version: 66.06
glider: 139
mission: 7
dive: 455
start: 6 6 110 4 9 28
data:
$ID,139
$MISSION,7
$DIVE,455
$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,-2138037.2
$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
$GPS1,040220,2107.733,-15748.306,99,6.4,118,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-70.5
$GPS2,040836,2107.745,-15748.356,14,1.2,30,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.176,0.054
$KALMAN_X,-173153.0,380.4,523.0,183607.7,-2755.7
$KALMAN_Y,15360.1,138.1,100.8,-14057.7,-304.7
$MHEAD_RNG_PITCHd_Wd,63.2,10054,-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,-53.20,0.000,2,0.000,0.000,424,1854,3223,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.5,-6.1,10,91,10.60,0.00,-2.83,0.000,6,0.134,0.000,2403,1855,3370,0,0,0,0,0,0
$GC,287,-1.20,-77.9,47.6,-18.0,40,292,0.22,2.38,0.00,0.000,4,0.097,0.024,2449,3298,3372,0,0,0,0,0,0
$GC,322,-1.20,-77.9,52.5,-12.6,43,327,0.00,2.40,0.00,0.000,6,0.000,0.030,2449,1866,3373,0,0,0,0,0,0
$GC,584,-1.20,-77.9,84.1,-12.0,67,588,0.00,2.40,0.00,0.000,4,0.000,0.044,2448,464,3373,0,0,0,0,0,0
$GC,701,-1.16,-77.9,98.5,-11.3,79,706,0.00,2.30,0.00,0.000,6,0.000,0.019,2448,1914,3374,0,0,0,0,0,0
$GC,965,-1.20,-77.9,128.9,-11.6,103,969,0.00,2.47,0.00,0.000,4,0.000,0.042,2448,461,3375,0,0,0,0,0,0
$GC,990,-1.20,-77.9,132.0,-11.0,105,994,0.00,2.28,0.00,0.000,6,0.000,0.019,2449,1883,3375,0,0,0,0,0,0
$GC,1254,-1.27,-77.9,154.4,-8.7,129,1259,0.00,2.42,0.00,0.000,4,0.000,0.044,2449,470,3376,0,0,0,0,0,0
$GC,1400,-1.32,-77.9,168.1,-8.1,144,1407,0.08,2.28,0.00,0.000,6,0.038,0.019,2411,1878,3376,0,0,0,0,0,0
$GC,1662,-1.32,-77.9,191.6,-9.4,169,1666,0.00,2.42,0.00,0.000,4,0.000,0.043,2411,466,3377,0,0,0,0,0,0
$GC,1699,-1.28,-77.9,195.8,-11.0,172,1706,0.08,2.28,0.00,0.000,6,0.074,0.021,2432,1868,3377,0,0,0,0,0,0
$GC,1955,-1.35,-77.9,219.1,-8.9,187,1960,0.00,2.40,0.00,0.000,4,0.000,0.043,2432,468,3377,0,0,0,0,0,0
$GC,1999,-1.39,-77.9,223.3,-10.1,189,2004,0.00,2.25,0.00,0.000,6,0.000,0.021,2432,1883,3377,0,0,0,0,0,0
$GC,2332,-1.47,-77.9,251.0,-7.3,205,2337,0.17,2.42,0.00,0.000,4,0.051,0.045,2378,472,3377,0,0,0,0,0,0
$GC,2431,-1.39,-77.9,261.2,-10.2,209,2436,0.15,2.25,0.00,0.000,6,0.093,0.021,2410,1878,3377,0,0,0,0,0,0
$GC,2755,-1.43,-77.9,284.5,-7.6,225,2756,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1881,3376,0,0,0,0,0,0
$GC,3080,-1.47,-77.9,311.6,-8.6,238,3084,0.00,2.42,0.00,0.000,4,0.000,0.047,2409,464,3375,0,0,0,0,0,0
$GC,3164,-1.47,-77.9,320.1,-9.7,239,3170,0.00,2.30,0.00,0.000,6,0.000,0.024,2410,1880,3375,0,0,0,0,0,0
$GC,3495,-1.53,-77.9,352.3,-10.0,248,3500,0.12,2.45,0.00,0.000,4,0.065,0.049,2371,467,3373,0,0,0,0,0,0
$GC,3587,-1.46,-77.9,362.2,-11.7,250,3592,0.10,2.28,0.00,0.000,6,0.113,0.025,2392,1873,3373,0,0,0,0,0,0
$GC,3916,-1.46,-77.9,389.3,-7.8,258,3920,0.00,2.45,0.00,0.000,4,0.000,0.051,2391,469,3370,0,0,0,0,0,0
$GC,3981,-1.46,-77.9,395.4,-9.1,259,3985,0.00,2.28,0.00,0.000,6,0.000,0.026,2391,1874,3370,0,0,0,0,0,0
$GC,4327,-1.46,-77.9,423.0,-7.7,268,4332,0.00,2.42,0.00,0.000,4,0.000,0.051,2392,473,3368,0,0,0,0,0,0
$GC,4378,-1.46,-77.9,427.9,-8.9,269,4382,0.00,2.28,0.00,0.000,6,0.000,0.028,2391,1871,3368,0,0,0,0,0,0
$STATE,4694,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4694,begin apogee
$GC,4700,-0.31,0.0,452.5,7.7,277,4768,1.17,0.00,64.78,0.877,6,0.074,0.000,2643,2034,3050,0,0,0,0,0,0
$STATE,4769,end apogee,CONTROL_FINISHED_OK
$STATE,4769,begin climb
$GC,4771,1.40,77.9,453.5,0.0,278,4846,1.65,2.42,65.10,0.856,4,0.032,0.042,3022,3380,2732,0,0,0,0,0,0
$GC,5111,1.22,125.2,442.2,4.8,285,5160,0.20,2.38,40.45,0.848,6,0.114,0.036,2989,2002,2539,0,0,0,0,0,0
$GC,5500,1.10,125.2,408.4,8.8,295,5502,0.17,0.00,0.00,0.000,6,0.114,0.000,2957,2002,2533,0,0,0,0,0,0
$GC,5826,1.07,139.1,384.4,7.1,303,5843,0.00,2.45,11.68,0.772,4,0.000,0.041,2952,3384,2483,0,0,0,0,0,0
$GC,5853,1.04,149.0,382.2,7.3,303,5871,0.00,2.40,10.75,0.752,6,0.000,0.037,2959,2007,2441,0,0,0,0,0,0
$GC,6195,1.04,149.0,352.2,8.8,312,6199,0.00,2.47,0.00,0.000,4,0.000,0.053,2959,604,2436,0,0,0,0,0,0
$GC,6211,0.98,149.0,350.9,9.1,312,6216,0.17,2.35,0.00,0.000,6,0.114,0.030,2928,1997,2435,0,0,0,0,0,0
$GC,6562,1.04,160.9,324.8,7.2,321,6578,0.00,2.55,10.60,0.741,4,0.000,0.052,2928,601,2394,0,0,0,0,0,0
$GC,6663,1.04,160.9,316.7,9.0,323,6667,0.00,2.38,0.00,0.000,6,0.000,0.030,2928,2008,2390,0,0,0,0,0,0
$GC,6984,1.10,166.5,293.3,7.6,333,6997,0.12,2.53,5.95,0.630,4,0.077,0.051,2958,609,2370,0,0,0,0,0,0
$GC,7107,1.04,166.5,280.3,11.6,338,7112,0.00,2.38,0.00,0.000,6,0.000,0.030,2958,2015,2368,0,0,0,0,0,0
$GC,7427,1.06,183.4,254.9,6.9,354,7448,0.00,0.00,16.42,0.736,6,0.000,0.000,2958,2020,2301,0,0,0,0,0,0
$GC,7757,1.06,185.7,230.6,7.9,370,7761,0.00,2.50,0.00,0.000,4,0.000,0.050,2958,596,2297,0,0,0,0,0,0
$GC,7825,1.06,185.7,224.6,9.3,373,7830,0.00,2.38,0.00,0.000,6,0.000,0.028,2958,2014,2296,0,0,0,0,0,0
$GC,8152,1.14,223.6,203.3,5.4,389,8195,0.00,2.58,36.00,0.714,4,0.000,0.049,2958,601,2137,0,0,0,0,0,0
$GC,8225,1.14,223.6,198.6,8.1,393,8230,0.00,2.38,0.00,0.000,6,0.000,0.027,2958,2011,2133,0,0,0,0,0,0
$GC,8490,1.20,223.6,178.3,8.1,417,8494,0.00,2.45,0.00,0.000,4,0.000,0.048,2958,602,2132,0,0,0,0,0,0
$GC,8552,1.20,223.6,172.1,9.9,423,8556,0.00,2.35,0.00,0.000,6,0.000,0.025,2958,2016,2129,0,0,0,0,0,0
$GC,8816,1.26,223.6,146.0,10.1,447,8821,0.15,0.00,0.00,0.000,6,0.063,0.000,2998,2021,2129,0,0,0,0,0,0
$GC,9076,1.26,223.6,122.3,9.1,472,9081,0.00,2.47,0.00,0.000,4,0.000,0.046,2998,597,2129,0,0,0,0,0,0
$GC,9205,1.21,223.6,108.0,11.9,485,9212,0.12,2.33,0.00,0.000,6,0.113,0.023,2976,2016,2128,0,0,0,0,0,0
$GC,9468,1.30,242.5,90.4,6.7,510,9490,0.00,2.53,16.42,0.580,4,0.000,0.044,2975,608,2060,0,0,0,0,0,0
$GC,9704,1.30,242.5,71.2,8.3,536,9708,0.00,2.30,0.00,0.000,6,0.000,0.021,2976,2020,2056,0,0,0,0,0,0
$GC,9970,1.40,247.2,51.0,7.7,560,9982,0.20,2.47,5.25,0.431,4,0.051,0.041,3033,589,2041,0,0,0,0,0,0
$GC,10056,1.32,247.2,42.6,10.1,569,10061,0.15,2.30,0.00,0.000,6,0.100,0.021,3004,2018,2040,0,0,0,0,0,0
$GC,10327,1.38,247.2,21.6,9.0,603,10332,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2023,2040,0,0,0,0,0,0
$STATE,10529,end climb,SURFACE_DEPTH_REACHED
$STATE,10529,begin surface coast
$FINISH,0.4,1.010599
$STATE,10563,end surface coast,CONTROL_FINISHED_OK
$STATE,10563,begin surface
$SM_CCo,10584,27.08,0.504,0,0,1826,300.00
$SM_GC,1.41,0.00,0.00,27.08,0.000,0.000,0.504,431,1864,1826,-10.50,-0.31,300.00
$IRIDIUM_FIX,2059.45,-15746.61,310899,010129
$TT8_MAMPS,0.029146
$HUMID,48.74
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.30
$XPDR_PINGS,1
$24V_AH,23.4,40.177
$10V_AH,10.0,38.141
$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,26.750,105.600,283.400,27.075,0.000,27.946,29.919,192.236,4.750,0.000,30.826,1250.781,6963.656,367.710,1933.250,471.770,33.384,1198.930,0.000,1898.575,0.000,29.241,0.000
$DEVICE_MAMPS,134.225,54.457,876.681,503.919,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,436.732,416.223,807.448,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,34905,646
$CAP_FILE_SIZE,117229,0
$CFSIZE,260165632,232173568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060610,070828,2709.310,-15956.786,72,5.9,91,10.5