version: 66.06
glider: 139
mission: 7
dive: 623
start: 6 28 110 3 36 13
data:
$ID,139
$MISSION,7
$DIVE,623
$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,-2144343
$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
$GPS1,032917,2101.530,-15745.385,86,2.3,105,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-71.2
$GPS2,033522,2101.533,-15745.392,16,2.4,35,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.156,-0.097
$KALMAN_X,-354548.2,411.8,-311.4,370924.4,458.1
$KALMAN_Y,44386.2,363.8,-409.7,-54293.3,-33.2
$MHEAD_RNG_PITCHd_Wd,228.3,10225,-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,-77.9,0.0,0.0,0,67,0.00,0.00,-49.83,0.000,2,0.000,0.000,427,1881,3133,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.4,-5.3,10,94,10.52,2.47,-4.80,0.000,4,0.132,0.053,2404,464,3369,0,0,0,0,0,0
$GC,230,-1.19,-77.9,35.2,-16.6,41,235,0.25,2.33,0.00,0.000,6,0.091,0.019,2455,1906,3371,0,0,0,0,0,0
$GC,493,-1.19,-77.9,66.1,-9.8,65,497,0.00,2.47,0.00,0.000,4,0.000,0.042,2455,459,3372,0,0,0,0,0,0
$GC,536,-1.13,-77.9,71.0,-11.1,69,541,0.00,2.28,0.00,0.000,6,0.000,0.019,2454,1885,3372,0,0,0,0,0,0
$GC,799,-1.13,-77.9,100.6,-11.0,93,803,0.00,2.42,0.00,0.000,4,0.000,0.041,2454,459,3373,0,0,0,0,0,0
$GC,828,-1.08,-77.9,103.8,-10.6,95,834,0.12,2.28,0.00,0.000,6,0.101,0.019,2480,1885,3374,0,0,0,0,0,0
$GC,1091,-1.18,-77.9,126.6,-8.5,120,1095,0.10,2.42,0.00,0.000,4,0.074,0.041,2441,468,3374,0,0,0,0,0,0
$GC,1119,-1.18,-77.9,129.8,-10.0,122,1125,0.00,2.25,0.00,0.000,6,0.000,0.018,2441,1880,3374,0,0,0,0,0,0
$GC,1382,-1.22,-77.9,154.0,-8.8,147,1386,0.00,2.42,0.00,0.000,4,0.000,0.042,2440,463,3375,0,0,0,0,0,0
$GC,1471,-1.22,-77.9,162.0,-8.8,156,1475,0.00,2.25,0.00,0.000,6,0.000,0.019,2442,1879,3375,0,0,0,0,0,0
$GC,1734,-1.29,-77.9,183.5,-9.0,180,1738,0.00,2.42,0.00,0.000,4,0.000,0.041,2440,460,3376,0,0,0,0,0,0
$GC,1800,-1.33,-77.9,189.5,-7.8,186,1805,0.00,2.25,0.00,0.000,6,0.000,0.019,2440,1874,3376,0,0,0,0,0,0
$GC,2071,-1.41,-77.9,205.9,-6.9,208,2076,0.15,2.42,0.00,0.000,4,0.055,0.043,2391,458,3376,0,0,0,0,0,0
$GC,2128,-1.34,-77.9,213.2,-13.6,210,2133,0.15,2.28,0.00,0.000,6,0.092,0.020,2422,1877,3376,0,0,0,0,0,0
$GC,2445,-1.40,-77.9,243.8,-8.9,225,2450,0.00,2.40,0.00,0.000,4,0.000,0.042,2422,460,3376,0,0,0,0,0,0
$GC,2483,-1.40,-77.9,248.0,-11.3,226,2489,0.00,2.28,0.00,0.000,6,0.000,0.021,2423,1880,3376,0,0,0,0,0,0
$GC,2799,-1.47,-77.9,277.4,-6.8,242,2804,0.12,2.45,0.00,0.000,4,0.064,0.044,2381,463,3376,0,0,0,0,0,0
$GC,2838,-1.42,-77.9,280.6,-8.4,243,2844,0.10,2.28,0.00,0.000,6,0.108,0.021,2402,1877,3376,0,0,0,0,0,0
$GC,3153,-1.46,-77.9,304.4,-8.0,258,3157,0.00,2.40,0.00,0.000,4,0.000,0.044,2402,466,3375,0,0,0,0,0,0
$GC,3196,-1.46,-77.9,307.8,-7.7,259,3200,0.00,2.28,0.00,0.000,6,0.000,0.022,2401,1873,3375,0,0,0,0,0,0
$GC,3526,-1.50,-77.9,334.4,-8.4,267,3530,0.00,2.40,0.00,0.000,4,0.000,0.045,2401,467,3374,0,0,0,0,0,0
$GC,3648,-1.50,-77.9,347.6,-9.8,269,3652,0.00,2.30,0.00,0.000,6,0.000,0.024,2402,1879,3373,0,0,0,0,0,0
$GC,3984,-1.55,-77.9,375.2,-7.1,278,3989,0.12,2.45,0.00,0.000,4,0.066,0.048,2362,463,3372,0,0,0,0,0,0
$GC,4070,-1.49,-77.9,384.2,-11.5,279,4077,0.12,2.30,0.00,0.000,6,0.099,0.025,2389,1880,3371,0,0,0,0,0,0
$GC,4402,-1.49,-77.9,415.6,-9.4,288,4406,0.00,2.47,0.00,0.000,4,0.000,0.051,2388,462,3369,0,0,0,0,0,0
$GC,4420,-1.49,-77.9,417.9,-11.3,288,4425,0.00,2.33,0.00,0.000,6,0.000,0.025,2389,1881,3369,0,0,0,0,0,0
$GC,4766,-1.54,-77.9,441.4,-5.4,297,4770,0.00,2.45,0.00,0.000,4,0.000,0.048,2388,470,3366,0,0,0,0,0,0
$GC,4790,-1.51,-77.9,442.6,-5.3,297,4795,0.00,2.30,0.00,0.000,6,0.000,0.026,2388,1872,3366,0,0,0,0,0,0
$STATE,4925,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4925,begin apogee
$GC,4931,-0.31,0.0,451.1,6.3,301,4999,1.20,0.00,64.38,0.871,6,0.074,0.000,2646,2031,3050,0,0,0,0,0,0
$STATE,5000,end apogee,CONTROL_FINISHED_OK
$STATE,5000,begin climb
$GC,5003,1.40,77.9,451.7,0.0,302,5078,1.62,2.42,64.85,0.849,4,0.030,0.039,3009,3391,2731,0,0,0,0,0,0
$GC,5192,1.25,163.9,454.6,2.1,306,5277,0.20,2.38,73.65,0.850,6,0.110,0.033,2993,2005,2380,0,0,0,0,0,0
$GC,5600,1.14,163.9,413.6,11.6,316,5602,0.17,0.00,0.00,0.000,6,0.114,0.000,2961,2005,2370,0,0,0,0,0,0
$GC,5926,1.09,163.9,383.2,8.8,324,5930,0.00,2.47,0.00,0.000,4,0.000,0.052,2961,602,2367,0,0,0,0,0,0
$GC,6009,1.00,163.9,375.1,9.5,325,6015,0.15,2.35,0.00,0.000,6,0.121,0.029,2935,2000,2364,0,0,0,0,0,0
$GC,6341,1.05,184.4,354.2,6.6,334,6363,0.00,2.50,16.05,0.784,4,0.000,0.050,2934,603,2298,0,0,0,0,0,0
$GC,6409,1.05,184.4,348.1,9.8,335,6414,0.00,2.40,0.00,0.000,6,0.000,0.029,2935,2018,2294,0,0,0,0,0,0
$GC,6750,1.09,184.4,318.9,8.7,344,6754,0.00,2.50,0.00,0.000,4,0.000,0.051,2934,607,2293,0,0,0,0,0,0
$GC,6793,1.09,184.4,315.9,8.6,345,6797,0.00,2.35,0.00,0.000,6,0.000,0.030,2935,2017,2291,0,0,0,0,0,0
$GC,7122,1.15,189.7,292.4,7.7,355,7130,0.12,0.00,5.18,0.586,6,0.075,0.000,2966,2021,2276,0,0,0,0,0,0
$GC,7432,1.16,193.6,267.6,7.8,370,7444,0.00,2.50,5.12,0.573,4,0.000,0.048,2966,608,2259,0,0,0,0,0,0
$GC,7463,1.11,193.6,264.9,8.5,371,7467,0.00,2.38,0.00,0.000,6,0.000,0.028,2966,2017,2258,0,0,0,0,0,0
$GC,7783,1.11,193.6,239.8,8.6,387,7788,0.00,2.47,0.00,0.000,4,0.000,0.049,2966,608,2257,0,0,0,0,0,0
$GC,7831,1.07,193.6,235.3,9.5,389,7835,0.00,2.35,0.00,0.000,6,0.000,0.028,2966,2014,2256,0,0,0,0,0,0
$GC,8156,1.09,209.1,209.8,7.0,405,8178,0.00,2.53,14.82,0.680,4,0.000,0.048,2966,614,2197,0,0,0,0,0,0
$GC,8267,1.06,209.1,201.7,8.4,409,8273,0.12,2.35,0.00,0.000,6,0.122,0.027,2944,2021,2193,0,0,0,0,0,0
$GC,8592,1.19,235.9,179.5,6.2,439,8626,0.12,2.53,24.77,0.669,4,0.074,0.047,2977,600,2087,0,0,0,0,0,0
$GC,8874,1.19,235.9,151.2,10.5,469,8880,0.00,2.35,0.00,0.000,6,0.000,0.025,2976,2017,2080,0,0,0,0,0,0
$GC,9137,1.27,247.0,131.0,7.3,494,9155,0.00,2.53,10.23,0.573,4,0.000,0.046,2976,608,2043,0,0,0,0,0,0
$GC,9420,1.30,277.4,113.7,5.9,524,9453,0.00,2.33,27.88,0.607,6,0.000,0.023,2977,2031,1917,0,0,0,0,0,0
$GC,9715,1.43,285.0,93.1,7.5,553,9729,0.22,2.50,7.57,0.499,4,0.049,0.044,3037,604,1888,0,0,0,0,0,0
$GC,9995,1.37,285.0,63.0,11.1,583,10000,0.12,2.30,0.00,0.000,6,0.104,0.021,3014,2017,1884,0,0,0,0,0,0
$GC,10257,1.44,285.0,40.0,8.6,607,10261,0.00,2.42,0.00,0.000,4,0.000,0.042,3014,598,1884,0,0,0,0,0,0
$GC,10526,1.44,285.0,15.6,9.4,652,10531,0.00,2.30,0.00,0.000,6,0.000,0.021,3014,2020,1884,0,0,0,0,0,0
$STATE,10679,end climb,SURFACE_DEPTH_REACHED
$STATE,10679,begin surface coast
$FINISH,0.5,1.010496
$STATE,10712,end surface coast,CONTROL_FINISHED_OK
$STATE,10712,begin surface
$SM_CCo,10733,10.52,0.466,0,0,1826,300.00
$SM_GC,2.54,0.00,0.00,10.52,0.000,0.000,0.466,423,1866,1826,-10.53,-0.25,300.00
$IRIDIUM_FIX,2054.83,-15739.33,220999,000015
$TT8_MAMPS,0.029146
$HUMID,53.66
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,22.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,423.6,68.6
$24V_AH,23.3,55.736
$10V_AH,10.0,49.234
$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,26.925,119.700,314.500,10.525,0.000,31.212,33.860,156.122,4.750,0.000,36.654,1304.464,7339.034,390.648,1606.866,465.882,33.382,1254.444,0.000,1542.930,0.000,30.724,0.000
$DEVICE_MAMPS,131.924,53.690,870.545,465.569,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,460.322,454.460,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,34879,685
$CAP_FILE_SIZE,123529,0
$CFSIZE,260165632,221982720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280610,063650,2101.191,-15745.988,34,36.0,53,9.8