version: 66.06
glider: 139
mission: 7
dive: 661
start: 7 3 110 5 36 0
data:
$ID,139
$MISSION,7
$DIVE,661
$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,-2145696.8
$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
$GPS1,052813,2106.384,-15751.608,78,1.7,85,9.8
$_CALLS,1
$_XMS_NAKs,17
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-70.0
$GPS2,053508,2106.407,-15751.677,12,1.7,12,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,0.001
$KALMAN_X,-348109.4,134.6,-149.2,353755.2,-925.2
$KALMAN_Y,39556.4,-64.7,-86.8,-40327.3,-97.4
$MHEAD_RNG_PITCHd_Wd,79.8,15174,-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,-50.47,0.000,2,0.000,0.000,421,1870,3158,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.5,-6.5,10,95,10.55,2.47,-4.22,0.000,4,0.131,0.052,2404,451,3370,0,0,0,0,0,0
$GC,116,-0.91,-77.9,16.4,-24.9,19,122,0.52,2.38,0.00,0.000,6,0.087,0.020,2512,1911,3371,0,0,0,0,0,0
$GC,326,-0.98,-77.9,39.9,-11.1,49,330,0.00,2.47,0.00,0.000,4,0.000,0.041,2512,462,3372,0,0,0,0,0,0
$GC,370,-1.04,-77.9,44.7,-9.5,53,375,0.12,2.28,0.00,0.000,6,0.063,0.019,2467,1899,3372,0,0,0,0,0,0
$GC,633,-1.01,-77.9,75.4,-12.9,77,638,0.12,2.47,0.00,0.000,4,0.097,0.041,2493,465,3373,0,0,0,0,0,0
$GC,658,-1.01,-77.9,79.0,-13.0,79,662,0.00,2.25,0.00,0.000,6,0.000,0.019,2493,1869,3374,0,0,0,0,0,0
$GC,922,-1.10,-77.9,107.6,-8.1,103,926,0.00,2.40,0.00,0.000,4,0.000,0.041,2493,466,3374,0,0,0,0,0,0
$GC,978,-1.22,-77.9,112.2,-8.0,108,984,0.20,2.25,0.00,0.000,6,0.045,0.018,2429,1884,3375,0,0,0,0,0,0
$GC,1240,-1.22,-77.9,137.9,-9.2,133,1244,0.00,2.25,0.00,0.000,4,0.000,0.025,2429,3262,3375,0,0,0,0,0,0
$GC,1278,-1.33,-77.9,141.6,-9.4,136,1283,0.00,2.33,0.00,0.000,6,0.000,0.025,2429,1859,3375,0,0,0,0,0,0
$GC,1540,-1.33,-77.9,163.6,-7.5,161,1545,0.00,2.35,0.00,0.000,4,0.000,0.040,2428,470,3376,0,0,0,0,0,0
$GC,1650,-1.33,-77.9,172.9,-8.7,172,1654,0.00,2.25,0.00,0.000,6,0.000,0.018,2429,1883,3376,0,0,0,0,0,0
$GC,1915,-1.38,-77.9,195.5,-8.2,196,1919,0.00,2.40,0.00,0.000,4,0.000,0.041,2429,465,3376,0,0,0,0,0,0
$GC,1943,-1.38,-77.9,198.5,-9.1,198,1949,0.00,2.25,0.00,0.000,6,0.000,0.019,2429,1885,3377,0,0,0,0,0,0
$GC,2197,-1.44,-77.9,218.8,-8.1,212,2199,0.12,0.00,0.00,0.000,6,0.061,0.000,2384,1890,3377,0,0,0,0,0,0
$GC,2508,-1.41,-77.9,246.8,-8.6,227,2513,0.10,2.42,0.00,0.000,4,0.107,0.043,2404,469,3377,0,0,0,0,0,0
$GC,2587,-1.41,-77.9,253.8,-8.3,230,2591,0.00,2.25,0.00,0.000,6,0.000,0.020,2405,1878,3377,0,0,0,0,0,0
$GC,2903,-1.41,-77.9,275.2,-6.5,245,2908,0.00,2.40,0.00,0.000,4,0.000,0.043,2404,473,3376,0,0,0,0,0,0
$GC,2932,-1.41,-77.9,277.5,-7.5,246,2936,0.00,2.25,0.00,0.000,6,0.000,0.021,2404,1879,3376,0,0,0,0,0,0
$GC,3274,-1.45,-77.9,304.0,-8.5,262,3278,0.00,2.42,0.00,0.000,4,0.000,0.044,2404,469,3376,0,0,0,0,0,0
$GC,3344,-1.45,-77.9,310.8,-9.9,263,3348,0.00,2.28,0.00,0.000,6,0.000,0.022,2404,1879,3376,0,0,0,0,0,0
$GC,3690,-1.49,-77.9,340.3,-8.1,272,3691,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1883,3374,0,0,0,0,0,0
$GC,4016,-1.53,-77.9,367.7,-8.4,280,4021,0.12,2.42,0.00,0.000,4,0.065,0.048,2365,476,3372,0,0,0,0,0,0
$GC,4055,-1.44,-77.9,371.9,-11.2,280,4061,0.17,2.28,0.00,0.000,6,0.091,0.025,2401,1869,3372,0,0,0,0,0,0
$GC,4387,-1.47,-77.9,397.4,-7.1,289,4391,0.00,2.42,0.00,0.000,4,0.000,0.048,2401,473,3370,0,0,0,0,0,0
$GC,4466,-1.47,-77.9,404.2,-8.4,290,4470,0.00,2.30,0.00,0.000,6,0.000,0.025,2401,1883,3369,0,0,0,0,0,0
$GC,4803,-1.52,-77.9,431.0,-8.4,299,4807,0.00,2.42,0.00,0.000,4,0.000,0.049,2400,476,3366,0,0,0,0,0,0
$GC,4893,-1.52,-77.9,439.7,-10.0,301,4898,0.00,2.30,0.00,0.000,6,0.000,0.026,2401,1876,3366,0,0,0,0,0,0
$STATE,5020,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5020,begin apogee
$GC,5026,-0.31,0.0,451.9,9.4,304,5095,1.12,0.00,64.62,0.861,6,0.068,0.000,2645,2034,3050,0,0,0,0,0,0
$STATE,5095,end apogee,CONTROL_FINISHED_OK
$STATE,5095,begin climb
$GC,5098,1.40,77.9,453.6,0.0,305,5174,1.60,2.40,64.88,0.843,4,0.028,0.038,3019,3379,2731,0,0,0,0,0,0
$GC,5198,1.32,210.6,458.7,-1.1,308,5320,0.00,2.33,113.40,0.842,6,0.000,0.031,3024,2011,2191,0,0,0,0,0,0
$GC,5646,1.17,210.6,410.1,13.6,319,5652,0.25,2.50,0.00,0.000,4,0.104,0.049,2972,599,2181,0,0,0,0,0,0
$GC,5713,1.06,210.6,400.5,13.8,320,5718,0.15,2.33,0.00,0.000,6,0.117,0.028,2948,1991,2177,0,0,0,0,0,0
$GC,6059,1.06,210.6,364.3,10.2,329,6063,0.00,2.45,0.00,0.000,4,0.000,0.054,2947,608,2176,0,0,0,0,0,0
$GC,6152,1.01,210.6,352.6,13.0,331,6156,0.00,2.35,0.00,0.000,6,0.000,0.028,2947,2019,2173,0,0,0,0,0,0
$GC,6475,1.01,210.6,316.5,10.7,339,6479,0.00,2.50,0.00,0.000,4,0.000,0.050,2946,600,2173,0,0,0,0,0,0
$GC,6584,0.98,210.6,305.1,10.7,341,6588,0.00,2.35,0.00,0.000,6,0.000,0.028,2947,2014,2170,0,0,0,0,0,0
$GC,6919,1.03,214.3,276.3,7.8,356,6923,0.00,2.45,0.00,0.000,4,0.000,0.050,2946,607,2170,0,0,0,0,0,0
$GC,7034,1.03,214.3,265.7,9.2,361,7038,0.00,2.35,0.00,0.000,6,0.000,0.028,2947,2015,2168,0,0,0,0,0,0
$GC,7360,1.11,220.6,240.5,7.6,377,7373,0.00,2.53,5.78,0.579,4,0.000,0.049,2947,610,2150,0,0,0,0,0,0
$GC,7456,1.11,220.6,232.5,8.1,381,7461,0.00,2.33,0.00,0.000,6,0.000,0.028,2948,2013,2148,0,0,0,0,0,0
$GC,7782,1.20,235.8,210.4,7.0,397,7805,0.12,2.50,15.25,0.680,4,0.074,0.048,2980,604,2088,0,0,0,0,0,0
$GC,8025,1.20,235.8,185.9,10.1,416,8029,0.00,2.35,0.00,0.000,6,0.000,0.026,2981,2014,2082,0,0,0,0,0,0
$GC,8292,1.24,238.0,163.9,7.9,441,8297,0.00,2.47,0.00,0.000,4,0.000,0.046,2981,599,2082,0,0,0,0,0,0
$GC,8347,1.24,238.0,159.2,8.2,446,8351,0.00,2.33,0.00,0.000,6,0.000,0.025,2980,2016,2081,0,0,0,0,0,0
$GC,8610,1.31,252.6,137.5,7.0,470,8631,0.00,2.53,15.30,0.611,4,0.000,0.046,2980,611,2020,0,0,0,0,0,0
$GC,8821,1.31,252.6,118.4,9.0,493,8826,0.00,2.30,0.00,0.000,6,0.000,0.024,2980,2020,2016,0,0,0,0,0,0
$GC,9085,1.42,260.9,96.3,7.4,517,9103,0.20,2.47,8.70,0.526,4,0.051,0.041,3035,605,1985,0,0,0,0,0,0
$GC,9370,1.37,260.9,73.2,8.1,547,9376,0.12,2.28,0.00,0.000,6,0.104,0.021,3012,2016,1983,0,0,0,0,0,0
$GC,9633,1.46,282.3,55.1,6.5,572,9659,0.00,2.50,19.98,0.540,4,0.000,0.042,3012,596,1898,0,0,0,0,0,0
$GC,9803,1.46,282.3,40.5,10.7,590,9808,0.00,2.28,0.00,0.000,6,0.000,0.021,3012,2008,1894,0,0,0,0,0,0
$GC,10071,1.55,289.4,18.2,7.5,627,10086,0.17,2.47,7.22,0.440,4,0.052,0.043,3064,607,1869,0,0,0,0,0,0
$GC,10208,1.40,289.4,6.6,9.6,656,10214,0.22,2.25,0.00,0.000,6,0.091,0.019,3019,2019,1868,0,0,0,0,0,0
$STATE,10241,end climb,SURFACE_DEPTH_REACHED
$STATE,10241,begin surface coast
$FINISH,0.5,1.021828
$STATE,10270,end surface coast,CONTROL_FINISHED_OK
$STATE,10270,begin surface
$SM_CCo,10293,8.95,0.450,0,0,1827,300.00
$SM_GC,2.06,0.00,0.00,8.95,0.000,0.000,0.450,425,1858,1827,-10.53,-0.48,300.00
$IRIDIUM_FIX,2059.45,-15750.89,270999,020218
$TT8_MAMPS,0.029146
$HUMID,53.81
$INTERNAL_PRESSURE,9.73324
$TCM_TEMP,22.80
$XPDR_PINGS,0
$24V_AH,23.3,59.157
$10V_AH,10.0,51.398
$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,27.150,118.975,315.125,8.950,0.000,35.807,32.629,223.285,4.500,0.000,13.068,1285.883,6928.336,381.466,1570.153,547.376,33.379,1245.468,0.000,1532.632,0.000,29.257,0.000
$DEVICE_MAMPS,131.157,53.690,861.341,450.229,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,447.945,446.409,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,34968,667
$CAP_FILE_SIZE,122244,0
$CFSIZE,260165632,219664384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030710,083015,2106.051,-15751.390,95,2.9,114,9.8