version: 66.06
glider: 139
mission: 7
dive: 698
start: 7 8 110 7 26 7
data:
$ID,139
$MISSION,7
$DIVE,698
$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,-2147053.8
$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
$GPS1,071145,2058.994,-15750.203,89,9.1,108,9.8
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-68.6
$GPS2,072516,2058.970,-15750.294,13,9.4,32,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.082,0.165
$KALMAN_X,-378895.9,331.6,253.0,386321.2,-475.3
$KALMAN_Y,15729.0,261.0,306.1,-30994.9,-656.7
$MHEAD_RNG_PITCHd_Wd,323.7,26724,-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,-77.9,0.0,0.0,0,72,0.00,0.00,-54.50,0.000,2,0.000,0.000,424,1879,3247,0,0,0,0,0,0
$GC,76,-1.40,-77.9,4.0,-7.2,11,95,10.77,2.35,-2.35,0.000,4,0.140,0.035,2405,3300,3369,0,0,0,0,0,0
$GC,130,-1.29,-77.9,17.5,-15.2,22,136,0.12,2.42,0.00,0.000,6,0.112,0.029,2430,1869,3370,0,0,0,0,0,0
$GC,335,-1.18,-77.9,45.5,-13.9,49,340,0.12,2.42,0.00,0.000,4,0.120,0.042,2453,462,3371,0,0,0,0,0,0
$GC,361,-1.07,-77.9,49.3,-14.0,51,366,0.15,2.35,0.00,0.000,6,0.110,0.019,2482,1917,3370,0,0,0,0,0,0
$GC,624,-1.07,-77.9,77.1,-9.4,75,628,0.00,2.50,0.00,0.000,4,0.000,0.041,2482,463,3371,0,0,0,0,0,0
$GC,680,-1.07,-77.9,82.7,-9.9,80,686,0.00,2.28,0.00,0.000,6,0.000,0.018,2482,1888,3371,0,0,0,0,0,0
$GC,943,-1.14,-77.9,107.1,-9.5,105,947,0.00,2.42,0.00,0.000,4,0.000,0.040,2481,468,3372,0,0,0,0,0,0
$GC,977,-1.19,-77.9,110.5,-9.6,108,982,0.12,2.22,0.00,0.000,6,0.061,0.018,2437,1879,3372,0,0,0,0,0,0
$GC,1238,-1.19,-77.9,135.1,-10.1,132,1242,0.00,2.42,0.00,0.000,4,0.000,0.041,2436,462,3373,0,0,0,0,0,0
$GC,1289,-1.19,-77.9,140.8,-10.6,137,1293,0.00,2.25,0.00,0.000,6,0.000,0.018,2436,1875,3373,0,0,0,0,0,0
$GC,1553,-1.23,-77.9,163.3,-7.4,161,1557,0.00,2.22,0.00,0.000,4,0.000,0.025,2436,3254,3373,0,0,0,0,0,0
$GC,1591,-1.36,-77.9,166.5,-7.7,164,1597,0.00,2.30,0.00,0.000,6,0.000,0.026,2436,1867,3373,0,0,0,0,0,0
$GC,1855,-1.41,-77.9,185.9,-7.1,189,1860,0.15,2.38,0.00,0.000,4,0.054,0.041,2386,473,3374,0,0,0,0,0,0
$GC,1977,-1.31,-77.9,198.3,-9.7,201,1983,0.20,2.22,0.00,0.000,6,0.087,0.019,2428,1879,3374,0,0,0,0,0,0
$GC,2231,-1.31,-77.9,216.8,-6.8,215,2235,0.00,2.38,0.00,0.000,4,0.000,0.041,2428,473,3374,0,0,0,0,0,0
$GC,2269,-1.31,-77.9,219.5,-7.6,216,2273,0.00,2.22,0.00,0.000,6,0.000,0.019,2428,1877,3374,0,0,0,0,0,0
$GC,2586,-1.37,-77.9,239.6,-6.6,231,2593,0.00,2.40,0.00,0.000,4,0.000,0.041,2428,471,3374,0,0,0,0,0,0
$GC,2626,-1.37,-77.9,242.9,-7.9,232,2630,0.00,2.22,0.00,0.000,6,0.000,0.020,2428,1873,3374,0,0,0,0,0,0
$GC,2947,-1.43,-77.9,270.8,-9.3,248,2952,0.12,2.40,0.00,0.000,4,0.061,0.043,2383,475,3373,0,0,0,0,0,0
$GC,2990,-1.36,-77.9,275.2,-10.3,249,2996,0.17,2.25,0.00,0.000,6,0.089,0.021,2420,1880,3373,0,0,0,0,0,0
$GC,3311,-1.42,-77.9,301.2,-7.7,265,3315,0.00,2.40,0.00,0.000,4,0.000,0.042,2419,473,3373,0,0,0,0,0,0
$GC,3411,-1.46,-77.9,308.9,-7.1,267,3415,0.00,2.22,0.00,0.000,6,0.000,0.021,2419,1880,3373,0,0,0,0,0,0
$GC,3730,-1.54,-77.9,327.7,-5.5,275,3735,0.17,2.42,0.00,0.000,4,0.051,0.044,2366,466,3372,0,0,0,0,0,0
$GC,3797,-1.45,-77.9,332.7,-7.8,276,3802,0.15,2.25,0.00,0.000,6,0.091,0.022,2397,1870,3372,0,0,0,0,0,0
$GC,4143,-1.45,-77.9,354.8,-6.7,285,4147,0.00,2.42,0.00,0.000,4,0.000,0.046,2397,476,3370,0,0,0,0,0,0
$GC,4186,-1.45,-77.9,358.2,-8.3,286,4190,0.00,2.28,0.00,0.000,6,0.000,0.024,2397,1878,3370,0,0,0,0,0,0
$GC,4518,-1.49,-77.9,381.1,-7.2,294,4522,0.00,2.42,0.00,0.000,4,0.000,0.046,2397,475,3368,0,0,0,0,0,0
$GC,4597,-1.49,-77.9,388.3,-8.7,295,4601,0.00,2.28,0.00,0.000,6,0.000,0.025,2397,1875,3367,0,0,0,0,0,0
$GC,4935,-1.52,-77.9,413.1,-7.2,304,4939,0.00,2.42,0.00,0.000,4,0.000,0.048,2396,477,3365,0,0,0,0,0,0
$GC,5026,-1.52,-77.9,420.2,-7.1,306,5030,0.00,2.30,0.00,0.000,6,0.000,0.025,2397,1880,3364,0,0,0,0,0,0
$GC,5354,-1.56,-77.9,445.1,-7.8,314,5359,0.10,2.45,0.00,0.000,4,0.077,0.050,2365,473,3362,0,0,0,0,0,0
$STATE,5408,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5408,begin apogee
$GC,5418,-0.31,0.0,450.4,10.0,315,5488,1.30,0.00,63.50,0.857,6,0.083,0.000,2640,2007,3049,0,0,0,0,0,0
$STATE,5489,end apogee,CONTROL_FINISHED_OK
$STATE,5489,begin climb
$GC,5491,1.40,77.9,453.0,0.0,317,5567,1.65,2.50,64.72,0.839,4,0.037,0.038,3010,3410,2732,0,0,0,0,0,0
$GC,5615,1.28,162.0,454.6,2.2,319,5694,0.00,2.40,71.93,0.835,6,0.000,0.033,3012,2013,2389,0,0,0,0,0,0
$GC,6031,1.11,162.0,415.4,10.4,330,6037,0.28,2.47,0.00,0.000,4,0.105,0.048,2963,607,2379,0,0,0,0,0,0
$GC,6042,0.95,162.0,414.0,10.5,330,6048,0.22,2.38,0.00,0.000,6,0.107,0.027,2923,2019,2378,0,0,0,0,0,0
$GC,6357,0.99,162.0,389.0,8.2,338,6362,0.00,2.47,0.00,0.000,4,0.000,0.051,2921,609,2377,0,0,0,0,0,0
$GC,6500,0.99,162.0,375.6,8.8,341,6505,0.00,2.35,0.00,0.000,6,0.000,0.028,2922,2009,2373,0,0,0,0,0,0
$GC,6819,1.05,172.8,351.8,7.3,349,6832,0.00,2.50,7.68,0.690,4,0.000,0.050,2922,604,2345,0,0,0,0,0,0
$GC,6884,1.06,176.4,346.8,7.8,350,6897,0.10,2.35,4.80,0.572,6,0.083,0.028,2949,2015,2330,0,0,0,0,0,0
$GC,7233,1.06,180.2,319.3,7.8,359,7245,0.00,2.47,4.85,0.570,4,0.000,0.048,2949,607,2314,0,0,0,0,0,0
$GC,7389,1.03,180.2,306.0,8.4,362,7393,0.00,2.35,0.00,0.000,6,0.000,0.028,2949,2006,2311,0,0,0,0,0,0
$GC,7723,1.12,233.8,289.8,4.3,376,7777,0.00,2.50,48.70,0.777,4,0.000,0.048,2949,609,2095,0,0,0,0,0,0
$GC,7814,1.12,233.8,283.7,8.0,380,7819,0.00,2.40,0.00,0.000,6,0.000,0.028,2949,2018,2090,0,0,0,0,0,0
$GC,8135,1.19,233.8,258.0,8.5,396,8140,0.10,2.50,0.00,0.000,4,0.084,0.049,2975,599,2088,0,0,0,0,0,0
$GC,8250,1.14,233.8,246.5,9.6,401,8255,0.00,2.38,0.00,0.000,6,0.000,0.028,2976,2012,2085,0,0,0,0,0,0
$GC,8581,1.15,238.4,222.1,7.7,417,8585,0.00,2.47,0.00,0.000,4,0.000,0.048,2976,603,2084,0,0,0,0,0,0
$GC,8683,1.11,238.4,212.5,9.6,421,8687,0.00,2.35,0.00,0.000,6,0.000,0.027,2975,2017,2082,0,0,0,0,0,0
$GC,9006,1.16,238.4,184.2,8.6,444,9010,0.00,2.47,0.00,0.000,4,0.000,0.048,2975,602,2083,0,0,0,0,0,0
$GC,9224,1.16,238.4,163.8,9.5,467,9228,0.00,2.35,0.00,0.000,6,0.000,0.025,2976,2020,2081,0,0,0,0,0,0
$GC,9488,1.22,238.4,143.1,9.4,491,9492,0.00,2.45,0.00,0.000,4,0.000,0.047,2976,602,2081,0,0,0,0,0,0
$GC,9627,1.22,238.4,129.0,8.8,505,9633,0.00,2.33,0.00,0.000,6,0.000,0.025,2976,2013,2081,0,0,0,0,0,0
$GC,9890,1.34,274.5,111.4,5.5,530,9934,0.15,2.53,34.15,0.608,4,0.063,0.044,3017,612,1930,0,0,0,0,0,0
$GC,10097,1.31,274.5,91.9,10.8,552,10103,0.00,2.30,0.00,0.000,6,0.000,0.023,3018,2016,1924,0,0,0,0,0,0
$GC,10361,1.36,277.7,70.3,7.8,577,10365,0.00,2.45,0.00,0.000,4,0.000,0.044,3018,604,1924,0,0,0,0,0,0
$GC,10616,1.38,292.3,50.3,7.0,604,10637,0.00,2.30,15.95,0.529,6,0.000,0.021,3018,2021,1858,0,0,0,0,0,0
$GC,10894,1.43,292.3,29.5,8.4,630,10900,0.00,2.45,0.00,0.000,4,0.000,0.044,3018,604,1857,0,0,0,0,0,0
$GC,11068,1.43,292.3,13.0,9.3,667,11073,0.00,2.28,0.00,0.000,6,0.000,0.021,3019,2026,1854,0,0,0,0,0,0
$STATE,11210,end climb,SURFACE_DEPTH_REACHED
$STATE,11210,begin surface coast
$FINISH,0.7,1.023054
$STATE,11249,end surface coast,CONTROL_FINISHED_OK
$STATE,11249,begin surface
$SM_CCo,11271,6.12,0.413,0,0,1827,300.00
$SM_GC,2.44,0.00,0.00,6.12,0.000,0.000,0.413,420,1851,1827,-10.55,-0.68,300.00
$IRIDIUM_FIX,2052.52,-15749.62,021099,070718
$TT8_MAMPS,0.029146
$HUMID,54.76
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,22.60
$XPDR_PINGS,1
$24V_AH,23.3,62.593
$10V_AH,10.0,53.576
$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,27.250,138.100,316.275,6.125,0.000,81.576,102.201,340.239,4.750,0.000,33.479,1370.908,7764.260,382.474,1738.938,827.173,33.378,1325.130,0.000,1675.401,0.000,29.269,0.000
$DEVICE_MAMPS,139.594,50.622,856.739,412.646,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,469.937,458.836,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355680
$DATA_FILE_SIZE,38079,699
$CAP_FILE_SIZE,141018,0
$CFSIZE,260165632,217354240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080710,103656,2059.346,-15750.974,113,3.0,132,9.8