version: 66.06
glider: 139
mission: 7
dive: 697
start: 7 8 110 4 0 25
data:
$ID,139
$MISSION,7
$DIVE,697
$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,-2147019.5
$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
$GPS1,034926,2058.538,-15749.391,81,2.7,100,9.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-71.1
$GPS2,035934,2058.515,-15749.477,14,3.5,33,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.169,0.072
$KALMAN_X,-379189.6,514.7,-112.8,388214.3,124.9
$KALMAN_Y,15786.0,606.8,-150.2,-31788.7,678.9
$MHEAD_RNG_PITCHd_Wd,283.2,28345,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.40,-77.9,0.0,0.0,0,70,0.00,0.00,-50.55,0.000,2,0.000,0.000,426,1887,3151,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.3,-5.9,10,97,10.48,2.38,-4.50,0.000,4,0.129,0.036,2404,3300,3370,0,0,0,0,0,0
$GC,206,-1.36,-77.9,26.0,-13.3,38,212,0.00,2.42,0.00,0.000,6,0.000,0.028,2404,1862,3371,0,0,0,0,0,0
$GC,406,-1.20,-77.9,54.8,-14.4,59,411,0.22,2.38,0.00,0.000,4,0.097,0.039,2449,470,3372,0,0,0,0,0,0
$GC,450,-1.10,-77.9,61.1,-13.8,63,455,0.12,2.33,0.00,0.000,6,0.102,0.019,2474,1915,3373,0,0,0,0,0,0
$GC,714,-1.13,-77.9,87.2,-9.5,87,718,0.00,2.47,0.00,0.000,4,0.000,0.041,2474,472,3373,0,0,0,0,0,0
$GC,742,-1.13,-77.9,90.2,-10.4,89,747,0.00,2.25,0.00,0.000,6,0.000,0.018,2474,1884,3374,0,0,0,0,0,0
$GC,1007,-1.22,-77.9,110.1,-5.7,114,1012,0.12,2.45,0.00,0.000,4,0.061,0.041,2427,465,3375,0,0,0,0,0,0
$GC,1061,-1.18,-77.9,114.6,-8.2,119,1065,0.15,2.25,0.00,0.000,6,0.090,0.018,2459,1876,3375,0,0,0,0,0,0
$GC,1322,-1.25,-77.9,135.5,-9.1,143,1326,0.00,2.40,0.00,0.000,4,0.000,0.040,2459,471,3375,0,0,0,0,0,0
$GC,1371,-1.31,-77.9,140.1,-9.8,147,1378,0.15,2.25,0.00,0.000,6,0.054,0.018,2408,1885,3376,0,0,0,0,0,0
$GC,1632,-1.31,-77.9,165.6,-8.7,172,1633,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,1890,3376,0,0,0,0,0,0
$GC,1888,-1.31,-77.9,185.8,-8.0,196,1892,0.00,2.40,0.00,0.000,4,0.000,0.041,2408,471,3376,0,0,0,0,0,0
$GC,1945,-1.27,-77.9,191.3,-10.2,202,1950,0.12,2.22,0.00,0.000,6,0.097,0.019,2435,1879,3376,0,0,0,0,0,0
$GC,2215,-1.33,-77.9,213.6,-8.0,219,2219,0.00,2.40,0.00,0.000,4,0.000,0.041,2435,472,3376,0,0,0,0,0,0
$GC,2258,-1.33,-77.9,217.2,-7.7,221,2262,0.00,2.25,0.00,0.000,6,0.000,0.020,2435,1882,3376,0,0,0,0,0,0
$GC,2590,-1.41,-77.9,237.0,-4.8,237,2595,0.12,2.42,0.00,0.000,4,0.062,0.043,2391,472,3376,0,0,0,0,0,0
$GC,2620,-1.35,-77.9,239.2,-7.5,238,2625,0.15,2.25,0.00,0.000,6,0.091,0.020,2422,1876,3376,0,0,0,0,0,0
$GC,2946,-1.40,-77.9,261.3,-7.7,254,2950,0.00,2.38,0.00,0.000,4,0.000,0.043,2422,472,3376,0,0,0,0,0,0
$GC,3016,-1.45,-77.9,267.7,-8.8,257,3021,0.10,2.25,0.00,0.000,6,0.072,0.021,2385,1875,3376,0,0,0,0,0,0
$GC,3344,-1.45,-77.9,293.8,-7.3,273,3348,0.00,2.40,0.00,0.000,4,0.000,0.044,2384,472,3375,0,0,0,0,0,0
$GC,3368,-1.39,-77.9,295.8,-8.5,274,3373,0.12,2.28,0.00,0.000,6,0.099,0.022,2410,1881,3375,0,0,0,0,0,0
$GC,3719,-1.45,-77.9,320.0,-7.7,284,3724,0.00,2.42,0.00,0.000,4,0.000,0.044,2410,473,3374,0,0,0,0,0,0
$GC,3763,-1.45,-77.9,324.6,-9.7,285,3767,0.00,2.28,0.00,0.000,6,0.000,0.023,2409,1880,3374,0,0,0,0,0,0
$GC,4091,-1.51,-77.9,354.4,-8.9,293,4096,0.12,2.45,0.00,0.000,4,0.063,0.046,2368,471,3372,0,0,0,0,0,0
$GC,4125,-1.44,-77.9,357.7,-10.1,293,4130,0.15,2.28,0.00,0.000,6,0.092,0.024,2399,1869,3373,0,0,0,0,0,0
$GC,4457,-1.49,-77.9,384.1,-7.2,301,4461,0.00,2.42,0.00,0.000,4,0.000,0.048,2399,470,3370,0,0,0,0,0,0
$GC,4522,-1.49,-77.9,389.2,-7.8,302,4527,0.00,2.30,0.00,0.000,6,0.000,0.025,2399,1878,3370,0,0,0,0,0,0
$GC,4869,-1.53,-77.9,413.3,-7.0,311,4873,0.00,2.42,0.00,0.000,4,0.000,0.049,2399,472,3367,0,0,0,0,0,0
$GC,4966,-1.53,-77.9,420.9,-7.5,313,4970,0.00,2.30,0.00,0.000,6,0.000,0.026,2399,1872,3366,0,0,0,0,0,0
$GC,5287,-1.58,-77.9,444.2,-7.5,321,5292,0.12,2.42,0.00,0.000,4,0.066,0.051,2361,475,3364,0,0,0,0,0,0
$GC,5330,-1.52,-77.9,448.8,-10.0,321,5336,0.10,2.28,0.00,0.000,6,0.111,0.027,2381,1873,3364,0,0,0,0,0,0
$STATE,5374,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5374,begin apogee
$GC,5381,-0.31,0.0,452.9,9.2,323,5449,1.23,0.00,64.57,0.864,6,0.074,0.000,2644,2037,3050,0,0,0,0,0,0
$STATE,5450,end apogee,CONTROL_FINISHED_OK
$STATE,5450,begin climb
$GC,5453,1.40,77.9,454.2,0.0,324,5529,1.62,2.40,64.97,0.845,4,0.030,0.039,3015,3380,2732,0,0,0,0,0,0
$GC,5572,1.27,160.9,456.6,2.3,327,5651,0.17,2.38,71.38,0.841,6,0.115,0.033,2992,2003,2393,0,0,0,0,0,0
$GC,5998,1.15,160.9,419.2,9.2,338,5999,0.15,0.00,0.00,0.000,6,0.118,0.000,2966,2003,2383,0,0,0,0,0,0
$GC,6322,1.10,166.2,394.1,7.7,346,6326,0.00,2.45,0.00,0.000,4,0.000,0.051,2964,599,2380,0,0,0,0,0,0
$GC,6424,0.99,166.2,385.2,9.7,348,6429,0.20,2.30,0.00,0.000,6,0.117,0.028,2930,1989,2377,0,0,0,0,0,0
$GC,6739,1.05,197.8,365.4,5.9,356,6776,0.00,2.55,30.67,0.811,4,0.000,0.052,2930,604,2242,0,0,0,0,0,0
$GC,6851,1.05,197.8,356.6,8.7,358,6855,0.00,2.38,0.00,0.000,6,0.000,0.028,2931,2013,2238,0,0,0,0,0,0
$GC,7196,1.12,197.8,327.3,8.5,367,7201,0.12,2.47,0.00,0.000,4,0.075,0.051,2962,606,2236,0,0,0,0,0,0
$GC,7379,1.07,197.8,309.3,9.4,371,7383,0.00,2.38,0.00,0.000,6,0.000,0.028,2962,2020,2232,0,0,0,0,0,0
$GC,7710,1.09,218.6,286.5,6.6,384,7734,0.00,2.58,18.25,0.746,4,0.000,0.050,2962,609,2158,0,0,0,0,0,0
$GC,7798,1.06,218.6,279.6,8.9,387,7804,0.00,2.38,0.00,0.000,6,0.000,0.029,2962,2013,2153,0,0,0,0,0,0
$GC,8114,1.11,224.5,254.1,7.6,403,8127,0.00,2.53,5.97,0.591,4,0.000,0.049,2962,613,2134,0,0,0,0,0,0
$GC,8249,1.11,224.5,242.7,8.4,408,8255,0.00,2.35,0.00,0.000,6,0.000,0.028,2962,2011,2132,0,0,0,0,0,0
$GC,8565,1.19,259.1,222.3,5.6,424,8603,0.00,2.50,32.08,0.713,4,0.000,0.048,2962,607,1992,0,0,0,0,0,0
$GC,8655,1.19,261.0,216.5,7.9,427,8659,0.00,2.38,0.00,0.000,6,0.000,0.027,2962,2021,1988,0,0,0,0,0,0
$GC,8980,1.28,269.5,189.7,7.4,448,8998,0.15,2.55,9.82,0.613,4,0.064,0.046,3002,607,1950,0,0,0,0,0,0
$GC,9180,1.23,269.5,169.6,10.4,469,9187,0.12,2.35,0.00,0.000,6,0.109,0.025,2980,2018,1948,0,0,0,0,0,0
$GC,9444,1.30,269.5,150.4,8.3,494,9449,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2023,1947,0,0,0,0,0,0
$GC,9706,1.37,270.7,129.3,7.9,519,9711,0.15,2.47,0.00,0.000,4,0.061,0.046,3021,596,1947,0,0,0,0,0,0
$GC,9880,1.31,271.6,112.7,8.0,537,9885,0.12,2.35,0.00,0.000,6,0.108,0.023,2998,2027,1946,0,0,0,0,0,0
$GC,10142,1.40,298.1,94.9,6.2,561,10176,0.00,2.55,25.90,0.584,4,0.000,0.043,2997,606,1833,0,0,0,0,0,0
$GC,10275,1.45,301.9,85.2,7.8,575,10285,0.15,2.30,4.10,0.386,6,0.060,0.021,3042,2021,1818,0,0,0,0,0,0
$GC,10540,1.45,301.9,62.0,8.8,600,10544,0.00,2.42,0.00,0.000,4,0.000,0.042,3042,604,1818,0,0,0,0,0,0
$GC,10620,1.40,301.9,54.5,10.2,608,10625,0.12,2.30,0.00,0.000,6,0.104,0.021,3019,2019,1817,0,0,0,0,0,0
$GC,10881,1.45,301.9,33.5,8.2,632,10886,0.00,2.45,0.00,0.000,4,0.000,0.041,3018,597,1817,0,0,0,0,0,0
$GC,10989,1.45,301.9,22.7,11.2,650,10994,0.00,2.30,0.00,0.000,6,0.000,0.020,3018,2015,1816,0,0,0,0,0,0
$GC,11197,1.51,307.1,4.5,7.7,687,11212,0.10,2.47,6.45,0.419,4,0.074,0.041,3053,605,1797,0,0,0,0,0,0
$STATE,11216,end climb,SURFACE_DEPTH_REACHED
$STATE,11217,begin surface coast
$FINISH,0.5,1.023127
$STATE,11251,end surface coast,CONTROL_FINISHED_OK
$STATE,11251,begin surface
$SM_CCo,11335,0.00,0.000,0,0,1789,309.08
$SM_GC,1.48,11.32,0.00,0.00,0.028,0.000,0.000,425,1875,1789,-10.43,0.00,309.08
$IRIDIUM_FIX,2050.21,-15747.49,021099,040414
$TT8_MAMPS,0.029146
$HUMID,53.97
$INTERNAL_PRESSURE,9.73324
$TCM_TEMP,22.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,441.2,61.1
$24V_AH,23.3,62.493
$10V_AH,10.0,53.513
$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,28.125,133.225,334.175,0.000,0.000,58.093,57.503,278.493,4.750,0.000,34.370,1359.397,7838.818,399.496,1646.265,691.488,33.378,1299.911,0.000,1586.778,0.000,32.278,0.000
$DEVICE_MAMPS,128.856,52.156,863.642,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,468.890,462.436,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,38061,698
$CAP_FILE_SIZE,137818,0
$CFSIZE,260165632,217419776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080710,071145,2058.994,-15750.203,89,9.1,108,9.8