version: 66.06
glider: 139
mission: 7
dive: 671
start: 7 4 110 14 17 30
data:
$ID,139
$MISSION,7
$DIVE,671
$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,-2146140.5
$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
$GPS1,140657,2104.593,-15748.108,67,2.2,86,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-69.4
$GPS2,141638,2104.510,-15748.085,13,1.7,13,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.162,0.087
$KALMAN_X,-361674.1,-146.6,314.1,373332.0,-1274.8
$KALMAN_Y,30795.1,-106.9,83.0,-35213.1,-826.1
$MHEAD_RNG_PITCHd_Wd,52.0,9249,-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,-77.9,0.0,0.0,0,73,0.00,0.00,-54.88,0.000,2,0.000,0.000,426,1874,3146,0,0,0,0,0,0
$GC,77,-1.40,-77.9,3.5,-5.8,11,100,10.55,2.40,-4.50,0.000,4,0.131,0.039,2405,3290,3370,0,0,0,0,0,0
$GC,149,-1.40,-77.9,18.4,-12.6,26,154,0.00,2.40,0.00,0.000,6,0.000,0.028,2405,1864,3370,0,0,0,0,0,0
$GC,352,-1.23,-77.9,47.8,-14.9,52,357,0.20,2.38,0.00,0.000,4,0.097,0.041,2445,471,3371,0,0,0,0,0,0
$GC,388,-1.10,-77.9,53.4,-15.4,55,393,0.15,2.33,0.00,0.000,6,0.098,0.019,2476,1919,3371,0,0,0,0,0,0
$GC,650,-1.10,-77.9,81.8,-9.7,79,654,0.00,2.50,0.00,0.000,4,0.000,0.041,2476,465,3372,0,0,0,0,0,0
$GC,734,-1.14,-77.9,90.4,-10.4,87,740,0.00,2.25,0.00,0.000,6,0.000,0.018,2475,1878,3373,0,0,0,0,0,0
$GC,998,-1.23,-77.9,114.6,-7.9,112,1003,0.12,2.40,0.00,0.000,4,0.063,0.041,2430,472,3374,0,0,0,0,0,0
$GC,1090,-1.17,-77.9,124.3,-11.1,121,1095,0.15,2.22,0.00,0.000,6,0.090,0.019,2462,1875,3374,0,0,0,0,0,0
$GC,1356,-1.26,-77.9,145.3,-6.3,146,1360,0.00,2.40,0.00,0.000,4,0.000,0.041,2462,472,3375,0,0,0,0,0,0
$GC,1471,-1.35,-77.9,152.6,-6.7,158,1476,0.17,2.25,0.00,0.000,6,0.049,0.018,2406,1884,3375,0,0,0,0,0,0
$GC,1732,-1.35,-77.9,175.6,-9.5,182,1736,0.00,2.40,0.00,0.000,4,0.000,0.041,2406,470,3375,0,0,0,0,0,0
$GC,1775,-1.29,-77.9,179.7,-9.6,186,1783,0.12,2.25,0.00,0.000,6,0.097,0.019,2433,1880,3375,0,0,0,0,0,0
$GC,2055,-1.35,-77.9,204.0,-8.8,210,2059,0.00,2.40,0.00,0.000,4,0.000,0.041,2433,473,3375,0,0,0,0,0,0
$GC,2092,-1.35,-77.9,207.8,-10.3,211,2096,0.00,2.25,0.00,0.000,6,0.000,0.020,2432,1882,3375,0,0,0,0,0,0
$GC,2407,-1.41,-77.9,235.0,-8.5,226,2412,0.12,2.45,0.00,0.000,4,0.062,0.043,2389,464,3375,0,0,0,0,0,0
$GC,2446,-1.33,-77.9,239.0,-11.3,227,2453,0.17,2.28,0.00,0.000,6,0.087,0.021,2426,1880,3375,0,0,0,0,0,0
$GC,2765,-1.39,-77.9,260.7,-6.3,243,2769,0.00,2.40,0.00,0.000,4,0.000,0.044,2426,470,3376,0,0,0,0,0,0
$GC,2817,-1.44,-77.9,264.8,-7.2,245,2822,0.12,2.28,0.00,0.000,6,0.061,0.021,2384,1884,3375,0,0,0,0,0,0
$GC,3142,-1.44,-77.9,290.8,-8.5,261,3144,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1887,3374,0,0,0,0,0,0
$GC,3450,-1.44,-77.9,321.9,-10.4,271,3454,0.00,2.42,0.00,0.000,4,0.000,0.044,2383,474,3373,0,0,0,0,0,0
$GC,3529,-1.40,-77.9,331.4,-11.9,272,3534,0.12,2.28,0.00,0.000,6,0.098,0.022,2409,1880,3373,0,0,0,0,0,0
$GC,3861,-1.47,-77.9,359.5,-7.7,280,3865,0.00,2.40,0.00,0.000,4,0.000,0.046,2408,474,3373,0,0,0,0,0,0
$GC,3954,-1.47,-77.9,367.3,-8.6,282,3958,0.00,2.28,0.00,0.000,6,0.000,0.023,2409,1873,3372,0,0,0,0,0,0
$GC,4277,-1.53,-77.9,392.6,-7.7,290,4282,0.12,2.42,0.00,0.000,4,0.064,0.048,2369,472,3370,0,0,0,0,0,0
$GC,4341,-1.47,-77.9,398.8,-10.1,291,4346,0.12,2.30,0.00,0.000,6,0.098,0.025,2394,1879,3370,0,0,0,0,0,0
$GC,4694,-1.51,-77.9,431.4,-9.5,300,4698,0.00,2.42,0.00,0.000,4,0.000,0.049,2394,473,3367,0,0,0,0,0,0
$GC,4778,-1.51,-77.9,440.1,-9.7,301,4784,0.00,2.30,0.00,0.000,6,0.000,0.026,2394,1873,3366,0,0,0,0,0,0
$STATE,4904,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4904,begin apogee
$GC,4910,-0.31,0.0,451.4,8.8,305,4978,1.15,0.00,64.70,0.855,6,0.070,0.000,2643,2038,3050,0,0,0,0,0,0
$STATE,4979,end apogee,CONTROL_FINISHED_OK
$STATE,4979,begin climb
$GC,4982,1.40,77.9,452.6,0.0,306,5058,1.62,2.38,64.78,0.837,4,0.028,0.038,3026,3374,2732,0,0,0,0,0,0
$GC,5262,1.21,117.2,447.3,5.3,312,5304,0.28,2.35,33.55,0.825,6,0.107,0.032,2978,2004,2571,0,0,0,0,0,0
$GC,5627,1.09,117.6,419.9,8.0,321,5632,0.15,2.38,0.00,0.000,4,0.120,0.038,2951,3381,2566,0,0,0,0,0,0
$GC,5699,1.05,127.4,414.5,7.4,322,5716,0.00,2.35,9.07,0.724,6,0.000,0.034,2950,2010,2530,0,0,0,0,0,0
$GC,6042,1.03,146.4,390.2,6.7,331,6066,0.00,2.58,17.52,0.793,4,0.000,0.051,2951,596,2451,0,0,0,0,0,0
$GC,6155,0.93,146.4,380.9,8.9,333,6160,0.20,2.35,0.00,0.000,6,0.113,0.028,2916,1990,2448,0,0,0,0,0,0
$GC,6501,1.04,189.1,362.0,5.1,342,6546,0.10,2.53,37.70,0.813,4,0.085,0.051,2941,612,2277,0,0,0,0,0,0
$GC,6732,1.01,189.1,341.8,9.3,347,6736,0.00,2.35,0.00,0.000,6,0.000,0.029,2941,2015,2270,0,0,0,0,0,0
$GC,7055,1.05,189.1,315.3,8.1,355,7060,0.00,2.50,0.00,0.000,4,0.000,0.051,2941,604,2269,0,0,0,0,0,0
$GC,7079,1.05,189.1,313.0,9.5,355,7083,0.00,2.35,0.00,0.000,6,0.000,0.029,2941,2015,2267,0,0,0,0,0,0
$GC,7401,1.10,193.6,287.2,7.7,367,7405,0.00,2.47,0.00,0.000,4,0.000,0.050,2941,598,2267,0,0,0,0,0,0
$GC,7670,1.12,209.8,266.4,6.9,378,7697,0.00,2.35,17.52,0.729,6,0.000,0.028,2941,2020,2194,0,0,0,0,0,0
$GC,8009,1.20,213.5,242.8,7.8,395,8021,0.15,2.47,4.57,0.519,4,0.068,0.048,2979,606,2178,0,0,0,0,0,0
$GC,8081,1.14,213.5,235.3,10.0,398,8085,0.00,2.35,0.00,0.000,6,0.000,0.028,2979,2010,2176,0,0,0,0,0,0
$GC,8411,1.14,215.7,206.3,7.9,414,8416,0.00,2.47,0.00,0.000,4,0.000,0.048,2980,600,2175,0,0,0,0,0,0
$GC,8603,1.10,215.7,190.0,8.1,429,8608,0.15,2.33,0.00,0.000,6,0.114,0.026,2953,2013,2173,0,0,0,0,0,0
$GC,8865,1.20,226.7,173.0,7.3,453,8884,0.10,2.50,12.77,0.634,4,0.084,0.045,2979,604,2124,0,0,0,0,0,0
$GC,8998,1.20,226.7,161.1,9.4,467,9002,0.00,2.30,0.00,0.000,6,0.000,0.025,2979,2010,2120,0,0,0,0,0,0
$GC,9261,1.30,270.0,145.4,5.0,491,9308,0.00,2.53,38.90,0.644,4,0.000,0.045,2979,611,1948,0,0,0,0,0,0
$GC,9368,1.31,279.6,138.3,7.4,502,9385,0.00,2.35,9.38,0.561,6,0.000,0.025,2980,2026,1910,0,0,0,0,0,0
$GC,9641,1.41,280.2,115.5,8.0,528,9646,0.17,2.50,0.00,0.000,4,0.056,0.045,3029,600,1907,0,0,0,0,0,0
$GC,9875,1.37,280.2,92.0,10.1,552,9880,0.00,2.30,0.00,0.000,6,0.000,0.022,3029,2014,1904,0,0,0,0,0,0
$GC,10137,1.42,323.9,75.2,5.0,577,10183,0.00,2.53,38.90,0.570,4,0.000,0.044,3029,611,1728,0,0,0,0,0,0
$GC,10358,1.42,323.9,58.8,10.2,601,10363,0.00,2.30,0.00,0.000,6,0.000,0.021,3029,2016,1722,0,0,0,0,0,0
$GC,10622,1.46,323.9,29.3,12.2,625,10627,0.00,2.45,0.00,0.000,4,0.000,0.041,3029,598,1721,0,0,0,0,0,0
$GC,10786,1.42,323.9,7.8,11.5,660,10792,0.00,2.28,0.00,0.000,6,0.000,0.020,3029,2022,1721,0,0,0,0,0,0
$STATE,10835,end climb,SURFACE_DEPTH_REACHED
$STATE,10835,begin surface coast
$FINISH,0.5,1.022976
$STATE,10872,end surface coast,CONTROL_FINISHED_OK
$STATE,10872,begin surface
$SM_CCo,10954,0.00,0.000,0,0,1717,326.98
$SM_GC,1.51,11.18,0.00,0.00,0.025,0.000,0.000,427,1866,1717,-10.44,-0.25,326.98
$IRIDIUM_FIX,2054.83,-15749.62,280999,141441
$TT8_MAMPS,0.029146
$HUMID,54.13
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,22.80
$XPDR_PINGS,3
$24V_AH,23.3,60.100
$10V_AH,10.0,51.989
$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,27.525,124.075,349.375,0.000,0.000,53.704,58.495,274.856,5.250,0.000,13.981,1319.871,7422.775,411.257,1711.059,663.745,33.375,1344.293,0.000,1667.569,0.000,29.260,0.000
$DEVICE_MAMPS,131.157,52.156,855.205,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,453.108,442.678,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,35001,675
$CAP_FILE_SIZE,133152,0
$CFSIZE,260165632,219037696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040710,172230,2104.360,-15747.800,106,1.4,111,9.8