version: 66.06
glider: 139
mission: 7
dive: 712
start: 7 10 110 5 21 11
data:
$ID,139
$MISSION,7
$DIVE,712
$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,-2147600.2
$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
$GPS1,051314,2104.603,-15758.267,134,1.8,134,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-71.0
$GPS2,052018,2104.578,-15758.267,41,1.7,45,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.127,0.133
$KALMAN_X,-376024.2,698.4,-282.1,369840.6,718.8
$KALMAN_Y,6210.1,215.3,-191.2,-10550.0,-736.2
$MHEAD_RNG_PITCHd_Wd,306.4,9561,-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,12,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,67,0.00,0.00,-49.92,0.000,2,0.000,0.000,426,1861,3072,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.3,-5.8,10,95,10.50,2.40,-6.07,0.000,4,0.130,0.038,2404,3298,3369,0,0,0,0,0,0
$GC,158,-1.36,-77.9,19.0,-10.7,28,164,0.00,2.38,0.00,0.000,6,0.000,0.028,2403,1871,3370,0,0,0,0,0,0
$GC,368,-1.20,-77.9,48.9,-14.0,54,373,0.22,2.40,0.00,0.000,4,0.094,0.041,2449,472,3371,0,0,0,0,0,0
$GC,440,-1.12,-77.9,58.5,-13.1,61,444,0.00,2.30,0.00,0.000,6,0.000,0.019,2449,1914,3372,0,0,0,0,0,0
$GC,704,-1.09,-77.9,89.8,-10.3,85,709,0.12,2.50,0.00,0.000,4,0.107,0.041,2473,469,3372,0,0,0,0,0,0
$GC,748,-1.13,-77.9,94.4,-9.9,89,752,0.00,2.25,0.00,0.000,6,0.000,0.018,2473,1881,3373,0,0,0,0,0,0
$GC,1011,-1.21,-77.9,115.1,-8.5,113,1015,0.00,2.40,0.00,0.000,4,0.000,0.039,2473,471,3374,0,0,0,0,0,0
$GC,1070,-1.30,-77.9,120.2,-8.7,118,1076,0.15,2.25,0.00,0.000,6,0.028,0.018,2416,1880,3374,0,0,0,0,0,0
$GC,1330,-1.30,-77.9,148.1,-9.9,143,1335,0.00,2.42,0.00,0.000,4,0.000,0.041,2416,462,3374,0,0,0,0,0,0
$GC,1411,-1.25,-77.9,156.1,-11.0,151,1415,0.12,2.25,0.00,0.000,6,0.097,0.019,2443,1878,3375,0,0,0,0,0,0
$GC,1672,-1.32,-77.9,177.1,-7.3,175,1676,0.00,2.38,0.00,0.000,4,0.000,0.039,2442,470,3375,0,0,0,0,0,0
$GC,1718,-1.37,-77.9,180.9,-8.0,179,1724,0.12,2.25,0.00,0.000,6,0.061,0.019,2398,1883,3375,0,0,0,0,0,0
$GC,1981,-1.37,-77.9,202.2,-8.0,203,1982,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1887,3375,0,0,0,0,0,0
$GC,2288,-1.37,-77.9,229.8,-8.4,218,2292,0.00,2.42,0.00,0.000,4,0.000,0.042,2398,468,3375,0,0,0,0,0,0
$GC,2325,-1.33,-77.9,232.9,-8.2,219,2331,0.12,2.25,0.00,0.000,6,0.097,0.020,2424,1875,3375,0,0,0,0,0,0
$GC,2644,-1.39,-77.9,250.6,-5.7,235,2648,0.00,2.38,0.00,0.000,4,0.000,0.043,2424,472,3375,0,0,0,0,0,0
$GC,2676,-1.39,-77.9,252.9,-6.7,236,2681,0.00,2.25,0.00,0.000,6,0.000,0.021,2424,1878,3375,0,0,0,0,0,0
$GC,2993,-1.46,-77.9,273.5,-6.7,251,2998,0.12,2.42,0.00,0.000,4,0.063,0.044,2382,472,3374,0,0,0,0,0,0
$GC,3041,-1.40,-77.9,277.6,-9.0,253,3046,0.12,2.25,0.00,0.000,6,0.100,0.021,2408,1872,3374,0,0,0,0,0,0
$GC,3391,-1.44,-77.9,304.0,-7.6,269,3395,0.00,2.42,0.00,0.000,4,0.000,0.044,2408,465,3374,0,0,0,0,0,0
$GC,3465,-1.44,-77.9,310.2,-7.5,270,3470,0.00,2.28,0.00,0.000,6,0.000,0.022,2408,1872,3373,0,0,0,0,0,0
$GC,3802,-1.49,-77.9,331.4,-5.5,279,3807,0.00,2.42,0.00,0.000,4,0.000,0.046,2408,467,3371,0,0,0,0,0,0
$GC,3822,-1.52,-77.9,332.9,-7.5,279,3827,0.12,2.30,0.00,0.000,6,0.064,0.023,2366,1882,3371,0,0,0,0,0,0
$GC,4174,-1.48,-77.9,361.0,-8.2,288,4179,0.12,2.47,0.00,0.000,4,0.105,0.048,2393,465,3369,0,0,0,0,0,0
$GC,4267,-1.48,-77.9,368.9,-8.3,290,4271,0.00,2.30,0.00,0.000,6,0.000,0.025,2392,1876,3369,0,0,0,0,0,0
$GC,4594,-1.48,-77.9,392.6,-7.5,298,4595,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1881,3367,0,0,0,0,0,0
$GC,4920,-1.48,-77.9,415.9,-7.6,306,4924,0.00,2.45,0.00,0.000,4,0.000,0.050,2391,470,3365,0,0,0,0,0,0
$GC,4986,-1.48,-77.9,422.0,-9.2,307,4991,0.00,2.30,0.00,0.000,6,0.000,0.026,2392,1871,3364,0,0,0,0,0,0
$GC,5332,-1.48,-77.9,449.9,-6.9,316,5336,0.00,2.08,0.00,0.000,3,0.000,0.048,2392,670,3362,0,0,0,0,0,0
$STATE,5336,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5336,begin apogee
$GC,5345,-0.31,0.0,450.4,6.6,316,5413,1.15,0.00,63.88,0.857,6,0.076,0.000,2641,2016,3050,0,0,0,0,0,0
$STATE,5414,end apogee,CONTROL_FINISHED_OK
$STATE,5414,begin climb
$GC,5416,1.40,77.9,451.3,0.0,317,5492,1.65,2.50,64.95,0.837,4,0.029,0.039,3026,3414,2732,0,0,0,0,0,0
$GC,5623,1.22,130.4,449.2,4.4,321,5676,0.28,2.40,44.92,0.829,6,0.110,0.033,2980,2007,2517,0,0,0,0,0,0
$GC,6008,1.12,138.3,420.8,7.5,331,6021,0.12,2.50,7.18,0.680,4,0.125,0.051,2957,600,2485,0,0,0,0,0,0
$GC,6119,0.99,138.3,412.2,8.4,333,6124,0.15,2.38,0.00,0.000,6,0.122,0.028,2932,2016,2483,0,0,0,0,0,0
$GC,6470,1.01,156.8,389.3,6.7,342,6489,0.00,0.00,17.08,0.788,6,0.000,0.000,2933,2020,2410,0,0,0,0,0,0
$GC,6794,1.04,176.6,366.4,6.7,350,6819,0.00,2.58,18.15,0.782,4,0.000,0.051,2932,612,2329,0,0,0,0,0,0
$GC,6830,1.07,199.8,364.0,6.4,350,6858,0.00,2.40,22.45,0.782,6,0.000,0.029,2932,2026,2234,0,0,0,0,0,0
$GC,7170,1.14,213.4,341.1,7.1,359,7190,0.15,2.53,12.65,0.740,4,0.071,0.049,2968,608,2178,0,0,0,0,0,0
$GC,7245,1.06,213.4,334.0,9.8,360,7250,0.12,2.35,0.00,0.000,6,0.127,0.028,2948,2009,2175,0,0,0,0,0,0
$GC,7586,1.10,213.4,304.1,9.3,369,7590,0.00,2.47,0.00,0.000,4,0.000,0.050,2947,604,2173,0,0,0,0,0,0
$GC,7689,1.10,213.4,294.5,8.7,372,7693,0.00,2.38,0.00,0.000,6,0.000,0.028,2948,2016,2170,0,0,0,0,0,0
$GC,8005,1.19,236.0,274.8,6.5,387,8033,0.10,2.53,20.27,0.742,4,0.086,0.050,2973,606,2087,0,0,0,0,0,0
$GC,8298,1.14,236.0,245.5,10.6,399,8304,0.00,2.38,0.00,0.000,6,0.000,0.028,2973,2020,2081,0,0,0,0,0,0
$GC,8614,1.17,236.0,218.6,8.2,415,8619,0.00,2.47,0.00,0.000,4,0.000,0.048,2973,599,2080,0,0,0,0,0,0
$GC,8716,1.17,236.0,210.0,9.0,419,8721,0.00,2.38,0.00,0.000,6,0.000,0.027,2973,2020,2078,0,0,0,0,0,0
$GC,9040,1.23,236.0,184.4,8.2,443,9044,0.00,2.47,0.00,0.000,4,0.000,0.048,2973,606,2079,0,0,0,0,0,0
$GC,9262,1.23,236.0,162.6,9.9,466,9267,0.00,2.33,0.00,0.000,6,0.000,0.025,2973,2014,2077,0,0,0,0,0,0
$GC,9526,1.31,251.7,142.6,6.9,491,9547,0.12,2.53,14.00,0.612,4,0.070,0.045,3008,608,2022,0,0,0,0,0,0
$GC,9761,1.27,254.9,123.0,7.8,516,9767,0.00,2.33,0.00,0.000,6,0.000,0.025,3008,2016,2018,0,0,0,0,0,0
$GC,10025,1.31,254.9,101.9,8.3,541,10029,0.00,2.42,0.00,0.000,4,0.000,0.044,3008,605,2018,0,0,0,0,0,0
$GC,10127,1.31,254.9,92.6,8.1,551,10132,0.00,2.30,0.00,0.000,6,0.000,0.023,3008,2010,2018,0,0,0,0,0,0
$GC,10391,1.41,299.1,77.2,5.0,576,10442,0.00,2.47,42.15,0.578,4,0.000,0.042,3008,602,1828,0,0,0,0,0,0
$GC,10605,1.41,299.1,61.8,8.4,599,10611,0.00,2.33,0.00,0.000,6,0.000,0.021,3008,2022,1823,0,0,0,0,0,0
$GC,10869,1.49,299.1,41.0,8.3,624,10874,0.12,2.47,0.00,0.000,4,0.064,0.042,3048,601,1823,0,0,0,0,0,0
$GC,11042,1.41,299.1,23.0,9.9,650,11048,0.12,2.30,0.00,0.000,6,0.104,0.021,3024,2017,1822,0,0,0,0,0,0
$GC,11252,1.45,299.1,5.4,9.6,687,11257,0.00,2.42,0.00,0.000,4,0.000,0.041,3023,599,1822,0,0,0,0,0,0
$STATE,11280,end climb,SURFACE_DEPTH_REACHED
$STATE,11280,begin surface coast
$FINISH,0.5,1.023088
$STATE,11317,end surface coast,CONTROL_FINISHED_OK
$STATE,11317,begin surface
$SM_CCo,11400,0.00,0.000,0,0,1817,302.70
$SM_GC,1.41,11.15,0.00,0.00,0.025,0.000,0.000,423,1880,1817,-10.44,0.20,302.70
$IRIDIUM_FIX,2057.14,-15759.05,041099,020215
$TT8_MAMPS,0.029146
$HUMID,54.01
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,22.70
$XPDR_PINGS,2
$24V_AH,23.3,63.894
$10V_AH,10.0,54.396
$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,27.125,128.125,327.675,0.000,0.000,27.735,37.378,198.639,5.000,0.000,46.090,1351.625,7836.680,383.178,1703.947,544.537,33.381,1301.013,0.000,1631.321,0.000,29.255,0.000
$DEVICE_MAMPS,129.623,51.389,856.739,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,471.407,461.027,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,38105,701
$CAP_FILE_SIZE,130157,0
$CFSIZE,260165632,216502272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100710,083425,2105.175,-15758.865,158,1.3,158,9.8