version: 66.06
glider: 139
mission: 7
dive: 578
start: 6 22 110 2 47 0
data:
$ID,139
$MISSION,7
$DIVE,578
$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,-2142745.5
$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
$GPS1,024027,2100.162,-15751.578,198,2.1,217,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-70.5
$GPS2,024608,2100.185,-15751.648,14,1.7,14,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.169,0.072
$KALMAN_X,-331527.8,430.6,-223.1,336997.1,300.7
$KALMAN_Y,21878.8,451.3,-49.9,-34736.8,533.1
$MHEAD_RNG_PITCHd_Wd,283.2,23484,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.40,-77.9,0.0,0.0,0,69,0.00,0.00,-50.25,0.000,2,0.000,0.000,422,1852,3147,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.5,-6.0,10,96,10.65,2.45,-4.40,0.000,4,0.135,0.039,2407,3294,3370,0,0,0,0,0,0
$GC,235,-1.36,-77.9,34.7,-13.9,42,241,0.00,2.38,0.00,0.000,6,0.000,0.029,2403,1869,3372,0,0,0,0,0,0
$GC,498,-1.23,-77.9,73.9,-13.7,67,503,0.20,2.40,0.00,0.000,4,0.098,0.041,2447,467,3372,0,0,0,0,0,0
$GC,552,-1.18,-77.9,80.7,-12.4,72,556,0.00,2.30,0.00,0.000,6,0.000,0.019,2445,1909,3373,0,0,0,0,0,0
$GC,819,-1.18,-77.9,107.7,-9.0,97,823,0.00,2.47,0.00,0.000,4,0.000,0.042,2447,470,3374,0,0,0,0,0,0
$GC,920,-1.18,-77.9,118.1,-9.7,107,926,0.00,2.25,0.00,0.000,6,0.000,0.018,2445,1884,3374,0,0,0,0,0,0
$GC,1183,-1.24,-77.9,142.5,-9.6,132,1188,0.00,2.42,0.00,0.000,4,0.000,0.041,2447,467,3376,0,0,0,0,0,0
$GC,1226,-1.24,-77.9,147.0,-10.3,136,1230,0.00,2.25,0.00,0.000,6,0.000,0.019,2446,1878,3375,0,0,0,0,0,0
$GC,1489,-1.31,-77.9,170.0,-8.4,160,1493,0.00,2.42,0.00,0.000,4,0.000,0.041,2447,462,3376,0,0,0,0,0,0
$GC,1541,-1.36,-77.9,174.8,-9.2,165,1545,0.12,2.25,0.00,0.000,6,0.062,0.019,2401,1876,3376,0,0,0,0,0,0
$GC,1806,-1.36,-77.9,199.8,-9.1,190,1811,0.00,2.40,0.00,0.000,4,0.000,0.042,2402,465,3377,0,0,0,0,0,0
$GC,1840,-1.31,-77.9,203.2,-9.9,192,1845,0.15,2.25,0.00,0.000,6,0.092,0.020,2430,1881,3377,0,0,0,0,0,0
$GC,2167,-1.38,-77.9,226.2,-6.9,208,2171,0.00,2.42,0.00,0.000,4,0.000,0.044,2434,464,3377,0,0,0,0,0,0
$GC,2276,-1.43,-77.9,234.6,-7.6,212,2281,0.15,2.28,0.00,0.000,6,0.054,0.021,2384,1883,3377,0,0,0,0,0,0
$GC,2593,-1.43,-77.9,265.3,-10.6,227,2597,0.00,2.42,0.00,0.000,4,0.000,0.044,2385,471,3376,0,0,0,0,0,0
$GC,2668,-1.37,-77.9,273.8,-11.2,230,2673,0.15,2.22,0.00,0.000,6,0.092,0.021,2416,1876,3376,0,0,0,0,0,0
$GC,2991,-1.43,-77.9,301.1,-7.9,246,2996,0.00,2.42,0.00,0.000,4,0.000,0.045,2416,463,3375,0,0,0,0,0,0
$GC,3043,-1.43,-77.9,305.7,-8.8,247,3047,0.00,2.28,0.00,0.000,6,0.000,0.023,2416,1871,3375,0,0,0,0,0,0
$GC,3361,-1.50,-77.9,330.8,-8.1,255,3366,0.12,2.45,0.00,0.000,4,0.064,0.048,2376,467,3373,0,0,0,0,0,0
$GC,3414,-1.45,-77.9,336.1,-10.9,256,3418,0.10,2.30,0.00,0.000,6,0.107,0.024,2396,1884,3373,0,0,0,0,0,0
$GC,3739,-1.48,-77.9,366.0,-9.4,264,3740,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1888,3372,0,0,0,0,0,0
$GC,4062,-1.52,-77.9,396.8,-9.4,272,4066,0.00,2.45,0.00,0.000,4,0.000,0.049,2396,464,3369,0,0,0,0,0,0
$GC,4179,-1.52,-77.9,408.6,-9.3,274,4184,0.00,2.30,0.00,0.000,6,0.000,0.025,2397,1881,3369,0,0,0,0,0,0
$GC,4522,-1.56,-77.9,440.0,-8.9,283,4526,0.00,2.45,0.00,0.000,4,0.000,0.050,2396,473,3366,0,0,0,0,0,0
$GC,4565,-1.56,-77.9,444.3,-9.3,284,4570,0.10,2.30,0.00,0.000,6,0.076,0.027,2363,1873,3366,0,0,0,0,0,0
$STATE,4647,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4647,begin apogee
$GC,4653,-0.31,0.0,452.2,9.3,286,4721,1.33,0.00,64.40,0.869,6,0.075,0.000,2646,2037,3050,0,0,0,0,0,0
$STATE,4722,end apogee,CONTROL_FINISHED_OK
$STATE,4722,begin climb
$GC,4725,1.40,77.9,453.1,0.0,287,4800,1.62,2.40,64.80,0.848,4,0.031,0.039,3022,3381,2732,0,0,0,0,0,0
$GC,4859,1.22,132.7,452.4,4.3,290,4913,0.22,2.35,47.15,0.837,6,0.111,0.034,2985,2006,2507,0,0,0,0,0,0
$GC,5231,1.11,132.7,416.1,9.8,299,5233,0.15,0.00,0.00,0.000,6,0.116,0.000,2958,2007,2500,0,0,0,0,0,0
$GC,5556,1.07,143.4,390.8,7.3,307,5567,0.00,0.00,8.65,0.721,6,0.000,0.000,2958,2006,2465,0,0,0,0,0,0
$GC,5882,1.05,158.7,367.3,7.0,315,5902,0.00,2.55,14.25,0.774,4,0.000,0.053,2958,608,2402,0,0,0,0,0,0
$GC,5983,0.96,158.7,358.9,9.4,317,5988,0.20,2.33,0.00,0.000,6,0.114,0.029,2923,1996,2399,0,0,0,0,0,0
$GC,6303,1.04,183.2,338.2,6.3,325,6327,0.00,0.00,22.52,0.789,6,0.000,0.000,2923,2000,2303,0,0,0,0,0,0
$GC,6627,1.12,192.9,313.9,7.4,333,6644,0.17,2.53,9.48,0.705,4,0.064,0.051,2965,609,2262,0,0,0,0,0,0
$GC,6678,1.05,192.9,309.6,8.4,334,6682,0.00,2.35,0.00,0.000,6,0.000,0.029,2964,2011,2260,0,0,0,0,0,0
$GC,7003,1.05,192.9,281.2,9.5,347,7008,0.00,2.50,0.00,0.000,4,0.000,0.051,2965,598,2259,0,0,0,0,0,0
$GC,7023,1.01,192.9,279.0,11.0,348,7029,0.15,2.40,0.00,0.000,6,0.115,0.030,2938,2024,2258,0,0,0,0,0,0
$GC,7356,1.12,224.0,255.6,5.9,364,7392,0.00,2.55,28.58,0.745,4,0.000,0.048,2938,607,2134,0,0,0,0,0,0
$GC,7577,1.16,224.0,238.8,8.2,373,7583,0.12,2.35,0.00,0.000,6,0.074,0.028,2968,2013,2128,0,0,0,0,0,0
$GC,7892,1.16,224.0,212.1,8.2,389,7896,0.00,2.47,0.00,0.000,4,0.000,0.048,2969,605,2128,0,0,0,0,0,0
$GC,8005,1.16,224.0,202.3,8.7,394,8009,0.00,2.35,0.00,0.000,6,0.000,0.027,2969,2017,2126,0,0,0,0,0,0
$GC,8337,1.19,224.0,175.4,8.4,423,8341,0.00,2.45,0.00,0.000,4,0.000,0.046,2969,598,2126,0,0,0,0,0,0
$GC,8417,1.19,224.0,167.5,10.1,431,8422,0.00,2.33,0.00,0.000,6,0.000,0.026,2970,2015,2125,0,0,0,0,0,0
$GC,8680,1.26,228.2,145.6,7.7,455,8684,0.00,2.45,0.00,0.000,4,0.000,0.046,2970,604,2125,0,0,0,0,0,0
$GC,8751,1.26,231.0,140.1,7.8,462,8761,0.00,2.33,5.45,0.500,6,0.000,0.025,2970,2018,2108,0,0,0,0,0,0
$GC,9017,1.39,273.1,123.6,5.1,487,9062,0.20,2.55,38.62,0.625,4,0.054,0.044,3024,604,1935,0,0,0,0,0,0
$GC,9124,1.31,273.1,115.0,9.4,499,9129,0.12,2.30,0.00,0.000,6,0.112,0.024,3001,2007,1931,0,0,0,0,0,0
$GC,9385,1.36,273.1,92.4,9.5,523,9389,0.00,2.42,0.00,0.000,4,0.000,0.044,3001,601,1931,0,0,0,0,0,0
$GC,9496,1.36,273.1,81.0,10.4,534,9501,0.00,2.33,0.00,0.000,6,0.000,0.022,3000,2018,1929,0,0,0,0,0,0
$GC,9759,1.43,273.1,54.1,9.8,559,9764,0.12,2.42,0.00,0.000,4,0.065,0.044,3039,602,1928,0,0,0,0,0,0
$GC,9908,1.40,273.1,37.2,10.8,574,9914,0.00,2.28,0.00,0.000,6,0.000,0.021,3039,2016,1928,0,0,0,0,0,0
$GC,10179,1.40,273.1,12.3,12.5,615,10184,0.00,2.42,0.00,0.000,4,0.000,0.044,3039,598,1928,0,0,0,0,0,0
$STATE,10253,end climb,SURFACE_DEPTH_REACHED
$STATE,10253,begin surface coast
$FINISH,0.7,1.023080
$STATE,10275,end surface coast,CONTROL_FINISHED_OK
$STATE,10275,begin surface
$SM_CCo,10297,13.80,0.487,0,0,1826,300.00
$SM_GC,2.42,0.00,0.00,13.80,0.000,0.000,0.487,427,1880,1826,-10.52,0.11,300.00
$IRIDIUM_FIX,2052.52,-15749.62,150999,232305
$TT8_MAMPS,0.029146
$HUMID,53.03
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.00
$XPDR_PINGS,0
$24V_AH,23.4,51.251
$10V_AH,10.0,46.599
$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,27.400,114.250,303.900,13.800,0.000,31.627,35.951,155.482,4.500,0.000,14.234,1239.483,7099.437,383.159,1475.960,453.458,33.379,1189.793,0.000,1437.750,0.000,29.250,0.000
$DEVICE_MAMPS,134.992,52.923,869.011,487.045,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,427.790,417.528,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,31770,635
$CAP_FILE_SIZE,117462,0
$CFSIZE,260165632,224743424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220610,054200,2100.783,-15752.411,151,1.6,151,9.8