version: 66.06
glider: 139
mission: 7
dive: 625
start: 6 28 110 9 57 51
data:
$ID,139
$MISSION,7
$DIVE,625
$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,-2144418.5
$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
$GPS1,095036,2101.015,-15746.650,82,2.0,87,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-71.7
$GPS2,095658,2100.994,-15746.637,10,2.3,29,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.141,-0.117
$KALMAN_X,-353516.8,145.2,260.1,367449.6,177.5
$KALMAN_Y,45026.1,87.9,445.5,-56513.8,-121.7
$MHEAD_RNG_PITCHd_Wd,220.5,7971,-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,-50.40,0.000,2,0.000,0.000,427,1901,3125,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.1,-5.3,10,94,10.52,2.35,-5.07,0.000,4,0.130,0.040,2405,3291,3370,0,0,0,0,0,0
$GC,212,-1.36,-77.9,27.9,-14.3,40,217,0.00,2.40,0.00,0.000,6,0.000,0.029,2406,1870,3371,0,0,0,0,0,0
$GC,411,-1.18,-77.9,59.3,-16.4,60,416,0.25,2.38,0.00,0.000,4,0.095,0.041,2459,472,3371,0,0,0,0,0,0
$GC,455,-1.09,-77.9,65.9,-13.9,64,459,0.00,2.33,0.00,0.000,6,0.000,0.019,2459,1913,3372,0,0,0,0,0,0
$GC,718,-1.04,-77.9,97.9,-11.6,88,723,0.12,2.22,0.00,0.000,4,0.105,0.025,2484,3266,3373,0,0,0,0,0,0
$GC,734,-1.04,-77.9,99.9,-10.9,89,741,0.00,2.30,0.00,0.000,6,0.000,0.025,2484,1871,3373,0,0,0,0,0,0
$GC,1006,-1.11,-77.9,126.4,-8.7,114,1010,0.00,2.38,0.00,0.000,4,0.000,0.041,2483,474,3374,0,0,0,0,0,0
$GC,1127,-1.16,-77.9,137.6,-9.8,126,1131,0.00,2.25,0.00,0.000,6,0.000,0.018,2484,1885,3374,0,0,0,0,0,0
$GC,1390,-1.25,-77.9,157.9,-8.5,150,1395,0.20,2.40,0.00,0.000,4,0.047,0.041,2421,475,3375,0,0,0,0,0,0
$GC,1412,-1.25,-77.9,160.4,-11.0,151,1418,0.00,2.22,0.00,0.000,6,0.000,0.018,2421,1874,3375,0,0,0,0,0,0
$GC,1676,-1.25,-77.9,187.0,-9.6,176,1680,0.00,2.38,0.00,0.000,4,0.000,0.041,2421,467,3375,0,0,0,0,0,0
$GC,1746,-1.25,-77.9,194.0,-9.7,183,1751,0.00,2.22,0.00,0.000,6,0.000,0.019,2421,1879,3376,0,0,0,0,0,0
$GC,2006,-1.25,-77.9,217.8,-9.7,199,2010,0.00,2.25,0.00,0.000,4,0.000,0.025,2420,3258,3376,0,0,0,0,0,0
$GC,2031,-1.33,-77.9,220.0,-9.9,200,2035,0.00,2.30,0.00,0.000,6,0.000,0.027,2421,1870,3376,0,0,0,0,0,0
$GC,2358,-1.37,-77.9,247.4,-7.4,216,2362,0.00,2.38,0.00,0.000,4,0.000,0.042,2421,471,3376,0,0,0,0,0,0
$GC,2447,-1.37,-77.9,255.2,-8.5,220,2451,0.00,2.25,0.00,0.000,6,0.000,0.020,2421,1879,3377,0,0,0,0,0,0
$GC,2782,-1.45,-77.9,280.1,-7.4,236,2786,0.00,2.38,0.00,0.000,4,0.000,0.043,2421,477,3376,0,0,0,0,0,0
$GC,2815,-1.45,-77.9,283.4,-8.7,237,2819,0.00,2.22,0.00,0.000,6,0.000,0.021,2420,1872,3376,0,0,0,0,0,0
$GC,3130,-1.53,-77.9,305.4,-6.6,250,3135,0.17,2.42,0.00,0.000,4,0.052,0.044,2366,469,3375,0,0,0,0,0,0
$GC,3196,-1.46,-77.9,311.4,-8.8,251,3201,0.15,2.28,0.00,0.000,6,0.094,0.021,2397,1883,3375,0,0,0,0,0,0
$GC,3543,-1.50,-77.9,336.9,-7.2,260,3547,0.00,2.40,0.00,0.000,4,0.000,0.046,2397,477,3374,0,0,0,0,0,0
$GC,3622,-1.50,-77.9,343.4,-8.1,261,3626,0.00,2.28,0.00,0.000,6,0.000,0.023,2398,1880,3374,0,0,0,0,0,0
$GC,3954,-1.53,-77.9,368.9,-8.1,269,3958,0.00,2.40,0.00,0.000,4,0.000,0.047,2397,478,3372,0,0,0,0,0,0
$GC,3997,-1.53,-77.9,373.0,-9.2,270,4001,0.00,2.28,0.00,0.000,6,0.000,0.025,2398,1873,3372,0,0,0,0,0,0
$GC,4325,-1.58,-77.9,399.7,-7.5,278,4333,0.12,2.42,0.00,0.000,4,0.067,0.050,2361,480,3369,0,0,0,0,0,0
$GC,4424,-1.48,-77.9,411.0,-11.6,280,4429,0.15,2.28,0.00,0.000,6,0.095,0.026,2391,1878,3368,0,0,0,0,0,0
$GC,4760,-1.52,-77.9,438.6,-7.9,288,4764,0.00,2.45,0.00,0.000,4,0.000,0.052,2391,477,3366,0,0,0,0,0,0
$GC,4822,-1.52,-77.9,443.6,-9.4,289,4826,0.00,2.30,0.00,0.000,6,0.000,0.027,2391,1872,3365,0,0,0,0,0,0
$STATE,4925,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4925,begin apogee
$GC,4931,-0.31,0.0,451.4,7.5,292,4999,1.17,0.00,64.20,0.864,6,0.070,0.000,2646,2036,3050,0,0,0,0,0,0
$STATE,4999,end apogee,CONTROL_FINISHED_OK
$STATE,5000,begin climb
$GC,5003,1.40,77.9,450.6,0.0,293,5078,1.60,2.40,64.57,0.843,4,0.028,0.038,3020,3381,2731,0,0,0,0,0,0
$GC,5102,1.28,186.9,450.1,0.5,295,5207,0.17,2.35,92.90,0.839,6,0.113,0.032,2997,2012,2288,0,0,0,0,0,0
$GC,5543,1.18,186.9,399.9,12.8,306,5548,0.15,2.47,0.00,0.000,4,0.119,0.050,2970,602,2277,0,0,0,0,0,0
$GC,5614,1.06,186.9,391.3,11.2,307,5619,0.12,2.35,0.00,0.000,6,0.122,0.027,2948,1999,2273,0,0,0,0,0,0
$GC,5955,1.06,186.9,361.4,9.1,316,5960,0.00,2.45,0.00,0.000,4,0.000,0.050,2948,609,2271,0,0,0,0,0,0
$GC,6021,1.00,186.9,354.9,10.2,317,6025,0.00,2.35,0.00,0.000,6,0.000,0.028,2947,2010,2269,0,0,0,0,0,0
$GC,6366,1.00,186.9,324.1,9.0,326,6370,0.00,2.47,0.00,0.000,4,0.000,0.050,2948,607,2269,0,0,0,0,0,0
$GC,6412,1.00,186.9,319.3,10.7,327,6416,0.00,2.35,0.00,0.000,6,0.000,0.029,2948,2009,2267,0,0,0,0,0,0
$GC,6736,1.00,186.9,291.6,8.3,337,6741,0.00,2.45,0.00,0.000,4,0.000,0.049,2948,610,2267,0,0,0,0,0,0
$GC,6779,1.00,186.9,287.7,9.7,339,6783,0.00,2.35,0.00,0.000,6,0.000,0.030,2948,2009,2266,0,0,0,0,0,0
$GC,7110,1.08,200.0,262.9,7.1,355,7125,0.00,2.40,8.98,0.670,4,0.000,0.035,2945,3404,2233,0,0,0,0,0,0
$GC,7145,1.17,222.4,260.6,6.5,356,7175,0.00,2.40,21.35,0.730,6,0.000,0.034,2948,2006,2142,0,0,0,0,0,0
$GC,7485,1.29,248.5,239.3,6.2,373,7515,0.20,2.53,23.98,0.712,4,0.059,0.049,2998,597,2035,0,0,0,0,0,0
$GC,7660,1.22,248.5,221.6,11.3,380,7665,0.00,2.38,0.00,0.000,6,0.000,0.027,2998,2014,2030,0,0,0,0,0,0
$GC,7978,1.22,248.5,192.0,8.3,400,7979,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2018,2029,0,0,0,0,0,0
$GC,8232,1.22,248.5,169.3,9.2,424,8236,0.00,2.47,0.00,0.000,4,0.000,0.046,2998,598,2029,0,0,0,0,0,0
$GC,8364,1.22,248.5,156.6,10.2,437,8370,0.00,2.35,0.00,0.000,6,0.000,0.025,2999,2023,2027,0,0,0,0,0,0
$GC,8627,1.27,248.5,133.7,8.8,462,8631,0.00,2.47,0.00,0.000,4,0.000,0.044,2998,596,2027,0,0,0,0,0,0
$GC,8895,1.31,278.0,114.8,6.0,490,8926,0.00,2.33,25.62,0.596,6,0.000,0.022,2998,2023,1916,0,0,0,0,0,0
$GC,9181,1.40,294.6,97.1,6.9,518,9202,0.00,2.53,15.27,0.554,4,0.000,0.044,2998,605,1849,0,0,0,0,0,0
$GC,9356,1.45,294.6,81.7,9.2,537,9361,0.12,2.30,0.00,0.000,6,0.064,0.021,3037,2020,1844,0,0,0,0,0,0
$GC,9618,1.45,294.6,55.6,10.6,561,9622,0.00,2.45,0.00,0.000,4,0.000,0.042,3036,599,1845,0,0,0,0,0,0
$GC,9773,1.40,294.6,37.9,11.1,577,9777,0.00,2.30,0.00,0.000,6,0.000,0.020,3036,2021,1844,0,0,0,0,0,0
$GC,10044,1.40,298.4,12.9,7.8,618,10054,0.00,2.45,4.40,0.360,4,0.000,0.041,3036,603,1833,0,0,0,0,0,0
$STATE,10132,end climb,SURFACE_DEPTH_REACHED
$STATE,10134,begin surface coast
$FINISH,0.6,1.010380
$STATE,10156,end surface coast,CONTROL_FINISHED_OK
$STATE,10157,begin surface
$SM_CCo,10240,0.00,0.000,0,0,1827,300.00
$SM_GC,1.60,11.23,0.00,0.00,0.027,0.000,0.000,426,1893,1827,-10.44,0.48,300.00
$IRIDIUM_FIX,2052.52,-15744.48,220999,060631
$TT8_MAMPS,0.029146
$HUMID,52.99
$INTERNAL_PRESSURE,9.73324
$TCM_TEMP,23.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,422.1,70.5
$24V_AH,23.3,55.907
$10V_AH,10.0,49.342
$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,26.475,122.725,321.275,0.000,0.000,27.773,29.842,187.631,4.500,0.000,30.965,1245.922,6969.493,377.560,1530.527,494.499,33.407,1221.217,0.000,1478.277,0.000,30.749,0.000
$DEVICE_MAMPS,130.390,52.156,864.409,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,431.429,430.611,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,34866,642
$CAP_FILE_SIZE,119674,0
$CFSIZE,260165632,221863936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280610,125006,2100.234,-15747.433,55,1.7,60,9.8