version: 66.06
glider: 139
mission: 7
dive: 624
start: 6 28 110 6 43 46
data:
$ID,139
$MISSION,7
$DIVE,624
$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,-2144386.8
$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
$GPS1,063650,2101.191,-15745.988,34,36.0,53,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-71.1
$GPS2,064255,2101.188,-15745.964,42,1.3,42,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.154,-0.101
$KALMAN_X,-353628.6,433.0,-489.1,369175.0,1457.1
$KALMAN_Y,44855.9,371.1,-447.4,-55380.1,894.3
$MHEAD_RNG_PITCHd_Wd,226.9,9060,-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,-50.33,0.000,2,0.000,0.000,423,1865,3135,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.3,-5.5,10,96,10.57,2.42,-4.78,0.000,4,0.133,0.038,2405,3299,3370,0,0,0,0,0,0
$GC,199,-1.40,-77.9,25.7,-13.1,37,205,0.00,2.42,0.00,0.000,6,0.000,0.029,2405,1863,3371,0,0,0,0,0,0
$GC,404,-1.23,-77.9,56.8,-15.4,59,409,0.20,2.40,0.00,0.000,4,0.098,0.041,2445,463,3372,0,0,0,0,0,0
$GC,434,-1.09,-77.9,61.7,-15.8,61,440,0.15,2.33,0.00,0.000,6,0.106,0.019,2475,1913,3372,0,0,0,0,0,0
$GC,696,-1.13,-77.9,90.0,-9.9,86,700,0.00,2.47,0.00,0.000,4,0.000,0.041,2474,470,3373,0,0,0,0,0,0
$GC,725,-1.13,-77.9,93.2,-10.7,88,730,0.00,2.25,0.00,0.000,6,0.000,0.019,2475,1881,3374,0,0,0,0,0,0
$GC,987,-1.20,-77.9,116.6,-7.8,113,992,0.00,2.42,0.00,0.000,4,0.000,0.041,2474,464,3374,0,0,0,0,0,0
$GC,1035,-1.28,-77.9,120.9,-8.2,117,1041,0.17,2.28,0.00,0.000,6,0.050,0.019,2419,1888,3375,0,0,0,0,0,0
$GC,1295,-1.28,-77.9,146.9,-10.3,142,1299,0.00,2.40,0.00,0.000,4,0.000,0.041,2418,471,3375,0,0,0,0,0,0
$GC,1330,-1.23,-77.9,150.6,-12.1,145,1334,0.12,2.25,0.00,0.000,6,0.094,0.019,2445,1879,3375,0,0,0,0,0,0
$GC,1591,-1.30,-77.9,174.0,-8.5,169,1595,0.00,2.40,0.00,0.000,4,0.000,0.041,2445,462,3376,0,0,0,0,0,0
$GC,1625,-1.34,-77.9,176.6,-8.0,172,1630,0.10,2.25,0.00,0.000,6,0.072,0.019,2407,1880,3376,0,0,0,0,0,0
$GC,1886,-1.34,-77.9,195.3,-5.1,196,1888,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,1884,3377,0,0,0,0,0,0
$GC,2148,-1.34,-77.9,212.0,-6.8,213,2152,0.00,2.42,0.00,0.000,4,0.000,0.042,2406,462,3377,0,0,0,0,0,0
$GC,2208,-1.34,-77.9,217.4,-8.7,215,2213,0.00,2.25,0.00,0.000,6,0.000,0.020,2407,1870,3377,0,0,0,0,0,0
$GC,2523,-1.34,-77.9,246.9,-9.4,231,2527,0.00,2.38,0.00,0.000,4,0.000,0.043,2406,472,3377,0,0,0,0,0,0
$GC,2597,-1.34,-77.9,254.1,-8.3,234,2602,0.00,2.25,0.00,0.000,6,0.000,0.021,2407,1872,3377,0,0,0,0,0,0
$GC,2919,-1.38,-77.9,277.2,-6.2,250,2924,0.00,2.42,0.00,0.000,4,0.000,0.048,2406,472,3376,0,0,0,0,0,0
$GC,2994,-1.38,-77.9,282.5,-6.3,253,2999,0.00,2.28,0.00,0.000,6,0.000,0.021,2406,1888,3376,0,0,0,0,0,0
$GC,3334,-1.42,-77.9,305.6,-6.7,268,3338,0.00,2.45,0.00,0.000,4,0.000,0.045,2406,469,3375,0,0,0,0,0,0
$GC,3351,-1.42,-77.9,306.7,-6.8,268,3355,0.00,2.28,0.00,0.000,6,0.000,0.023,2406,1870,3375,0,0,0,0,0,0
$GC,3700,-1.45,-77.9,336.4,-8.4,277,3704,0.00,2.40,0.00,0.000,4,0.000,0.047,2406,473,3373,0,0,0,0,0,0
$GC,3737,-1.45,-77.9,339.9,-9.4,277,3744,0.00,2.28,0.00,0.000,6,0.000,0.025,2406,1869,3373,0,0,0,0,0,0
$GC,4069,-1.50,-77.9,368.3,-8.9,286,4073,0.00,2.42,0.00,0.000,4,0.000,0.048,2406,470,3371,0,0,0,0,0,0
$GC,4135,-1.50,-77.9,374.2,-9.4,287,4140,0.00,2.30,0.00,0.000,6,0.000,0.025,2407,1881,3370,0,0,0,0,0,0
$GC,4481,-1.57,-77.9,407.7,-11.0,296,4486,0.15,2.47,0.00,0.000,4,0.060,0.051,2362,473,3368,0,0,0,0,0,0
$GC,4561,-1.50,-77.9,417.5,-12.3,297,4566,0.12,2.30,0.00,0.000,6,0.101,0.025,2388,1874,3368,0,0,0,0,0,0
$GC,4893,-1.50,-77.9,446.1,-8.1,305,4897,0.00,2.42,0.00,0.000,4,0.000,0.052,2388,474,3365,0,0,0,0,0,0
$GC,4916,-1.50,-77.9,448.8,-10.9,305,4920,0.00,2.30,0.00,0.000,6,0.000,0.027,2388,1873,3365,0,0,0,0,0,0
$STATE,4928,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4928,begin apogee
$GC,4935,-0.31,0.0,450.2,10.3,306,5003,1.20,0.00,64.50,0.868,6,0.071,0.000,2646,2033,3050,0,0,0,0,0,0
$STATE,5004,end apogee,CONTROL_FINISHED_OK
$STATE,5004,begin climb
$GC,5006,1.40,77.9,451.9,0.0,307,5075,1.60,0.00,64.72,0.848,6,0.029,0.000,3025,2033,2732,0,0,0,0,0,0
$GC,5414,1.20,99.9,439.0,6.5,317,5439,0.25,2.58,19.08,0.815,4,0.110,0.049,2975,601,2642,0,0,0,0,0,0
$GC,5501,1.00,103.7,432.7,7.8,319,5513,0.22,2.35,4.55,0.572,6,0.110,0.028,2934,1995,2627,0,0,0,0,0,0
$GC,5834,1.06,150.0,417.2,4.8,327,5881,0.00,2.50,40.33,0.844,4,0.000,0.051,2933,607,2437,0,0,0,0,0,0
$GC,5989,0.99,150.0,401.5,13.8,330,5994,0.00,2.38,0.00,0.000,6,0.000,0.029,2933,2011,2432,0,0,0,0,0,0
$GC,6335,1.01,162.7,376.3,7.2,339,6351,0.00,2.45,11.18,0.756,4,0.000,0.041,2934,3411,2386,0,0,0,0,0,0
$GC,6441,1.06,181.5,369.4,6.7,341,6466,0.00,2.42,18.15,0.792,6,0.000,0.037,2933,2011,2309,0,0,0,0,0,0
$GC,6800,1.10,181.5,340.5,8.1,350,6804,0.00,2.50,0.00,0.000,4,0.000,0.051,2933,604,2303,0,0,0,0,0,0
$GC,6926,1.10,181.5,328.4,9.9,352,6930,0.00,2.38,0.00,0.000,6,0.000,0.029,2933,2017,2300,0,0,0,0,0,0
$GC,7258,1.16,188.2,302.3,7.6,360,7271,0.15,2.55,5.78,0.623,4,0.071,0.051,2971,608,2282,0,0,0,0,0,0
$GC,7406,1.07,188.2,289.0,8.8,365,7411,0.12,2.38,0.00,0.000,6,0.123,0.030,2949,2020,2279,0,0,0,0,0,0
$GC,7729,1.12,198.8,265.4,7.3,381,7745,0.00,2.58,10.62,0.703,4,0.000,0.051,2949,604,2239,0,0,0,0,0,0
$GC,7806,1.12,198.8,258.9,8.3,384,7811,0.00,2.38,0.00,0.000,6,0.000,0.029,2950,2013,2236,0,0,0,0,0,0
$GC,8127,1.20,208.8,236.7,7.3,400,8144,0.12,2.55,10.00,0.675,4,0.075,0.051,2981,605,2198,0,0,0,0,0,0
$GC,8216,1.13,208.8,228.4,9.3,403,8221,0.00,2.38,0.00,0.000,6,0.000,0.028,2981,2018,2195,0,0,0,0,0,0
$GC,8532,1.15,223.3,203.8,7.0,419,8554,0.00,2.55,14.02,0.675,4,0.000,0.048,2981,608,2137,0,0,0,0,0,0
$GC,8643,1.15,223.3,194.5,8.7,427,8647,0.00,2.35,0.00,0.000,6,0.000,0.028,2981,2021,2135,0,0,0,0,0,0
$GC,8906,1.19,223.3,174.5,8.6,451,8910,0.00,2.35,0.00,0.000,4,0.000,0.032,2981,3413,2135,0,0,0,0,0,0
$GC,8925,1.23,223.3,172.6,9.2,452,8930,0.00,2.40,0.00,0.000,6,0.000,0.032,2981,2006,2135,0,0,0,0,0,0
$GC,9188,1.34,273.2,155.6,4.6,477,9240,0.10,2.50,44.42,0.661,4,0.080,0.048,3009,604,1936,0,0,0,0,0,0
$GC,9505,1.30,273.2,127.2,9.2,511,9511,0.00,2.35,0.00,0.000,6,0.000,0.024,3009,2024,1928,0,0,0,0,0,0
$GC,9768,1.35,280.4,105.5,7.5,536,9780,0.00,2.53,6.72,0.500,4,0.000,0.044,3010,608,1906,0,0,0,0,0,0
$GC,9907,1.35,280.4,93.4,8.3,551,9911,0.00,2.30,0.00,0.000,6,0.000,0.022,3010,2013,1903,0,0,0,0,0,0
$GC,10175,1.40,280.4,72.0,8.9,576,10179,0.00,2.28,0.00,0.000,4,0.000,0.028,3010,3398,1903,0,0,0,0,0,0
$GC,10231,1.49,280.4,66.6,9.6,581,10237,0.12,2.35,0.00,0.000,6,0.066,0.028,3048,2001,1903,0,0,0,0,0,0
$GC,10492,1.49,280.4,45.3,8.4,606,10496,0.00,2.38,0.00,0.000,4,0.000,0.042,3048,596,1903,0,0,0,0,0,0
$GC,10631,1.40,280.4,31.6,10.5,620,10637,0.15,2.30,0.00,0.000,6,0.099,0.020,3019,2021,1903,0,0,0,0,0,0
$GC,10905,1.47,301.0,11.2,6.6,667,10932,0.00,2.50,19.15,0.501,4,0.000,0.042,3018,612,1822,0,0,0,0,0,0
$STATE,10994,end climb,SURFACE_DEPTH_REACHED
$STATE,10994,begin surface coast
$FINISH,1.6,1.023098
$STATE,11005,end surface coast,CONTROL_FINISHED_OK
$STATE,11005,begin surface
$SM_CCo,11088,0.00,0.000,0,0,1813,303.44
$SM_GC,1.34,11.20,0.00,0.00,0.027,0.000,0.000,428,1901,1813,-10.44,0.71,303.44
$IRIDIUM_FIX,2052.52,-15747.49,220999,030305
$TT8_MAMPS,0.029146
$HUMID,52.83
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,23.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,442.1,71.8
$24V_AH,23.3,55.821
$10V_AH,10.0,49.289
$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,26.850,133.675,333.225,0.000,0.000,28.778,27.666,160.364,5.000,0.000,42.894,1325.515,7625.274,398.928,1631.335,466.244,33.383,1288.604,0.000,1560.348,0.000,32.296,0.000
$DEVICE_MAMPS,132.691,52.156,868.244,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,462.225,456.179,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,34898,688
$CAP_FILE_SIZE,129355,0
$CFSIZE,260165632,221917184
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280610,095036,2101.015,-15746.650,82,2.0,87,9.8