version: 66.06
glider: 139
mission: 7
dive: 582
start: 6 22 110 15 2 50
data:
$ID,139
$MISSION,7
$DIVE,582
$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,-2142862
$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
$GPS1,145526,2103.669,-15755.578,75,2.2,94,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-70.0
$GPS2,150157,2103.704,-15755.617,12,1.8,19,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.183,0.019
$KALMAN_X,-331469.5,-409.5,-205.1,330897.4,416.3
$KALMAN_Y,24031.3,-339.8,-42.5,-29585.9,1041.3
$MHEAD_RNG_PITCHd_Wd,266.3,14056,-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,-77.9,0.0,0.0,0,67,0.00,0.00,-50.45,0.000,2,0.000,0.000,424,1890,3166,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.8,-7.3,10,94,10.82,2.50,-3.92,0.000,4,0.143,0.051,2404,467,3370,0,0,0,0,0,0
$GC,188,-1.18,-77.9,30.6,-18.0,35,195,0.25,2.33,0.00,0.000,6,0.105,0.020,2452,1903,3372,0,0,0,0,0,0
$GC,451,-1.12,-77.9,66.5,-13.4,60,456,0.00,2.45,0.00,0.000,4,0.000,0.041,2452,469,3372,0,0,0,0,0,0
$GC,513,-1.08,-77.9,74.7,-11.7,66,518,0.12,2.28,0.00,0.000,6,0.109,0.019,2475,1888,3373,0,0,0,0,0,0
$GC,776,-1.16,-77.9,96.6,-8.1,90,780,0.00,2.45,0.00,0.000,4,0.000,0.041,2476,462,3374,0,0,0,0,0,0
$GC,819,-1.24,-77.9,100.4,-8.5,94,824,0.15,2.28,0.00,0.000,6,0.054,0.019,2423,1888,3374,0,0,0,0,0,0
$GC,1080,-1.24,-77.9,130.1,-11.0,118,1084,0.00,2.42,0.00,0.000,4,0.000,0.041,2424,460,3374,0,0,0,0,0,0
$GC,1191,-1.19,-77.9,143.5,-11.9,129,1198,0.15,2.28,0.00,0.000,6,0.104,0.019,2452,1881,3375,0,0,0,0,0,0
$GC,1453,-1.26,-77.9,164.6,-7.8,154,1454,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1885,3376,0,0,0,0,0,0
$GC,1709,-1.35,-77.9,187.3,-8.9,178,1714,0.15,2.42,0.00,0.000,4,0.054,0.042,2401,463,3376,0,0,0,0,0,0
$GC,1828,-1.28,-77.9,201.6,-11.8,190,1832,0.17,2.28,0.00,0.000,6,0.099,0.019,2432,1885,3376,0,0,0,0,0,0
$GC,2155,-1.35,-77.9,229.4,-7.7,206,2160,0.00,2.42,0.00,0.000,4,0.000,0.043,2435,469,3377,0,0,0,0,0,0
$GC,2235,-1.39,-77.9,236.2,-7.9,209,2239,0.00,2.25,0.00,0.000,6,0.000,0.020,2433,1876,3377,0,0,0,0,0,0
$GC,2551,-1.49,-77.9,259.1,-7.9,224,2556,0.20,2.42,0.00,0.000,4,0.046,0.043,2373,469,3377,0,0,0,0,0,0
$GC,2672,-1.42,-77.9,273.8,-12.1,229,2677,0.15,2.22,0.00,0.000,6,0.103,0.021,2402,1872,3376,0,0,0,0,0,0
$GC,3015,-1.42,-77.9,304.9,-8.5,245,3019,0.00,2.42,0.00,0.000,4,0.000,0.045,2402,464,3375,0,0,0,0,0,0
$GC,3061,-1.42,-77.9,309.4,-9.8,246,3065,0.00,2.25,0.00,0.000,6,0.000,0.023,2402,1866,3375,0,0,0,0,0,0
$GC,3385,-1.45,-77.9,338.1,-9.9,254,3390,0.00,2.42,0.00,0.000,4,0.000,0.046,2402,463,3374,0,0,0,0,0,0
$GC,3419,-1.45,-77.9,342.3,-13.0,254,3423,0.00,2.30,0.00,0.000,6,0.000,0.024,2402,1879,3373,0,0,0,0,0,0
$GC,3751,-1.49,-77.9,374.1,-8.7,262,3755,0.00,2.42,0.00,0.000,4,0.000,0.048,2402,467,3372,0,0,0,0,0,0
$GC,3837,-1.49,-77.9,381.4,-9.5,263,3842,0.00,2.30,0.00,0.000,6,0.000,0.025,2403,1872,3372,0,0,0,0,0,0
$GC,4169,-1.53,-77.9,408.8,-8.6,272,4174,0.00,2.42,0.00,0.000,4,0.000,0.049,2402,466,3369,0,0,0,0,0,0
$GC,4252,-1.53,-77.9,417.0,-8.8,273,4258,0.00,2.30,0.00,0.000,6,0.000,0.025,2402,1879,3369,0,0,0,0,0,0
$GC,4587,-1.59,-77.9,442.3,-7.6,282,4592,0.17,2.45,0.00,0.000,4,0.054,0.049,2350,469,3366,0,0,0,0,0,0
$STATE,4669,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4669,begin apogee
$GC,4677,-0.31,0.0,450.5,10.7,283,4745,1.40,0.00,64.15,0.874,6,0.091,0.000,2642,2014,3050,0,0,0,0,0,0
$STATE,4746,end apogee,CONTROL_FINISHED_OK
$STATE,4746,begin climb
$GC,4749,1.40,77.9,451.9,0.0,285,4824,1.65,2.50,64.43,0.850,4,0.038,0.040,3015,3412,2731,0,0,0,0,0,0
$GC,4984,1.22,108.7,445.6,5.9,290,5019,0.20,2.40,26.62,0.826,6,0.117,0.034,2983,2005,2605,0,0,0,0,0,0
$GC,5345,1.12,136.3,420.6,6.1,299,5375,0.12,2.53,23.55,0.820,4,0.129,0.052,2959,605,2493,0,0,0,0,0,0
$GC,5467,1.01,139.4,411.8,7.8,301,5478,0.15,2.35,3.92,0.515,6,0.122,0.028,2934,2018,2481,0,0,0,0,0,0
$GC,5803,1.01,143.3,388.8,7.8,310,5814,0.00,2.40,4.80,0.594,4,0.000,0.038,2935,3400,2464,0,0,0,0,0,0
$GC,5838,1.01,143.3,385.6,9.1,310,5842,0.00,2.40,0.00,0.000,6,0.000,0.037,2935,2013,2464,0,0,0,0,0,0
$GC,6169,1.02,150.0,359.7,7.6,318,6181,0.00,2.55,6.80,0.679,4,0.000,0.052,2933,602,2437,0,0,0,0,0,0
$GC,6320,0.99,157.8,348.3,7.5,321,6333,0.00,2.35,8.18,0.708,6,0.000,0.029,2934,2011,2406,0,0,0,0,0,0
$GC,6675,1.06,185.0,326.6,6.1,330,6702,0.00,0.00,25.25,0.795,6,0.000,0.000,2934,2011,2295,0,0,0,0,0,0
$GC,6999,1.16,218.6,307.4,5.7,338,7036,0.15,2.58,30.60,0.782,4,0.068,0.052,2971,605,2157,0,0,0,0,0,0
$GC,7082,1.08,218.6,300.3,10.5,339,7088,0.00,2.38,0.00,0.000,6,0.000,0.029,2971,2009,2152,0,0,0,0,0,0
$GC,7397,1.08,218.6,269.1,9.7,355,7399,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2013,2150,0,0,0,0,0,0
$GC,7707,1.09,220.8,242.7,7.9,370,7711,0.00,2.47,0.00,0.000,4,0.000,0.051,2971,596,2149,0,0,0,0,0,0
$GC,7851,1.05,220.8,230.6,9.1,376,7856,0.15,2.38,0.00,0.000,6,0.119,0.028,2945,2013,2146,0,0,0,0,0,0
$GC,8174,1.16,238.7,207.1,6.8,392,8196,0.00,2.53,17.38,0.687,4,0.000,0.048,2943,602,2075,0,0,0,0,0,0
$GC,8326,1.21,238.7,194.8,9.1,402,8332,0.15,2.35,0.00,0.000,6,0.065,0.027,2983,2021,2070,0,0,0,0,0,0
$GC,8588,1.21,238.7,170.1,9.5,427,8593,0.00,2.50,0.00,0.000,4,0.000,0.048,2983,595,2070,0,0,0,0,0,0
$GC,8669,1.18,238.7,161.3,10.1,435,8673,0.00,2.38,0.00,0.000,6,0.000,0.026,2984,2022,2069,0,0,0,0,0,0
$GC,8933,1.24,258.3,142.6,6.7,459,8959,0.00,2.55,17.80,0.626,4,0.000,0.045,2984,607,1995,0,0,0,0,0,0
$GC,9065,1.24,258.3,130.5,10.0,473,9070,0.00,2.33,0.00,0.000,6,0.000,0.023,2984,2022,1992,0,0,0,0,0,0
$GC,9328,1.30,258.3,105.1,10.5,498,9332,0.00,2.45,0.00,0.000,4,0.000,0.044,2984,601,1992,0,0,0,0,0,0
$GC,9429,1.30,258.3,93.7,10.2,508,9435,0.00,2.30,0.00,0.000,6,0.000,0.023,2984,2008,1991,0,0,0,0,0,0
$GC,9693,1.39,266.0,74.3,7.5,533,9706,0.15,2.45,7.72,0.502,4,0.060,0.044,3029,601,1964,0,0,0,0,0,0
$GC,9823,1.33,266.0,60.6,10.3,546,9829,0.12,2.30,0.00,0.000,6,0.113,0.021,3006,2011,1963,0,0,0,0,0,0
$GC,10086,1.39,266.0,39.3,8.1,571,10087,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2017,1963,0,0,0,0,0,0
$GC,10347,1.45,266.0,18.1,8.3,608,10353,0.10,2.42,0.00,0.000,4,0.075,0.043,3041,600,1963,0,0,0,0,0,0
$GC,10475,1.41,266.0,5.8,10.5,635,10480,0.00,2.30,0.00,0.000,6,0.000,0.021,3040,2021,1963,0,0,0,0,0,0
$STATE,10501,end climb,SURFACE_DEPTH_REACHED
$STATE,10501,begin surface coast
$FINISH,0.5,1.023187
$STATE,10531,end surface coast,CONTROL_FINISHED_OK
$STATE,10531,begin surface
$SM_CCo,10552,22.62,0.507,0,0,1826,300.00
$SM_GC,1.20,0.00,0.00,22.62,0.000,0.000,0.507,428,1856,1826,-10.52,-0.54,300.00
$IRIDIUM_FIX,2054.83,-15756.91,160999,121238
$TT8_MAMPS,0.029146
$HUMID,53.07
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.10
$XPDR_PINGS,0
$24V_AH,23.4,51.628
$10V_AH,10.0,46.821
$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,27.950,115.275,301.200,22.625,0.000,27.861,39.636,196.631,4.500,0.000,19.512,1258.174,7273.009,400.164,1529.770,505.651,33.386,1229.234,0.000,1490.958,0.000,29.241,0.000
$DEVICE_MAMPS,142.662,52.156,874.380,506.987,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,433.772,424.974,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,34950,645
$CAP_FILE_SIZE,121768,0
$CFSIZE,260165632,224493568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220610,180151,2104.024,-15756.589,108,3.8,127,9.8