version: 66.06
glider: 139
mission: 7
dive: 738
start: 7 13 110 19 54 45
data:
$ID,139
$MISSION,7
$DIVE,738
$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,-2148539
$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
$GPS1,194721,2110.012,-15753.385,50,5.0,69,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-71.5
$GPS2,195354,2109.961,-15753.406,35,1.0,45,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,WAIT
$TGT_LATLONG,2113.500,-15753.630
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.143,0.116
$KALMAN_X,-383037.3,-600.3,-699.3,386970.7,1585.2
$KALMAN_Y,-7883.7,685.9,97.2,12756.2,-1025.8
$MHEAD_RNG_PITCHd_Wd,299.3,6566,-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,-50.40,0.000,2,0.000,0.000,425,1890,3142,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.4,-5.3,10,97,10.50,2.38,-4.65,0.000,4,0.130,0.038,2404,3291,3370,0,0,0,0,0,0
$GC,177,-1.35,-77.9,21.1,-12.4,31,183,0.00,2.40,0.00,0.000,6,0.000,0.028,2404,1867,3371,0,0,0,0,0,0
$GC,380,-1.17,-77.9,50.7,-15.2,55,385,0.25,2.38,0.00,0.000,4,0.093,0.040,2458,467,3372,0,0,0,0,0,0
$GC,419,-1.11,-77.9,56.9,-14.2,58,425,0.00,2.33,0.00,0.000,6,0.000,0.019,2458,1913,3372,0,0,0,0,0,0
$GC,683,-1.06,-77.9,87.7,-11.2,83,688,0.10,2.50,0.00,0.000,4,0.114,0.041,2479,468,3373,0,0,0,0,0,0
$GC,712,-1.06,-77.9,91.5,-11.4,85,717,0.00,2.25,0.00,0.000,6,0.000,0.019,2478,1881,3373,0,0,0,0,0,0
$GC,975,-1.14,-77.9,111.3,-7.0,110,980,0.00,2.42,0.00,0.000,4,0.000,0.041,2479,468,3375,0,0,0,0,0,0
$GC,1020,-1.22,-77.9,114.8,-7.5,114,1025,0.12,2.22,0.00,0.000,6,0.062,0.019,2434,1880,3374,0,0,0,0,0,0
$GC,1280,-1.22,-77.9,141.4,-10.0,138,1285,0.00,2.25,0.00,0.000,4,0.000,0.025,2435,3257,3375,0,0,0,0,0,0
$GC,1300,-1.28,-77.9,143.4,-10.0,139,1306,0.00,2.30,0.00,0.000,6,0.000,0.026,2434,1867,3376,0,0,0,0,0,0
$GC,1563,-1.33,-77.9,167.6,-9.3,164,1567,0.00,2.38,0.00,0.000,4,0.000,0.040,2434,465,3376,0,0,0,0,0,0
$GC,1656,-1.33,-77.9,176.8,-10.4,173,1662,0.00,2.25,0.00,0.000,6,0.000,0.018,2434,1881,3376,0,0,0,0,0,0
$GC,1920,-1.40,-77.9,196.9,-6.8,198,1925,0.12,2.40,0.00,0.000,4,0.061,0.041,2391,472,3376,0,0,0,0,0,0
$GC,1959,-1.32,-77.9,200.5,-9.3,201,1965,0.17,2.25,0.00,0.000,6,0.089,0.019,2427,1883,3376,0,0,0,0,0,0
$GC,2277,-1.38,-77.9,222.5,-6.2,217,2281,0.00,2.40,0.00,0.000,4,0.000,0.041,2428,474,3376,0,0,0,0,0,0
$GC,2338,-1.38,-77.9,226.1,-5.6,219,2342,0.00,2.22,0.00,0.000,6,0.000,0.020,2427,1876,3376,0,0,0,0,0,0
$GC,2654,-1.43,-77.9,243.1,-6.6,234,2659,0.12,2.28,0.00,0.000,4,0.063,0.027,2384,3255,3377,0,0,0,0,0,0
$GC,2689,-1.43,-77.9,245.8,-8.0,235,2693,0.00,2.30,0.00,0.000,6,0.000,0.028,2384,1875,3377,0,0,0,0,0,0
$GC,3005,-1.43,-77.9,271.7,-8.1,250,3009,0.00,2.42,0.00,0.000,4,0.000,0.043,2385,465,3377,0,0,0,0,0,0
$GC,3075,-1.39,-77.9,279.0,-9.5,253,3080,0.12,2.25,0.00,0.000,6,0.098,0.021,2410,1879,3377,0,0,0,0,0,0
$GC,3423,-1.44,-77.9,307.0,-7.7,268,3424,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,1883,3376,0,0,0,0,0,0
$GC,3745,-1.48,-77.9,332.8,-8.0,276,3749,0.00,2.42,0.00,0.000,4,0.000,0.045,2410,470,3375,0,0,0,0,0,0
$GC,3801,-1.48,-77.9,338.1,-9.0,277,3805,0.00,2.25,0.00,0.000,6,0.000,0.023,2410,1871,3375,0,0,0,0,0,0
$GC,4120,-1.54,-77.9,364.6,-8.3,285,4125,0.15,2.42,0.00,0.000,4,0.058,0.047,2365,475,3372,0,0,0,0,0,0
$GC,4158,-1.45,-77.9,368.5,-10.9,285,4165,0.15,2.28,0.00,0.000,6,0.094,0.024,2396,1870,3373,0,0,0,0,0,0
$GC,4490,-1.45,-77.9,392.8,-6.8,294,4495,0.00,2.42,0.00,0.000,4,0.000,0.048,2396,471,3370,0,0,0,0,0,0
$GC,4519,-1.45,-77.9,395.0,-7.7,294,4523,0.00,2.30,0.00,0.000,6,0.000,0.025,2397,1878,3370,0,0,0,0,0,0
$GC,4855,-1.45,-77.9,421.3,-8.8,303,4859,0.00,2.45,0.00,0.000,4,0.000,0.048,2396,467,3368,0,0,0,0,0,0
$GC,4875,-1.45,-77.9,423.2,-9.4,303,4879,0.00,2.30,0.00,0.000,6,0.000,0.025,2396,1875,3368,0,0,0,0,0,0
$GC,5220,-1.49,-77.9,448.8,-6.7,312,5224,0.00,2.45,0.00,0.000,4,0.000,0.050,2396,470,3365,0,0,0,0,0,0
$STATE,5236,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5236,begin apogee
$GC,5246,-0.31,0.0,450.1,6.3,312,5314,1.12,0.00,64.65,0.854,6,0.071,0.000,2642,2008,3050,0,0,0,0,0,0
$STATE,5315,end apogee,CONTROL_FINISHED_OK
$STATE,5315,begin climb
$GC,5318,1.40,77.9,450.7,0.0,314,5393,1.62,2.47,65.05,0.834,4,0.028,0.038,3029,3398,2732,0,0,0,0,0,0
$GC,5653,1.19,104.6,437.2,6.2,321,5682,0.28,2.38,23.27,0.805,6,0.109,0.034,2978,2011,2623,0,0,0,0,0,0
$GC,6011,1.13,152.3,418.4,4.7,330,6059,0.00,2.50,41.35,0.824,4,0.000,0.055,2978,606,2427,0,0,0,0,0,0
$GC,6135,0.97,157.1,410.6,7.7,332,6145,0.28,2.38,4.88,0.575,6,0.114,0.027,2929,2017,2409,0,0,0,0,0,0
$GC,6470,1.02,197.9,392.1,5.2,341,6512,0.00,0.00,37.22,0.815,6,0.000,0.000,2929,2020,2242,0,0,0,0,0,0
$GC,6840,1.07,197.9,364.4,8.2,350,6844,0.00,2.50,0.00,0.000,4,0.000,0.051,2929,607,2236,0,0,0,0,0,0
$GC,6905,1.07,197.9,357.3,10.2,351,6910,0.00,2.35,0.00,0.000,6,0.000,0.028,2929,2017,2232,0,0,0,0,0,0
$GC,7251,1.13,197.9,322.9,9.4,360,7256,0.15,2.50,0.00,0.000,4,0.067,0.051,2966,602,2232,0,0,0,0,0,0
$GC,7392,1.06,197.9,310.3,8.4,363,7396,0.00,2.38,0.00,0.000,6,0.000,0.028,2966,2016,2229,0,0,0,0,0,0
$GC,7717,1.06,197.9,284.7,8.9,375,7722,0.00,2.47,0.00,0.000,4,0.000,0.051,2966,598,2229,0,0,0,0,0,0
$GC,7850,1.01,197.9,272.7,9.6,380,7856,0.17,2.38,0.00,0.000,6,0.117,0.028,2935,2013,2228,0,0,0,0,0,0
$GC,8166,1.13,231.1,254.2,5.7,396,8202,0.12,2.53,28.35,0.740,4,0.075,0.049,2966,603,2106,0,0,0,0,0,0
$GC,8337,1.13,231.1,239.0,11.1,403,8341,0.00,2.38,0.00,0.000,6,0.000,0.028,2966,2015,2101,0,0,0,0,0,0
$GC,8654,1.19,242.2,212.9,7.3,418,8670,0.00,2.55,10.30,0.644,4,0.000,0.049,2966,610,2061,0,0,0,0,0,0
$GC,8792,1.21,257.8,203.3,6.9,424,8814,0.00,2.35,15.35,0.669,6,0.000,0.027,2966,2020,1997,0,0,0,0,0,0
$GC,9132,1.27,257.8,180.9,8.3,453,9137,0.10,2.35,0.00,0.000,4,0.082,0.032,2995,3406,1995,0,0,0,0,0,0
$GC,9248,1.30,257.8,169.2,10.1,464,9255,0.00,2.38,0.00,0.000,6,0.000,0.031,2994,2006,1994,0,0,0,0,0,0
$GC,9511,1.32,272.6,148.6,7.0,489,9532,0.00,2.53,13.90,0.613,4,0.000,0.046,2995,603,1938,0,0,0,0,0,0
$GC,9622,1.28,272.6,138.6,9.3,501,9626,0.00,2.33,0.00,0.000,6,0.000,0.025,2995,2015,1933,0,0,0,0,0,0
$GC,9885,1.35,272.6,115.5,8.3,525,9889,0.00,2.45,0.00,0.000,4,0.000,0.044,2995,598,1934,0,0,0,0,0,0
$GC,9915,1.35,272.6,112.8,8.8,528,9919,0.00,2.35,0.00,0.000,6,0.000,0.024,2995,2017,1933,0,0,0,0,0,0
$GC,10178,1.42,279.7,92.7,7.5,552,10191,0.12,2.47,7.22,0.501,4,0.068,0.044,3032,604,1909,0,0,0,0,0,0
$GC,10378,1.37,279.7,69.6,12.1,573,10384,0.00,2.30,0.00,0.000,6,0.000,0.022,3032,2021,1906,0,0,0,0,0,0
$GC,10642,1.37,279.7,46.1,8.4,598,10646,0.00,2.42,0.00,0.000,4,0.000,0.042,3033,602,1907,0,0,0,0,0,0
$GC,10842,1.32,279.7,27.8,8.7,621,10848,0.15,2.30,0.00,0.000,6,0.101,0.021,3003,2021,1906,0,0,0,0,0,0
$GC,11052,1.42,290.7,12.3,7.3,658,11071,0.00,2.50,11.02,0.481,4,0.000,0.041,3003,603,1864,0,0,0,0,0,0
$GC,11120,1.42,290.7,6.9,8.4,672,11126,0.00,2.30,0.00,0.000,6,0.000,0.021,3003,2015,1862,0,0,0,0,0,0
$STATE,11174,end climb,SURFACE_DEPTH_REACHED
$STATE,11175,begin surface coast
$FINISH,0.5,1.010094
$STATE,11223,end surface coast,CONTROL_FINISHED_OK
$STATE,11223,begin surface
$SM_CCo,11244,6.47,0.420,0,0,1827,300.00
$SM_GC,2.78,0.00,0.00,6.47,0.000,0.000,0.420,423,1816,1827,-10.54,-1.67,300.00
$IRIDIUM_FIX,2101.76,-15753.03,071099,161655
$TT8_MAMPS,0.029146
$HUMID,55.63
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,22.50
$XPDR_PINGS,1
$24V_AH,23.3,66.273
$10V_AH,10.0,55.930
$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,27.000,133.475,322.575,6.475,0.000,28.118,32.259,171.072,4.750,0.000,45.645,1337.661,7699.323,392.392,1678.961,531.003,33.373,1304.735,0.000,1610.413,0.000,29.243,0.000
$DEVICE_MAMPS,129.623,55.224,853.671,420.316,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,463.573,455.812,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355788
$DATA_FILE_SIZE,34869,690
$CAP_FILE_SIZE,130816,0
$CFSIZE,260165632,214896640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130710,230418,2110.708,-15753.468,63,4.7,82,9.8