version: 66.06
glider: 139
mission: 7
dive: 539
start: 6 16 110 23 25 52
data:
$ID,139
$MISSION,7
$DIVE,539
$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,-2141370.8
$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
$GPS1,231806,2107.604,-15755.962,81,2.0,92,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-71.7
$GPS2,232500,2107.557,-15756.006,52,1.6,62,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.178,-0.048
$KALMAN_X,-298433.8,-206.6,199.9,296584.0,-1182.4
$KALMAN_Y,17145.4,19.8,-52.2,-15914.8,418.3
$MHEAD_RNG_PITCHd_Wd,95.2,22843,-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,-77.9,0.0,0.0,0,73,0.00,0.00,-55.65,0.000,2,0.000,0.000,426,1908,3300,0,0,0,0,0,0
$GC,77,-1.40,-77.9,4.0,-7.0,11,92,10.57,0.00,-1.27,0.000,6,0.133,0.000,2402,1908,3369,0,0,0,0,0,0
$GC,289,-1.22,-77.9,46.9,-16.5,41,294,0.22,2.50,0.00,0.000,4,0.097,0.043,2447,466,3371,0,0,0,0,0,0
$GC,324,-1.07,-77.9,52.6,-17.3,44,329,0.15,2.33,0.00,0.000,6,0.104,0.020,2477,1906,3372,0,0,0,0,0,0
$GC,587,-1.12,-77.9,82.2,-9.5,68,591,0.00,2.50,0.00,0.000,4,0.000,0.043,2477,460,3372,0,0,0,0,0,0
$GC,699,-1.16,-77.9,94.0,-9.8,79,704,0.00,2.25,0.00,0.000,6,0.000,0.019,2476,1881,3373,0,0,0,0,0,0
$GC,961,-1.25,-77.9,114.6,-6.6,104,966,0.17,2.45,0.00,0.000,4,0.051,0.043,2422,467,3374,0,0,0,0,0,0
$GC,1005,-1.25,-77.9,118.8,-10.0,108,1009,0.00,2.25,0.00,0.000,6,0.000,0.019,2421,1876,3375,0,0,0,0,0,0
$GC,1267,-1.25,-77.9,144.6,-8.4,132,1271,0.00,2.42,0.00,0.000,4,0.000,0.042,2422,463,3375,0,0,0,0,0,0
$GC,1332,-1.25,-77.9,150.9,-10.0,138,1337,0.00,2.22,0.00,0.000,6,0.000,0.019,2421,1876,3376,0,0,0,0,0,0
$GC,1594,-1.25,-77.9,170.3,-6.6,163,1598,0.00,2.40,0.00,0.000,4,0.000,0.042,2421,469,3376,0,0,0,0,0,0
$GC,1622,-1.22,-77.9,172.6,-8.2,165,1628,0.12,2.25,0.00,0.000,6,0.097,0.020,2448,1878,3376,0,0,0,0,0,0
$GC,1883,-1.31,-77.9,188.9,-6.9,190,1887,0.00,2.40,0.00,0.000,4,0.000,0.043,2448,464,3377,0,0,0,0,0,0
$GC,1939,-1.39,-77.9,193.6,-8.9,195,1945,0.17,2.22,0.00,0.000,6,0.051,0.020,2393,1878,3377,0,0,0,0,0,0
$GC,2195,-1.39,-77.9,219.8,-10.4,211,2200,0.00,2.40,0.00,0.000,4,0.000,0.044,2393,467,3377,0,0,0,0,0,0
$GC,2234,-1.34,-77.9,223.9,-10.1,212,2239,0.15,2.25,0.00,0.000,6,0.091,0.021,2423,1881,3376,0,0,0,0,0,0
$GC,2552,-1.40,-77.9,244.6,-7.2,227,2556,0.00,2.42,0.00,0.000,4,0.000,0.045,2423,463,3377,0,0,0,0,0,0
$GC,2625,-1.40,-77.9,250.8,-8.9,230,2630,0.00,2.25,0.00,0.000,6,0.000,0.021,2425,1885,3377,0,0,0,0,0,0
$GC,2952,-1.47,-77.9,269.5,-5.9,246,2957,0.15,2.47,0.00,0.000,4,0.057,0.046,2378,464,3376,0,0,0,0,0,0
$GC,3066,-1.40,-77.9,280.8,-10.3,251,3071,0.15,2.25,0.00,0.000,6,0.094,0.023,2409,1871,3376,0,0,0,0,0,0
$GC,3417,-1.44,-77.9,311.8,-8.4,265,3421,0.00,2.40,0.00,0.000,4,0.000,0.046,2409,470,3374,0,0,0,0,0,0
$GC,3509,-1.44,-77.9,318.6,-6.8,267,3514,0.00,2.28,0.00,0.000,6,0.000,0.023,2409,1870,3374,0,0,0,0,0,0
$GC,3833,-1.49,-77.9,333.1,-4.3,275,3837,0.00,2.45,0.00,0.000,4,0.000,0.048,2409,471,3373,0,0,0,0,0,0
$GC,3879,-1.49,-77.9,335.8,-6.0,276,3883,0.00,2.28,0.00,0.000,6,0.000,0.025,2409,1879,3373,0,0,0,0,0,0
$GC,4202,-1.54,-77.9,357.8,-7.6,284,4207,0.15,2.47,0.00,0.000,4,0.059,0.049,2366,464,3370,0,0,0,0,0,0
$GC,4287,-1.45,-77.9,367.4,-11.9,285,4294,0.15,2.30,0.00,0.000,6,0.096,0.025,2396,1872,3370,0,0,0,0,0,0
$GC,4618,-1.49,-77.9,399.5,-10.0,294,4623,0.00,2.40,0.00,0.000,4,0.000,0.050,2396,471,3368,0,0,0,0,0,0
$GC,4693,-1.49,-77.9,407.8,-10.8,295,4697,0.00,2.30,0.00,0.000,6,0.000,0.026,2396,1876,3368,0,0,0,0,0,0
$GC,5039,-1.49,-77.9,442.6,-9.7,304,5043,0.00,2.45,0.00,0.000,4,0.000,0.052,2396,465,3365,0,0,0,0,0,0
$GC,5113,-1.49,-77.9,449.8,-9.3,305,5117,0.00,2.33,0.00,0.000,6,0.000,0.028,2396,1875,3364,0,0,0,0,0,0
$STATE,5120,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5120,begin apogee
$GC,5126,-0.31,0.0,450.6,9.4,305,5194,1.12,0.00,64.38,0.874,6,0.076,0.000,2639,2026,3050,0,0,0,0,0,0
$STATE,5194,end apogee,CONTROL_FINISHED_OK
$STATE,5194,begin climb
$GC,5197,1.40,77.9,451.4,0.0,307,5272,1.65,2.45,64.95,0.852,4,0.031,0.041,3022,3391,2732,0,0,0,0,0,0
$GC,5324,1.22,120.9,449.3,5.1,309,5371,0.22,2.40,36.90,0.835,6,0.112,0.033,2983,1998,2556,0,0,0,0,0,0
$GC,5695,1.11,120.9,416.9,8.4,319,5700,0.15,2.45,0.00,0.000,4,0.118,0.040,2938,3398,2550,0,0,0,0,0,0
$GC,5715,1.05,128.1,415.3,7.5,319,5727,0.00,2.38,6.78,0.677,6,0.000,0.035,2958,2005,2526,0,0,0,0,0,0
$GC,6064,1.03,150.3,392.3,6.5,328,6089,0.00,2.53,20.12,0.805,4,0.000,0.051,2957,602,2436,0,0,0,0,0,0
$GC,6132,0.92,150.3,386.9,9.2,329,6137,0.22,2.38,0.00,0.000,6,0.110,0.028,2915,2008,2433,0,0,0,0,0,0
$GC,6474,0.99,156.5,362.1,7.6,338,6486,0.00,2.55,5.97,0.644,4,0.000,0.051,2916,604,2411,0,0,0,0,0,0
$GC,6612,0.99,156.5,349.9,9.1,341,6616,0.00,2.38,0.00,0.000,6,0.000,0.030,2915,2013,2409,0,0,0,0,0,0
$GC,6940,1.05,156.5,323.2,8.3,349,6945,0.12,2.50,0.00,0.000,4,0.077,0.051,2947,605,2408,0,0,0,0,0,0
$GC,6992,0.99,156.5,318.7,8.7,350,6996,0.00,2.38,0.00,0.000,6,0.000,0.030,2946,2017,2406,0,0,0,0,0,0
$GC,7311,1.00,167.7,293.7,7.2,360,7327,0.00,2.45,10.38,0.714,4,0.000,0.039,2947,3407,2366,0,0,0,0,0,0
$GC,7365,1.00,167.7,289.3,8.4,362,7369,0.00,2.42,0.00,0.000,6,0.000,0.035,2947,2002,2365,0,0,0,0,0,0
$GC,7685,1.02,177.1,262.0,7.4,378,7702,0.00,2.45,9.82,0.691,4,0.000,0.050,2947,605,2326,0,0,0,0,0,0
$GC,7863,1.03,191.4,249.0,7.0,385,7884,0.00,2.38,13.70,0.708,6,0.000,0.028,2946,2027,2269,0,0,0,0,0,0
$GC,8202,1.12,214.7,226.8,6.4,402,8231,0.00,2.60,21.83,0.715,4,0.000,0.049,2947,599,2173,0,0,0,0,0,0
$GC,8346,1.12,214.7,214.5,8.1,408,8350,0.00,2.38,0.00,0.000,6,0.000,0.028,2947,2014,2168,0,0,0,0,0,0
$GC,8671,1.21,218.0,190.5,7.8,429,8676,0.15,2.50,0.00,0.000,4,0.069,0.048,2985,599,2167,0,0,0,0,0,0
$GC,8715,1.15,218.0,186.0,10.7,433,8719,0.00,2.35,0.00,0.000,6,0.000,0.027,2985,2021,2166,0,0,0,0,0,0
$GC,8978,1.15,223.6,162.6,7.6,457,8991,0.00,2.53,7.90,0.581,4,0.000,0.047,2985,594,2138,0,0,0,0,0,0
$GC,9042,1.10,223.6,156.6,9.6,463,9049,0.17,2.35,0.00,0.000,6,0.109,0.025,2954,2017,2136,0,0,0,0,0,0
$GC,9306,1.20,231.0,137.1,7.5,488,9319,0.00,2.50,8.00,0.561,4,0.000,0.047,2954,596,2108,0,0,0,0,0,0
$GC,9450,1.24,231.0,125.0,9.0,503,9455,0.12,2.33,0.00,0.000,6,0.074,0.024,2987,2018,2105,0,0,0,0,0,0
$GC,9711,1.28,232.4,103.5,7.9,527,9716,0.00,2.47,0.00,0.000,4,0.000,0.044,2987,594,2105,0,0,0,0,0,0
$GC,9833,1.28,232.4,92.6,10.3,539,9839,0.00,2.30,0.00,0.000,6,0.000,0.023,2987,2011,2104,0,0,0,0,0,0
$GC,10096,1.34,232.4,70.3,9.7,564,10100,0.00,2.30,0.00,0.000,4,0.000,0.028,2986,3398,2104,0,0,0,0,0,0
$GC,10115,1.41,232.4,68.2,9.7,565,10121,0.15,2.33,0.00,0.000,6,0.061,0.028,3029,2002,2104,0,0,0,0,0,0
$GC,10376,1.42,235.3,45.4,7.8,590,10386,0.00,2.38,5.32,0.431,4,0.000,0.041,3030,602,2089,0,0,0,0,0,0
$GC,10484,1.35,240.7,36.7,7.7,601,10497,0.10,2.28,6.55,0.453,6,0.114,0.021,3011,2027,2067,0,0,0,0,0,0
$GC,10770,1.42,263.4,18.4,6.5,643,10797,0.00,2.47,21.40,0.518,4,0.000,0.040,3011,597,1974,0,0,0,0,0,0
$GC,10831,1.42,263.4,13.3,9.3,656,10836,0.00,2.30,0.00,0.000,6,0.000,0.021,3010,2009,1971,0,0,0,0,0,0
$STATE,10941,end climb,SURFACE_DEPTH_REACHED
$STATE,10941,begin surface coast
$FINISH,0.7,1.023241
$STATE,10970,end surface coast,CONTROL_FINISHED_OK
$STATE,10970,begin surface
$SM_CCo,10991,20.40,0.499,0,0,1827,300.00
$SM_GC,0.99,0.00,0.00,20.40,0.000,0.000,0.499,424,1865,1827,-10.53,-0.28,300.00
$IRIDIUM_FIX,2059.45,-15758.18,100999,202013
$TT8_MAMPS,0.029146
$HUMID,52.20
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.20
$XPDR_PINGS,1
$24V_AH,23.4,47.798
$10V_AH,10.0,44.415
$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,27.525,138.750,304.000,20.400,0.000,24.446,39.480,186.530,4.750,0.000,62.721,1335.628,7524.867,397.394,1672.966,495.311,33.381,1298.450,0.000,1585.014,0.000,30.615,0.000
$DEVICE_MAMPS,132.691,52.923,874.380,498.550,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,458.188,449.861,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,34908,681
$CAP_FILE_SIZE,133594,0
$CFSIZE,260165632,227115008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170610,023220,2107.611,-15755.319,119,8.6,138,9.8