version: 66.06
glider: 139
mission: 7
dive: 654
start: 7 2 110 6 44 13
data:
$ID,139
$MISSION,7
$DIVE,654
$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,-2145474.5
$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
$GPS1,063157,2107.438,-15757.236,124,5.8,143,9.8
$_CALLS,2
$_XMS_NAKs,17
$_XMS_TOUTs,2
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-68.8
$GPS2,064321,2107.491,-15757.313,43,2.4,62,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,-0.018
$KALMAN_X,-343400.2,178.5,-380.6,339489.5,-237.9
$KALMAN_Y,39424.8,9.0,160.6,-38519.1,-26.2
$MHEAD_RNG_PITCHd_Wd,85.8,25067,-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,-50.17,0.000,2,0.000,0.000,423,1898,3153,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.5,-6.2,10,96,10.55,2.50,-4.30,0.000,4,0.131,0.054,2404,473,3370,0,0,0,0,0,0
$GC,107,-0.61,-77.9,14.5,-29.0,17,113,0.85,2.30,0.00,0.000,6,0.087,0.019,2578,1910,3371,0,0,0,0,0,0
$GC,318,-0.87,-77.9,35.3,-5.8,48,323,0.25,2.50,0.00,0.000,4,0.040,0.044,2497,465,3372,0,0,0,0,0,0
$GC,381,-0.93,-77.9,40.6,-7.2,54,386,0.00,2.25,0.00,0.000,6,0.000,0.019,2497,1887,3373,0,0,0,0,0,0
$GC,645,-0.98,-77.9,63.3,-9.2,78,649,0.00,2.42,0.00,0.000,4,0.000,0.041,2497,465,3373,0,0,0,0,0,0
$GC,669,-0.98,-77.9,65.8,-9.4,80,673,0.00,2.25,0.00,0.000,6,0.000,0.019,2497,1875,3373,0,0,0,0,0,0
$GC,932,-1.07,-77.9,89.3,-9.1,104,936,0.00,2.40,0.00,0.000,4,0.000,0.041,2497,463,3374,0,0,0,0,0,0
$GC,1003,-1.18,-77.9,95.7,-7.3,111,1008,0.17,2.22,0.00,0.000,6,0.050,0.018,2440,1874,3374,0,0,0,0,0,0
$GC,1265,-1.18,-77.9,120.0,-8.3,135,1269,0.00,2.25,0.00,0.000,4,0.000,0.025,2440,3253,3375,0,0,0,0,0,0
$GC,1280,-1.18,-77.9,121.5,-8.6,136,1284,0.00,2.28,0.00,0.000,6,0.000,0.026,2440,1869,3375,0,0,0,0,0,0
$GC,1543,-1.22,-77.9,143.6,-10.1,160,1547,0.00,2.38,0.00,0.000,4,0.000,0.041,2440,469,3375,0,0,0,0,0,0
$GC,1624,-1.25,-77.9,152.3,-10.2,168,1628,0.00,2.20,0.00,0.000,6,0.000,0.018,2440,1877,3376,0,0,0,0,0,0
$GC,1887,-1.30,-77.9,177.1,-8.3,192,1888,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,1882,3375,0,0,0,0,0,0
$GC,2141,-1.36,-77.9,200.0,-9.2,216,2145,0.00,2.38,0.00,0.000,4,0.000,0.041,2440,472,3376,0,0,0,0,0,0
$GC,2212,-1.41,-77.9,207.1,-9.1,220,2217,0.15,2.20,0.00,0.000,6,0.055,0.020,2390,1872,3376,0,0,0,0,0,0
$GC,2544,-1.41,-77.9,234.9,-8.6,236,2548,0.00,2.40,0.00,0.000,4,0.000,0.042,2389,468,3376,0,0,0,0,0,0
$GC,2600,-1.34,-77.9,240.6,-10.0,238,2605,0.15,2.22,0.00,0.000,6,0.093,0.020,2421,1875,3376,0,0,0,0,0,0
$GC,2918,-1.39,-77.9,267.9,-8.3,253,2921,0.00,2.40,0.00,0.000,4,0.000,0.043,2421,467,3376,0,0,0,0,0,0
$GC,2959,-1.39,-77.9,271.7,-8.8,254,2964,0.00,2.22,0.00,0.000,6,0.000,0.021,2421,1879,3376,0,0,0,0,0,0
$GC,3275,-1.47,-77.9,297.1,-8.4,270,3280,0.12,2.42,0.00,0.000,4,0.062,0.044,2378,473,3375,0,0,0,0,0,0
$GC,3304,-1.39,-77.9,299.4,-7.8,271,3309,0.15,2.22,0.00,0.000,6,0.092,0.021,2410,1871,3375,0,0,0,0,0,0
$GC,3643,-1.44,-77.9,327.4,-8.9,280,3647,0.00,2.40,0.00,0.000,4,0.000,0.044,2409,475,3375,0,0,0,0,0,0
$GC,3682,-1.44,-77.9,330.3,-7.3,280,3688,0.00,2.25,0.00,0.000,6,0.000,0.023,2410,1879,3375,0,0,0,0,0,0
$GC,4015,-1.49,-77.9,352.1,-7.6,289,4020,0.00,2.40,0.00,0.000,4,0.000,0.046,2409,474,3373,0,0,0,0,0,0
$GC,4134,-1.49,-77.9,362.8,-8.4,291,4138,0.00,2.25,0.00,0.000,6,0.000,0.024,2409,1872,3373,0,0,0,0,0,0
$GC,4475,-1.55,-77.9,386.7,-7.1,300,4480,0.15,2.42,0.00,0.000,4,0.057,0.048,2365,476,3370,0,0,0,0,0,0
$GC,4489,-1.55,-77.9,388.4,-8.7,300,4494,0.00,2.28,0.00,0.000,6,0.000,0.025,2365,1884,3370,0,0,0,0,0,0
$GC,4840,-1.51,-77.9,423.2,-8.7,309,4844,0.00,2.42,0.00,0.000,4,0.000,0.050,2365,476,3368,0,0,0,0,0,0
$GC,4946,-1.44,-77.9,432.1,-10.1,311,4951,0.17,2.28,0.00,0.000,6,0.091,0.025,2401,1878,3367,0,0,0,0,0,0
$STATE,5219,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5219,begin apogee
$GC,5226,-0.31,0.0,451.6,7.2,318,5294,1.12,0.00,64.25,0.861,6,0.071,0.000,2643,2033,3050,0,0,0,0,0,0
$STATE,5295,end apogee,CONTROL_FINISHED_OK
$STATE,5295,begin climb
$GC,5297,1.40,77.9,452.6,0.0,319,5373,1.62,2.40,64.45,0.840,4,0.029,0.037,3018,3384,2732,0,0,0,0,0,0
$GC,5508,1.24,143.1,453.0,3.5,323,5570,0.22,2.33,55.50,0.838,6,0.110,0.032,2985,2012,2466,0,0,0,0,0,0
$GC,5891,1.12,143.1,423.4,8.7,333,5896,0.12,2.35,0.00,0.000,4,0.120,0.037,2962,3380,2457,0,0,0,0,0,0
$GC,5911,1.05,143.1,421.5,9.0,333,5915,0.00,2.35,0.00,0.000,6,0.000,0.035,2963,2015,2457,0,0,0,0,0,0
$GC,6257,1.00,155.8,395.3,7.1,342,6274,0.15,2.55,10.32,0.742,4,0.115,0.051,2933,602,2413,0,0,0,0,0,0
$GC,6323,0.96,165.3,391.0,7.4,343,6339,0.00,2.30,9.55,0.728,6,0.000,0.028,2935,1992,2376,0,0,0,0,0,0
$GC,6676,0.98,186.0,367.4,6.6,352,6698,0.00,0.00,19.60,0.792,6,0.000,0.000,2935,1992,2291,0,0,0,0,0,0
$GC,7001,1.03,198.5,345.6,7.2,360,7018,0.00,2.47,12.07,0.746,4,0.000,0.050,2935,605,2239,0,0,0,0,0,0
$GC,7080,1.03,198.5,337.8,10.2,361,7084,0.00,2.38,0.00,0.000,6,0.000,0.028,2935,2014,2235,0,0,0,0,0,0
$GC,7411,1.10,198.5,306.5,9.2,369,7415,0.00,2.47,0.00,0.000,4,0.000,0.051,2935,604,2235,0,0,0,0,0,0
$GC,7548,1.10,198.5,293.7,9.3,373,7552,0.00,2.35,0.00,0.000,6,0.000,0.028,2935,2017,2232,0,0,0,0,0,0
$GC,7878,1.23,241.9,274.1,5.0,389,7924,0.20,2.60,38.65,0.760,4,0.061,0.052,2984,601,2063,0,0,0,0,0,0
$GC,7992,1.18,241.9,262.9,12.0,394,7996,0.00,2.35,0.00,0.000,6,0.000,0.028,2985,2010,2057,0,0,0,0,0,0
$GC,8321,1.18,241.9,231.4,8.9,410,8325,0.00,2.47,0.00,0.000,4,0.000,0.049,2985,593,2056,0,0,0,0,0,0
$GC,8405,1.13,241.9,223.3,10.5,413,8411,0.15,2.38,0.00,0.000,6,0.115,0.028,2959,2016,2053,0,0,0,0,0,0
$GC,8721,1.22,252.9,200.7,7.3,429,8737,0.00,2.55,9.65,0.624,4,0.000,0.048,2958,601,2018,0,0,0,0,0,0
$GC,8878,1.22,252.9,187.9,8.3,445,8883,0.00,2.33,0.00,0.000,6,0.000,0.026,2959,2012,2014,0,0,0,0,0,0
$GC,9141,1.31,252.9,167.8,8.7,469,9146,0.17,2.50,0.00,0.000,4,0.059,0.048,3005,593,2013,0,0,0,0,0,0
$GC,9334,1.24,252.9,145.6,11.6,489,9338,0.00,2.35,0.00,0.000,6,0.000,0.025,3005,2017,2013,0,0,0,0,0,0
$GC,9597,1.25,261.4,121.5,7.4,513,9614,0.00,2.50,8.52,0.548,4,0.000,0.044,3005,595,1983,0,0,0,0,0,0
$GC,9695,1.22,261.4,112.4,10.1,523,9701,0.12,2.33,0.00,0.000,6,0.107,0.024,2982,2013,1981,0,0,0,0,0,0
$GC,9959,1.35,293.5,93.4,5.8,548,9994,0.12,2.38,29.15,0.588,4,0.067,0.029,3018,3402,1853,0,0,0,0,0,0
$GC,10002,1.43,317.9,90.8,6.4,552,10033,0.00,2.40,22.45,0.569,6,0.000,0.028,3018,1998,1753,0,0,0,0,0,0
$GC,10288,1.48,317.9,64.3,9.3,580,10292,0.00,2.38,0.00,0.000,4,0.000,0.044,3018,603,1749,0,0,0,0,0,0
$GC,10436,1.48,317.9,50.3,8.8,595,10441,0.00,2.30,0.00,0.000,6,0.000,0.021,3019,2016,1746,0,0,0,0,0,0
$GC,10699,1.54,317.9,28.7,8.8,621,10705,0.15,2.42,0.00,0.000,4,0.059,0.042,3065,603,1746,0,0,0,0,0,0
$GC,10902,1.43,317.9,6.9,10.6,664,10908,0.20,2.28,0.00,0.000,6,0.093,0.020,3024,2011,1745,0,0,0,0,0,0
$STATE,10934,end climb,SURFACE_DEPTH_REACHED
$STATE,10934,begin surface coast
$FINISH,0.7,1.021855
$STATE,10958,end surface coast,CONTROL_FINISHED_OK
$STATE,10958,begin surface
$SM_CCo,11040,0.00,0.000,0,0,1741,321.10
$SM_GC,1.46,11.10,0.00,0.00,0.023,0.000,0.000,427,1860,1741,-10.43,-0.40,321.10
$IRIDIUM_FIX,2057.14,-15756.04,260999,060639
$TT8_MAMPS,0.029146
$HUMID,54.72
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,23.3,58.522
$10V_AH,10.0,50.993
$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,28.200,128.000,344.175,0.000,0.000,47.679,63.806,330.317,4.500,0.000,65.146,1302.063,7696.801,403.410,1605.500,710.072,33.380,1270.214,0.000,1517.257,0.000,29.269,0.000
$DEVICE_MAMPS,131.157,55.224,860.574,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,452.822,439.581,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,34980,674
$CAP_FILE_SIZE,132192,0
$CFSIZE,260165632,220082176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020710,094920,2107.335,-15756.271,32,1.8,32,9.8