version: 66.06
glider: 139
mission: 7
dive: 527
start: 6 15 110 10 11 58
data:
$ID,139
$MISSION,7
$DIVE,527
$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,-2140798
$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
$GPS1,100521,2107.363,-15756.311,77,2.7,96,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-69.8
$GPS2,101106,2107.349,-15756.329,13,2.0,29,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,-0.001
$KALMAN_X,-274845.3,183.7,240.1,272007.6,-2272.5
$KALMAN_Y,14891.9,178.6,-24.5,-14234.9,34.5
$MHEAD_RNG_PITCHd_Wd,80.4,23346,-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,-77.9,0.0,0.0,0,68,0.00,0.00,-50.80,0.000,2,0.000,0.000,430,1861,3148,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.4,-5.6,10,92,10.62,2.45,-4.38,0.000,4,0.136,0.036,2401,3308,3369,0,0,0,0,0,0
$GC,108,-0.61,-77.9,14.3,-28.2,17,114,0.85,2.45,0.00,0.000,6,0.078,0.031,2579,1865,3370,0,0,0,0,0,0
$GC,318,-0.86,-77.9,28.7,-6.1,54,324,0.25,2.40,0.00,0.000,4,0.041,0.041,2500,467,3371,0,0,0,0,0,0
$GC,390,-0.91,-77.9,37.1,-12.4,63,395,0.00,2.33,0.00,0.000,6,0.000,0.019,2500,1923,3371,0,0,0,0,0,0
$GC,653,-0.97,-77.9,64.9,-10.9,88,657,0.00,2.47,0.00,0.000,4,0.000,0.042,2499,470,3372,0,0,0,0,0,0
$GC,727,-1.03,-77.9,73.3,-11.2,95,732,0.00,2.25,0.00,0.000,6,0.000,0.019,2500,1879,3373,0,0,0,0,0,0
$GC,993,-1.16,-77.9,95.7,-8.0,120,998,0.17,2.42,0.00,0.000,4,0.051,0.042,2443,463,3373,0,0,0,0,0,0
$GC,1030,-1.16,-77.9,99.9,-10.0,123,1037,0.00,2.25,0.00,0.000,6,0.000,0.019,2444,1885,3373,0,0,0,0,0,0
$GC,1292,-1.19,-77.9,125.2,-8.8,148,1296,0.00,2.40,0.00,0.000,4,0.000,0.042,2443,470,3374,0,0,0,0,0,0
$GC,1358,-1.19,-77.9,131.2,-8.4,154,1363,0.00,2.25,0.00,0.000,6,0.000,0.018,2444,1894,3374,0,0,0,0,0,0
$GC,1623,-1.24,-77.9,153.4,-9.7,179,1627,0.00,2.42,0.00,0.000,4,0.000,0.041,2443,464,3375,0,0,0,0,0,0
$GC,1670,-1.28,-77.9,158.4,-10.0,183,1675,0.00,2.22,0.00,0.000,6,0.000,0.019,2444,1879,3376,0,0,0,0,0,0
$GC,1932,-1.36,-77.9,181.2,-8.1,208,1937,0.12,2.42,0.00,0.000,4,0.061,0.043,2397,470,3375,0,0,0,0,0,0
$GC,1995,-1.28,-77.9,187.8,-10.4,214,2000,0.17,2.22,0.00,0.000,6,0.088,0.020,2435,1875,3375,0,0,0,0,0,0
$GC,2254,-1.34,-77.9,212.1,-9.5,232,2258,0.00,2.42,0.00,0.000,4,0.000,0.044,2434,465,3376,0,0,0,0,0,0
$GC,2343,-1.40,-77.9,219.7,-9.0,236,2349,0.12,2.25,0.00,0.000,6,0.061,0.021,2392,1873,3375,0,0,0,0,0,0
$GC,2681,-1.40,-77.9,253.2,-10.1,252,2685,0.00,2.40,0.00,0.000,4,0.000,0.044,2392,463,3376,0,0,0,0,0,0
$GC,2710,-1.33,-77.9,256.6,-11.5,253,2714,0.15,2.25,0.00,0.000,6,0.093,0.021,2423,1871,3376,0,0,0,0,0,0
$GC,3036,-1.41,-77.9,285.9,-8.8,269,3037,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,1876,3375,0,0,0,0,0,0
$GC,3343,-1.50,-77.9,309.2,-7.0,281,3348,0.17,2.42,0.00,0.000,4,0.053,0.045,2371,471,3375,0,0,0,0,0,0
$GC,3381,-1.42,-77.9,312.7,-9.4,281,3387,0.17,2.25,0.00,0.000,6,0.091,0.023,2406,1871,3374,0,0,0,0,0,0
$GC,3713,-1.46,-77.9,336.9,-7.4,290,3717,0.00,2.40,0.00,0.000,4,0.000,0.048,2406,473,3373,0,0,0,0,0,0
$GC,3745,-1.46,-77.9,339.8,-9.0,290,3750,0.00,2.28,0.00,0.000,6,0.000,0.025,2407,1876,3373,0,0,0,0,0,0
$GC,4082,-1.51,-77.9,363.0,-6.4,299,4086,0.00,2.42,0.00,0.000,4,0.000,0.049,2407,468,3371,0,0,0,0,0,0
$GC,4142,-1.51,-77.9,368.0,-8.6,300,4146,0.00,2.30,0.00,0.000,6,0.000,0.025,2407,1878,3370,0,0,0,0,0,0
$GC,4457,-1.56,-77.9,392.9,-8.1,308,4462,0.15,2.45,0.00,0.000,4,0.061,0.051,2364,470,3368,0,0,0,0,0,0
$GC,4501,-1.47,-77.9,397.7,-10.7,309,4506,0.15,2.30,0.00,0.000,6,0.098,0.026,2394,1873,3368,0,0,0,0,0,0
$GC,4831,-1.50,-77.9,428.1,-9.0,317,4835,0.00,2.45,0.00,0.000,4,0.000,0.052,2394,466,3366,0,0,0,0,0,0
$GC,4910,-1.50,-77.9,436.0,-9.8,318,4914,0.00,2.33,0.00,0.000,6,0.000,0.027,2395,1876,3365,0,0,0,0,0,0
$STATE,5080,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5080,begin apogee
$GC,5087,-0.31,0.0,451.1,8.7,323,5155,1.17,0.00,64.35,0.872,6,0.074,0.000,2645,2027,3050,0,0,0,0,0,0
$STATE,5155,end apogee,CONTROL_FINISHED_OK
$STATE,5155,begin climb
$GC,5158,1.40,77.9,451.9,0.0,324,5233,1.62,2.42,64.85,0.851,4,0.032,0.041,3025,3380,2731,0,0,0,0,0,0
$GC,5326,1.20,104.1,448.3,6.2,327,5355,0.25,2.35,22.98,0.817,6,0.110,0.035,2978,2007,2625,0,0,0,0,0,0
$GC,5666,1.09,104.1,419.0,8.8,336,5671,0.15,2.50,0.00,0.000,4,0.121,0.050,2952,596,2620,0,0,0,0,0,0
$GC,5776,0.97,115.6,410.5,7.2,338,5793,0.15,2.35,10.12,0.747,6,0.122,0.029,2926,1994,2578,0,0,0,0,0,0
$GC,6131,1.00,137.3,386.1,6.5,347,6155,0.00,2.50,19.42,0.808,4,0.000,0.051,2926,602,2490,0,0,0,0,0,0
$GC,6179,0.95,138.9,382.4,7.9,348,6184,0.00,2.38,0.00,0.000,6,0.000,0.030,2926,2011,2488,0,0,0,0,0,0
$GC,6497,0.95,138.9,357.6,8.1,356,6501,0.00,2.50,0.00,0.000,4,0.000,0.051,2926,600,2485,0,0,0,0,0,0
$GC,6634,0.93,152.6,347.3,7.1,359,6655,0.00,2.38,13.77,0.768,6,0.000,0.030,2926,2015,2427,0,0,0,0,0,0
$GC,6967,1.02,182.2,327.3,6.0,367,6999,0.00,2.55,26.95,0.792,4,0.000,0.051,2926,605,2306,0,0,0,0,0,0
$GC,7107,1.02,182.2,314.7,10.1,370,7111,0.00,2.35,0.00,0.000,6,0.000,0.030,2926,2007,2301,0,0,0,0,0,0
$GC,7433,1.09,189.1,286.9,7.5,382,7446,0.12,2.55,6.32,0.629,4,0.077,0.051,2957,601,2279,0,0,0,0,0,0
$GC,7557,1.05,189.1,274.9,9.8,387,7562,0.00,2.38,0.00,0.000,6,0.000,0.029,2957,2012,2276,0,0,0,0,0,0
$GC,7878,1.08,211.6,252.5,6.5,403,7905,0.00,2.42,21.38,0.737,4,0.000,0.038,2956,3408,2186,0,0,0,0,0,0
$GC,7924,1.13,214.6,249.1,7.8,405,7937,0.00,2.42,4.55,0.518,6,0.000,0.037,2957,2005,2174,0,0,0,0,0,0
$GC,8249,1.18,214.6,215.1,11.0,421,8253,0.00,2.47,0.00,0.000,4,0.000,0.051,2957,595,2170,0,0,0,0,0,0
$GC,8332,1.18,214.6,206.3,10.2,424,8337,0.00,2.35,0.00,0.000,6,0.000,0.028,2957,2013,2167,0,0,0,0,0,0
$GC,8656,1.23,214.6,177.6,9.2,451,8661,0.10,2.50,0.00,0.000,4,0.084,0.048,2985,598,2167,0,0,0,0,0,0
$GC,8857,1.17,214.6,153.5,11.9,472,8861,0.00,2.33,0.00,0.000,6,0.000,0.026,2985,2014,2165,0,0,0,0,0,0
$GC,9119,1.19,227.2,127.6,7.2,496,9137,0.00,2.47,11.20,0.598,4,0.000,0.046,2985,602,2123,0,0,0,0,0,0
$GC,9148,1.20,240.9,125.4,7.1,499,9167,0.00,2.33,13.65,0.601,6,0.000,0.025,2985,2019,2067,0,0,0,0,0,0
$GC,9421,1.26,240.9,104.9,9.6,525,9425,0.00,2.47,0.00,0.000,4,0.000,0.045,2985,595,2065,0,0,0,0,0,0
$GC,9486,1.26,240.9,97.7,11.7,531,9491,0.00,2.33,0.00,0.000,6,0.000,0.024,2985,2014,2062,0,0,0,0,0,0
$GC,9748,1.32,240.9,75.9,8.2,556,9753,0.00,2.42,0.00,0.000,4,0.000,0.043,2985,601,2062,0,0,0,0,0,0
$GC,9823,1.37,240.9,68.4,11.6,563,9829,0.12,2.30,0.00,0.000,6,0.069,0.022,3021,2011,2061,0,0,0,0,0,0
$GC,10085,1.42,289.3,53.2,4.7,588,10131,0.00,0.00,42.30,0.565,6,0.000,0.000,3021,2016,1869,0,0,0,0,0,0
$GC,10390,1.46,289.3,24.5,10.2,621,10395,0.00,2.45,0.00,0.000,4,0.000,0.043,3021,598,1866,0,0,0,0,0,0
$GC,10459,1.42,289.3,17.3,11.6,635,10464,0.00,2.30,0.00,0.000,6,0.000,0.021,3021,2009,1863,0,0,0,0,0,0
$STATE,10605,end climb,SURFACE_DEPTH_REACHED
$STATE,10605,begin surface coast
$FINISH,0.5,1.023397
$STATE,10638,end surface coast,CONTROL_FINISHED_OK
$STATE,10638,begin surface
$SM_CCo,10659,7.88,0.449,0,0,1826,300.00
$SM_GC,2.16,0.00,0.00,7.88,0.000,0.000,0.449,425,1852,1826,-10.53,-0.65,300.00
$IRIDIUM_FIX,2057.14,-15756.04,090999,070733
$TT8_MAMPS,0.029146
$HUMID,52.00
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.4,46.742
$10V_AH,10.0,43.753
$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,28.075,129.100,321.850,7.875,0.000,30.273,28.471,157.460,4.500,0.000,30.049,1292.995,7309.633,405.155,1557.067,446.848,33.377,1260.202,0.000,1504.741,0.000,29.265,0.000
$DEVICE_MAMPS,135.759,53.690,872.079,448.695,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,448.234,436.283,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,34980,667
$CAP_FILE_SIZE,125783,0
$CFSIZE,260165632,227844096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,150610,131157,2107.313,-15756.296,75,3.4,94,9.8