version: 66.06
glider: 139
mission: 7
dive: 583
start: 6 22 110 18 10 5
data:
$ID,139
$MISSION,7
$DIVE,583
$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,-2142902.5
$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
$GPS1,180151,2104.024,-15756.589,108,3.8,127,9.8
$_CALLS,1
$_XMS_NAKs,22
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-69.9
$GPS2,180914,2104.009,-15756.631,39,1.9,39,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.166,0.079
$KALMAN_X,-331539.8,-422.3,180.0,328847.4,281.6
$KALMAN_Y,24081.8,-194.2,109.3,-29363.4,461.1
$MHEAD_RNG_PITCHd_Wd,285.7,12340,-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,16,-1.40,-77.9,0.0,0.0,0,67,0.00,0.00,-49.60,0.000,2,0.000,0.000,428,1856,3129,0,0,0,0,0,0
$GC,70,-1.40,-77.9,3.4,-5.8,10,94,10.70,2.45,-4.85,0.000,4,0.138,0.039,2407,3297,3369,0,0,0,0,0,0
$GC,230,-1.37,-77.9,33.9,-14.8,42,234,0.00,2.40,0.00,0.000,6,0.000,0.032,2406,1876,3371,0,0,0,0,0,0
$GC,493,-1.21,-77.9,73.1,-14.8,66,495,0.22,0.00,0.00,0.000,6,0.098,0.000,2451,1875,3372,0,0,0,0,0,0
$GC,747,-1.21,-77.9,101.0,-9.5,90,751,0.00,2.42,0.00,0.000,4,0.000,0.044,2452,466,3373,0,0,0,0,0,0
$GC,808,-1.21,-77.9,107.8,-11.2,96,812,0.00,2.30,0.00,0.000,6,0.000,0.019,2451,1912,3373,0,0,0,0,0,0
$GC,1075,-1.24,-77.9,135.9,-9.9,121,1079,0.00,2.47,0.00,0.000,4,0.000,0.042,2451,467,3374,0,0,0,0,0,0
$GC,1136,-1.24,-77.9,142.1,-9.5,127,1140,0.00,2.25,0.00,0.000,6,0.000,0.019,2449,1877,3374,0,0,0,0,0,0
$GC,1398,-1.30,-77.9,163.0,-8.2,151,1402,0.00,2.42,0.00,0.000,4,0.000,0.041,2451,460,3375,0,0,0,0,0,0
$GC,1426,-1.30,-77.9,165.8,-9.7,153,1432,0.00,2.25,0.00,0.000,6,0.000,0.019,2448,1877,3375,0,0,0,0,0,0
$GC,1689,-1.39,-77.9,188.0,-8.8,178,1694,0.17,2.42,0.00,0.000,4,0.051,0.043,2395,469,3375,0,0,0,0,0,0
$GC,1727,-1.29,-77.9,192.1,-10.8,181,1733,0.17,2.25,0.00,0.000,6,0.088,0.019,2431,1880,3375,0,0,0,0,0,0
$GC,1984,-1.35,-77.9,213.2,-7.6,198,1989,0.00,2.42,0.00,0.000,4,0.000,0.043,2433,465,3376,0,0,0,0,0,0
$GC,2046,-1.38,-77.9,218.2,-7.6,200,2052,0.00,2.25,0.00,0.000,6,0.000,0.020,2432,1876,3376,0,0,0,0,0,0
$GC,2363,-1.44,-77.9,241.0,-7.8,216,2368,0.15,2.42,0.00,0.000,4,0.056,0.044,2386,469,3376,0,0,0,0,0,0
$GC,2420,-1.37,-77.9,247.2,-10.7,218,2425,0.15,2.25,0.00,0.000,6,0.093,0.021,2416,1872,3376,0,0,0,0,0,0
$GC,2737,-1.42,-77.9,272.1,-6.8,233,2742,0.00,2.42,0.00,0.000,4,0.000,0.044,2417,462,3375,0,0,0,0,0,0
$GC,2817,-1.45,-77.9,278.6,-7.3,236,2821,0.00,2.28,0.00,0.000,6,0.000,0.021,2417,1872,3375,0,0,0,0,0,0
$GC,3135,-1.50,-77.9,300.5,-6.9,251,3140,0.15,2.45,0.00,0.000,4,0.057,0.046,2371,463,3374,0,0,0,0,0,0
$GC,3188,-1.40,-77.9,305.3,-9.4,252,3193,0.17,2.30,0.00,0.000,6,0.089,0.023,2408,1882,3374,0,0,0,0,0,0
$GC,3508,-1.44,-77.9,330.2,-8.3,260,3513,0.00,2.45,0.00,0.000,4,0.000,0.047,2407,464,3373,0,0,0,0,0,0
$GC,3527,-1.44,-77.9,332.4,-9.7,260,3531,0.00,2.30,0.00,0.000,6,0.000,0.024,2408,1881,3372,0,0,0,0,0,0
$GC,3875,-1.48,-77.9,360.6,-7.6,269,3879,0.00,2.45,0.00,0.000,4,0.000,0.048,2408,467,3371,0,0,0,0,0,0
$GC,3940,-1.48,-77.9,366.7,-8.9,270,3944,0.00,2.28,0.00,0.000,6,0.000,0.025,2407,1878,3370,0,0,0,0,0,0
$GC,4285,-1.53,-77.9,396.0,-8.2,279,4290,0.12,2.45,0.00,0.000,4,0.065,0.050,2369,467,3368,0,0,0,0,0,0
$GC,4381,-1.45,-77.9,405.8,-10.5,281,4386,0.12,2.30,0.00,0.000,6,0.098,0.025,2396,1870,3367,0,0,0,0,0,0
$GC,4707,-1.48,-77.9,430.4,-7.2,289,4711,0.00,2.45,0.00,0.000,4,0.000,0.051,2396,466,3365,0,0,0,0,0,0
$GC,4772,-1.48,-77.9,436.1,-8.5,290,4776,0.00,2.30,0.00,0.000,6,0.000,0.026,2396,1877,3365,0,0,0,0,0,0
$STATE,4952,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4952,begin apogee
$GC,4959,-0.31,0.0,451.1,8.3,295,5026,1.15,0.00,64.12,0.872,6,0.074,0.000,2643,2031,3050,0,0,0,0,0,0
$STATE,5027,end apogee,CONTROL_FINISHED_OK
$STATE,5027,begin climb
$GC,5029,1.40,77.9,452.5,0.0,296,5104,1.62,2.40,64.72,0.851,4,0.031,0.039,3020,3377,2732,0,0,0,0,0,0
$GC,5285,1.22,119.4,448.6,5.2,301,5327,0.22,2.35,35.33,0.839,6,0.112,0.035,2981,2001,2562,0,0,0,0,0,0
$GC,5663,1.11,119.4,417.5,8.4,311,5668,0.15,2.45,0.00,0.000,4,0.119,0.052,2955,605,2557,0,0,0,0,0,0
$GC,5803,0.98,119.4,405.9,8.3,314,5808,0.15,2.33,0.00,0.000,6,0.124,0.028,2930,1989,2554,0,0,0,0,0,0
$GC,6127,1.03,162.9,388.2,5.0,322,6166,0.00,0.00,37.40,0.833,6,0.000,0.000,2930,1994,2385,0,0,0,0,0,0
$GC,6491,1.09,181.7,364.2,6.7,331,6515,0.00,2.50,16.95,0.787,4,0.000,0.051,2929,607,2308,0,0,0,0,0,0
$GC,6573,1.09,181.7,358.0,8.8,332,6578,0.00,2.38,0.00,0.000,6,0.000,0.030,2930,2020,2304,0,0,0,0,0,0
$GC,6905,1.14,181.7,330.7,8.4,340,6910,0.15,2.50,0.00,0.000,4,0.069,0.051,2966,607,2303,0,0,0,0,0,0
$GC,6989,1.04,181.7,322.2,10.4,341,6995,0.12,2.38,0.00,0.000,6,0.128,0.030,2945,2015,2300,0,0,0,0,0,0
$GC,7301,1.07,181.7,294.2,9.5,350,7305,0.00,2.50,0.00,0.000,4,0.000,0.051,2945,600,2300,0,0,0,0,0,0
$GC,7320,1.07,181.7,292.0,10.8,351,7325,0.00,2.35,0.00,0.000,6,0.000,0.030,2945,2013,2298,0,0,0,0,0,0
$GC,7651,1.11,181.8,263.3,8.0,367,7655,0.00,2.47,0.00,0.000,4,0.000,0.050,2945,605,2298,0,0,0,0,0,0
$GC,7711,1.12,189.1,258.6,7.5,369,7724,0.00,2.35,6.35,0.619,6,0.000,0.028,2944,2015,2278,0,0,0,0,0,0
$GC,8051,1.20,202.2,236.2,7.1,386,8074,0.15,2.50,13.15,0.699,4,0.068,0.048,2983,600,2223,0,0,0,0,0,0
$GC,8132,1.12,202.2,228.7,10.4,389,8137,0.15,2.35,0.00,0.000,6,0.115,0.028,2957,2008,2221,0,0,0,0,0,0
$GC,8456,1.19,214.4,203.0,7.2,405,8472,0.00,2.53,11.57,0.659,4,0.000,0.048,2956,598,2175,0,0,0,0,0,0
$GC,8539,1.19,218.2,196.5,7.8,410,8548,0.00,2.38,4.65,0.499,6,0.000,0.027,2957,2021,2159,0,0,0,0,0,0
$GC,8804,1.26,218.2,175.4,8.5,435,8809,0.12,2.47,0.00,0.000,4,0.072,0.048,2990,602,2159,0,0,0,0,0,0
$GC,8914,1.21,218.2,163.8,11.1,446,8918,0.00,2.35,0.00,0.000,6,0.000,0.026,2991,2014,2157,0,0,0,0,0,0
$GC,9179,1.23,235.7,144.0,6.8,470,9204,0.00,2.47,16.95,0.630,4,0.000,0.044,2991,605,2087,0,0,0,0,0,0
$GC,9354,1.23,235.7,129.0,9.1,489,9359,0.00,2.30,0.00,0.000,6,0.000,0.024,2991,2014,2083,0,0,0,0,0,0
$GC,9617,1.28,235.7,107.0,8.1,513,9621,0.00,2.45,0.00,0.000,4,0.000,0.044,2991,602,2083,0,0,0,0,0,0
$GC,9673,1.28,239.0,102.2,7.8,518,9679,0.00,2.33,0.00,0.000,6,0.000,0.023,2991,2019,2082,0,0,0,0,0,0
$GC,9936,1.37,271.6,85.3,5.8,543,9974,0.10,2.50,32.12,0.584,4,0.077,0.044,3022,603,1941,0,0,0,0,0,0
$GC,10087,1.33,271.6,71.4,11.3,559,10091,0.00,2.30,0.00,0.000,6,0.000,0.021,3022,2018,1936,0,0,0,0,0,0
$GC,10349,1.33,271.6,47.1,9.3,583,10353,0.00,2.42,0.00,0.000,4,0.000,0.042,3022,602,1936,0,0,0,0,0,0
$GC,10420,1.29,271.6,39.9,10.3,590,10425,0.15,2.28,0.00,0.000,6,0.100,0.021,2993,2016,1935,0,0,0,0,0,0
$GC,10689,1.40,280.2,18.9,7.4,626,10705,0.12,2.45,8.07,0.459,4,0.067,0.042,3031,599,1907,0,0,0,0,0,0
$GC,10794,1.35,280.2,8.2,9.0,648,10800,0.12,2.30,0.00,0.000,6,0.104,0.020,3007,2022,1905,0,0,0,0,0,0
$STATE,10854,end climb,SURFACE_DEPTH_REACHED
$STATE,10855,begin surface coast
$FINISH,0.5,1.023146
$STATE,10893,end surface coast,CONTROL_FINISHED_OK
$STATE,10894,begin surface
$SM_CCo,10914,15.65,0.491,0,0,1827,300.00
$SM_GC,2.20,0.00,0.00,15.65,0.000,0.000,0.491,426,1858,1827,-10.52,-0.48,300.00
$IRIDIUM_FIX,2057.14,-15723.87,160999,151511
$TT8_MAMPS,0.029146
$HUMID,52.59
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.4,51.716
$10V_AH,10.0,46.878
$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,27.800,129.175,311.400,15.650,0.000,26.345,32.637,239.301,4.500,0.000,39.785,1309.051,7531.855,404.406,1576.684,549.660,33.387,1258.225,0.000,1515.424,0.000,29.243,0.000
$DEVICE_MAMPS,138.060,53.690,872.079,490.880,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,447.059,435.574,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,34936,665
$CAP_FILE_SIZE,130247,0
$CFSIZE,260165632,224423936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220610,211631,2104.844,-15757.537,218,1.3,218,9.8