version: 66.06
glider: 139
mission: 7
dive: 354
start: 5 24 110 11 31 18
data:
$ID,139
$MISSION,7
$DIVE,354
$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,-2133766.2
$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
$GPS1,112331,2100.157,-15753.312,127,1.3,130,9.8
$_CALLS,1
$_XMS_NAKs,29
$_XMS_TOUTs,1
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-68.2
$GPS2,113026,2100.189,-15753.311,15,1.4,15,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.125,0.135
$KALMAN_X,-6583.1,51.0,-214.7,9550.0,-280.7
$KALMAN_Y,32019.7,-417.3,-122.7,-43921.2,169.8
$MHEAD_RNG_PITCHd_Wd,307.3,21359,-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,17,-1.40,-77.9,0.0,0.0,0,73,0.00,0.00,-53.22,0.000,2,0.000,0.000,424,1913,3201,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.2,-4.8,10,97,10.60,2.33,-3.35,0.000,4,0.134,0.038,2401,3294,3371,0,0,0,0,0,0
$GC,277,-1.36,-77.9,43.9,-13.8,45,284,0.00,2.42,0.00,0.000,6,0.000,0.031,2401,1873,3372,0,0,0,0,0,0
$GC,539,-1.22,-77.9,89.2,-16.7,70,544,0.22,2.42,0.00,0.000,4,0.093,0.044,2447,466,3373,0,0,0,0,0,0
$GC,586,-1.14,-77.9,96.5,-13.9,74,592,0.00,2.33,0.00,0.000,6,0.000,0.019,2446,1904,3373,0,0,0,0,0,0
$GC,848,-1.14,-77.9,127.7,-11.4,99,852,0.00,2.47,0.00,0.000,4,0.000,0.043,2447,466,3374,0,0,0,0,0,0
$GC,875,-1.10,-77.9,131.4,-12.7,101,882,0.12,2.25,0.00,0.000,6,0.100,0.019,2472,1879,3374,0,0,0,0,0,0
$GC,1136,-1.21,-77.9,155.6,-9.1,126,1140,0.00,2.40,0.00,0.000,4,0.000,0.042,2473,468,3375,0,0,0,0,0,0
$GC,1231,-1.31,-77.9,164.7,-8.9,136,1238,0.17,2.28,0.00,0.000,6,0.028,0.020,2411,1876,3375,0,0,0,0,0,0
$GC,1492,-1.31,-77.9,190.7,-9.9,161,1497,0.00,2.40,0.00,0.000,4,0.000,0.043,2411,464,3376,0,0,0,0,0,0
$GC,1548,-1.27,-77.9,197.3,-12.0,166,1555,0.10,2.28,0.00,0.000,6,0.071,0.020,2437,1875,3376,0,0,0,0,0,0
$GC,1803,-1.33,-77.9,220.6,-8.8,180,1807,0.00,2.40,0.00,0.000,4,0.000,0.044,2437,464,3376,0,0,0,0,0,0
$GC,1869,-1.37,-77.9,227.3,-10.2,183,1874,0.00,2.25,0.00,0.000,6,0.000,0.021,2437,1871,3377,0,0,0,0,0,0
$GC,2201,-1.46,-77.9,256.4,-8.2,199,2205,0.17,2.42,0.00,0.000,4,0.052,0.044,2384,470,3377,0,0,0,0,0,0
$GC,2271,-1.39,-77.9,265.7,-13.0,202,2276,0.12,2.28,0.00,0.000,6,0.100,0.021,2409,1882,3376,0,0,0,0,0,0
$GC,2597,-1.43,-77.9,295.3,-8.6,218,2601,0.00,2.45,0.00,0.000,4,0.000,0.047,2409,464,3375,0,0,0,0,0,0
$GC,2623,-1.43,-77.9,297.9,-8.8,219,2627,0.00,2.28,0.00,0.000,6,0.000,0.023,2409,1875,3375,0,0,0,0,0,0
$GC,2940,-1.47,-77.9,322.4,-7.9,228,2944,0.00,2.42,0.00,0.000,4,0.000,0.048,2409,464,3375,0,0,0,0,0,0
$GC,2982,-1.47,-77.9,326.4,-8.6,229,2986,0.00,2.30,0.00,0.000,6,0.000,0.025,2409,1878,3375,0,0,0,0,0,0
$GC,3310,-1.51,-77.9,353.5,-8.0,237,3315,0.12,2.47,0.00,0.000,4,0.067,0.050,2371,467,3373,0,0,0,0,0,0
$GC,3390,-1.45,-77.9,361.6,-9.7,238,3395,0.12,2.30,0.00,0.000,6,0.100,0.025,2396,1872,3372,0,0,0,0,0,0
$GC,3721,-1.49,-77.9,387.8,-8.2,246,3725,0.00,2.45,0.00,0.000,4,0.000,0.051,2396,471,3370,0,0,0,0,0,0
$GC,3813,-1.49,-77.9,397.3,-10.3,248,3817,0.00,2.30,0.00,0.000,6,0.000,0.027,2395,1880,3370,0,0,0,0,0,0
$GC,4136,-1.54,-77.9,426.2,-8.5,256,4140,0.00,2.47,0.00,0.000,4,0.000,0.053,2396,473,3367,0,0,0,0,0,0
$GC,4200,-1.54,-77.9,432.5,-9.3,257,4204,0.00,2.33,0.00,0.000,6,0.000,0.028,2396,1879,3367,0,0,0,0,0,0
$STATE,4420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4420,begin apogee
$GC,4425,-0.31,0.0,450.9,8.2,263,4493,1.15,0.00,64.50,0.878,6,0.074,0.000,2642,2038,3050,0,0,0,0,0,0
$STATE,4494,end apogee,CONTROL_FINISHED_OK
$STATE,4494,begin climb
$GC,4497,1.40,77.9,452.1,0.0,264,4571,1.65,2.45,64.90,0.857,4,0.033,0.045,3023,3387,2732,0,0,0,0,0,0
$GC,4830,1.23,124.8,442.1,4.8,271,4876,0.22,2.40,39.85,0.851,6,0.114,0.038,2984,2005,2541,0,0,0,0,0,0
$GC,5221,1.11,124.8,409.1,9.0,281,5223,0.15,0.00,0.00,0.000,6,0.119,0.000,2957,2005,2534,0,0,0,0,0,0
$GC,5546,1.07,124.8,382.5,8.2,289,5551,0.00,2.47,0.00,0.000,4,0.000,0.054,2956,604,2531,0,0,0,0,0,0
$GC,5602,0.95,124.8,377.3,9.0,290,5607,0.20,2.35,0.00,0.000,6,0.116,0.031,2921,1997,2529,0,0,0,0,0,0
$GC,5917,1.02,156.8,357.6,5.8,298,5949,0.00,2.55,26.65,0.821,4,0.000,0.052,2921,610,2409,0,0,0,0,0,0
$GC,5992,1.03,165.8,352.8,7.4,299,6006,0.00,2.38,9.07,0.722,6,0.000,0.031,2922,2012,2373,0,0,0,0,0,0
$GC,6331,1.10,165.8,327.0,8.2,308,6336,0.15,2.50,0.00,0.000,4,0.070,0.052,2957,605,2369,0,0,0,0,0,0
$GC,6421,1.02,165.8,317.9,10.1,310,6426,0.00,2.38,0.00,0.000,6,0.000,0.031,2957,2012,2367,0,0,0,0,0,0
$GC,6750,1.04,180.3,293.6,7.0,320,6770,0.00,0.00,13.38,0.748,6,0.000,0.000,2957,2016,2314,0,0,0,0,0,0
$GC,7078,1.06,198.6,268.5,6.8,336,7102,0.00,2.53,17.30,0.744,4,0.000,0.050,2957,605,2239,0,0,0,0,0,0
$GC,7116,1.02,198.6,265.2,8.6,337,7121,0.00,2.40,0.00,0.000,6,0.000,0.029,2957,2018,2237,0,0,0,0,0,0
$GC,7431,1.02,198.6,235.0,9.5,352,7435,0.00,2.50,0.00,0.000,4,0.000,0.050,2958,601,2234,0,0,0,0,0,0
$GC,7537,1.03,202.4,226.2,7.8,356,7544,0.00,2.38,0.00,0.000,6,0.000,0.028,2957,2006,2231,0,0,0,0,0,0
$GC,7852,1.07,205.7,201.7,7.8,372,7865,0.00,2.53,6.65,0.592,4,0.000,0.048,2957,601,2210,0,0,0,0,0,0
$GC,8047,1.07,205.7,184.9,9.6,390,8054,0.00,2.38,0.00,0.000,6,0.000,0.026,2957,2015,2207,0,0,0,0,0,0
$GC,8310,1.13,215.2,164.5,7.4,415,8329,0.00,2.55,9.70,0.611,4,0.000,0.047,2957,594,2171,0,0,0,0,0,0
$GC,8435,1.13,215.2,152.6,9.5,428,8443,0.00,2.38,0.00,0.000,6,0.000,0.025,2957,2016,2168,0,0,0,0,0,0
$GC,8698,1.20,215.2,129.3,9.9,453,8703,0.00,2.45,0.00,0.000,4,0.000,0.045,2957,594,2168,0,0,0,0,0,0
$GC,8870,1.20,215.2,111.3,9.5,471,8874,0.00,2.33,0.00,0.000,6,0.000,0.023,2958,2016,2167,0,0,0,0,0,0
$GC,9133,1.28,215.2,86.9,9.0,495,9135,0.15,0.00,0.00,0.000,6,0.063,0.000,2999,2021,2167,0,0,0,0,0,0
$GC,9386,1.28,215.2,64.5,8.1,519,9390,0.00,2.45,0.00,0.000,4,0.000,0.043,2999,593,2167,0,0,0,0,0,0
$GC,9419,1.22,215.2,61.7,8.3,522,9424,0.00,2.30,0.00,0.000,6,0.000,0.021,2999,2012,2167,0,0,0,0,0,0
$GC,9683,1.29,232.3,44.2,6.8,546,9705,0.00,2.45,16.15,0.537,4,0.000,0.041,2999,601,2102,0,0,0,0,0,0
$GC,9789,1.29,232.3,36.7,8.1,557,9796,0.00,2.33,0.00,0.000,6,0.000,0.021,2999,2016,2098,0,0,0,0,0,0
$GC,10056,1.34,232.3,17.9,8.9,595,10062,0.00,2.40,0.00,0.000,4,0.000,0.041,2999,600,2099,0,0,0,0,0,0
$GC,10186,1.34,232.3,8.7,10.1,623,10192,0.00,2.28,0.00,0.000,6,0.000,0.020,2999,2015,2098,0,0,0,0,0,0
$STATE,10242,end climb,SURFACE_DEPTH_REACHED
$STATE,10242,begin surface coast
$FINISH,0.4,1.023397
$STATE,10276,end surface coast,CONTROL_FINISHED_OK
$STATE,10277,begin surface
$SM_CCo,10296,33.80,0.507,0,0,1826,300.00
$SM_GC,1.57,0.00,0.00,33.80,0.000,0.000,0.507,424,1846,1826,-10.53,-0.79,300.00
$IRIDIUM_FIX,2052.52,-15754.77,180899,080813
$TT8_MAMPS,0.029146
$HUMID,47.44
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.4,31.572
$10V_AH,10.0,29.932
$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,26.450,115.225,268.150,33.800,0.000,37.981,27.399,247.519,4.500,0.000,15.500,1242.934,6713.938,375.745,1910.675,503.508,33.377,1215.911,0.000,1891.253,0.000,29.252,0.000
$DEVICE_MAMPS,134.225,53.690,878.215,506.987,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,431.129,412.494,802.840,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355592
$DATA_FILE_SIZE,34995,639
$CAP_FILE_SIZE,119778,0
$CFSIZE,260165632,238174208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240510,142505,2100.829,-15754.488,57,2.0,60,9.8