version: 66.06
glider: 139
mission: 7
dive: 505
start: 6 12 110 16 23 7
data:
$ID,139
$MISSION,7
$DIVE,505
$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,-2140112.2
$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
$GPS1,161627,2103.864,-15756.672,126,4.6,145,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-71.4
$GPS2,162216,2103.896,-15756.723,16,3.2,35,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.130,0.130
$KALMAN_X,-245405.8,-684.9,-607.7,243611.6,-432.2
$KALMAN_Y,11752.2,-295.8,-293.9,-16744.9,220.4
$MHEAD_RNG_PITCHd_Wd,305.3,12358,-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,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,71,0.00,0.00,-51.90,0.000,2,0.000,0.000,426,1852,3168,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.0,-4.0,10,95,10.55,2.40,-4.18,0.000,4,0.133,0.038,2401,3306,3370,0,0,0,0,0,0
$GC,200,-1.34,-77.9,26.2,-13.9,37,206,0.10,2.42,0.00,0.000,6,0.118,0.031,2420,1874,3372,0,0,0,0,0,0
$GC,402,-1.20,-77.9,58.2,-16.4,58,407,0.15,2.42,0.00,0.000,4,0.104,0.043,2450,467,3373,0,0,0,0,0,0
$GC,448,-1.11,-77.9,66.7,-15.7,62,455,0.08,2.33,0.00,0.000,6,0.087,0.020,2469,1898,3373,0,0,0,0,0,0
$GC,711,-1.11,-77.9,98.7,-11.2,87,716,0.00,2.47,0.00,0.000,4,0.000,0.043,2468,463,3374,0,0,0,0,0,0
$GC,767,-1.15,-77.9,105.6,-11.2,92,773,0.00,2.30,0.00,0.000,6,0.000,0.019,2469,1885,3374,0,0,0,0,0,0
$GC,1031,-1.22,-77.9,131.6,-9.8,117,1035,0.00,2.45,0.00,0.000,4,0.000,0.042,2469,459,3375,0,0,0,0,0,0
$GC,1095,-1.30,-77.9,138.5,-9.8,123,1101,0.17,2.28,0.00,0.000,6,0.051,0.019,2414,1886,3376,0,0,0,0,0,0
$GC,1355,-1.30,-77.9,169.2,-10.3,148,1360,0.00,2.42,0.00,0.000,4,0.000,0.042,2414,469,3376,0,0,0,0,0,0
$GC,1420,-1.26,-77.9,176.4,-11.5,154,1427,0.08,2.28,0.00,0.000,6,0.074,0.019,2435,1882,3376,0,0,0,0,0,0
$GC,1684,-1.32,-77.9,197.0,-6.0,179,1688,0.00,2.42,0.00,0.000,4,0.000,0.042,2435,466,3377,0,0,0,0,0,0
$GC,1739,-1.37,-77.9,201.7,-8.7,183,1743,0.00,2.25,0.00,0.000,6,0.000,0.019,2435,1881,3377,0,0,0,0,0,0
$GC,2054,-1.44,-77.9,232.0,-11.3,198,2059,0.15,2.45,0.00,0.000,4,0.056,0.044,2387,460,3377,0,0,0,0,0,0
$GC,2078,-1.35,-77.9,234.8,-12.1,199,2083,0.15,2.25,0.00,0.000,6,0.095,0.021,2417,1881,3377,0,0,0,0,0,0
$GC,2409,-1.40,-77.9,263.8,-7.6,215,2413,0.00,2.42,0.00,0.000,4,0.000,0.044,2418,469,3377,0,0,0,0,0,0
$GC,2519,-1.43,-77.9,273.0,-7.5,219,2524,0.00,2.25,0.00,0.000,6,0.000,0.021,2417,1874,3377,0,0,0,0,0,0
$GC,2836,-1.49,-77.9,298.9,-8.9,235,2840,0.12,2.45,0.00,0.000,4,0.064,0.046,2378,462,3376,0,0,0,0,0,0
$GC,2883,-1.43,-77.9,304.2,-11.3,237,2888,0.12,2.25,0.00,0.000,6,0.098,0.022,2403,1874,3376,0,0,0,0,0,0
$GC,3208,-1.47,-77.9,332.4,-8.4,245,3212,0.00,2.42,0.00,0.000,4,0.000,0.047,2403,469,3375,0,0,0,0,0,0
$GC,3257,-1.47,-77.9,337.1,-9.7,246,3261,0.00,2.30,0.00,0.000,6,0.000,0.023,2403,1883,3375,0,0,0,0,0,0
$GC,3584,-1.52,-77.9,370.7,-10.7,254,3588,0.00,2.45,0.00,0.000,4,0.000,0.048,2404,471,3373,0,0,0,0,0,0
$GC,3649,-1.52,-77.9,378.5,-11.7,255,3653,0.00,2.28,0.00,0.000,6,0.000,0.025,2403,1877,3373,0,0,0,0,0,0
$GC,3994,-1.57,-77.9,414.9,-10.2,264,3999,0.15,2.47,0.00,0.000,4,0.061,0.051,2361,467,3371,0,0,0,0,0,0
$GC,4069,-1.50,-77.9,423.2,-10.0,265,4074,0.12,2.30,0.00,0.000,6,0.103,0.026,2386,1868,3370,0,0,0,0,0,0
$GC,4406,-1.50,-77.9,449.3,-7.8,274,4410,0.00,2.45,0.00,0.000,4,0.000,0.053,2386,470,3368,0,0,0,0,0,0
$STATE,4413,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4413,begin apogee
$GC,4421,-0.31,0.0,450.3,8.0,274,4491,1.17,0.00,64.78,0.865,6,0.077,0.000,2640,2020,3050,0,0,0,0,0,0
$STATE,4492,end apogee,CONTROL_FINISHED_OK
$STATE,4492,begin climb
$GC,4495,1.40,77.9,451.7,0.0,276,4570,1.65,2.47,64.78,0.844,4,0.031,0.043,3024,3396,2732,0,0,0,0,0,0
$GC,4608,1.28,171.3,452.1,1.6,278,4696,0.15,2.40,79.57,0.841,6,0.120,0.035,2996,2004,2351,0,0,0,0,0,0
$GC,5032,1.17,171.3,405.7,12.7,289,5037,0.15,2.45,0.00,0.000,4,0.123,0.051,2971,601,2341,0,0,0,0,0,0
$GC,5136,1.05,171.3,391.9,14.2,291,5141,0.15,2.38,0.00,0.000,6,0.125,0.028,2945,2011,2337,0,0,0,0,0,0
$GC,5450,1.05,171.3,360.5,9.6,299,5454,0.00,2.47,0.00,0.000,4,0.000,0.051,2945,600,2336,0,0,0,0,0,0
$GC,5525,1.00,171.3,352.1,12.1,300,5529,0.00,2.38,0.00,0.000,6,0.000,0.029,2945,2017,2334,0,0,0,0,0,0
$GC,5860,1.00,171.3,317.9,9.2,309,5864,0.00,2.47,0.00,0.000,4,0.000,0.051,2945,607,2334,0,0,0,0,0,0
$GC,5952,0.97,171.3,309.2,9.1,311,5957,0.00,2.35,0.00,0.000,6,0.000,0.029,2945,2019,2332,0,0,0,0,0,0
$GC,6277,0.99,189.6,290.6,6.8,322,6300,0.00,2.55,13.68,0.732,4,0.000,0.050,2945,614,2276,0,0,0,0,0,0
$GC,6352,0.99,189.6,283.6,9.7,325,6356,0.00,2.38,0.00,0.000,6,0.000,0.029,2945,2020,2273,0,0,0,0,0,0
$GC,6678,0.99,189.6,254.4,8.8,341,6682,0.00,2.47,0.00,0.000,4,0.000,0.050,2945,602,2272,0,0,0,0,0,0
$GC,6768,0.99,192.1,246.2,7.8,345,6772,0.00,2.38,0.00,0.000,6,0.000,0.028,2946,2025,2270,0,0,0,0,0,0
$GC,7099,1.07,211.3,222.9,6.7,361,7124,0.00,2.53,19.85,0.707,4,0.000,0.049,2945,606,2187,0,0,0,0,0,0
$GC,7303,1.07,211.3,204.4,8.8,370,7307,0.00,2.35,0.00,0.000,6,0.000,0.026,2945,2017,2182,0,0,0,0,0,0
$GC,7637,1.15,211.3,178.3,8.2,399,7641,0.00,2.45,0.00,0.000,4,0.000,0.048,2945,605,2182,0,0,0,0,0,0
$GC,7662,1.15,211.3,175.9,9.8,401,7666,0.00,2.33,0.00,0.000,6,0.000,0.025,2946,2015,2180,0,0,0,0,0,0
$GC,7926,1.27,240.0,155.3,6.0,425,7958,0.20,2.55,25.55,0.654,4,0.057,0.046,2998,604,2070,0,0,0,0,0,0
$GC,8167,1.23,240.0,133.2,10.0,451,8172,0.00,2.33,0.00,0.000,6,0.000,0.024,2998,2010,2065,0,0,0,0,0,0
$GC,8430,1.28,244.7,113.4,7.7,476,8439,0.00,0.00,4.68,0.450,6,0.000,0.000,2998,2014,2051,0,0,0,0,0,0
$GC,8696,1.32,244.7,90.7,8.9,501,8700,0.00,2.42,0.00,0.000,4,0.000,0.043,2998,604,2051,0,0,0,0,0,0
$GC,8748,1.32,244.7,85.5,9.4,506,8752,0.00,2.28,0.00,0.000,6,0.000,0.022,2999,2018,2049,0,0,0,0,0,0
$GC,9012,1.40,273.3,66.0,6.1,530,9044,0.00,2.47,26.33,0.565,4,0.000,0.041,2998,605,1934,0,0,0,0,0,0
$GC,9112,1.40,273.3,58.1,9.1,540,9119,0.00,2.33,0.00,0.000,6,0.000,0.021,2998,2014,1931,0,0,0,0,0,0
$GC,9376,1.46,273.3,35.7,9.9,565,9381,0.15,2.45,0.00,0.000,4,0.058,0.041,3043,598,1930,0,0,0,0,0,0
$GC,9460,1.36,273.3,24.9,13.0,577,9466,0.15,2.30,0.00,0.000,6,0.102,0.020,3013,2028,1929,0,0,0,0,0,0
$GC,9665,1.40,273.3,5.7,9.1,614,9672,0.00,2.47,0.00,0.000,4,0.000,0.040,3013,597,1929,0,0,0,0,0,0
$STATE,9690,end climb,SURFACE_DEPTH_REACHED
$STATE,9691,begin surface coast
$FINISH,1.3,1.023250
$STATE,9704,end surface coast,CONTROL_FINISHED_OK
$STATE,9704,begin surface
$SM_CCo,9727,14.35,0.483,0,0,1826,300.00
$SM_GC,2.01,0.00,0.00,14.35,0.000,0.000,0.483,425,1884,1826,-10.53,0.25,300.00
$IRIDIUM_FIX,2057.14,-15756.04,060999,131332
$TT8_MAMPS,0.028379
$HUMID,50.39
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,23.4,44.873
$10V_AH,10.0,42.370
$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,26.900,124.275,299.200,14.350,0.000,29.054,30.623,153.784,4.500,0.000,36.486,1206.404,6199.567,360.810,1884.778,437.069,33.383,1194.779,0.000,1837.102,0.000,29.251,0.000
$DEVICE_MAMPS,132.691,52.923,865.176,483.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,418.664,405.144,787.541,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,34885,622
$CAP_FILE_SIZE,117254,0
$CFSIZE,260165632,229150720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120610,190722,2104.740,-15757.828,57,4.7,76,9.8