version: 66.06
glider: 139
mission: 7
dive: 603
start: 6 25 110 11 50 14
data:
$ID,139
$MISSION,7
$DIVE,603
$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,-2143772.5
$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
$GPS1,114137,2108.536,-15757.016,231,1.7,231,9.8
$_CALLS,1
$_XMS_NAKs,30
$_XMS_TOUTs,3
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-70.4
$GPS2,114920,2108.549,-15757.060,14,1.8,14,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.155,-0.099
$KALMAN_X,-356565.5,144.5,399.2,352345.0,-2073.0
$KALMAN_Y,39864.9,-240.5,-232.0,-36353.3,1177.1
$MHEAD_RNG_PITCHd_Wd,112.7,24954,-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,16,-1.40,-77.9,0.0,0.0,0,68,0.00,0.00,-50.28,0.000,2,0.000,0.000,425,1901,3162,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.5,-6.4,10,95,10.57,2.50,-4.10,0.000,4,0.132,0.050,2406,465,3370,0,0,0,0,0,0
$GC,174,-1.19,-77.9,25.6,-16.3,31,181,0.22,2.33,0.00,0.000,6,0.092,0.019,2451,1906,3371,0,0,0,0,0,0
$GC,375,-1.10,-77.9,52.2,-12.7,52,380,0.10,2.50,0.00,0.000,4,0.114,0.044,2471,462,3372,0,0,0,0,0,0
$GC,405,-1.02,-77.9,56.6,-13.7,54,411,0.10,2.28,0.00,0.000,6,0.115,0.019,2490,1880,3372,0,0,0,0,0,0
$GC,669,-1.11,-77.9,80.6,-8.4,79,673,0.00,2.42,0.00,0.000,4,0.000,0.042,2491,468,3373,0,0,0,0,0,0
$GC,731,-1.18,-77.9,85.9,-7.7,85,736,0.15,2.28,0.00,0.000,6,0.054,0.019,2441,1889,3373,0,0,0,0,0,0
$GC,992,-1.18,-77.9,109.0,-9.0,109,996,0.00,2.42,0.00,0.000,4,0.000,0.041,2441,463,3374,0,0,0,0,0,0
$GC,1056,-1.18,-77.9,115.3,-8.8,115,1062,0.00,2.25,0.00,0.000,6,0.000,0.018,2441,1878,3375,0,0,0,0,0,0
$GC,1320,-1.21,-77.9,136.9,-7.9,140,1324,0.00,2.40,0.00,0.000,4,0.000,0.041,2441,463,3375,0,0,0,0,0,0
$GC,1418,-1.21,-77.9,146.2,-9.2,150,1422,0.00,2.25,0.00,0.000,6,0.000,0.019,2441,1872,3375,0,0,0,0,0,0
$GC,1681,-1.25,-77.9,169.1,-9.1,174,1685,0.00,2.40,0.00,0.000,4,0.000,0.041,2441,469,3376,0,0,0,0,0,0
$GC,1714,-1.25,-77.9,172.7,-10.3,177,1718,0.00,2.25,0.00,0.000,6,0.000,0.019,2441,1877,3376,0,0,0,0,0,0
$GC,1977,-1.33,-77.9,195.5,-8.1,201,1981,0.00,2.25,0.00,0.000,4,0.000,0.025,2436,3268,3376,0,0,0,0,0,0
$GC,2024,-1.49,-77.9,199.6,-8.2,205,2030,0.22,2.33,0.00,0.000,6,0.044,0.027,2375,1868,3376,0,0,0,0,0,0
$GC,2290,-1.42,-77.9,227.7,-11.2,219,2295,0.12,2.38,0.00,0.000,4,0.102,0.042,2400,472,3376,0,0,0,0,0,0
$GC,2311,-1.36,-77.9,230.2,-11.2,220,2315,0.00,2.25,0.00,0.000,6,0.000,0.020,2399,1880,3376,0,0,0,0,0,0
$GC,2641,-1.36,-77.9,259.9,-7.9,236,2648,0.00,2.40,0.00,0.000,4,0.000,0.042,2400,474,3376,0,0,0,0,0,0
$GC,2704,-1.36,-77.9,265.6,-9.6,238,2708,0.00,2.22,0.00,0.000,6,0.000,0.021,2397,1873,3376,0,0,0,0,0,0
$GC,3019,-1.36,-77.9,295.9,-10.1,253,3023,0.00,2.38,0.00,0.000,4,0.000,0.044,2400,476,3375,0,0,0,0,0,0
$GC,3042,-1.36,-77.9,298.5,-10.9,254,3047,0.00,2.22,0.00,0.000,6,0.000,0.022,2399,1871,3375,0,0,0,0,0,0
$GC,3387,-1.39,-77.9,329.1,-8.8,263,3391,0.00,2.42,0.00,0.000,4,0.000,0.046,2401,467,3373,0,0,0,0,0,0
$GC,3478,-1.39,-77.9,338.8,-10.5,265,3482,0.00,2.25,0.00,0.000,6,0.000,0.024,2401,1870,3374,0,0,0,0,0,0
$GC,3806,-1.43,-77.9,367.2,-8.3,273,3810,0.00,2.40,0.00,0.000,4,0.000,0.048,2401,472,3371,0,0,0,0,0,0
$GC,3875,-1.43,-77.9,373.2,-8.0,274,3879,0.00,2.30,0.00,0.000,6,0.000,0.025,2401,1881,3371,0,0,0,0,0,0
$GC,4217,-1.47,-77.9,401.1,-9.0,283,4221,0.00,2.42,0.00,0.000,4,0.000,0.048,2401,472,3369,0,0,0,0,0,0
$GC,4291,-1.47,-77.9,409.4,-10.9,284,4295,0.00,2.30,0.00,0.000,6,0.000,0.026,2401,1873,3368,0,0,0,0,0,0
$GC,4627,-1.51,-77.9,439.2,-9.2,293,4631,0.00,2.45,0.00,0.000,4,0.000,0.051,2401,471,3365,0,0,0,0,0,0
$GC,4696,-1.51,-77.9,446.7,-11.1,294,4701,0.00,2.33,0.00,0.000,6,0.000,0.026,2401,1880,3364,0,0,0,0,0,0
$STATE,4750,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4750,begin apogee
$GC,4757,-0.31,0.0,451.8,9.4,296,4825,1.12,0.00,64.35,0.870,6,0.071,0.000,2644,2033,3050,0,0,0,0,0,0
$STATE,4825,end apogee,CONTROL_FINISHED_OK
$STATE,4825,begin climb
$GC,4828,1.40,77.9,453.2,0.0,297,4903,1.62,2.40,64.85,0.849,4,0.031,0.039,3026,3380,2732,0,0,0,0,0,0
$GC,4974,1.26,154.8,456.0,2.7,300,5049,0.20,2.35,65.93,0.846,6,0.115,0.033,2990,2013,2418,0,0,0,0,0,0
$GC,5378,1.14,154.8,417.6,10.8,310,5383,0.15,2.47,0.00,0.000,4,0.120,0.051,2963,604,2408,0,0,0,0,0,0
$GC,5397,1.02,154.8,415.4,10.1,310,5402,0.15,2.33,0.00,0.000,6,0.120,0.028,2937,1989,2407,0,0,0,0,0,0
$GC,5743,1.03,166.9,389.7,7.2,319,5759,0.00,2.47,9.62,0.739,4,0.000,0.050,2936,604,2368,0,0,0,0,0,0
$GC,5884,0.99,166.9,378.4,8.6,322,5888,0.00,2.38,0.00,0.000,6,0.000,0.029,2938,2014,2365,0,0,0,0,0,0
$GC,6207,1.00,174.2,354.5,7.5,330,6219,0.00,2.53,7.12,0.683,4,0.000,0.051,2937,608,2339,0,0,0,0,0,0
$GC,6277,0.97,174.2,347.6,10.5,331,6282,0.00,2.35,0.00,0.000,6,0.000,0.030,2938,2012,2337,0,0,0,0,0,0
$GC,6623,1.01,178.5,318.5,7.7,340,6629,0.00,0.00,4.85,0.581,6,0.000,0.000,2938,2015,2322,0,0,0,0,0,0
$GC,6928,1.08,192.1,296.9,7.1,348,6950,0.00,2.47,13.60,0.740,4,0.000,0.050,2937,612,2265,0,0,0,0,0,0
$GC,7030,1.08,198.4,289.2,7.6,352,7045,0.00,2.35,6.90,0.644,6,0.000,0.029,2938,2024,2240,0,0,0,0,0,0
$GC,7357,1.19,222.6,268.6,6.4,368,7386,0.15,2.58,22.45,0.747,4,0.069,0.051,2975,611,2141,0,0,0,0,0,0
$GC,7549,1.14,222.6,251.2,9.3,376,7553,0.00,2.33,0.00,0.000,6,0.000,0.028,2976,2008,2136,0,0,0,0,0,0
$GC,7869,1.14,222.6,224.9,8.3,392,7873,0.00,2.47,0.00,0.000,4,0.000,0.049,2975,602,2136,0,0,0,0,0,0
$GC,7967,1.09,222.6,216.1,8.5,396,7972,0.12,2.33,0.00,0.000,6,0.123,0.027,2955,2014,2133,0,0,0,0,0,0
$GC,8292,1.22,258.9,196.1,5.5,415,8330,0.12,2.53,32.15,0.689,4,0.072,0.047,2988,607,1993,0,0,0,0,0,0
$GC,8375,1.19,258.9,188.9,10.0,423,8380,0.00,2.35,0.00,0.000,6,0.000,0.026,2989,2016,1989,0,0,0,0,0,0
$GC,8637,1.19,258.9,166.3,8.7,448,8641,0.00,2.47,0.00,0.000,4,0.000,0.047,2989,601,1989,0,0,0,0,0,0
$GC,8827,1.15,258.9,146.1,11.9,468,8832,0.12,2.35,0.00,0.000,6,0.117,0.025,2967,2022,1986,0,0,0,0,0,0
$GC,9089,1.23,258.9,122.4,8.2,492,9093,0.00,2.47,0.00,0.000,4,0.000,0.045,2967,601,1986,0,0,0,0,0,0
$GC,9311,1.27,258.9,104.2,8.1,515,9317,0.10,2.30,0.00,0.000,6,0.081,0.023,2997,2021,1985,0,0,0,0,0,0
$GC,9574,1.31,258.9,82.9,8.4,540,9578,0.00,2.45,0.00,0.000,4,0.000,0.044,2997,605,1985,0,0,0,0,0,0
$GC,9834,1.33,274.1,61.9,7.0,567,9856,0.00,2.28,13.35,0.533,6,0.000,0.021,2997,2026,1931,0,0,0,0,0,0
$GC,10111,1.42,278.1,41.3,7.7,594,10122,0.12,2.45,5.20,0.415,4,0.065,0.041,3036,598,1915,0,0,0,0,0,0
$GC,10381,1.41,332.7,15.1,4.3,639,10434,0.00,2.28,47.30,0.522,6,0.000,0.021,3036,2005,1692,0,0,0,0,0,0
$STATE,10523,end climb,SURFACE_DEPTH_REACHED
$STATE,10523,begin surface coast
$FINISH,0.6,1.022916
$STATE,10558,end surface coast,CONTROL_FINISHED_OK
$STATE,10558,begin surface
$SM_CCo,10640,0.00,0.000,0,0,1682,335.57
$SM_GC,1.55,11.27,0.00,0.00,0.025,0.000,0.000,426,1860,1682,-10.45,-0.42,335.57
$IRIDIUM_FIX,2101.76,-15912.02,190999,080834
$TT8_MAMPS,0.029146
$HUMID,52.28
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.10
$XPDR_PINGS,0
$24V_AH,23.3,53.965
$10V_AH,10.0,48.115
$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,26.775,123.700,357.675,0.000,0.000,22.565,35.782,281.611,4.500,0.000,14.666,1293.422,7203.821,406.926,1615.767,579.134,33.391,1298.628,0.000,1574.649,0.000,29.262,0.000
$DEVICE_MAMPS,131.924,53.690,869.778,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,451.322,444.767,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355660
$DATA_FILE_SIZE,34892,673
$CAP_FILE_SIZE,127923,0
$CFSIZE,260165632,223199232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250610,144957,2108.222,-15756.940,88,2.2,107,9.8