,2425,1878,3377,0,0,0,0,0,0
$GC,2425,-1.42,-77.9,242.0,-8.6,228,2430,0.00,2.40,0.00,0.000,4,0.000,0.044,2425,467,3377,0,0,0,0,0,0
$GC,2476,-1.45,-77.9,247.1,-10.2,230,2481,0.12,2.28,0.00,0.000,6,0.063,0.021,2382,1884,3377,0,0,0,0,0,0
$GC,2799,-1.42,-77.9,280.9,-10.4,246,2803,0.00,2.45,0.00,0.000,4,0.000,0.045,2383,462,3376,0,0,0,0,0,0
$GC,2831,-1.36,-77.9,284.9,-11.5,247,2836,0.17,2.28,0.00,0.000,6,0.090,0.022,2419,1874,3376,0,0,0,0,0,0
$GC,3150,-1.42,-77.9,311.5,-8.7,260,3154,0.00,2.42,0.00,0.000,4,0.000,0.048,2419,460,3375,0,0,0,0,0,0
$GC,3233,-1.42,-77.9,319.5,-9.6,261,3239,0.00,2.30,0.00,0.000,6,0.000,0.024,2419,1884,3375,0,0,0,0,0,0
$GC,3564,-1.49,-77.9,347.9,-8.6,270,3569,0.15,2.45,0.00,0.000,4,0.058,0.048,2374,470,3373,0,0,0,0,0,0
$GC,3648,-1.42,-77.9,357.0,-11.0,271,3654,0.15,2.30,0.00,0.000,6,0.094,0.025,2405,1881,3373,0,0,0,0,0,0
$GC,3979,-1.47,-77.9,385.1,-8.2,280,3984,0.00,2.45,0.00,0.000,4,0.000,0.050,2404,463,3371,0,0,0,0,0,0
$GC,4053,-1.47,-77.9,391.7,-9.2,281,4057,0.00,2.33,0.00,0.000,6,0.000,0.026,2405,1881,3370,0,0,0,0,0,0
$GC,4389,-1.52,-77.9,419.8,-8.7,290,4394,0.00,2.42,0.00,0.000,4,0.000,0.052,2405,474,3368,0,0,0,0,0,0
$GC,4449,-1.52,-77.9,426.0,-10.2,291,4453,0.00,2.30,0.00,0.000,6,0.000,0.027,2405,1872,3367,0,0,0,0,0,0
$STATE,4760,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4760,begin apogee
$GC,4766,-0.31,0.0,451.6,7.8,299,4834,1.12,0.00,64.82,0.871,6,0.071,0.000,2647,2034,3050,0,0,0,0,0,0
$STATE,4835,end apogee,CONTROL_FINISHED_OK
$STATE,4835,begin climb
$GC,4837,1.40,77.9,452.5,0.0,300,4912,1.62,2.42,64.93,0.851,4,0.031,0.042,3010,3381,2731,0,0,0,0,0,0
$GC,5072,1.23,128.4,448.3,4.6,305,5121,0.22,2.35,43.00,0.842,6,0.112,0.036,2985,2005,2526,0,0,0,0,0,0
$GC,5436,1.12,128.5,418.4,8.0,314,5441,0.15,2.40,0.00,0.000,4,0.116,0.040,2958,3386,2519,0,0,0,0,0,0
$GC,5515,1.08,140.0,412.2,7.2,315,5532,0.00,2.38,10.32,0.750,6,0.000,0.038,2959,2014,2479,0,0,0,0,0,0
$GC,5858,1.04,144.3,385.9,7.7,324,5865,0.00,0.00,4.72,0.591,6,0.000,0.000,2959,2014,2461,0,0,0,0,0,0
$GC,6181,1.01,147.6,360.7,7.8,332,6193,0.12,2.47,4.47,0.570,4,0.121,0.051,2935,604,2446,0,0,0,0,0,0
$GC,6208,0.98,150.3,358.4,7.8,332,6212,0.00,2.35,0.00,0.000,6,0.000,0.030,2936,1998,2445,0,0,0,0,0,0
$GC,6548,1.00,166.6,334.8,6.9,341,6572,0.00,2.50,17.77,0.787,4,0.000,0.050,2937,605,2369,0,0,0,0,0,0
$GC,6702,1.00,166.6,321.1,8.6,344,6706,0.00,2.38,0.00,0.000,6,0.000,0.029,2937,2016,2364,0,0,0,0,0,0
$GC,7032,1.04,166.6,293.5,9.0,354,7036,0.00,2.50,0.00,0.000,4,0.000,0.051,2937,601,2364,0,0,0,0,0,0
$GC,7068,1.04,166.6,289.9,9.6,355,7074,0.00,2.38,0.00,0.000,6,0.000,0.030,2937,2013,2363,0,0,0,0,0,0
$GC,7385,1.10,181.1,265.0,7.0,371,7407,0.00,2.42,13.07,0.720,4,0.000,0.037,2937,3409,2310,0,0,0,0,0,0
$GC,7449,1.18,190.2,259.9,7.4,373,7466,0.15,2.40,9.45,0.676,6,0.067,0.035,2976,2008,2274,0,0,0,0,0,0
$GC,7786,1.18,190.2,231.0,9.1,390,7790,0.00,2.47,0.00,0.000,4,0.000,0.051,2975,595,2270,0,0,0,0,0,0
$GC,7950,1.11,190.2,215.9,9.4,397,7955,0.00,2.38,0.00,0.000,6,0.000,0.028,2975,2017,2267,0,0,0,0,0,0
$GC,8273,1.14,214.0,194.8,6.4,416,8302,0.00,2.55,21.62,0.691,4,0.000,0.048,2975,595,2177,0,0,0,0,0,0
$GC,8445,1.10,214.0,180.0,8.7,434,8452,0.08,2.38,0.00,0.000,6,0.094,0.026,2957,2011,2171,0,0,0,0,0,0
$GC,8708,1.15,214.0,158.2,8.4,459,8712,0.00,2.47,0.00,0.000,4,0.000,0.047,2957,595,2171,0,0,0,0,0,0
$GC,8733,1.15,214.0,155.9,9.3,461,8738,0.00,2.35,0.00,0.000,6,0.000,0.025,2957,2015,2170,0,0,0,0,0,0
$GC,8997,1.21,214.0,133.6,8.0,485,9001,0.00,2.45,0.00,0.000,4,0.000,0.046,2957,597,2170,0,0,0,0,0,0
$GC,9163,1.25,244.6,119.1,5.9,502,9197,0.10,2.35,27.23,0.622,6,0.044,0.024,2992,2020,2052,0,0,0,0,0,0
$GC,9451,1.29,244.6,97.9,9.0,530,9456,0.00,2.42,0.00,0.000,4,0.000,0.044,2992,602,2048,0,0,0,0,0,0
$GC,9497,1.29,244.6,93.4,9.6,534,9503,0.00,2.33,0.00,0.000,6,0.000,0.022,2992,2007,2046,0,0,0,0,0,0
$GC,9760,1.33,244.6,70.9,8.6,559,9764,0.00,2.42,0.00,0.000,4,0.000,0.044,2992,601,2046,0,0,0,0,0,0
$GC,9823,1.33,244.6,64.4,9.2,565,9829,0.00,2.33,0.00,0.000,6,0.000,0.021,2992,2022,2045,0,0,0,0,0,0
$GC,10086,1.41,251.2,43.0,7.6,590,10099,0.12,2.47,6.62,0.461,4,0.065,0.040,3031,594,2024,0,0,0,0,0,0
$GC,10254,1.34,251.2,25.5,10.5,613,10260,0.12,2.30,0.00,0.000,6,0.106,0.021,3007,2014,2023,0,0,0,0,0,0
$GC,10460,1.35,256.7,8.3,7.6,650,10471,0.00,2.42,6.47,0.433,4,0.000,0.039,3007,598,2002,0,0,0,0,0,0
$STATE,10524,end climb,SURFACE_DEPTH_REACHED
$STATE,10524,begin surface coast
$FINISH,0.9,1.023240
$STATE,10544,end surface coast,CONTROL_FINISHED_OK
$STATE,10544,begin surface
$SM_CCo,10566,23.38,0.501,0,0,1827,300.00
$SM_GC,1.43,0.00,0.00,23.38,0.000,0.000,0.501,430,1910,1827,-10.51,0.99,300.00
$IRIDIUM_FIX,2059.45,-15823.92,300899,000008
$TT8_MAMPS,0.029146
$HUMID,48.74
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.4,39.497
$10V_AH,10.0,37.476
$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,27.575,128.750,294.525,23.375,0.000,29.102,28.829,353.648,4.500,0.000,42.149,1296.351,6798.588,383.827,2033.776,624.264,33.374,1264.275,0.000,1977.336,0.000,29.258,0.000
$DEVICE_MAMPS,133.458,52.923,871.312,500.851,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,450.119,426.637,846.857,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355744
$DATA_FILE_SIZE,38138,668
$CAP_FILE_SIZE,128245,0
$CFSIZE,260165632,232648704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050610,062145,2107.064,-15747.445,40,2.5,59,9.8