version: 66.06
glider: 139
mission: 7
dive: 690
start: 7 7 110 4 45 16
data:
$ID,139
$MISSION,7
$DIVE,690
$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,-2146742.2
$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
$GPS1,043406,2103.821,-15745.426,71,1.9,77,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-70.0
$GPS2,044425,2103.722,-15745.428,16,1.8,33,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.077,-0.167
$KALMAN_X,-379601.8,637.2,252.8,395127.8,-758.8
$KALMAN_Y,12466.0,821.4,118.4,-19312.7,-399.6
$MHEAD_RNG_PITCHd_Wd,194.9,13203,-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,-50.33,0.000,2,0.000,0.000,423,1882,3147,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.3,-6.0,10,95,10.55,2.47,-4.55,0.000,4,0.131,0.054,2404,472,3370,0,0,0,0,0,0
$GC,150,-1.20,-77.9,20.1,-15.8,26,157,0.22,2.33,0.00,0.000,6,0.094,0.020,2449,1901,3371,0,0,0,0,0,0
$GC,359,-1.14,-77.9,47.3,-12.4,51,364,0.00,2.47,0.00,0.000,4,0.000,0.041,2449,467,3372,0,0,0,0,0,0
$GC,416,-1.07,-77.9,54.8,-12.8,56,422,0.15,2.28,0.00,0.000,6,0.096,0.019,2480,1882,3371,0,0,0,0,0,0
$GC,679,-1.13,-77.9,82.1,-9.8,81,683,0.00,2.42,0.00,0.000,4,0.000,0.041,2480,459,3372,0,0,0,0,0,0
$GC,699,-1.18,-77.9,84.1,-9.2,82,705,0.10,2.28,0.00,0.000,6,0.072,0.019,2442,1885,3372,0,0,0,0,0,0
$GC,961,-1.18,-77.9,108.8,-8.7,107,965,0.00,2.42,0.00,0.000,4,0.000,0.041,2441,461,3373,0,0,0,0,0,0
$GC,1041,-1.18,-77.9,116.9,-9.6,115,1046,0.00,2.28,0.00,0.000,6,0.000,0.019,2442,1880,3373,0,0,0,0,0,0
$GC,1305,-1.21,-77.9,140.0,-8.6,139,1309,0.00,2.40,0.00,0.000,4,0.000,0.041,2442,465,3374,0,0,0,0,0,0
$GC,1343,-1.21,-77.9,143.8,-9.7,142,1348,0.00,2.25,0.00,0.000,6,0.000,0.019,2442,1877,3374,0,0,0,0,0,0
$GC,1606,-1.27,-77.9,165.2,-7.4,167,1610,0.00,2.28,0.00,0.000,4,0.000,0.025,2442,3267,3375,0,0,0,0,0,0
$GC,1625,-1.36,-77.9,167.1,-8.2,168,1632,0.12,2.30,0.00,0.000,6,0.062,0.026,2398,1869,3375,0,0,0,0,0,0
$GC,1887,-1.33,-77.9,192.1,-10.0,193,1891,0.12,2.38,0.00,0.000,4,0.097,0.041,2424,467,3375,0,0,0,0,0,0
$GC,1903,-1.30,-77.9,193.6,-10.0,194,1907,0.00,2.25,0.00,0.000,6,0.000,0.019,2424,1883,3375,0,0,0,0,0,0
$GC,2172,-1.34,-77.9,215.6,-8.0,210,2176,0.00,2.42,0.00,0.000,4,0.000,0.041,2424,466,3376,0,0,0,0,0,0
$GC,2245,-1.34,-77.9,222.3,-9.0,213,2250,0.00,2.25,0.00,0.000,6,0.000,0.020,2424,1873,3375,0,0,0,0,0,0
$GC,2566,-1.40,-77.9,248.4,-8.3,229,2570,0.00,2.40,0.00,0.000,4,0.000,0.042,2424,472,3376,0,0,0,0,0,0
$GC,2633,-1.44,-77.9,253.9,-8.1,232,2638,0.12,2.22,0.00,0.000,6,0.062,0.020,2381,1878,3376,0,0,0,0,0,0
$GC,2966,-1.44,-77.9,280.1,-8.7,248,2970,0.00,2.40,0.00,0.000,4,0.000,0.043,2381,475,3376,0,0,0,0,0,0
$GC,3055,-1.40,-77.9,289.5,-10.9,252,3060,0.12,2.25,0.00,0.000,6,0.099,0.021,2407,1874,3375,0,0,0,0,0,0
$GC,3383,-1.44,-77.9,318.6,-8.6,263,3387,0.00,2.40,0.00,0.000,4,0.000,0.044,2407,474,3375,0,0,0,0,0,0
$GC,3415,-1.44,-77.9,321.8,-9.4,263,3419,0.00,2.22,0.00,0.000,6,0.000,0.022,2407,1873,3374,0,0,0,0,0,0
$GC,3747,-1.48,-77.9,346.3,-6.9,271,3751,0.00,2.42,0.00,0.000,4,0.000,0.045,2407,468,3373,0,0,0,0,0,0
$GC,3790,-1.48,-77.9,349.6,-8.4,272,3794,0.00,2.28,0.00,0.000,6,0.000,0.023,2407,1874,3373,0,0,0,0,0,0
$GC,4118,-1.54,-77.9,370.8,-6.3,280,4123,0.12,2.42,0.00,0.000,4,0.064,0.048,2367,471,3371,0,0,0,0,0,0
$GC,4199,-1.48,-77.9,378.3,-9.2,281,4204,0.12,2.28,0.00,0.000,6,0.097,0.024,2392,1873,3371,0,0,0,0,0,0
$GC,4531,-1.48,-77.9,400.2,-6.3,289,4535,0.00,2.42,0.00,0.000,4,0.000,0.048,2391,475,3369,0,0,0,0,0,0
$GC,4597,-1.48,-77.9,405.9,-8.7,290,4601,0.00,2.28,0.00,0.000,6,0.000,0.025,2392,1880,3368,0,0,0,0,0,0
$GC,4941,-1.48,-77.9,433.4,-8.3,299,4946,0.00,2.42,0.00,0.000,4,0.000,0.049,2392,473,3366,0,0,0,0,0,0
$GC,4997,-1.48,-77.9,438.6,-8.6,300,5001,0.00,2.30,0.00,0.000,6,0.000,0.026,2392,1875,3365,0,0,0,0,0,0
$STATE,5145,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5145,begin apogee
$GC,5152,-0.31,0.0,450.3,7.8,304,5220,1.17,0.00,64.28,0.858,6,0.071,0.000,2645,2031,3050,0,0,0,0,0,0
$STATE,5221,end apogee,CONTROL_FINISHED_OK
$STATE,5221,begin climb
$GC,5224,1.40,77.9,451.6,0.0,305,5294,1.62,0.00,64.95,0.839,6,0.028,0.000,3031,2031,2732,0,0,0,0,0,0
$GC,5633,1.22,121.6,441.8,5.0,315,5676,0.25,2.55,36.97,0.832,4,0.110,0.048,2980,609,2553,0,0,0,0,0,0
$GC,5771,1.03,121.6,431.6,8.2,318,5776,0.22,2.30,0.00,0.000,6,0.117,0.028,2940,1984,2549,0,0,0,0,0,0
$GC,6102,1.03,146.3,409.9,6.3,326,6125,0.00,0.00,21.70,0.808,6,0.000,0.000,2941,1989,2453,0,0,0,0,0,0
$GC,6425,1.06,168.3,388.3,6.5,334,6450,0.00,2.50,20.00,0.797,4,0.000,0.060,2940,607,2362,0,0,0,0,0,0
$GC,6495,1.00,175.1,383.5,7.6,335,6507,0.00,2.38,7.10,0.671,6,0.000,0.029,2939,2021,2336,0,0,0,0,0,0
$GC,6839,1.03,196.8,361.8,6.5,344,6867,0.00,2.55,20.65,0.789,4,0.000,0.051,2940,610,2246,0,0,0,0,0,0
$GC,6927,1.03,196.8,355.8,8.1,345,6932,0.00,2.35,0.00,0.000,6,0.000,0.029,2940,2010,2241,0,0,0,0,0,0
$GC,7258,1.08,203.5,331.5,7.6,354,7270,0.00,2.55,6.32,0.642,4,0.000,0.051,2940,607,2220,0,0,0,0,0,0
$GC,7391,1.08,203.5,319.1,9.6,356,7396,0.00,2.38,0.00,0.000,6,0.000,0.029,2941,2013,2217,0,0,0,0,0,0
$GC,7703,1.15,212.4,294.9,7.4,366,7720,0.10,2.53,9.23,0.691,4,0.085,0.049,2966,604,2183,0,0,0,0,0,0
$GC,7789,1.08,212.4,286.1,10.8,369,7793,0.00,2.35,0.00,0.000,6,0.000,0.028,2966,2013,2180,0,0,0,0,0,0
$GC,8105,1.14,226.0,259.5,7.1,384,8127,0.00,2.53,13.48,0.707,4,0.000,0.049,2966,609,2126,0,0,0,0,0,0
$GC,8284,1.16,244.0,246.5,6.8,391,8310,0.00,2.38,16.88,0.706,6,0.000,0.028,2966,2021,2055,0,0,0,0,0,0
$GC,8621,1.22,244.0,222.4,8.1,408,8626,0.00,2.47,0.00,0.000,4,0.000,0.049,2966,608,2052,0,0,0,0,0,0
$GC,8793,1.22,244.4,207.4,8.0,415,8797,0.00,2.33,0.00,0.000,6,0.000,0.027,2966,2011,2049,0,0,0,0,0,0
$GC,9117,1.30,247.6,184.4,7.8,440,9128,0.12,2.47,3.88,0.432,4,0.071,0.048,3001,600,2040,0,0,0,0,0,0
$GC,9325,1.24,247.6,163.8,10.6,462,9329,0.00,2.35,0.00,0.000,6,0.000,0.025,3002,2018,2038,0,0,0,0,0,0
$GC,9588,1.26,258.4,139.9,7.3,486,9606,0.00,2.50,11.30,0.584,4,0.000,0.045,3003,607,1996,0,0,0,0,0,0
$GC,9806,1.26,258.4,119.5,11.3,509,9812,0.00,2.30,0.00,0.000,6,0.000,0.023,3002,2024,1994,0,0,0,0,0,0
$GC,10070,1.33,283.4,98.4,6.3,534,10099,0.00,2.55,23.20,0.585,4,0.000,0.044,3002,605,1894,0,0,0,0,0,0
$GC,10362,1.33,283.4,74.4,9.0,565,10367,0.00,2.30,0.00,0.000,6,0.000,0.021,3002,2022,1889,0,0,0,0,0,0
$GC,10625,1.43,307.8,55.9,6.3,590,10655,0.10,2.53,22.02,0.538,4,0.077,0.042,3035,607,1794,0,0,0,0,0,0
$GC,10721,1.39,307.8,46.9,9.8,600,10726,0.00,2.30,0.00,0.000,6,0.000,0.021,3035,2015,1791,0,0,0,0,0,0
$GC,10984,1.40,315.2,26.0,7.5,629,10999,0.00,2.50,7.43,0.446,4,0.000,0.044,3035,606,1765,0,0,0,0,0,0
$GC,11121,1.33,315.2,14.0,11.3,658,11127,0.15,2.25,0.00,0.000,6,0.099,0.021,3005,2007,1762,0,0,0,0,0,0
$STATE,11232,end climb,SURFACE_DEPTH_REACHED
$STATE,11235,begin surface coast
$FINISH,0.5,1.010206
$STATE,11273,end surface coast,CONTROL_FINISHED_OK
$STATE,11273,begin surface
$SM_CCo,11355,0.00,0.000,0,0,1757,317.42
$SM_GC,1.38,11.12,0.00,0.00,0.027,0.000,0.000,423,1861,1757,-10.46,-0.40,317.42
$IRIDIUM_FIX,2054.83,-15744.48,011099,040450
$TT8_MAMPS,0.029146
$HUMID,54.17
$INTERNAL_PRESSURE,9.73324
$TCM_TEMP,22.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,440.0,72.2
$24V_AH,23.3,61.859
$10V_AH,10.0,53.103
$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,26.650,128.775,349.375,0.000,0.000,52.266,80.625,270.164,5.250,0.000,33.916,1329.896,7858.415,419.706,1669.357,689.292,33.383,1321.644,0.000,1604.334,0.000,34.717,0.000
$DEVICE_MAMPS,131.157,59.826,858.273,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,459.796,443.419,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,34884,685
$CAP_FILE_SIZE,133899,0
$CFSIZE,260165632,217862144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070710,075625,2102.764,-15746.175,79,1.8,79,9.8