version: 66.06
glider: 139
mission: 7
dive: 510
start: 6 13 110 7 7 34
data:
$ID,139
$MISSION,7
$DIVE,510
$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,-2140270.5
$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
$GPS1,070102,2108.591,-15801.572,64,1.8,64,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-69.3
$GPS2,070641,2108.577,-15801.583,11,3.0,30,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.182,-0.024
$KALMAN_X,-250041.5,605.8,-158.1,238095.7,-553.2
$KALMAN_Y,11908.4,309.9,83.1,-9217.3,33.0
$MHEAD_RNG_PITCHd_Wd,87.7,32654,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,70,0.00,0.00,-52.90,0.000,2,0.000,0.000,428,1856,3244,0,0,0,0,0,0
$GC,73,-1.40,-77.9,4.0,-7.7,10,91,10.57,2.45,-2.30,0.000,4,0.133,0.053,2401,459,3370,0,0,0,0,0,0
$GC,106,-0.44,-77.9,17.0,-35.9,16,114,1.00,2.38,0.00,0.000,6,0.090,0.020,2616,1908,3371,0,0,0,0,0,0
$GC,314,-0.77,-77.9,32.2,-4.7,49,319,0.30,2.47,0.00,0.000,4,0.046,0.040,2538,463,3372,0,0,0,0,0,0
$GC,384,-0.91,-77.9,37.8,-9.6,56,389,0.10,2.25,0.00,0.000,6,0.073,0.019,2500,1888,3372,0,0,0,0,0,0
$GC,648,-0.97,-77.9,65.1,-11.1,80,652,0.00,2.42,0.00,0.000,4,0.000,0.042,2500,467,3373,0,0,0,0,0,0
$GC,708,-1.01,-77.9,72.3,-10.8,86,712,0.00,2.25,0.00,0.000,6,0.000,0.019,2500,1880,3373,0,0,0,0,0,0
$GC,977,-1.09,-77.9,98.6,-9.6,111,981,0.00,2.40,0.00,0.000,4,0.000,0.042,2499,469,3374,0,0,0,0,0,0
$GC,1058,-1.17,-77.9,107.8,-10.4,119,1065,0.17,2.25,0.00,0.000,6,0.051,0.018,2444,1885,3375,0,0,0,0,0,0
$GC,1319,-1.17,-77.9,136.9,-10.1,144,1323,0.00,2.42,0.00,0.000,4,0.000,0.042,2444,467,3375,0,0,0,0,0,0
$GC,1393,-1.21,-77.9,145.8,-10.9,152,1397,0.00,2.25,0.00,0.000,6,0.000,0.019,2444,1876,3375,0,0,0,0,0,0
$GC,1662,-1.28,-77.9,169.1,-8.3,177,1666,0.00,2.40,0.00,0.000,4,0.000,0.041,2444,469,3376,0,0,0,0,0,0
$GC,1699,-1.31,-77.9,172.5,-8.4,180,1706,0.00,2.28,0.00,0.000,6,0.000,0.019,2444,1883,3377,0,0,0,0,0,0
$GC,1963,-1.39,-77.9,194.4,-8.8,205,1967,0.15,2.45,0.00,0.000,4,0.055,0.043,2394,463,3377,0,0,0,0,0,0
$GC,2031,-1.32,-77.9,202.4,-11.7,211,2036,0.15,2.22,0.00,0.000,6,0.093,0.020,2426,1875,3377,0,0,0,0,0,0
$GC,2359,-1.36,-77.9,226.1,-8.1,227,2363,0.00,2.40,0.00,0.000,4,0.000,0.044,2426,461,3377,0,0,0,0,0,0
$GC,2379,-1.36,-77.9,228.2,-9.5,228,2383,0.00,2.28,0.00,0.000,6,0.000,0.021,2425,1884,3377,0,0,0,0,0,0
$GC,2710,-1.42,-77.9,258.4,-7.9,244,2714,0.00,2.42,0.00,0.000,4,0.000,0.044,2426,460,3377,0,0,0,0,0,0
$GC,2790,-1.47,-77.9,265.0,-8.0,247,2794,0.15,2.25,0.00,0.000,6,0.057,0.021,2378,1880,3377,0,0,0,0,0,0
$GC,3105,-1.47,-77.9,291.6,-7.7,262,3109,0.00,2.42,0.00,0.000,4,0.000,0.044,2378,464,3376,0,0,0,0,0,0
$GC,3137,-1.40,-77.9,294.3,-8.3,263,3142,0.15,2.22,0.00,0.000,6,0.092,0.022,2409,1871,3376,0,0,0,0,0,0
$GC,3470,-1.45,-77.9,319.2,-7.8,273,3474,0.00,2.42,0.00,0.000,4,0.000,0.046,2410,466,3375,0,0,0,0,0,0
$GC,3525,-1.45,-77.9,324.2,-8.7,274,3529,0.00,2.25,0.00,0.000,6,0.000,0.023,2410,1872,3375,0,0,0,0,0,0
$GC,3839,-1.51,-77.9,353.6,-10.1,282,3844,0.12,2.45,0.00,0.000,4,0.065,0.048,2371,464,3374,0,0,0,0,0,0
$GC,3905,-1.42,-77.9,362.1,-12.8,283,3910,0.15,2.28,0.00,0.000,6,0.096,0.025,2402,1876,3373,0,0,0,0,0,0
$GC,4251,-1.46,-77.9,398.1,-9.6,292,4255,0.00,2.45,0.00,0.000,4,0.000,0.050,2402,467,3371,0,0,0,0,0,0
$GC,4283,-1.46,-77.9,401.3,-9.7,292,4287,0.00,2.30,0.00,0.000,6,0.000,0.026,2402,1875,3370,0,0,0,0,0,0
$GC,4621,-1.51,-77.9,427.3,-7.7,301,4625,0.00,2.42,0.00,0.000,4,0.000,0.051,2402,472,3368,0,0,0,0,0,0
$GC,4699,-1.51,-77.9,434.8,-9.2,302,4703,0.00,2.30,0.00,0.000,6,0.000,0.027,2402,1878,3368,0,0,0,0,0,0
$STATE,4907,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4907,begin apogee
$GC,4913,-0.31,0.0,452.2,8.4,307,4981,1.12,0.00,64.68,0.872,6,0.071,0.000,2644,2032,3050,0,0,0,0,0,0
$STATE,4982,end apogee,CONTROL_FINISHED_OK
$STATE,4982,begin climb
$GC,4985,1.40,77.9,453.3,0.0,308,5059,1.62,2.42,65.00,0.849,4,0.033,0.042,3022,3380,2731,0,0,0,0,0,0
$GC,5234,1.22,115.6,447.1,5.4,313,5274,0.22,2.38,32.30,0.834,6,0.114,0.035,2982,2000,2578,0,0,0,0,0,0
$GC,5583,1.14,139.8,423.9,6.4,322,5611,0.00,2.50,21.30,0.818,4,0.000,0.051,2982,598,2478,0,0,0,0,0,0
$GC,5641,0.97,145.7,420.0,7.6,323,5654,0.30,2.33,6.40,0.663,6,0.107,0.029,2927,1994,2456,0,0,0,0,0,0
$GC,6000,1.01,182.8,401.0,5.5,332,6042,0.00,2.55,33.40,0.833,4,0.000,0.052,2927,607,2303,0,0,0,0,0,0
$GC,6057,1.03,195.7,397.2,7.1,333,6076,0.00,2.38,12.60,0.762,6,0.000,0.030,2927,2010,2252,0,0,0,0,0,0
$GC,6412,1.09,195.7,362.5,10.4,342,6417,0.10,2.47,0.00,0.000,4,0.086,0.051,2951,604,2246,0,0,0,0,0,0
$GC,6537,1.04,195.7,346.4,13.0,344,6542,0.00,2.35,0.00,0.000,6,0.000,0.030,2952,2013,2243,0,0,0,0,0,0
$GC,6868,1.04,195.7,310.5,10.7,352,6872,0.00,2.50,0.00,0.000,4,0.000,0.052,2951,597,2242,0,0,0,0,0,0
$GC,6911,1.00,195.7,305.9,11.0,353,6915,0.00,2.38,0.00,0.000,6,0.000,0.030,2952,2019,2240,0,0,0,0,0,0
$GC,7248,1.00,195.7,275.0,8.5,367,7252,0.00,2.47,0.00,0.000,4,0.000,0.051,2952,604,2240,0,0,0,0,0,0
$GC,7322,0.97,195.7,268.0,9.2,370,7328,0.15,2.38,0.00,0.000,6,0.118,0.029,2925,2022,2238,0,0,0,0,0,0
$GC,7645,1.09,214.2,246.1,6.8,386,7669,0.12,2.58,15.60,0.723,4,0.076,0.050,2956,605,2175,0,0,0,0,0,0
$GC,7844,1.09,214.2,225.9,11.0,394,7848,0.00,2.35,0.00,0.000,6,0.000,0.028,2956,2009,2170,0,0,0,0,0,0
$GC,8161,1.14,214.2,193.9,8.9,412,8165,0.00,2.35,0.00,0.000,4,0.000,0.034,2956,3405,2170,0,0,0,0,0,0
$GC,8208,1.22,214.2,189.7,9.7,416,8215,0.00,2.40,0.00,0.000,6,0.000,0.033,2956,2010,2170,0,0,0,0,0,0
$GC,8472,1.27,214.2,170.4,8.3,441,8477,0.15,2.45,0.00,0.000,4,0.067,0.047,2994,593,2170,0,0,0,0,0,0
$GC,8582,1.18,214.2,159.1,11.1,452,8587,0.12,2.33,0.00,0.000,6,0.117,0.025,2973,2016,2168,0,0,0,0,0,0
$GC,8843,1.21,214.2,132.5,10.1,476,8847,0.00,2.45,0.00,0.000,4,0.000,0.046,2972,601,2168,0,0,0,0,0,0
$GC,8935,1.18,214.2,123.1,9.6,486,8939,0.00,2.33,0.00,0.000,6,0.000,0.024,2973,2018,2168,0,0,0,0,0,0
$GC,9198,1.26,227.2,107.1,7.1,510,9215,0.00,0.00,11.93,0.581,6,0.000,0.000,2972,2023,2122,0,0,0,0,0,0
$GC,9473,1.41,271.2,90.5,5.0,536,9520,0.22,2.55,39.10,0.601,4,0.051,0.044,3033,600,1943,0,0,0,0,0,0
$GC,9623,1.34,271.2,76.7,9.7,552,9628,0.15,2.30,0.00,0.000,6,0.104,0.022,3005,2018,1938,0,0,0,0,0,0
$GC,9887,1.39,271.2,53.6,8.6,576,9891,0.00,2.45,0.00,0.000,4,0.000,0.043,3004,601,1938,0,0,0,0,0,0
$GC,9956,1.39,271.2,47.0,9.2,583,9960,0.00,2.28,0.00,0.000,6,0.000,0.021,3004,2015,1936,0,0,0,0,0,0
$GC,10225,1.47,277.2,25.0,7.6,613,10236,0.12,2.45,5.82,0.426,4,0.066,0.039,3043,591,1918,0,0,0,0,0,0
$GC,10368,1.36,277.2,11.3,11.0,644,10375,0.12,2.33,0.00,0.000,6,0.081,0.021,3014,2014,1917,0,0,0,0,0,0
$STATE,10445,end climb,SURFACE_DEPTH_REACHED
$STATE,10445,begin surface coast
$FINISH,0.5,1.010797
$STATE,10478,end surface coast,CONTROL_FINISHED_OK
$STATE,10478,begin surface
$SM_CCo,10499,12.80,0.479,0,0,1826,300.00
$SM_GC,1.17,0.00,0.00,12.80,0.000,0.000,0.479,430,1847,1826,-10.50,-0.79,300.00
$IRIDIUM_FIX,2059.45,-15758.18,070999,040427
$TT8_MAMPS,0.029146
$HUMID,51.18
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.4,45.296
$10V_AH,10.0,42.768
$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,28.750,128.875,308.125,12.800,0.000,29.219,27.963,154.293,4.500,0.000,31.553,1296.720,6751.933,373.924,1984.024,445.872,33.380,1245.904,0.000,1944.614,0.000,29.249,0.000
$DEVICE_MAMPS,133.458,53.690,872.079,479.375,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,446.977,434.738,849.154,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,37987,663
$CAP_FILE_SIZE,125902,0
$CFSIZE,260165632,228851712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130610,100437,2108.800,-15800.445,74,1.5,74,9.8