version: 66.06
glider: 139
mission: 7
dive: 491
start: 6 10 110 21 21 38
data:
$ID,139
$MISSION,7
$DIVE,491
$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,-2139573.2
$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
$GPS1,211425,2105.888,-15743.929,71,1.5,71,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-62.3
$GPS2,212046,2105.877,-15743.953,11,6.0,30,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.024,-0.182
$KALMAN_X,-236103.0,-138.2,919.0,254289.9,-1703.6
$KALMAN_Y,16490.9,-182.3,181.0,-18397.4,-31.8
$MHEAD_RNG_PITCHd_Wd,162.8,17934,-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,-77.9,0.0,0.0,0,119,0.00,0.00,-100.70,0.000,2,0.000,0.000,428,1898,3190,0,0,0,0,0,0
$GC,122,-1.40,-77.9,3.3,-5.4,19,145,10.55,2.53,-3.50,0.000,4,0.133,0.055,2400,463,3370,0,0,0,0,0,0
$GC,183,-1.12,-77.9,20.3,-21.6,31,190,0.45,2.35,0.00,0.000,6,0.087,0.019,2461,1913,3370,0,0,0,0,0,0
$GC,392,-1.15,-77.9,45.0,-11.2,56,397,0.10,2.53,0.00,0.000,4,0.074,0.043,2455,463,3372,0,0,0,0,0,0
$GC,455,-1.11,-77.9,54.1,-13.2,62,462,0.00,2.30,0.00,0.000,6,0.000,0.020,2446,1879,3371,0,0,0,0,0,0
$GC,718,-1.11,-77.9,86.6,-12.5,87,722,0.10,2.45,0.00,0.000,4,0.107,0.044,2476,460,3372,0,0,0,0,0,0
$GC,798,-1.11,-77.9,95.2,-10.0,95,802,0.00,2.28,0.00,0.000,6,0.000,0.019,2473,1893,3372,0,0,0,0,0,0
$GC,1062,-1.21,-77.9,119.8,-7.6,119,1070,0.12,2.45,0.00,0.000,4,0.064,0.044,2432,472,3372,0,0,0,0,0,0
$GC,1178,-1.21,-77.9,133.8,-11.1,131,1183,0.00,2.22,0.00,0.000,6,0.000,0.019,2431,1880,3372,0,0,0,0,0,0
$GC,1442,-1.21,-77.9,159.3,-9.3,155,1447,0.10,2.42,0.00,0.000,4,0.106,0.042,2453,464,3373,0,0,0,0,0,0
$GC,1464,-1.21,-77.9,161.6,-9.8,157,1468,0.00,2.22,0.00,0.000,6,0.000,0.020,2452,1881,3373,0,0,0,0,0,0
$GC,1729,-1.32,-77.9,182.9,-8.1,181,1734,0.12,2.45,0.00,0.000,4,0.063,0.043,2409,463,3373,0,0,0,0,0,0
$GC,1776,-1.28,-77.9,188.4,-11.7,185,1782,0.12,2.22,0.00,0.000,6,0.097,0.020,2435,1870,3373,0,0,0,0,0,0
$GC,2045,-1.34,-77.9,212.5,-8.5,204,2049,0.00,2.40,0.00,0.000,4,0.000,0.043,2436,469,3373,0,0,0,0,0,0
$GC,2072,-1.34,-77.9,215.3,-9.6,205,2076,0.00,2.25,0.00,0.000,6,0.000,0.020,2435,1877,3373,0,0,0,0,0,0
$GC,2394,-1.43,-77.9,243.3,-8.5,221,2399,0.15,2.45,0.00,0.000,4,0.056,0.044,2385,462,3373,0,0,0,0,0,0
$GC,2441,-1.37,-77.9,248.7,-11.6,223,2446,0.12,2.25,0.00,0.000,6,0.100,0.021,2414,1881,3373,0,0,0,0,0,0
$GC,2770,-1.40,-77.9,280.5,-9.9,239,2774,0.00,2.42,0.00,0.000,4,0.000,0.045,2414,461,3372,0,0,0,0,0,0
$GC,2830,-1.40,-77.9,287.4,-10.9,241,2836,0.00,2.28,0.00,0.000,6,0.000,0.022,2414,1882,3372,0,0,0,0,0,0
$GC,3143,-1.46,-77.9,313.0,-7.8,253,3147,0.00,2.42,0.00,0.000,4,0.000,0.047,2414,465,3370,0,0,0,0,0,0
$GC,3214,-1.50,-77.9,319.0,-8.2,254,3219,0.12,2.28,0.00,0.000,6,0.065,0.023,2374,1881,3370,0,0,0,0,0,0
$GC,3554,-1.50,-77.9,352.3,-10.1,263,3558,0.00,2.45,0.00,0.000,4,0.000,0.048,2374,468,3369,0,0,0,0,0,0
$GC,3592,-1.43,-77.9,356.2,-11.1,263,3598,0.15,2.28,0.00,0.000,6,0.094,0.025,2404,1878,3368,0,0,0,0,0,0
$GC,3923,-1.48,-77.9,385.2,-8.8,272,3927,0.00,2.42,0.00,0.000,4,0.000,0.049,2404,471,3365,0,0,0,0,0,0
$GC,4029,-1.48,-77.9,395.2,-9.0,274,4033,0.00,2.28,0.00,0.000,6,0.000,0.025,2405,1870,3365,0,0,0,0,0,0
$GC,4379,-1.54,-77.9,425.3,-8.5,283,4384,0.12,2.45,0.00,0.000,4,0.067,0.052,2367,467,3363,0,0,0,0,0,0
$GC,4479,-1.45,-77.9,435.4,-10.4,285,4484,0.15,2.30,0.00,0.000,6,0.095,0.027,2397,1873,3362,0,0,0,0,0,0
$STATE,4673,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4673,begin apogee
$GC,4679,-0.31,0.0,450.9,7.7,290,4746,1.15,0.00,63.58,0.864,6,0.073,0.000,2645,2037,3050,0,0,0,0,0,0
$STATE,4747,end apogee,CONTROL_FINISHED_OK
$STATE,4747,begin climb
$GC,4749,1.40,77.9,451.5,0.0,291,4824,1.62,2.42,64.80,0.843,4,0.032,0.042,3026,3382,2731,0,0,0,0,0,0
$GC,5089,1.22,119.2,440.4,5.2,298,5130,0.22,2.38,35.38,0.832,6,0.114,0.036,2983,2004,2563,0,0,0,0,0,0
$GC,5475,1.10,119.2,408.5,8.5,308,5480,0.15,2.50,0.00,0.000,4,0.117,0.052,2957,597,2556,0,0,0,0,0,0
$GC,5514,0.99,126.6,405.3,7.5,308,5527,0.15,2.33,6.55,0.670,6,0.120,0.029,2930,1992,2532,0,0,0,0,0,0
$GC,5852,1.00,138.8,380.2,7.2,317,5868,0.00,2.50,11.57,0.761,4,0.000,0.051,2930,604,2484,0,0,0,0,0,0
$GC,6007,0.96,139.5,367.9,8.0,320,6011,0.00,2.35,0.00,0.000,6,0.000,0.029,2929,2013,2480,0,0,0,0,0,0
$GC,6353,1.00,173.6,347.7,5.7,329,6389,0.00,2.60,30.80,0.808,4,0.000,0.052,2931,601,2342,0,0,0,0,0,0
$GC,6537,1.00,173.6,331.7,9.0,333,6541,0.00,2.38,0.00,0.000,6,0.000,0.029,2929,2009,2335,0,0,0,0,0,0
$GC,6860,1.06,175.3,305.2,7.9,341,6864,0.00,2.47,0.00,0.000,4,0.000,0.051,2930,596,2335,0,0,0,0,0,0
$GC,6908,1.06,175.3,300.9,9.5,342,6912,0.00,2.38,0.00,0.000,6,0.000,0.030,2930,2019,2332,0,0,0,0,0,0
$GC,7237,1.14,185.1,276.7,7.4,357,7254,0.15,2.58,10.05,0.697,4,0.070,0.051,2968,600,2295,0,0,0,0,0,0
$GC,7357,1.07,185.1,264.6,9.6,362,7361,0.00,2.35,0.00,0.000,6,0.000,0.028,2967,2011,2292,0,0,0,0,0,0
$GC,7682,1.08,186.3,237.1,7.9,378,7686,0.00,2.47,0.00,0.000,4,0.000,0.050,2967,604,2291,0,0,0,0,0,0
$GC,7714,1.02,186.3,234.1,9.2,379,7719,0.17,2.35,0.00,0.000,6,0.113,0.028,2936,2019,2290,0,0,0,0,0,0
$GC,8030,1.11,202.8,211.6,6.9,394,8053,0.00,2.40,16.25,0.690,4,0.000,0.035,2936,3415,2223,0,0,0,0,0,0
$GC,8149,1.24,212.5,202.7,7.4,399,8166,0.22,2.42,10.35,0.639,6,0.054,0.034,2990,2002,2182,0,0,0,0,0,0
$GC,8491,1.24,212.5,170.3,9.1,429,8496,0.00,2.45,0.00,0.000,4,0.000,0.048,2988,598,2179,0,0,0,0,0,0
$GC,8752,1.18,212.5,142.1,11.9,457,8757,0.00,2.35,0.00,0.000,6,0.000,0.025,2990,2019,2176,0,0,0,0,0,0
$GC,9016,1.23,253.7,121.8,5.2,481,9061,0.00,2.38,36.20,0.628,4,0.000,0.029,2988,3409,2014,0,0,0,0,0,0
$GC,9094,1.30,255.0,116.6,7.9,489,9098,0.00,2.38,0.00,0.000,6,0.000,0.031,2988,2007,2014,0,0,0,0,0,0
$GC,9357,1.37,266.8,94.7,7.2,513,9377,0.10,2.47,12.23,0.556,4,0.079,0.044,3021,589,1961,0,0,0,0,0,0
$GC,9599,1.32,266.8,69.7,10.8,539,9603,0.00,2.33,0.00,0.000,6,0.000,0.021,3021,2022,1956,0,0,0,0,0,0
$GC,9862,1.32,266.8,44.2,9.1,563,9867,0.00,2.42,0.00,0.000,4,0.000,0.043,3022,602,1956,0,0,0,0,0,0
$GC,9915,1.29,266.8,38.9,10.7,568,9920,0.15,2.28,0.00,0.000,6,0.100,0.021,2993,2017,1956,0,0,0,0,0,0
$GC,10182,1.38,266.8,17.1,8.6,606,10189,0.00,2.45,0.00,0.000,4,0.000,0.041,2992,604,1956,0,0,0,0,0,0
$STATE,10350,end climb,SURFACE_DEPTH_REACHED
$STATE,10350,begin surface coast
$FINISH,0.5,1.010187
$STATE,10381,end surface coast,CONTROL_FINISHED_OK
$STATE,10381,begin surface
$SM_CCo,10403,16.52,0.490,0,0,1827,300.00
$SM_GC,1.22,0.00,0.00,16.52,0.000,0.000,0.490,429,1889,1827,-10.51,0.40,300.00
$IRIDIUM_FIX,2059.45,-15748.75,040999,181830
$TT8_MAMPS,0.029146
$HUMID,50.35
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,23.4,43.549
$10V_AH,10.1,41.200
$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,27.625,124.000,297.750,16.525,0.000,30.102,28.125,180.947,4.500,0.000,31.545,1277.290,6593.275,398.929,2056.553,473.251,33.378,1310.763,0.000,2011.082,0.000,29.272,0.000
$DEVICE_MAMPS,132.691,55.224,863.642,490.113,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,437.303,417.621,807.841,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,38071,650
$CAP_FILE_SIZE,125967,0
$CFSIZE,260165632,229965824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110610,001827,2104.522,-15744.193,132,2.1,151,9.8