version: 66.06
glider: 139
mission: 7
dive: 692
start: 7 7 110 11 20 46
data:
$ID,139
$MISSION,7
$DIVE,692
$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,-2146859
$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
$GPS1,111316,2101.406,-15747.062,70,2.6,89,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-70.0
$GPS2,111955,2101.313,-15747.063,82,2.0,82,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.107,-0.150
$KALMAN_X,-379765.4,-116.4,-171.3,393642.2,-458.3
$KALMAN_Y,12825.4,0.8,-49.9,-23142.0,-473.7
$MHEAD_RNG_PITCHd_Wd,205.6,7933,-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,14,begin dive
$GC,17,-1.40,-77.9,0.0,0.0,0,63,0.00,0.00,-44.60,0.000,2,0.000,0.000,424,1856,2988,0,0,0,0,0,0
$GC,67,-1.40,-77.9,3.1,-5.7,9,91,10.55,2.45,-8.10,0.000,4,0.132,0.055,2406,468,3370,0,0,0,0,0,0
$GC,181,-1.20,-77.9,24.6,-17.4,33,187,0.22,2.33,0.00,0.000,6,0.087,0.020,2453,1903,3371,0,0,0,0,0,0
$GC,383,-1.15,-77.9,51.6,-13.3,55,387,0.00,2.47,0.00,0.000,4,0.000,0.041,2453,468,3372,0,0,0,0,0,0
$GC,430,-1.07,-77.9,58.7,-14.1,59,436,0.12,2.28,0.00,0.000,6,0.106,0.019,2478,1884,3372,0,0,0,0,0,0
$GC,692,-1.07,-77.9,87.7,-10.2,84,693,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1889,3374,0,0,0,0,0,0
$GC,949,-1.15,-77.9,108.6,-7.7,108,953,0.00,2.42,0.00,0.000,4,0.000,0.041,2478,461,3374,0,0,0,0,0,0
$GC,1005,-1.22,-77.9,113.4,-8.1,113,1011,0.12,2.28,0.00,0.000,6,0.062,0.018,2434,1886,3375,0,0,0,0,0,0
$GC,1266,-1.22,-77.9,137.1,-9.1,138,1270,0.00,2.40,0.00,0.000,4,0.000,0.041,2434,467,3375,0,0,0,0,0,0
$GC,1312,-1.22,-77.9,141.4,-9.1,142,1317,0.00,2.25,0.00,0.000,6,0.000,0.019,2434,1877,3375,0,0,0,0,0,0
$GC,1575,-1.25,-77.9,163.1,-8.5,167,1576,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1881,3375,0,0,0,0,0,0
$GC,1829,-1.30,-77.9,183.4,-7.8,191,1833,0.00,2.40,0.00,0.000,4,0.000,0.041,2434,458,3376,0,0,0,0,0,0
$GC,1867,-1.30,-77.9,186.8,-8.6,194,1873,0.00,2.28,0.00,0.000,6,0.000,0.019,2434,1883,3376,0,0,0,0,0,0
$GC,2139,-1.37,-77.9,204.2,-6.0,217,2143,0.00,2.42,0.00,0.000,4,0.000,0.041,2433,465,3376,0,0,0,0,0,0
$GC,2206,-1.37,-77.9,209.1,-7.4,220,2210,0.00,2.25,0.00,0.000,6,0.000,0.020,2434,1873,3376,0,0,0,0,0,0
$GC,2537,-1.43,-77.9,233.6,-7.9,236,2542,0.15,2.42,0.00,0.000,4,0.056,0.043,2384,465,3376,0,0,0,0,0,0
$GC,2594,-1.36,-77.9,239.2,-9.7,238,2599,0.17,2.28,0.00,0.000,6,0.089,0.021,2420,1884,3377,0,0,0,0,0,0
$GC,2912,-1.40,-77.9,261.8,-7.8,253,2916,0.00,2.42,0.00,0.000,4,0.000,0.043,2420,469,3376,0,0,0,0,0,0
$GC,2955,-1.40,-77.9,265.5,-8.3,255,2959,0.00,2.28,0.00,0.000,6,0.000,0.021,2420,1884,3376,0,0,0,0,0,0
$GC,3287,-1.45,-77.9,288.4,-6.4,271,3291,0.00,2.42,0.00,0.000,4,0.000,0.044,2420,460,3376,0,0,0,0,0,0
$GC,3325,-1.45,-77.9,291.2,-6.4,272,3330,0.00,2.28,0.00,0.000,6,0.000,0.021,2420,1875,3376,0,0,0,0,0,0
$GC,3660,-1.52,-77.9,310.9,-6.0,285,3665,0.17,2.42,0.00,0.000,4,0.051,0.044,2367,461,3375,0,0,0,0,0,0
$GC,3760,-1.42,-77.9,319.4,-9.5,287,3765,0.17,2.30,0.00,0.000,6,0.090,0.022,2403,1882,3375,0,0,0,0,0,0
$GC,4083,-1.46,-77.9,340.0,-5.4,295,4088,0.00,2.42,0.00,0.000,4,0.000,0.045,2403,453,3374,0,0,0,0,0,0
$GC,4163,-1.46,-77.9,345.2,-6.6,296,4167,0.00,2.30,0.00,0.000,6,0.000,0.023,2403,1875,3373,0,0,0,0,0,0
$GC,4500,-1.50,-77.9,367.5,-7.8,305,4504,0.00,2.40,0.00,0.000,4,0.000,0.046,2403,469,3371,0,0,0,0,0,0
$GC,4560,-1.50,-77.9,373.4,-9.8,306,4564,0.00,2.28,0.00,0.000,6,0.000,0.024,2404,1871,3371,0,0,0,0,0,0
$GC,4912,-1.56,-77.9,402.3,-8.1,315,4917,0.12,2.45,0.00,0.000,4,0.066,0.048,2364,469,3369,0,0,0,0,0,0
$GC,5005,-1.51,-77.9,411.0,-8.4,317,5009,0.00,2.30,0.00,0.000,6,0.000,0.025,2365,1876,3368,0,0,0,0,0,0
$GC,5332,-1.51,-77.9,439.2,-8.7,325,5337,0.00,2.45,0.00,0.000,4,0.000,0.049,2364,463,3366,0,0,0,0,0,0
$GC,5366,-1.42,-77.9,442.5,-10.0,325,5371,0.17,2.33,0.00,0.000,6,0.091,0.026,2401,1878,3366,0,0,0,0,0,0
$STATE,5491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5492,begin apogee
$GC,5498,-0.31,0.0,452.4,7.8,328,5566,1.12,0.00,64.65,0.858,6,0.068,0.000,2645,2036,3050,0,0,0,0,0,0
$STATE,5567,end apogee,CONTROL_FINISHED_OK
$STATE,5567,begin climb
$GC,5570,1.40,77.9,453.3,0.0,329,5645,1.60,2.40,64.85,0.841,4,0.028,0.038,3025,3380,2732,0,0,0,0,0,0
$GC,5716,1.24,143.1,454.2,3.5,332,5781,0.17,2.38,55.97,0.834,6,0.115,0.033,2989,2001,2466,0,0,0,0,0,0
$GC,6113,1.11,143.1,420.5,9.1,342,6118,0.17,2.45,0.00,0.000,4,0.114,0.051,2961,606,2457,0,0,0,0,0,0
$GC,6345,0.98,143.1,396.8,10.5,347,6350,0.17,2.28,0.00,0.000,6,0.114,0.027,2931,1983,2454,0,0,0,0,0,0
$GC,6669,1.01,165.5,373.0,6.5,355,6689,0.00,0.00,18.52,0.788,6,0.000,0.000,2931,1987,2375,0,0,0,0,0,0
$GC,6995,1.07,186.9,352.5,6.6,363,7020,0.00,2.50,20.02,0.784,4,0.000,0.051,2930,604,2286,0,0,0,0,0,0
$GC,7072,1.07,186.9,346.3,8.9,364,7076,0.00,2.38,0.00,0.000,6,0.000,0.028,2931,2010,2282,0,0,0,0,0,0
$GC,7408,1.17,198.4,321.9,7.2,373,7425,0.17,2.55,10.62,0.719,4,0.064,0.051,2974,610,2240,0,0,0,0,0,0
$GC,7489,1.08,198.4,314.2,10.1,374,7493,0.12,2.35,0.00,0.000,6,0.121,0.029,2953,2012,2237,0,0,0,0,0,0
$GC,7808,1.09,203.0,288.9,7.7,386,7820,0.00,2.47,5.30,0.581,4,0.000,0.048,2953,607,2221,0,0,0,0,0,0
$GC,7885,1.09,203.0,281.1,10.4,389,7889,0.00,2.35,0.00,0.000,6,0.000,0.028,2953,2016,2219,0,0,0,0,0,0
$GC,8207,1.16,221.3,255.8,6.8,405,8229,0.00,2.60,17.52,0.722,4,0.000,0.049,2953,599,2147,0,0,0,0,0,0
$GC,8461,1.16,221.3,235.0,8.6,416,8466,0.00,2.35,0.00,0.000,6,0.000,0.028,2953,2013,2141,0,0,0,0,0,0
$GC,8792,1.25,242.4,211.2,6.6,432,8818,0.15,2.53,19.58,0.689,4,0.067,0.048,2991,606,2061,0,0,0,0,0,0
$GC,8930,1.20,242.4,197.8,10.0,438,8936,0.00,2.35,0.00,0.000,6,0.000,0.026,2991,2016,2056,0,0,0,0,0,0
$GC,9193,1.20,245.2,176.5,7.8,463,9197,0.00,2.47,0.00,0.000,4,0.000,0.048,2991,603,2056,0,0,0,0,0,0
$GC,9332,1.16,245.2,163.8,10.7,477,9338,0.12,2.35,0.00,0.000,6,0.111,0.025,2969,2015,2053,0,0,0,0,0,0
$GC,9595,1.27,278.3,147.4,5.7,502,9633,0.00,2.53,32.00,0.644,4,0.000,0.046,2969,606,1915,0,0,0,0,0,0
$GC,9719,1.32,278.3,136.4,9.9,515,9724,0.15,2.33,0.00,0.000,6,0.064,0.024,3009,2020,1910,0,0,0,0,0,0
$GC,9979,1.32,278.3,110.6,8.2,539,9984,0.00,2.47,0.00,0.000,4,0.000,0.044,3009,599,1909,0,0,0,0,0,0
$GC,10124,1.32,278.3,98.2,9.4,554,10128,0.00,2.33,0.00,0.000,6,0.000,0.023,3009,2022,1907,0,0,0,0,0,0
$GC,10388,1.41,292.3,79.8,7.1,578,10404,0.00,0.00,12.60,0.543,6,0.000,0.000,3009,2027,1858,0,0,0,0,0,0
$GC,10662,1.49,299.7,61.1,7.5,604,10676,0.12,2.47,8.02,0.486,4,0.065,0.042,3047,599,1828,0,0,0,0,0,0
$GC,10789,1.40,299.7,47.7,11.2,617,10794,0.15,2.30,0.00,0.000,6,0.099,0.021,3018,2023,1825,0,0,0,0,0,0
$GC,11053,1.46,303.6,26.2,7.8,645,11063,0.00,2.47,5.00,0.397,4,0.000,0.040,3018,596,1811,0,0,0,0,0,0
$GC,11232,1.47,313.0,9.2,7.4,683,11247,0.00,2.28,9.73,0.463,6,0.000,0.020,3018,2016,1772,0,0,0,0,0,0
$STATE,11319,end climb,SURFACE_DEPTH_REACHED
$STATE,11320,begin surface coast
$FINISH,0.7,1.011135
$STATE,11369,end surface coast,CONTROL_FINISHED_OK
$STATE,11369,begin surface
$SM_CCo,11451,0.00,0.000,0,0,1766,314.97
$SM_GC,1.36,11.07,0.00,0.00,0.021,0.000,0.000,423,1858,1766,-10.45,-0.48,314.97
$IRIDIUM_FIX,2054.83,-15747.49,011099,080801
$TT8_MAMPS,0.029146
$HUMID,54.60
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,22.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,421.5,69.9
$24V_AH,23.3,62.036
$10V_AH,10.0,53.219
$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,27.325,124.300,344.400,0.000,0.000,25.323,28.051,150.356,4.500,0.000,82.668,1367.990,7843.849,398.627,1747.545,484.811,33.377,1308.133,0.000,1636.312,0.000,30.737,0.000
$DEVICE_MAMPS,131.924,55.224,857.506,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,476.096,468.995,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,38048,708
$CAP_FILE_SIZE,131365,0
$CFSIZE,260165632,217735168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070710,143450,2100.674,-15747.779,137,3.3,156,9.8