version: 66.06
glider: 139
mission: 7
dive: 631
start: 6 29 110 4 46 57
data:
$ID,139
$MISSION,7
$DIVE,631
$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,-2144586.8
$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
$GPS1,044021,2058.894,-15751.037,168,3.7,187,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-70.1
$GPS2,044606,2058.912,-15751.035,14,1.1,30,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.143,0.115
$KALMAN_X,-351355.2,412.5,-128.4,357801.5,199.5
$KALMAN_Y,44494.7,131.7,-512.6,-58922.6,-6.4
$MHEAD_RNG_PITCHd_Wd,299.1,25835,-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,-50.45,0.000,2,0.000,0.000,427,1854,3163,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.7,-6.8,10,91,10.55,2.47,-4.05,0.000,4,0.133,0.038,2404,3300,3370,0,0,0,0,0,0
$GC,140,-1.32,-77.9,19.8,-15.9,24,146,0.10,2.40,0.00,0.000,6,0.112,0.030,2423,1869,3371,0,0,0,0,0,0
$GC,345,-1.18,-77.9,51.1,-16.0,49,350,0.15,2.42,0.00,0.000,4,0.104,0.042,2453,463,3372,0,0,0,0,0,0
$GC,399,-1.09,-77.9,59.8,-14.2,54,404,0.10,2.30,0.00,0.000,6,0.117,0.019,2472,1908,3372,0,0,0,0,0,0
$GC,661,-1.09,-77.9,89.5,-11.5,78,665,0.00,2.47,0.00,0.000,4,0.000,0.041,2472,470,3373,0,0,0,0,0,0
$GC,686,-1.09,-77.9,92.5,-11.8,80,690,0.00,2.25,0.00,0.000,6,0.000,0.019,2472,1881,3373,0,0,0,0,0,0
$GC,950,-1.16,-77.9,119.0,-10.0,104,954,0.00,2.42,0.00,0.000,4,0.000,0.041,2472,466,3374,0,0,0,0,0,0
$GC,994,-1.25,-77.9,123.3,-9.0,108,998,0.15,2.22,0.00,0.000,6,0.054,0.019,2422,1875,3375,0,0,0,0,0,0
$GC,1254,-1.25,-77.9,149.1,-9.2,132,1258,0.00,2.40,0.00,0.000,4,0.000,0.041,2422,469,3375,0,0,0,0,0,0
$GC,1288,-1.25,-77.9,152.4,-10.2,135,1292,0.00,2.25,0.00,0.000,6,0.000,0.019,2422,1876,3376,0,0,0,0,0,0
$GC,1552,-1.25,-77.9,173.0,-8.3,159,1556,0.00,2.40,0.00,0.000,4,0.000,0.041,2422,470,3376,0,0,0,0,0,0
$GC,1632,-1.25,-77.9,180.1,-8.8,167,1637,0.00,2.25,0.00,0.000,6,0.000,0.019,2422,1880,3376,0,0,0,0,0,0
$GC,1905,-1.25,-77.9,203.0,-9.9,191,1909,0.00,2.42,0.00,0.000,4,0.000,0.041,2421,462,3376,0,0,0,0,0,0
$GC,1938,-1.25,-77.9,206.8,-10.8,192,1942,0.00,2.25,0.00,0.000,6,0.000,0.020,2422,1880,3376,0,0,0,0,0,0
$GC,2254,-1.30,-77.9,234.6,-8.1,207,2258,0.00,2.42,0.00,0.000,4,0.000,0.042,2422,464,3377,0,0,0,0,0,0
$GC,2368,-1.33,-77.9,243.3,-6.6,212,2372,0.00,2.28,0.00,0.000,6,0.000,0.021,2422,1885,3377,0,0,0,0,0,0
$GC,2702,-1.41,-77.9,265.6,-8.1,228,2706,0.00,2.40,0.00,0.000,4,0.000,0.043,2422,470,3377,0,0,0,0,0,0
$GC,2730,-1.44,-77.9,268.5,-9.6,229,2734,0.00,2.25,0.00,0.000,6,0.000,0.021,2422,1873,3376,0,0,0,0,0,0
$GC,3057,-1.51,-77.9,294.2,-7.5,245,3062,0.17,2.42,0.00,0.000,4,0.053,0.045,2369,472,3376,0,0,0,0,0,0
$GC,3105,-1.40,-77.9,299.1,-9.6,247,3110,0.17,2.28,0.00,0.000,6,0.090,0.022,2405,1881,3375,0,0,0,0,0,0
$GC,3447,-1.44,-77.9,325.6,-7.6,256,3451,0.00,2.42,0.00,0.000,4,0.000,0.045,2404,472,3373,0,0,0,0,0,0
$GC,3470,-1.44,-77.9,327.8,-9.2,256,3474,0.00,2.28,0.00,0.000,6,0.000,0.023,2405,1871,3373,0,0,0,0,0,0
$GC,3811,-1.48,-77.9,355.4,-7.7,265,3815,0.00,2.42,0.00,0.000,4,0.000,0.046,2404,469,3372,0,0,0,0,0,0
$GC,3855,-1.48,-77.9,358.6,-7.4,266,3859,0.00,2.30,0.00,0.000,6,0.000,0.025,2405,1881,3372,0,0,0,0,0,0
$GC,4187,-1.53,-77.9,381.6,-7.6,274,4191,0.12,2.47,0.00,0.000,4,0.066,0.048,2367,464,3369,0,0,0,0,0,0
$GC,4249,-1.45,-77.9,388.3,-10.4,275,4253,0.15,2.30,0.00,0.000,6,0.094,0.025,2397,1874,3369,0,0,0,0,0,0
$GC,4599,-1.49,-77.9,418.4,-8.4,284,4604,0.00,2.45,0.00,0.000,4,0.000,0.050,2397,469,3367,0,0,0,0,0,0
$GC,4669,-1.49,-77.9,424.6,-9.1,285,4673,0.00,2.30,0.00,0.000,6,0.000,0.026,2398,1875,3366,0,0,0,0,0,0
$STATE,5006,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5007,begin apogee
$GC,5013,-0.31,0.0,451.4,8.0,294,5081,1.15,0.00,64.10,0.867,6,0.071,0.000,2645,2031,3050,0,0,0,0,0,0
$STATE,5082,end apogee,CONTROL_FINISHED_OK
$STATE,5082,begin climb
$GC,5084,1.40,77.9,452.4,0.0,295,5160,1.62,2.40,64.88,0.848,4,0.030,0.038,3016,3375,2732,0,0,0,0,0,0
$GC,5425,1.21,120.7,444.4,5.1,302,5470,0.25,2.35,36.50,0.841,6,0.108,0.035,2981,2008,2557,0,0,0,0,0,0
$GC,5815,1.12,142.0,418.2,6.6,312,5837,0.12,0.00,18.67,0.808,6,0.123,0.000,2959,2008,2471,0,0,0,0,0,0
$GC,6141,1.11,170.3,398.3,6.1,320,6173,0.00,2.55,25.45,0.821,4,0.000,0.052,2959,612,2354,0,0,0,0,0,0
$GC,6193,0.99,170.3,394.2,8.3,321,6198,0.15,2.33,0.00,0.000,6,0.121,0.029,2934,1984,2351,0,0,0,0,0,0
$GC,6512,1.01,181.1,371.2,7.3,329,6529,0.00,2.50,10.18,0.740,4,0.000,0.051,2933,614,2310,0,0,0,0,0,0
$GC,6609,1.01,181.1,362.5,8.6,331,6614,0.00,2.38,0.00,0.000,6,0.000,0.030,2933,2017,2307,0,0,0,0,0,0
$GC,6933,1.05,185.6,336.9,7.7,339,6945,0.00,2.50,4.75,0.578,4,0.000,0.051,2934,605,2292,0,0,0,0,0,0
$GC,7002,1.05,185.6,330.9,8.9,340,7006,0.00,2.38,0.00,0.000,6,0.000,0.030,2933,2014,2290,0,0,0,0,0,0
$GC,7348,1.11,187.0,302.9,7.9,349,7352,0.00,2.47,0.00,0.000,4,0.000,0.051,2934,608,2290,0,0,0,0,0,0
$GC,7408,1.11,187.0,297.6,8.1,350,7414,0.00,2.38,0.00,0.000,6,0.000,0.030,2934,2020,2288,0,0,0,0,0,0
$GC,7724,1.22,226.2,278.4,5.3,366,7768,0.20,2.55,37.17,0.772,4,0.061,0.050,2983,605,2126,0,0,0,0,0,0
$GC,7824,1.14,226.2,269.4,10.9,370,7829,0.12,2.38,0.00,0.000,6,0.118,0.029,2962,2010,2121,0,0,0,0,0,0
$GC,8146,1.18,226.2,240.5,8.9,386,8150,0.00,2.45,0.00,0.000,4,0.000,0.049,2961,607,2119,0,0,0,0,0,0
$GC,8230,1.18,226.2,231.9,10.5,389,8236,0.00,2.38,0.00,0.000,6,0.000,0.028,2962,2021,2117,0,0,0,0,0,0
$GC,8546,1.23,228.5,206.3,7.9,405,8550,0.00,2.47,0.00,0.000,4,0.000,0.049,2961,604,2117,0,0,0,0,0,0
$GC,8796,1.23,228.5,183.3,9.4,428,8800,0.00,2.35,0.00,0.000,6,0.000,0.026,2961,2016,2114,0,0,0,0,0,0
$GC,9060,1.30,228.5,161.6,8.1,452,9065,0.15,2.47,0.00,0.000,4,0.065,0.048,3001,606,2114,0,0,0,0,0,0
$GC,9205,1.22,228.5,146.6,11.4,467,9209,0.00,2.33,0.00,0.000,6,0.000,0.025,3001,2015,2114,0,0,0,0,0,0
$GC,9468,1.23,231.8,124.6,7.8,491,9478,0.00,2.47,4.07,0.420,4,0.000,0.044,3001,600,2104,0,0,0,0,0,0
$GC,9508,1.17,231.8,121.1,8.4,495,9513,0.17,2.33,0.00,0.000,6,0.102,0.025,2968,2010,2103,0,0,0,0,0,0
$GC,9769,1.30,262.0,105.0,5.9,519,9805,0.12,2.35,28.12,0.603,4,0.070,0.030,3003,3401,1980,0,0,0,0,0,0
$GC,9811,1.36,282.9,102.0,6.6,523,9836,0.00,2.38,19.67,0.580,6,0.000,0.029,3003,2010,1895,0,0,0,0,0,0
$GC,10098,1.43,282.9,77.2,8.1,551,10103,0.10,2.42,0.00,0.000,4,0.079,0.044,3035,602,1891,0,0,0,0,0,0
$GC,10190,1.36,282.9,68.5,9.9,560,10195,0.12,2.33,0.00,0.000,6,0.106,0.022,3012,2024,1889,0,0,0,0,0,0
$GC,10457,1.46,308.0,50.4,6.3,585,10486,0.00,2.55,21.92,0.542,4,0.000,0.043,3011,605,1793,0,0,0,0,0,0
$GC,10606,1.46,308.0,37.6,8.9,601,10612,0.00,2.30,0.00,0.000,6,0.000,0.021,3012,2016,1789,0,0,0,0,0,0
$GC,10877,1.52,308.0,15.1,8.9,642,10883,0.15,2.42,0.00,0.000,4,0.057,0.043,3058,603,1788,0,0,0,0,0,0
$STATE,10986,end climb,SURFACE_DEPTH_REACHED
$STATE,10986,begin surface coast
$FINISH,0.6,1.023217
$STATE,11000,end surface coast,CONTROL_FINISHED_OK
$STATE,11000,begin surface
$SM_CCo,11083,0.00,0.000,0,0,1783,310.80
$SM_GC,1.41,11.35,0.00,0.00,0.028,0.000,0.000,427,1884,1783,-10.43,0.28,310.80
$IRIDIUM_FIX,2050.21,-15752.63,230999,010119
$TT8_MAMPS,0.028379
$HUMID,53.46
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,22.90
$XPDR_PINGS,0
$24V_AH,23.3,56.417
$10V_AH,10.0,49.672
$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,27.475,133.375,335.500,0.000,0.000,30.926,29.286,148.969,4.500,0.000,30.159,1307.240,7657.310,393.428,1598.627,466.406,33.389,1270.363,0.000,1543.938,0.000,29.248,0.000
$DEVICE_MAMPS,132.691,53.690,867.477,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,449.671,439.027,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,34891,668
$CAP_FILE_SIZE,127437,0
$CFSIZE,260165632,221491200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290610,075330,2059.536,-15751.658,58,1.5,74,9.8