version: 66.06
glider: 139
mission: 7
dive: 691
start: 7 7 110 8 6 55
data:
$ID,139
$MISSION,7
$DIVE,691
$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,-2146775.5
$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
$GPS1,075625,2102.764,-15746.175,79,1.8,79,9.8
$_CALLS,2
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-71.1
$GPS2,080604,2102.685,-15746.236,12,2.5,31,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.057,-0.175
$KALMAN_X,-379809.8,344.2,217.0,394269.7,-1264.2
$KALMAN_Y,12675.9,601.7,77.3,-21182.3,-715.7
$MHEAD_RNG_PITCHd_Wd,188.1,10827,-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,13,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,72,0.00,0.00,-54.67,0.000,2,0.000,0.000,422,1865,3184,0,0,0,0,0,0
$GC,76,-1.40,-77.9,3.5,-6.4,11,96,10.55,2.40,-3.72,0.000,4,0.130,0.049,2405,466,3369,0,0,0,0,0,0
$GC,240,-1.20,-77.9,35.7,-16.9,42,247,0.22,2.33,0.00,0.000,6,0.091,0.020,2451,1909,3371,0,0,0,0,0,0
$GC,503,-1.15,-77.9,67.3,-11.8,67,508,0.00,2.50,0.00,0.000,4,0.000,0.042,2450,458,3371,0,0,0,0,0,0
$GC,597,-1.12,-77.9,79.1,-12.1,76,603,0.00,2.25,0.00,0.000,6,0.000,0.019,2451,1880,3371,0,0,0,0,0,0
$GC,860,-1.12,-77.9,104.9,-9.9,101,864,0.00,2.40,0.00,0.000,4,0.000,0.041,2450,468,3372,0,0,0,0,0,0
$GC,889,-1.08,-77.9,108.0,-10.5,104,894,0.12,2.25,0.00,0.000,6,0.099,0.019,2476,1887,3372,0,0,0,0,0,0
$GC,1150,-1.18,-77.9,133.0,-9.4,128,1154,0.00,2.42,0.00,0.000,4,0.000,0.041,2476,468,3373,0,0,0,0,0,0
$GC,1212,-1.28,-77.9,138.3,-8.7,134,1217,0.17,2.25,0.00,0.000,6,0.049,0.018,2418,1882,3373,0,0,0,0,0,0
$GC,1473,-1.28,-77.9,158.6,-8.1,158,1477,0.00,2.42,0.00,0.000,4,0.000,0.041,2418,465,3373,0,0,0,0,0,0
$GC,1497,-1.24,-77.9,160.7,-8.6,160,1502,0.12,2.25,0.00,0.000,6,0.094,0.019,2445,1876,3373,0,0,0,0,0,0
$GC,1758,-1.30,-77.9,179.7,-7.0,184,1760,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1879,3374,0,0,0,0,0,0
$GC,2015,-1.38,-77.9,198.4,-7.4,208,2020,0.15,2.42,0.00,0.000,4,0.054,0.043,2395,458,3375,0,0,0,0,0,0
$GC,2068,-1.30,-77.9,203.5,-9.9,211,2073,0.17,2.25,0.00,0.000,6,0.089,0.020,2432,1877,3374,0,0,0,0,0,0
$GC,2392,-1.35,-77.9,225.3,-6.5,227,2396,0.00,2.42,0.00,0.000,4,0.000,0.042,2432,458,3374,0,0,0,0,0,0
$GC,2467,-1.35,-77.9,230.5,-7.2,230,2471,0.00,2.22,0.00,0.000,6,0.000,0.020,2432,1874,3375,0,0,0,0,0,0
$GC,2787,-1.42,-77.9,253.2,-7.7,246,2792,0.12,2.42,0.00,0.000,4,0.062,0.043,2389,468,3374,0,0,0,0,0,0
$GC,2840,-1.34,-77.9,258.5,-10.3,248,2845,0.15,2.25,0.00,0.000,6,0.092,0.021,2420,1874,3374,0,0,0,0,0,0
$GC,3165,-1.39,-77.9,287.1,-9.3,264,3169,0.00,2.40,0.00,0.000,4,0.000,0.043,2420,461,3374,0,0,0,0,0,0
$GC,3189,-1.39,-77.9,289.6,-9.1,265,3193,0.00,2.25,0.00,0.000,6,0.000,0.021,2420,1877,3374,0,0,0,0,0,0
$GC,3531,-1.45,-77.9,315.5,-6.8,277,3536,0.00,2.42,0.00,0.000,4,0.000,0.044,2420,465,3373,0,0,0,0,0,0
$GC,3625,-1.45,-77.9,322.3,-7.2,279,3629,0.00,2.25,0.00,0.000,6,0.000,0.022,2420,1874,3373,0,0,0,0,0,0
$GC,3949,-1.52,-77.9,346.1,-7.7,287,3954,0.17,2.45,0.00,0.000,4,0.051,0.046,2367,461,3372,0,0,0,0,0,0
$GC,4029,-1.43,-77.9,353.2,-9.5,288,4034,0.17,2.28,0.00,0.000,6,0.088,0.023,2404,1877,3371,0,0,0,0,0,0
$GC,4361,-1.43,-77.9,377.7,-7.2,296,4362,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1882,3370,0,0,0,0,0,0
$GC,4686,-1.47,-77.9,399.4,-7.2,304,4690,0.00,2.45,0.00,0.000,4,0.000,0.049,2404,469,3367,0,0,0,0,0,0
$GC,4748,-1.47,-77.9,404.4,-8.1,305,4752,0.00,2.28,0.00,0.000,6,0.000,0.025,2404,1877,3367,0,0,0,0,0,0
$GC,5098,-1.53,-77.9,431.7,-8.1,314,5103,0.10,2.47,0.00,0.000,4,0.077,0.049,2371,465,3365,0,0,0,0,0,0
$GC,5169,-1.49,-77.9,438.4,-9.4,315,5173,0.00,2.30,0.00,0.000,6,0.000,0.026,2371,1874,3364,0,0,0,0,0,0
$STATE,5308,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5308,begin apogee
$GC,5315,-0.31,0.0,450.5,8.6,319,5383,1.27,0.00,64.03,0.852,6,0.071,0.000,2646,2044,3050,0,0,0,0,0,0
$STATE,5383,end apogee,CONTROL_FINISHED_OK
$STATE,5383,begin climb
$GC,5386,1.40,77.9,451.3,0.0,320,5462,1.60,2.38,64.78,0.834,4,0.028,0.038,3028,3376,2732,0,0,0,0,0,0
$GC,5514,1.21,121.9,450.7,5.0,322,5561,0.25,2.35,37.97,0.818,6,0.110,0.032,2981,2006,2552,0,0,0,0,0,0
$GC,5886,1.09,121.9,419.6,8.8,332,5891,0.15,2.47,0.00,0.000,4,0.120,0.050,2953,606,2546,0,0,0,0,0,0
$GC,5939,0.97,123.8,415.0,7.9,333,5944,0.15,2.30,0.00,0.000,6,0.117,0.027,2929,1989,2544,0,0,0,0,0,0
$GC,6258,1.03,176.4,397.7,4.4,341,6311,0.00,2.53,46.50,0.823,4,0.000,0.051,2928,613,2329,0,0,0,0,0,0
$GC,6381,1.02,193.6,390.7,6.8,343,6402,0.00,2.33,16.02,0.767,6,0.000,0.028,2928,2016,2260,0,0,0,0,0,0
$GC,6721,1.07,193.6,361.4,8.9,352,6725,0.00,2.40,0.00,0.000,4,0.000,0.038,2929,3404,2254,0,0,0,0,0,0
$GC,6768,1.14,193.6,356.4,9.8,353,6773,0.15,2.40,0.00,0.000,6,0.064,0.035,2969,2006,2255,0,0,0,0,0,0
$GC,7092,1.15,202.6,330.0,7.4,361,7105,0.00,2.50,8.23,0.684,4,0.000,0.050,2967,600,2223,0,0,0,0,0,0
$GC,7201,1.09,202.6,320.5,9.6,363,7205,0.00,2.35,0.00,0.000,6,0.000,0.028,2968,2014,2219,0,0,0,0,0,0
$GC,7532,1.09,202.6,290.3,9.2,374,7536,0.00,2.50,0.00,0.000,4,0.000,0.050,2968,596,2219,0,0,0,0,0,0
$GC,7691,1.04,202.6,276.6,8.5,381,7696,0.15,2.35,0.00,0.000,6,0.124,0.028,2941,2014,2217,0,0,0,0,0,0
$GC,8023,1.12,202.6,250.3,9.1,397,8028,0.00,2.47,0.00,0.000,4,0.000,0.049,2941,599,2217,0,0,0,0,0,0
$GC,8118,1.12,202.6,240.9,9.3,401,8123,0.00,2.33,0.00,0.000,6,0.000,0.028,2941,2012,2215,0,0,0,0,0,0
$GC,8445,1.28,257.3,222.4,4.3,417,8501,0.22,2.53,48.38,0.713,4,0.054,0.047,2998,604,2000,0,0,0,0,0,0
$GC,8546,1.22,257.3,213.9,10.9,421,8550,0.00,2.35,0.00,0.000,6,0.000,0.027,2998,2013,1995,0,0,0,0,0,0
$GC,8871,1.22,257.3,184.4,9.6,445,8875,0.00,2.47,0.00,0.000,4,0.000,0.047,2997,604,1993,0,0,0,0,0,0
$GC,9070,1.18,257.3,162.2,12.0,466,9075,0.15,2.35,0.00,0.000,6,0.108,0.025,2970,2020,1991,0,0,0,0,0,0
$GC,9332,1.25,257.3,138.5,8.8,490,9336,0.00,2.47,0.00,0.000,4,0.000,0.045,2970,599,1990,0,0,0,0,0,0
$GC,9388,1.25,257.3,133.1,8.8,495,9394,0.00,2.35,0.00,0.000,6,0.000,0.025,2971,2029,1989,0,0,0,0,0,0
$GC,9651,1.36,279.9,116.0,6.5,520,9678,0.17,2.53,19.35,0.594,4,0.057,0.044,3018,599,1908,0,0,0,0,0,0
$GC,9914,1.33,279.9,92.9,9.1,548,9918,0.00,2.30,0.00,0.000,6,0.000,0.023,3018,2008,1904,0,0,0,0,0,0
$GC,10179,1.38,279.9,70.9,8.4,572,10184,0.00,2.30,0.00,0.000,4,0.000,0.028,3017,3402,1904,0,0,0,0,0,0
$GC,10195,1.44,282.6,69.3,7.8,573,10199,0.00,2.35,0.00,0.000,6,0.000,0.028,3018,2003,1903,0,0,0,0,0,0
$GC,10459,1.52,291.1,49.3,7.4,597,10478,0.12,2.45,10.65,0.502,4,0.066,0.041,3058,606,1862,0,0,0,0,0,0
$GC,10547,1.43,291.1,42.1,10.4,606,10552,0.17,2.28,0.00,0.000,6,0.096,0.021,3024,2016,1860,0,0,0,0,0,0
$GC,10813,1.48,291.1,20.1,9.2,639,10819,0.00,2.40,0.00,0.000,4,0.000,0.041,3024,607,1860,0,0,0,0,0,0
$GC,10956,1.43,291.1,5.8,8.6,669,10961,0.00,2.25,0.00,0.000,6,0.000,0.020,3024,2010,1860,0,0,0,0,0,0
$STATE,10988,end climb,SURFACE_DEPTH_REACHED
$STATE,10988,begin surface coast
$FINISH,0.6,1.023211
$STATE,11023,end surface coast,CONTROL_FINISHED_OK
$STATE,11023,begin surface
$SM_CCo,11044,7.45,0.437,0,0,1827,300.00
$SM_GC,3.03,0.00,0.00,7.45,0.000,0.000,0.437,424,1856,1827,-10.54,-0.54,300.00
$IRIDIUM_FIX,2054.83,-15746.61,011099,040431
$TT8_MAMPS,0.029146
$HUMID,55.47
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.3,61.950
$10V_AH,10.0,53.161
$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,28.025,128.475,315.900,7.450,0.000,58.119,108.658,205.344,4.500,0.000,32.506,1335.391,7633.651,382.817,1619.402,655.616,33.378,1267.321,0.000,1565.348,0.000,29.250,0.000
$DEVICE_MAMPS,130.390,50.622,852.137,437.190,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,458.269,451.326,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355680
$DATA_FILE_SIZE,34905,681
$CAP_FILE_SIZE,131654,0
$CFSIZE,260165632,217800704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070710,111316,2101.406,-15747.062,70,2.6,89,9.8