version: 66.06
glider: 139
mission: 7
dive: 197
start: 5 4 110 21 13 57
data:
$ID,139
$MISSION,7
$DIVE,197
$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,-2125917
$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,1900
$C_ROLL_CLIMB,2035
$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
$GPS1,210810,2108.049,-15756.299,49,2.1,68,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-69.8
$GPS2,211306,2108.082,-15756.336,14,1.1,30,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.170,-0.070
$KALMAN_X,-72305.9,-408.7,-419.5,85326.0,-1309.4
$KALMAN_Y,12809.7,-111.2,55.6,-12178.2,671.1
$MHEAD_RNG_PITCHd_Wd,102.4,23562,-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,15,-1.40,-77.9,0.0,0.0,0,77,0.00,0.00,-58.88,0.000,6,0.000,0.000,430,1891,3369,0,0,0,0,0,0
$GC,80,-1.40,-77.9,3.9,-6.6,11,98,10.62,2.40,0.00,0.000,4,0.137,0.024,2403,3325,3371,0,0,0,0,0,0
$GC,106,-0.15,-77.9,14.4,-33.1,15,113,1.27,2.45,0.00,0.000,6,0.080,0.032,2679,1901,3371,0,0,0,0,0,0
$GC,306,-0.81,-77.9,28.5,-8.9,52,313,0.60,2.42,0.00,0.000,4,0.044,0.041,2531,487,3372,0,0,0,0,0,0
$GC,358,-1.06,-77.9,33.2,-7.8,59,366,0.17,2.35,0.00,0.000,6,0.028,0.020,2468,1934,3372,0,0,0,0,0,0
$GC,622,-1.14,-77.9,62.4,-12.0,84,628,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1938,3373,0,0,0,0,0,0
$GC,884,-1.21,-77.9,94.9,-12.7,109,889,0.00,2.47,0.00,0.000,4,0.000,0.044,2467,487,3374,0,0,0,0,0,0
$GC,927,-1.26,-77.9,100.6,-12.5,113,932,0.15,2.28,0.00,0.000,6,0.054,0.020,2420,1899,3374,0,0,0,0,0,0
$GC,1188,-1.26,-77.9,135.8,-10.7,137,1192,0.00,2.40,0.00,0.000,4,0.000,0.044,2414,494,3375,0,0,0,0,0,0
$GC,1215,-1.19,-77.9,139.4,-13.5,139,1221,0.17,2.25,0.00,0.000,6,0.091,0.020,2456,1908,3375,0,0,0,0,0,0
$GC,1476,-1.29,-77.9,161.3,-6.7,164,1478,0.10,0.00,0.00,0.000,6,0.074,0.000,2419,1913,3376,0,0,0,0,0,0
$GC,1733,-1.29,-77.9,183.6,-10.0,188,1737,0.00,2.45,0.00,0.000,4,0.000,0.045,2413,488,3376,0,0,0,0,0,0
$GC,1785,-1.29,-77.9,189.2,-10.4,193,1789,0.00,2.25,0.00,0.000,6,0.000,0.021,2417,1897,3376,0,0,0,0,0,0
$GC,2054,-1.33,-77.9,212.2,-8.0,211,2058,0.00,2.42,0.00,0.000,4,0.000,0.044,2416,488,3377,0,0,0,0,0,0
$GC,2127,-1.33,-77.9,219.2,-9.6,214,2131,0.00,2.28,0.00,0.000,6,0.000,0.021,2419,1897,3377,0,0,0,0,0,0
$GC,2447,-1.40,-77.9,250.8,-11.0,230,2451,0.00,2.42,0.00,0.000,4,0.000,0.046,2417,493,3377,0,0,0,0,0,0
$GC,2506,-1.44,-77.9,257.9,-12.0,232,2513,0.00,2.30,0.00,0.000,6,0.000,0.022,2418,1897,3377,0,0,0,0,0,0
$GC,2822,-1.51,-77.9,291.7,-10.2,248,2827,0.15,2.42,0.00,0.000,4,0.057,0.048,2371,495,3377,0,0,0,0,0,0
$GC,2923,-1.45,-77.9,303.9,-11.6,252,2928,0.12,2.28,0.00,0.000,6,0.101,0.024,2397,1902,3376,0,0,0,0,0,0
$GC,3237,-1.49,-77.9,330.3,-8.2,260,3241,0.00,2.42,0.00,0.000,4,0.000,0.049,2397,495,3375,0,0,0,0,0,0
$GC,3298,-1.49,-77.9,336.4,-10.5,261,3302,0.00,2.30,0.00,0.000,6,0.000,0.025,2396,1898,3375,0,0,0,0,0,0
$GC,3648,-1.54,-77.9,365.4,-8.0,270,3652,0.00,2.45,0.00,0.000,4,0.000,0.051,2398,497,3373,0,0,0,0,0,0
$GC,3693,-1.54,-77.9,369.5,-9.0,271,3697,0.00,2.30,0.00,0.000,6,0.000,0.027,2398,1903,3374,0,0,0,0,0,0
$GC,4016,-1.59,-77.9,396.5,-8.5,279,4021,0.15,2.50,0.00,0.000,4,0.062,0.054,2355,491,3371,0,0,0,0,0,0
$GC,4090,-1.50,-77.9,404.9,-11.7,280,4095,0.15,2.35,0.00,0.000,6,0.101,0.028,2385,1908,3371,0,0,0,0,0,0
$GC,4426,-1.50,-77.9,435.6,-9.1,289,4430,0.00,2.50,0.00,0.000,4,0.000,0.055,2385,493,3368,0,0,0,0,0,0
$GC,4472,-1.50,-77.9,440.0,-9.6,290,4476,0.00,2.33,0.00,0.000,6,0.000,0.029,2383,1898,3368,0,0,0,0,0,0
$STATE,4594,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4594,begin apogee
$GC,4599,-0.31,0.0,451.1,9.0,293,4667,1.23,0.00,64.95,0.885,6,0.076,0.000,2646,2056,3050,0,0,0,0,0,0
$STATE,4668,end apogee,CONTROL_FINISHED_OK
$STATE,4668,begin climb
$GC,4670,1.40,77.9,452.1,0.0,294,4745,1.62,2.45,64.65,0.864,4,0.032,0.045,3028,3407,2731,0,0,0,0,0,0
$GC,5009,1.26,152.3,444.6,2.9,301,5079,0.17,2.38,63.20,0.868,6,0.118,0.038,2991,2034,2429,0,0,0,0,0,0
$GC,5402,1.15,152.3,413.5,9.1,311,5407,0.15,2.50,0.00,0.000,4,0.120,0.055,2969,628,2420,0,0,0,0,0,0
$GC,5430,1.01,152.3,410.4,10.1,311,5435,0.17,2.33,0.00,0.000,6,0.121,0.030,2937,2015,2418,0,0,0,0,0,0
$GC,5766,1.01,152.3,378.8,9.8,320,5770,0.00,2.45,0.00,0.000,4,0.000,0.054,2938,629,2416,0,0,0,0,0,0
$GC,5872,0.96,152.3,366.6,11.8,322,5876,0.00,2.38,0.00,0.000,6,0.000,0.031,2938,2035,2414,0,0,0,0,0,0
$GC,6185,0.96,152.3,337.6,8.4,330,6189,0.00,2.47,0.00,0.000,4,0.000,0.053,2938,627,2413,0,0,0,0,0,0
$GC,6228,0.91,152.3,333.8,9.1,331,6233,0.12,2.38,0.00,0.000,6,0.123,0.031,2916,2033,2412,0,0,0,0,0,0
$GC,6557,1.02,184.4,314.5,5.8,339,6589,0.00,2.60,26.02,0.807,4,0.000,0.053,2915,625,2297,0,0,0,0,0,0
$GC,6617,1.03,195.2,310.3,7.3,340,6634,0.10,2.38,11.18,0.735,6,0.083,0.030,2941,2043,2253,0,0,0,0,0,0
$GC,6955,1.07,195.2,282.1,8.9,353,6959,0.00,2.50,0.00,0.000,4,0.000,0.053,2942,629,2248,0,0,0,0,0,0
$GC,7143,1.07,195.2,262.5,11.0,361,7148,0.00,2.38,0.00,0.000,6,0.000,0.029,2942,2039,2245,0,0,0,0,0,0
$GC,7464,1.12,195.2,232.4,8.1,377,7468,0.00,2.50,0.00,0.000,4,0.000,0.051,2942,621,2245,0,0,0,0,0,0
$GC,7594,1.13,208.6,221.8,7.1,382,7612,0.00,2.40,11.77,0.696,6,0.000,0.028,2942,2043,2198,0,0,0,0,0,0
$GC,7935,1.20,212.6,198.7,7.7,399,7946,0.15,2.50,4.80,0.531,4,0.067,0.047,2981,625,2182,0,0,0,0,0,0
$GC,8085,1.13,212.6,177.2,13.8,415,8090,0.12,2.35,0.00,0.000,6,0.120,0.026,2959,2038,2180,0,0,0,0,0,0
$GC,8347,1.17,213.8,151.9,7.9,439,8351,0.00,2.33,0.00,0.000,4,0.000,0.033,2959,3435,2180,0,0,0,0,0,0
$GC,8408,1.23,213.8,147.1,8.2,445,8414,0.12,2.38,0.00,0.000,6,0.069,0.031,2990,2028,2180,0,0,0,0,0,0
$GC,8670,1.23,213.8,121.6,9.9,469,8671,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2028,2180,0,0,0,0,0,0
$GC,8925,1.23,213.8,94.9,10.3,493,8929,0.00,2.40,0.00,0.000,4,0.000,0.044,2993,629,2179,0,0,0,0,0,0
$GC,9023,1.17,213.8,83.5,12.0,503,9028,0.12,2.28,0.00,0.000,6,0.111,0.022,2969,2043,2178,0,0,0,0,0,0
$GC,9285,1.22,213.8,57.7,8.9,527,9290,0.00,2.42,0.00,0.000,4,0.000,0.044,2969,621,2179,0,0,0,0,0,0
$GC,9389,1.22,213.8,47.4,10.6,538,9393,0.00,2.28,0.00,0.000,6,0.000,0.021,2970,2038,2179,0,0,0,0,0,0
$GC,9656,1.30,223.2,26.5,7.4,567,9674,0.12,2.47,10.73,0.514,4,0.067,0.042,3005,632,2139,0,0,0,0,0,0
$GC,9737,1.22,223.2,18.4,11.4,584,9744,0.10,2.30,0.00,0.000,6,0.081,0.021,2981,2037,2136,0,0,0,0,0,0
$STATE,9895,end climb,SURFACE_DEPTH_REACHED
$STATE,9895,begin surface coast
$FINISH,0.5,1.023686
$STATE,9929,end surface coast,CONTROL_FINISHED_OK
$STATE,9929,begin surface
$SM_CCo,9948,38.92,0.529,0,0,1826,300.00
$SM_GC,1.50,0.00,0.00,38.92,0.000,0.000,0.529,424,1891,1826,-10.53,-0.25,300.00
$IRIDIUM_FIX,2059.45,-15753.90,290799,181856
$TT8_MAMPS,0.029146
$HUMID,45.11
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,21.20
$XPDR_PINGS,0
$24V_AH,23.4,17.843
$10V_AH,10.1,16.936
$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,28.975,115.200,257.300,38.925,0.000,25.001,30.375,129.442,4.500,0.000,30.287,1231.026,6371.163,357.278,1974.511,351.651,33.361,1197.347,0.000,1939.073,0.000,29.235,0.000
$DEVICE_MAMPS,136.526,55.224,885.118,529.230,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,418.916,400.963,921.931,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,34817,619
$CAP_FILE_SIZE,117968,0
$CFSIZE,260165632,247361536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050510,000153,2107.877,-15755.986,38,1.7,53,9.8