version: 66.06
glider: 139
mission: 7
dive: 489
start: 6 10 110 14 54 55
data:
$ID,139
$MISSION,7
$DIVE,489
$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,-2139478.8
$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
$GPS1,144627,2106.812,-15745.935,168,2.2,187,9.8
$_CALLS,1
$_XMS_NAKs,25
$_XMS_TOUTs,2
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-68.4
$GPS2,145404,2106.865,-15745.957,34,2.1,53,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.139,-0.120
$KALMAN_X,-234010.5,-622.7,-914.4,251056.1,-246.8
$KALMAN_Y,16560.7,-470.1,-339.4,-15831.5,855.9
$MHEAD_RNG_PITCHd_Wd,120.9,5599,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.40,-77.9,0.0,0.0,0,73,0.00,0.00,-53.03,0.000,2,0.000,0.000,418,1877,3255,0,0,0,0,0,0
$GC,76,-1.40,-77.9,3.9,-7.6,10,93,10.60,0.00,-2.15,0.000,6,0.131,0.000,2406,1878,3369,0,0,0,0,0,0
$GC,296,-1.23,-77.9,51.5,-18.0,39,301,0.20,2.42,0.00,0.000,4,0.097,0.042,2445,460,3371,0,0,0,0,0,0
$GC,315,-1.07,-77.9,54.8,-18.3,40,320,0.17,2.35,0.00,0.000,6,0.097,0.020,2480,1921,3371,0,0,0,0,0,0
$GC,577,-1.11,-77.9,85.1,-11.5,64,581,0.00,2.47,0.00,0.000,4,0.000,0.041,2480,469,3372,0,0,0,0,0,0
$GC,639,-1.14,-77.9,92.6,-13.0,70,643,0.00,2.22,0.00,0.000,6,0.000,0.019,2480,1871,3372,0,0,0,0,0,0
$GC,901,-1.23,-77.9,119.7,-10.0,94,906,0.15,2.30,0.00,0.000,4,0.055,0.025,2429,3270,3373,0,0,0,0,0,0
$GC,978,-1.28,-77.9,128.2,-10.9,102,982,0.00,2.33,0.00,0.000,6,0.000,0.028,2429,1866,3373,0,0,0,0,0,0
$GC,1240,-1.28,-77.9,152.8,-8.4,126,1244,0.00,2.38,0.00,0.000,4,0.000,0.042,2427,471,3374,0,0,0,0,0,0
$GC,1310,-1.28,-77.9,159.6,-9.7,133,1315,0.00,2.22,0.00,0.000,6,0.000,0.019,2427,1881,3374,0,0,0,0,0,0
$GC,1576,-1.28,-77.9,186.7,-9.4,158,1577,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,1884,3374,0,0,0,0,0,0
$GC,1839,-1.32,-77.9,209.7,-8.7,178,1843,0.00,2.42,0.00,0.000,4,0.000,0.043,2427,463,3375,0,0,0,0,0,0
$GC,1866,-1.32,-77.9,212.1,-9.6,179,1870,0.00,2.25,0.00,0.000,6,0.000,0.020,2428,1874,3375,0,0,0,0,0,0
$GC,2188,-1.39,-77.9,241.0,-9.4,195,2192,0.00,2.40,0.00,0.000,4,0.000,0.043,2426,472,3375,0,0,0,0,0,0
$GC,2253,-1.45,-77.9,247.4,-9.6,197,2259,0.12,2.25,0.00,0.000,6,0.063,0.021,2384,1875,3375,0,0,0,0,0,0
$GC,2569,-1.45,-77.9,277.8,-9.4,213,2573,0.00,2.40,0.00,0.000,4,0.000,0.044,2385,465,3375,0,0,0,0,0,0
$GC,2589,-1.40,-77.9,279.9,-10.2,214,2597,0.12,2.25,0.00,0.000,6,0.097,0.021,2411,1878,3375,0,0,0,0,0,0
$GC,2926,-1.45,-77.9,309.6,-9.5,228,2931,0.00,2.40,0.00,0.000,4,0.000,0.045,2412,473,3374,0,0,0,0,0,0
$GC,2973,-1.45,-77.9,314.8,-10.9,229,2977,0.00,2.28,0.00,0.000,6,0.000,0.023,2412,1878,3374,0,0,0,0,0,0
$GC,3295,-1.51,-77.9,345.5,-8.8,237,3300,0.12,2.45,0.00,0.000,4,0.065,0.048,2372,474,3372,0,0,0,0,0,0
$GC,3377,-1.46,-77.9,353.4,-9.4,238,3382,0.10,2.28,0.00,0.000,6,0.110,0.024,2393,1878,3372,0,0,0,0,0,0
$GC,3708,-1.46,-77.9,381.8,-8.7,246,3713,0.00,2.42,0.00,0.000,4,0.000,0.049,2393,471,3370,0,0,0,0,0,0
$GC,3751,-1.46,-77.9,386.2,-10.2,247,3755,0.00,2.28,0.00,0.000,6,0.000,0.026,2393,1870,3370,0,0,0,0,0,0
$GC,4078,-1.50,-77.9,416.5,-9.1,255,4082,0.00,2.45,0.00,0.000,4,0.000,0.051,2394,476,3367,0,0,0,0,0,0
$GC,4179,-1.50,-77.9,427.2,-10.3,257,4184,0.00,2.30,0.00,0.000,6,0.000,0.027,2394,1882,3366,0,0,0,0,0,0
$STATE,4454,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4454,begin apogee
$GC,4460,-0.31,0.0,451.3,8.7,264,4528,1.17,0.00,64.40,0.868,6,0.071,0.000,2647,2030,3050,0,0,0,0,0,0
$STATE,4529,end apogee,CONTROL_FINISHED_OK
$STATE,4529,begin climb
$GC,4531,1.40,77.9,452.5,0.0,265,4607,1.62,2.42,64.85,0.850,4,0.030,0.044,3029,3375,2732,0,0,0,0,0,0
$GC,4856,1.22,121.1,443.1,5.1,272,4901,0.25,2.35,36.72,0.843,6,0.110,0.037,2980,2005,2555,0,0,0,0,0,0
$GC,5221,1.11,121.1,411.4,9.2,281,5226,0.12,2.40,0.00,0.000,4,0.125,0.041,2946,3385,2550,0,0,0,0,0,0
$GC,5292,1.05,121.1,405.0,8.4,282,5296,0.00,2.38,0.00,0.000,6,0.000,0.036,2957,2011,2550,0,0,0,0,0,0
$GC,5632,1.00,131.0,379.9,7.3,291,5645,0.12,0.00,8.55,0.731,6,0.122,0.000,2936,2010,2515,0,0,0,0,0,0
$GC,5963,1.05,167.7,359.5,5.5,299,6004,0.00,2.53,32.70,0.823,4,0.000,0.052,2939,602,2364,0,0,0,0,0,0
$GC,6061,1.01,167.7,352.1,8.4,301,6065,0.00,2.35,0.00,0.000,6,0.000,0.030,2938,1988,2360,0,0,0,0,0,0
$GC,6380,1.04,167.7,326.0,8.9,309,6384,0.00,2.45,0.00,0.000,4,0.000,0.051,2939,604,2358,0,0,0,0,0,0
$GC,6495,1.04,167.7,314.8,9.7,311,6499,0.00,2.38,0.00,0.000,6,0.000,0.030,2938,2019,2356,0,0,0,0,0,0
$GC,6816,1.10,181.4,289.7,7.1,322,6833,0.00,2.53,11.70,0.731,4,0.000,0.051,2939,604,2310,0,0,0,0,0,0
$GC,6929,1.11,191.4,280.9,7.3,326,6949,0.00,2.38,10.32,0.706,6,0.000,0.028,2938,2021,2269,0,0,0,0,0,0
$GC,7258,1.17,191.4,259.4,8.2,342,7263,0.15,2.53,0.00,0.000,4,0.069,0.051,2977,598,2265,0,0,0,0,0,0
$GC,7401,1.10,191.4,243.3,11.7,348,7406,0.12,2.35,0.00,0.000,6,0.125,0.028,2956,2015,2263,0,0,0,0,0,0
$GC,7724,1.15,204.0,218.0,7.2,364,7741,0.00,2.50,11.80,0.676,4,0.000,0.049,2956,604,2218,0,0,0,0,0,0
$GC,7880,1.17,214.2,205.2,7.3,370,7896,0.00,2.35,10.45,0.648,6,0.000,0.027,2956,2019,2175,0,0,0,0,0,0
$GC,8220,1.24,222.9,183.2,7.4,397,8240,0.12,2.47,8.98,0.610,4,0.071,0.046,2990,603,2140,0,0,0,0,0,0
$GC,8280,1.18,222.9,177.5,10.0,403,8285,0.00,2.35,0.00,0.000,6,0.000,0.025,2991,2013,2138,0,0,0,0,0,0
$GC,8543,1.18,222.9,153.7,8.9,427,8544,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2018,2137,0,0,0,0,0,0
$GC,8797,1.18,222.9,131.2,8.1,451,8801,0.00,2.30,0.00,0.000,4,0.000,0.031,2989,3403,2137,0,0,0,0,0,0
$GC,8815,1.20,240.5,129.7,6.8,452,8841,0.00,2.38,16.70,0.608,6,0.000,0.029,2983,2009,2068,0,0,0,0,0,0
$GC,9097,1.24,243.3,111.0,7.8,479,9098,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2008,2066,0,0,0,0,0,0
$GC,9351,1.33,269.6,93.0,6.2,503,9382,0.00,2.45,26.15,0.583,4,0.000,0.043,2991,600,1950,0,0,0,0,0,0
$GC,9424,1.33,269.6,87.8,8.2,510,9430,0.00,2.35,0.00,0.000,6,0.000,0.021,2990,2017,1946,0,0,0,0,0,0
$GC,9687,1.39,269.6,66.4,8.8,535,9692,0.12,2.47,0.00,0.000,4,0.065,0.043,3029,598,1946,0,0,0,0,0,0
$GC,9839,1.32,269.6,47.8,12.2,551,9846,0.10,2.30,0.00,0.000,6,0.079,0.021,3005,2008,1944,0,0,0,0,0,0
$GC,10106,1.38,269.6,22.8,8.5,583,10112,0.00,2.40,0.00,0.000,4,0.000,0.043,3005,604,1944,0,0,0,0,0,0
$GC,10180,1.38,269.6,15.2,10.1,599,10186,0.00,2.28,0.00,0.000,6,0.000,0.020,3004,2015,1944,0,0,0,0,0,0
$STATE,10329,end climb,SURFACE_DEPTH_REACHED
$STATE,10329,begin surface coast
$FINISH,0.5,1.008923
$STATE,10362,end surface coast,CONTROL_FINISHED_OK
$STATE,10362,begin surface
$SM_CCo,10383,16.12,0.486,0,0,1826,300.00
$SM_GC,1.78,0.00,0.00,16.12,0.000,0.000,0.486,425,1862,1826,-10.53,-0.37,300.00
$IRIDIUM_FIX,2059.45,-15748.75,040999,111146
$TT8_MAMPS,0.029146
$HUMID,49.64
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,23.4,43.332
$10V_AH,10.0,41.020
$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,26.600,109.575,303.325,16.125,0.000,27.454,29.402,246.855,4.500,0.000,54.567,1243.858,6763.923,369.464,1962.400,514.373,33.376,1223.009,0.000,1892.069,0.000,29.277,0.000
$DEVICE_MAMPS,131.157,55.224,868.244,486.278,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,426.587,405.970,775.016,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355636
$DATA_FILE_SIZE,34878,632
$CAP_FILE_SIZE,121064,0
$CFSIZE,260165632,230092800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100610,175145,2106.424,-15745.124,154,4.7,173,9.8