version: 66.06
glider: 139
mission: 7
dive: 313
start: 5 19 110 4 51 6
data:
$ID,139
$MISSION,7
$DIVE,313
$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,-2132106
$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
$GPS1,044506,2108.133,-15755.197,66,1.4,72,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-68.7
$GPS2,045014,2108.133,-15755.251,15,1.6,15,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.178,-0.046
$KALMAN_X,7785.3,523.3,73.3,-8938.1,-1133.7
$KALMAN_Y,12401.8,342.4,-8.0,-10471.3,345.3
$MHEAD_RNG_PITCHd_Wd,94.8,21738,-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,-77.9,0.0,0.0,0,71,0.00,0.00,-53.08,0.000,2,0.000,0.000,426,1911,3189,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.1,-4.6,10,95,10.68,2.35,-3.58,0.000,4,0.137,0.042,2404,3295,3371,0,0,0,0,0,0
$GC,111,-0.70,-77.9,15.1,-31.3,17,117,0.75,2.40,0.00,0.000,6,0.081,0.030,2558,1871,3372,0,0,0,0,0,0
$GC,316,-0.91,-77.9,34.4,-8.1,49,321,0.20,2.40,0.00,0.000,4,0.047,0.043,2499,467,3373,0,0,0,0,0,0
$GC,379,-0.91,-77.9,42.5,-13.4,55,385,0.00,2.35,0.00,0.000,6,0.000,0.020,2497,1913,3373,0,0,0,0,0,0
$GC,641,-1.04,-77.9,68.2,-9.7,80,646,0.00,2.47,0.00,0.000,4,0.000,0.042,2499,466,3374,0,0,0,0,0,0
$GC,686,-1.18,-77.9,72.9,-9.9,84,693,0.15,2.28,0.00,0.000,6,0.030,0.019,2439,1878,3374,0,0,0,0,0,0
$GC,949,-1.18,-77.9,105.4,-11.7,109,953,0.00,2.40,0.00,0.000,4,0.000,0.042,2443,469,3375,0,0,0,0,0,0
$GC,1012,-1.18,-77.9,112.5,-10.5,115,1018,0.00,2.25,0.00,0.000,6,0.000,0.019,2439,1878,3375,0,0,0,0,0,0
$GC,1274,-1.22,-77.9,135.0,-9.6,140,1278,0.00,2.42,0.00,0.000,4,0.000,0.043,2443,467,3376,0,0,0,0,0,0
$GC,1382,-1.26,-77.9,147.0,-10.8,151,1386,0.00,2.25,0.00,0.000,6,0.000,0.020,2442,1880,3376,0,0,0,0,0,0
$GC,1648,-1.31,-77.9,172.8,-10.0,176,1652,0.00,2.42,0.00,0.000,4,0.000,0.044,2443,471,3376,0,0,0,0,0,0
$GC,1689,-1.31,-77.9,177.5,-11.5,180,1694,0.00,2.25,0.00,0.000,6,0.000,0.020,2442,1886,3376,0,0,0,0,0,0
$GC,1960,-1.37,-77.9,205.2,-10.0,203,1965,0.12,2.45,0.00,0.000,4,0.063,0.044,2399,463,3377,0,0,0,0,0,0
$GC,1985,-1.31,-77.9,208.3,-12.2,204,1990,0.12,2.25,0.00,0.000,6,0.099,0.021,2425,1877,3377,0,0,0,0,0,0
$GC,2310,-1.37,-77.9,238.9,-8.9,220,2314,0.00,2.42,0.00,0.000,4,0.000,0.045,2426,463,3377,0,0,0,0,0,0
$GC,2365,-1.41,-77.9,244.6,-9.7,222,2369,0.00,2.28,0.00,0.000,6,0.000,0.021,2424,1880,3377,0,0,0,0,0,0
$GC,2685,-1.48,-77.9,273.2,-9.6,238,2690,0.15,2.42,0.00,0.000,4,0.058,0.047,2378,473,3377,0,0,0,0,0,0
$GC,2754,-1.43,-77.9,281.6,-12.6,241,2759,0.10,2.25,0.00,0.000,6,0.113,0.023,2400,1881,3377,0,0,0,0,0,0
$GC,3097,-1.46,-77.9,314.4,-8.7,254,3101,0.00,2.42,0.00,0.000,4,0.000,0.048,2400,470,3376,0,0,0,0,0,0
$GC,3223,-1.46,-77.9,326.2,-9.1,256,3227,0.00,2.25,0.00,0.000,6,0.000,0.024,2398,1872,3376,0,0,0,0,0,0
$GC,3559,-1.46,-77.9,355.2,-9.2,265,3563,0.00,2.45,0.00,0.000,4,0.000,0.050,2398,467,3374,0,0,0,0,0,0
$GC,3618,-1.46,-77.9,361.8,-10.6,266,3623,0.00,2.28,0.00,0.000,6,0.000,0.026,2400,1873,3374,0,0,0,0,0,0
$GC,3968,-1.51,-77.9,390.9,-8.1,275,3972,0.00,2.45,0.00,0.000,4,0.000,0.052,2399,475,3372,0,0,0,0,0,0
$GC,4060,-1.51,-77.9,399.5,-9.3,277,4064,0.00,2.30,0.00,0.000,6,0.000,0.028,2399,1871,3371,0,0,0,0,0,0
$GC,4385,-1.56,-77.9,424.8,-7.4,285,4390,0.12,2.47,0.00,0.000,4,0.071,0.054,2362,474,3369,0,0,0,0,0,0
$GC,4475,-1.49,-77.9,433.7,-9.9,287,4480,0.12,2.30,0.00,0.000,6,0.107,0.028,2389,1876,3368,0,0,0,0,0,0
$STATE,4681,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4681,begin apogee
$GC,4686,-0.31,0.0,451.9,8.6,292,4755,1.20,0.00,64.93,0.877,6,0.077,0.000,2645,2036,3050,0,0,0,0,0,0
$STATE,4755,end apogee,CONTROL_FINISHED_OK
$STATE,4755,begin climb
$GC,4757,1.40,77.9,453.2,0.0,293,4832,1.62,2.45,64.72,0.857,4,0.034,0.045,3018,3384,2732,0,0,0,0,0,0
$GC,5096,1.26,140.2,448.9,3.7,300,5159,0.17,2.35,53.00,0.858,6,0.117,0.038,2989,2013,2477,0,0,0,0,0,0
$GC,5483,1.14,140.2,413.5,10.4,310,5488,0.12,2.50,0.00,0.000,4,0.127,0.053,2964,600,2470,0,0,0,0,0,0
$GC,5516,1.01,140.2,410.0,10.6,310,5521,0.17,2.33,0.00,0.000,6,0.118,0.030,2936,1990,2468,0,0,0,0,0,0
$GC,5846,1.01,146.6,383.5,7.6,318,5858,0.00,2.47,5.10,0.616,4,0.000,0.051,2935,597,2452,0,0,0,0,0,0
$GC,5916,0.96,146.6,377.4,8.9,319,5920,0.00,2.38,0.00,0.000,6,0.000,0.031,2935,2013,2450,0,0,0,0,0,0
$GC,6260,0.96,146.6,348.1,8.9,328,6264,0.00,2.50,0.00,0.000,4,0.000,0.052,2935,602,2449,0,0,0,0,0,0
$GC,6303,0.91,146.6,343.8,10.1,329,6308,0.12,2.35,0.00,0.000,6,0.121,0.031,2914,2009,2448,0,0,0,0,0,0
$GC,6632,1.00,161.3,320.2,7.0,337,6652,0.00,2.50,13.62,0.765,4,0.000,0.051,2912,611,2391,0,0,0,0,0,0
$GC,6741,1.00,161.3,311.8,8.5,339,6745,0.00,2.38,0.00,0.000,6,0.000,0.031,2913,2017,2388,0,0,0,0,0,0
$GC,7074,1.09,181.0,289.6,6.7,351,7099,0.17,2.60,18.17,0.765,4,0.066,0.051,2955,598,2311,0,0,0,0,0,0
$GC,7182,1.05,181.0,277.8,11.7,355,7187,0.00,2.38,0.00,0.000,6,0.000,0.030,2956,2016,2306,0,0,0,0,0,0
$GC,7498,1.06,189.7,249.0,7.4,371,7508,0.00,0.00,8.35,0.665,6,0.000,0.000,2955,2020,2276,0,0,0,0,0,0
$GC,7805,1.06,189.7,224.4,9.1,386,7810,0.00,2.50,0.00,0.000,4,0.000,0.049,2953,594,2273,0,0,0,0,0,0
$GC,7837,1.06,189.7,221.0,10.3,387,7841,0.00,2.38,0.00,0.000,6,0.000,0.028,2955,2013,2272,0,0,0,0,0,0
$GC,8155,1.10,189.7,191.7,8.2,406,8159,0.00,2.35,0.00,0.000,4,0.000,0.034,2955,3408,2271,0,0,0,0,0,0
$GC,8188,1.16,189.7,188.9,8.2,409,8193,0.00,2.38,0.00,0.000,6,0.000,0.032,2955,2007,2272,0,0,0,0,0,0
$GC,8452,1.21,201.5,169.4,7.2,433,8472,0.10,2.50,11.23,0.630,4,0.084,0.047,2983,602,2227,0,0,0,0,0,0
$GC,8542,1.13,201.5,160.1,11.2,442,8549,0.10,2.35,0.00,0.000,6,0.093,0.025,2961,2014,2225,0,0,0,0,0,0
$GC,8805,1.17,207.9,138.0,7.6,467,8814,0.00,0.00,6.95,0.543,6,0.000,0.000,2961,2019,2202,0,0,0,0,0,0
$GC,9068,1.25,217.0,115.6,7.4,492,9087,0.10,2.47,9.82,0.566,4,0.080,0.043,2989,599,2163,0,0,0,0,0,0
$GC,9191,1.17,217.0,104.4,9.8,505,9197,0.00,2.30,0.00,0.000,6,0.000,0.022,2989,2020,2161,0,0,0,0,0,0
$GC,9453,1.17,217.0,81.7,9.4,530,9457,0.00,2.45,0.00,0.000,4,0.000,0.043,2989,601,2161,0,0,0,0,0,0
$GC,9497,1.11,217.0,77.1,11.3,534,9502,0.17,2.28,0.00,0.000,6,0.104,0.021,2957,2013,2160,0,0,0,0,0,0
$GC,9760,1.20,217.0,52.4,9.5,558,9764,0.00,2.40,0.00,0.000,4,0.000,0.043,2957,604,2161,0,0,0,0,0,0
$GC,9811,1.26,217.0,47.2,9.8,563,9816,0.15,2.28,0.00,0.000,6,0.062,0.021,2998,2022,2161,0,0,0,0,0,0
$GC,10073,1.32,237.5,27.4,6.6,590,10100,0.00,2.50,19.02,0.526,4,0.000,0.041,2998,609,2080,0,0,0,0,0,0
$GC,10175,1.32,237.5,17.3,10.2,611,10181,0.00,2.25,0.00,0.000,6,0.000,0.020,2999,2020,2077,0,0,0,0,0,0
$GC,10381,1.39,269.6,5.9,5.8,648,10418,0.00,2.53,28.25,0.513,4,0.000,0.042,2999,602,1950,0,0,0,0,0,0
$STATE,10422,end climb,SURFACE_DEPTH_REACHED
$STATE,10422,begin surface coast
$FINISH,0.5,1.021368
$STATE,10460,end surface coast,CONTROL_FINISHED_OK
$STATE,10460,begin surface
$SM_CCo,10481,16.25,0.489,0,0,1826,300.00
$SM_GC,1.53,0.00,0.00,16.25,0.000,0.000,0.489,429,1894,1826,-10.51,0.54,300.00
$IRIDIUM_FIX,2057.14,-15804.20,130899,010107
$TT8_MAMPS,0.029146
$HUMID,46.14
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.40
$XPDR_PINGS,1
$24V_AH,23.4,27.550
$10V_AH,10.0,26.466
$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,27.925,128.600,303.175,16.250,0.000,27.733,38.023,142.010,4.750,0.000,16.003,1285.433,6783.448,386.742,1959.872,391.786,33.363,1255.914,0.000,1935.861,0.000,29.248,0.000
$DEVICE_MAMPS,137.293,53.690,877.448,488.579,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,447.027,423.740,834.994,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,37959,664
$CAP_FILE_SIZE,124350,0
$CFSIZE,260165632,240623616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190510,074737,2108.264,-15754.730,51,1.3,57,9.8