version: 66.06
glider: 139
mission: 7
dive: 565
start: 6 20 110 9 42 12
data:
$ID,139
$MISSION,7
$DIVE,565
$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,-2142321
$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
$GPS1,092921,2105.805,-15744.460,67,1.6,67,9.8
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-68.9
$GPS2,094120,2105.844,-15744.591,12,1.6,12,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,0.017
$KALMAN_X,-331239.0,30.2,-438.5,349515.4,-916.0
$KALMAN_Y,17946.3,-37.9,-214.7,-19664.8,-214.6
$MHEAD_RNG_PITCHd_Wd,74.9,2891,-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,-55.60,0.000,2,0.000,0.000,415,1905,3306,0,0,0,0,0,0
$GC,77,-1.40,-77.9,3.8,-7.3,11,96,10.68,2.35,-1.25,0.000,4,0.134,0.038,2404,3305,3371,0,0,0,0,0,0
$GC,117,-0.81,-77.9,17.7,-30.3,19,123,0.62,2.42,0.00,0.000,6,0.080,0.030,2534,1871,3372,0,0,0,0,0,0
$GC,328,-0.94,-77.9,41.6,-11.6,47,333,0.12,2.40,0.00,0.000,4,0.061,0.041,2489,466,3373,0,0,0,0,0,0
$GC,399,-0.94,-77.9,49.6,-11.1,54,403,0.00,2.30,0.00,0.000,6,0.000,0.019,2488,1911,3373,0,0,0,0,0,0
$GC,662,-0.97,-77.9,79.2,-11.8,78,666,0.00,2.47,0.00,0.000,4,0.000,0.041,2489,470,3373,0,0,0,0,0,0
$GC,686,-0.97,-77.9,82.3,-12.1,80,690,0.00,2.25,0.00,0.000,6,0.000,0.019,2488,1891,3374,0,0,0,0,0,0
$GC,953,-1.10,-77.9,108.1,-8.5,105,957,0.00,2.42,0.00,0.000,4,0.000,0.041,2489,468,3375,0,0,0,0,0,0
$GC,987,-1.20,-77.9,110.9,-8.5,108,992,0.15,2.25,0.00,0.000,6,0.054,0.019,2440,1882,3375,0,0,0,0,0,0
$GC,1253,-1.23,-77.9,137.6,-10.7,133,1257,0.00,2.42,0.00,0.000,4,0.000,0.042,2437,467,3375,0,0,0,0,0,0
$GC,1362,-1.23,-77.9,148.8,-9.8,144,1366,0.00,2.22,0.00,0.000,6,0.000,0.019,2437,1875,3376,0,0,0,0,0,0
$GC,1625,-1.26,-77.9,171.5,-8.7,168,1629,0.00,2.40,0.00,0.000,4,0.000,0.042,2437,471,3376,0,0,0,0,0,0
$GC,1652,-1.26,-77.9,174.4,-9.2,170,1658,0.00,2.22,0.00,0.000,6,0.000,0.019,2437,1877,3377,0,0,0,0,0,0
$GC,1915,-1.31,-77.9,197.1,-8.8,195,1916,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,1881,3377,0,0,0,0,0,0
$GC,2173,-1.37,-77.9,219.6,-8.3,209,2178,0.00,2.40,0.00,0.000,4,0.000,0.043,2437,470,3377,0,0,0,0,0,0
$GC,2229,-1.42,-77.9,224.7,-9.2,211,2234,0.15,2.22,0.00,0.000,6,0.054,0.020,2386,1878,3376,0,0,0,0,0,0
$GC,2550,-1.42,-77.9,254.5,-8.4,227,2554,0.00,2.40,0.00,0.000,4,0.000,0.043,2387,463,3376,0,0,0,0,0,0
$GC,2578,-1.34,-77.9,257.1,-9.1,228,2583,0.17,2.25,0.00,0.000,6,0.088,0.021,2423,1878,3376,0,0,0,0,0,0
$GC,2900,-1.42,-77.9,276.2,-5.8,244,2905,0.00,2.40,0.00,0.000,4,0.000,0.044,2423,470,3376,0,0,0,0,0,0
$GC,2984,-1.47,-77.9,282.0,-7.0,247,2991,0.12,2.28,0.00,0.000,6,0.062,0.021,2380,1882,3376,0,0,0,0,0,0
$GC,3318,-1.47,-77.9,312.7,-9.5,261,3319,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1886,3375,0,0,0,0,0,0
$GC,3645,-1.47,-77.9,341.8,-8.9,269,3649,0.00,2.42,0.00,0.000,4,0.000,0.048,2380,470,3373,0,0,0,0,0,0
$GC,3757,-1.42,-77.9,353.1,-9.8,271,3762,0.12,2.28,0.00,0.000,6,0.100,0.024,2406,1873,3372,0,0,0,0,0,0
$GC,4104,-1.47,-77.9,379.2,-7.6,280,4108,0.00,2.42,0.00,0.000,4,0.000,0.049,2406,466,3370,0,0,0,0,0,0
$GC,4159,-1.47,-77.9,384.5,-8.9,281,4163,0.00,2.28,0.00,0.000,6,0.000,0.025,2406,1871,3370,0,0,0,0,0,0
$GC,4478,-1.53,-77.9,409.7,-7.8,289,4483,0.12,2.45,0.00,0.000,4,0.064,0.051,2368,474,3368,0,0,0,0,0,0
$GC,4530,-1.47,-77.9,415.1,-10.3,290,4535,0.12,2.28,0.00,0.000,6,0.100,0.027,2393,1873,3367,0,0,0,0,0,0
$GC,4852,-1.51,-77.9,441.6,-7.9,298,4856,0.00,2.45,0.00,0.000,4,0.000,0.052,2394,474,3364,0,0,0,0,0,0
$GC,4898,-1.51,-77.9,445.9,-8.5,299,4903,0.00,2.33,0.00,0.000,6,0.000,0.028,2394,1881,3364,0,0,0,0,0,0
$STATE,4975,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4975,begin apogee
$GC,4981,-0.31,0.0,451.5,7.3,301,5048,1.17,0.00,64.03,0.877,6,0.071,0.000,2646,2029,3050,0,0,0,0,0,0
$STATE,5049,end apogee,CONTROL_FINISHED_OK
$STATE,5049,begin climb
$GC,5052,1.40,77.9,452.4,0.0,302,5127,1.62,2.42,64.75,0.854,4,0.031,0.041,3028,3383,2732,0,0,0,0,0,0
$GC,5202,1.25,154.4,452.6,2.8,305,5277,0.22,2.35,65.22,0.850,6,0.110,0.034,2988,2005,2420,0,0,0,0,0,0
$GC,5602,1.15,154.4,419.1,9.3,315,5604,0.12,0.00,0.00,0.000,6,0.122,0.000,2966,2005,2410,0,0,0,0,0,0
$GC,5926,1.10,154.4,386.8,10.4,323,5930,0.00,2.47,0.00,0.000,4,0.000,0.051,2965,601,2408,0,0,0,0,0,0
$GC,5963,0.98,154.4,382.0,12.1,323,5970,0.17,2.35,0.00,0.000,6,0.116,0.029,2931,1995,2405,0,0,0,0,0,0
$GC,6294,0.98,154.4,349.0,9.5,332,6298,0.00,2.45,0.00,0.000,4,0.000,0.051,2933,606,2404,0,0,0,0,0,0
$GC,6392,0.94,155.8,340.6,7.9,334,6397,0.00,2.38,0.00,0.000,6,0.000,0.030,2933,2018,2403,0,0,0,0,0,0
$GC,6711,1.00,177.6,318.6,6.5,342,6735,0.00,2.58,18.27,0.779,4,0.000,0.051,2933,613,2324,0,0,0,0,0,0
$GC,6860,1.00,179.3,307.3,7.9,345,6864,0.00,2.35,0.00,0.000,6,0.000,0.030,2933,2017,2320,0,0,0,0,0,0
$GC,7177,1.10,204.6,286.4,6.3,358,7208,0.00,2.42,24.67,0.768,4,0.000,0.037,2934,3404,2215,0,0,0,0,0,0
$GC,7224,1.18,208.6,283.0,7.8,360,7236,0.17,2.42,5.25,0.573,6,0.059,0.035,2978,2010,2199,0,0,0,0,0,0
$GC,7553,1.18,208.6,250.9,9.6,376,7557,0.00,2.50,0.00,0.000,4,0.000,0.051,2978,601,2194,0,0,0,0,0,0
$GC,7662,1.12,208.6,240.8,9.7,380,7667,0.00,2.35,0.00,0.000,6,0.000,0.028,2978,2012,2191,0,0,0,0,0,0
$GC,7977,1.13,216.3,215.5,7.5,396,7989,0.00,2.53,6.93,0.608,4,0.000,0.050,2978,585,2168,0,0,0,0,0,0
$GC,8055,1.08,216.3,208.5,9.5,399,8060,0.15,2.38,0.00,0.000,6,0.117,0.028,2952,2014,2166,0,0,0,0,0,0
$GC,8382,1.17,216.3,179.4,9.1,425,8387,0.00,2.45,0.00,0.000,4,0.000,0.048,2951,604,2165,0,0,0,0,0,0
$GC,8495,1.19,232.6,170.2,6.9,436,8518,0.00,2.35,15.80,0.653,6,0.000,0.026,2951,2025,2100,0,0,0,0,0,0
$GC,8774,1.31,250.5,151.5,6.8,463,8800,0.22,2.53,17.02,0.632,4,0.052,0.044,3009,602,2027,0,0,0,0,0,0
$GC,8867,1.22,250.5,142.0,12.0,473,8872,0.15,2.33,0.00,0.000,6,0.106,0.025,2982,2011,2023,0,0,0,0,0,0
$GC,9128,1.26,250.5,116.3,10.0,497,9132,0.00,2.45,0.00,0.000,4,0.000,0.045,2981,604,2023,0,0,0,0,0,0
$GC,9207,1.26,250.5,107.7,11.0,505,9212,0.00,2.33,0.00,0.000,6,0.000,0.024,2981,2015,2022,0,0,0,0,0,0
$GC,9470,1.35,250.5,85.8,8.6,529,9475,0.12,2.47,0.00,0.000,4,0.066,0.045,3019,598,2022,0,0,0,0,0,0
$GC,9584,1.28,250.5,74.4,9.2,540,9590,0.12,2.33,0.00,0.000,6,0.107,0.022,2996,2022,2021,0,0,0,0,0,0
$GC,9847,1.34,250.5,54.5,8.3,565,9851,0.00,2.42,0.00,0.000,4,0.000,0.042,2995,600,2021,0,0,0,0,0,0
$GC,9936,1.34,250.5,45.2,10.4,574,9940,0.00,2.28,0.00,0.000,6,0.000,0.021,2995,2013,2021,0,0,0,0,0,0
$GC,10200,1.41,254.5,24.6,7.7,604,10210,0.12,0.00,4.20,0.370,6,0.065,0.000,3033,2018,2011,0,0,0,0,0,0
$GC,10413,1.38,278.1,5.3,6.4,642,10441,0.00,2.53,22.33,0.509,4,0.000,0.043,3034,603,1915,0,0,0,0,0,0
$STATE,10445,end climb,SURFACE_DEPTH_REACHED
$STATE,10445,begin surface coast
$FINISH,0.7,1.023404
$STATE,10484,end surface coast,CONTROL_FINISHED_OK
$STATE,10484,begin surface
$SM_CCo,10507,10.65,0.466,0,0,1827,300.00
$SM_GC,2.21,0.00,0.00,10.65,0.000,0.000,0.466,425,1895,1827,-10.53,0.57,300.00
$IRIDIUM_FIX,2059.45,-15743.60,140999,090958
$TT8_MAMPS,0.029146
$HUMID,51.85
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,23.10
$XPDR_PINGS,0
$24V_AH,23.4,50.107
$10V_AH,10.0,45.869
$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,28.100,123.675,308.475,10.650,0.000,88.607,89.936,294.652,4.500,0.000,12.216,1262.595,7368.646,385.552,1507.222,710.709,33.383,1223.348,0.000,1469.288,0.000,29.261,0.000
$DEVICE_MAMPS,134.225,54.457,876.681,465.569,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,441.562,432.138,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,34990,657
$CAP_FILE_SIZE,128299,0
$CFSIZE,260165632,225521664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200610,124050,2105.935,-15744.047,143,5.8,162,9.8