version: 66.06
glider: 139
mission: 7
dive: 668
start: 7 4 110 4 22 45
data:
$ID,139
$MISSION,7
$DIVE,668
$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,-2146032
$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
$GPS1,041427,2104.876,-15748.690,87,3.4,106,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-70.2
$GPS2,042152,2104.840,-15748.765,49,3.9,68,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.159,0.091
$KALMAN_X,-357479.7,113.3,173.0,367854.8,-1780.5
$KALMAN_Y,34166.3,-61.5,116.1,-38050.5,-1024.2
$MHEAD_RNG_PITCHd_Wd,50.4,10262,-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,-50.10,0.000,2,0.000,0.000,421,1903,3157,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.6,-6.7,10,95,10.60,2.38,-4.15,0.000,4,0.132,0.038,2407,3301,3370,0,0,0,0,0,0
$GC,115,-1.03,-77.9,16.4,-23.2,19,121,0.40,2.38,0.00,0.000,6,0.085,0.025,2488,1867,3371,0,0,0,0,0,0
$GC,320,-1.03,-77.9,39.2,-10.7,48,324,0.00,2.35,0.00,0.000,4,0.000,0.041,2488,475,3372,0,0,0,0,0,0
$GC,363,-1.03,-77.9,44.1,-11.7,52,367,0.00,2.33,0.00,0.000,6,0.000,0.019,2488,1919,3373,0,0,0,0,0,0
$GC,624,-1.03,-77.9,73.2,-13.3,76,628,0.00,2.47,0.00,0.000,4,0.000,0.043,2488,472,3373,0,0,0,0,0,0
$GC,667,-1.08,-77.9,79.7,-12.8,80,672,0.00,2.22,0.00,0.000,6,0.000,0.019,2489,1888,3373,0,0,0,0,0,0
$GC,930,-1.16,-77.9,105.1,-10.3,104,935,0.12,2.45,0.00,0.000,4,0.063,0.041,2443,470,3374,0,0,0,0,0,0
$GC,950,-1.16,-77.9,107.2,-9.0,105,956,0.00,2.22,0.00,0.000,6,0.000,0.019,2444,1872,3374,0,0,0,0,0,0
$GC,1213,-1.16,-77.9,133.5,-9.2,130,1217,0.00,2.40,0.00,0.000,4,0.000,0.041,2444,469,3375,0,0,0,0,0,0
$GC,1298,-1.21,-77.9,142.7,-10.1,138,1303,0.00,2.22,0.00,0.000,6,0.000,0.018,2444,1878,3375,0,0,0,0,0,0
$GC,1561,-1.28,-77.9,163.5,-6.9,163,1565,0.00,2.38,0.00,0.000,4,0.000,0.041,2444,474,3376,0,0,0,0,0,0
$GC,1605,-1.33,-77.9,166.8,-8.0,167,1609,0.00,2.22,0.00,0.000,6,0.000,0.019,2444,1881,3376,0,0,0,0,0,0
$GC,1872,-1.40,-77.9,186.3,-8.2,192,1877,0.15,2.42,0.00,0.000,4,0.054,0.042,2393,472,3376,0,0,0,0,0,0
$GC,1945,-1.32,-77.9,194.3,-11.7,199,1950,0.15,2.22,0.00,0.000,6,0.092,0.019,2425,1870,3376,0,0,0,0,0,0
$GC,2213,-1.35,-77.9,221.0,-9.6,214,2217,0.00,2.38,0.00,0.000,4,0.000,0.042,2425,469,3377,0,0,0,0,0,0
$GC,2232,-1.35,-77.9,223.3,-10.3,215,2236,0.00,2.25,0.00,0.000,6,0.000,0.020,2424,1876,3377,0,0,0,0,0,0
$GC,2564,-1.41,-77.9,246.8,-5.3,231,2569,0.00,2.38,0.00,0.000,4,0.000,0.043,2425,476,3377,0,0,0,0,0,0
$GC,2664,-1.45,-77.9,252.5,-5.8,235,2669,0.12,2.25,0.00,0.000,6,0.061,0.020,2382,1880,3376,0,0,0,0,0,0
$GC,2989,-1.45,-77.9,281.1,-10.6,251,2993,0.00,2.40,0.00,0.000,4,0.000,0.043,2382,467,3376,0,0,0,0,0,0
$GC,3040,-1.39,-77.9,287.8,-12.4,253,3045,0.15,2.28,0.00,0.000,6,0.094,0.021,2413,1881,3376,0,0,0,0,0,0
$GC,3382,-1.45,-77.9,316.3,-6.8,265,3386,0.00,2.42,0.00,0.000,4,0.000,0.044,2413,470,3375,0,0,0,0,0,0
$GC,3439,-1.49,-77.9,320.2,-6.7,266,3444,0.10,2.28,0.00,0.000,6,0.074,0.022,2377,1879,3375,0,0,0,0,0,0
$GC,3758,-1.49,-77.9,343.6,-7.6,274,3763,0.00,2.40,0.00,0.000,4,0.000,0.046,2376,476,3373,0,0,0,0,0,0
$GC,3837,-1.45,-77.9,351.2,-9.6,275,3842,0.10,2.28,0.00,0.000,6,0.108,0.024,2397,1883,3374,0,0,0,0,0,0
$GC,4169,-1.48,-77.9,379.8,-8.8,283,4174,0.00,2.42,0.00,0.000,4,0.000,0.048,2397,465,3372,0,0,0,0,0,0
$GC,4211,-1.48,-77.9,383.8,-9.0,283,4217,0.00,2.30,0.00,0.000,6,0.000,0.025,2397,1876,3371,0,0,0,0,0,0
$GC,4543,-1.52,-77.9,410.5,-8.1,292,4547,0.00,2.45,0.00,0.000,4,0.000,0.049,2397,470,3369,0,0,0,0,0,0
$GC,4581,-1.52,-77.9,413.7,-8.6,292,4586,0.00,2.28,0.00,0.000,6,0.000,0.025,2397,1877,3369,0,0,0,0,0,0
$GC,4912,-1.56,-77.9,436.6,-6.7,301,4917,0.10,2.45,0.00,0.000,4,0.077,0.050,2365,469,3367,0,0,0,0,0,0
$GC,4974,-1.49,-77.9,442.2,-9.1,302,4979,0.12,2.30,0.00,0.000,6,0.101,0.026,2391,1880,3366,0,0,0,0,0,0
$STATE,5084,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5084,begin apogee
$GC,5091,-0.31,0.0,450.8,7.6,305,5159,1.20,0.00,64.62,0.860,6,0.077,0.000,2644,2034,3050,0,0,0,0,0,0
$STATE,5160,end apogee,CONTROL_FINISHED_OK
$STATE,5160,begin climb
$GC,5163,1.40,77.9,451.9,0.0,306,5238,1.65,2.40,65.03,0.839,4,0.037,0.039,3013,3382,2731,0,0,0,0,0,0
$GC,5385,1.23,125.4,449.7,4.8,310,5432,0.20,2.35,40.55,0.831,6,0.117,0.035,2987,2015,2538,0,0,0,0,0,0
$GC,5756,1.11,125.4,421.0,8.3,320,5761,0.17,2.50,0.00,0.000,4,0.114,0.051,2955,596,2532,0,0,0,0,0,0
$GC,5861,0.98,125.4,412.3,8.8,322,5866,0.15,2.35,0.00,0.000,6,0.119,0.028,2930,1994,2530,0,0,0,0,0,0
$GC,6176,1.01,153.5,392.3,6.1,330,6205,0.00,2.53,23.80,0.811,4,0.000,0.054,2929,604,2423,0,0,0,0,0,0
$GC,6216,1.04,174.2,389.7,6.6,331,6241,0.00,2.40,19.45,0.787,6,0.000,0.028,2930,2020,2339,0,0,0,0,0,0
$GC,6589,1.09,183.9,361.5,7.4,340,6606,0.10,2.55,9.25,0.719,4,0.084,0.051,2955,600,2299,0,0,0,0,0,0
$GC,6669,1.02,183.9,354.5,9.6,341,6674,0.00,2.35,0.00,0.000,6,0.000,0.029,2955,2009,2295,0,0,0,0,0,0
$GC,7006,1.02,188.1,327.2,7.7,350,7017,0.00,2.47,4.55,0.557,4,0.000,0.050,2955,607,2282,0,0,0,0,0,0
$GC,7204,0.99,188.1,310.0,10.3,354,7208,0.15,2.35,0.00,0.000,6,0.119,0.028,2929,2010,2279,0,0,0,0,0,0
$GC,7520,1.07,188.1,285.0,8.4,366,7525,0.00,2.45,0.00,0.000,4,0.000,0.050,2928,607,2279,0,0,0,0,0,0
$GC,7572,1.07,188.1,280.2,8.9,368,7576,0.00,2.35,0.00,0.000,6,0.000,0.028,2929,2012,2278,0,0,0,0,0,0
$GC,7893,1.20,216.8,258.0,6.1,384,7927,0.22,2.58,26.23,0.746,4,0.056,0.050,2985,607,2165,0,0,0,0,0,0
$GC,8140,1.14,216.8,233.8,11.1,394,8146,0.12,2.33,0.00,0.000,6,0.120,0.028,2964,2010,2159,0,0,0,0,0,0
$GC,8456,1.20,217.3,206.0,8.0,410,8461,0.00,2.45,0.00,0.000,4,0.000,0.048,2964,603,2158,0,0,0,0,0,0
$GC,8546,1.20,217.3,198.7,8.6,414,8550,0.00,2.33,0.00,0.000,6,0.000,0.027,2963,2015,2156,0,0,0,0,0,0
$GC,8809,1.28,237.7,181.2,6.6,438,8836,0.12,2.55,18.83,0.660,4,0.071,0.048,2998,605,2080,0,0,0,0,0,0
$GC,8930,1.21,237.7,170.8,9.3,451,8935,0.00,2.33,0.00,0.000,6,0.000,0.025,2998,2017,2076,0,0,0,0,0,0
$GC,9194,1.21,237.7,150.4,8.5,475,9197,0.00,2.47,0.00,0.000,4,0.000,0.046,2997,603,2076,0,0,0,0,0,0
$GC,9291,1.16,237.7,139.9,11.0,485,9297,0.17,2.30,0.00,0.000,6,0.108,0.025,2966,2008,2074,0,0,0,0,0,0
$GC,9555,1.31,276.9,122.6,5.3,510,9598,0.15,2.53,34.90,0.621,4,0.061,0.045,3008,609,1920,0,0,0,0,0,0
$GC,9659,1.31,276.9,114.2,9.3,521,9664,0.00,2.33,0.00,0.000,6,0.000,0.024,3008,2024,1917,0,0,0,0,0,0
$GC,9923,1.40,310.0,95.4,5.7,546,9958,0.00,2.50,29.52,0.586,4,0.000,0.043,3008,604,1785,0,0,0,0,0,0
$GC,10121,1.44,310.0,77.8,11.0,567,10126,0.00,2.33,0.00,0.000,6,0.000,0.022,3008,2014,1780,0,0,0,0,0,0
$GC,10384,1.53,310.0,55.2,8.3,592,10389,0.17,2.45,0.00,0.000,4,0.053,0.044,3060,600,1780,0,0,0,0,0,0
$GC,10525,1.43,310.0,38.6,12.9,606,10531,0.17,2.30,0.00,0.000,6,0.097,0.021,3026,2014,1779,0,0,0,0,0,0
$GC,10797,1.49,325.2,13.5,7.0,647,10816,0.00,2.47,13.77,0.490,4,0.000,0.052,3025,596,1723,0,0,0,0,0,0
$STATE,10917,end climb,SURFACE_DEPTH_REACHED
$STATE,10917,begin surface coast
$FINISH,0.8,1.023230
$STATE,10941,end surface coast,CONTROL_FINISHED_OK
$STATE,10941,begin surface
$SM_CCo,11025,0.00,0.000,0,0,1713,327.72
$SM_GC,1.49,11.23,0.00,0.00,0.027,0.000,0.000,426,1891,1713,-10.44,0.42,327.72
$IRIDIUM_FIX,2057.14,-15751.76,280999,010124
$TT8_MAMPS,0.029146
$HUMID,54.72
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,22.60
$XPDR_PINGS,2
$24V_AH,23.3,59.809
$10V_AH,10.0,51.812
$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,28.125,137.750,350.500,0.000,0.000,31.259,36.750,195.541,5.000,0.000,69.273,1321.776,7487.846,409.025,1699.284,546.911,33.385,1321.494,0.000,1604.774,0.000,29.265,0.000
$DEVICE_MAMPS,131.924,54.457,859.807,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,454.959,446.568,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,34892,678
$CAP_FILE_SIZE,131784,0
$CFSIZE,260165632,219222016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040710,072822,2104.604,-15748.790,57,9.1,76,9.8