version: 66.06
glider: 139
mission: 7
dive: 591
start: 6 23 110 20 45 18
data:
$ID,139
$MISSION,7
$DIVE,591
$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,-2143254.5
$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
$GPS1,203527,2108.046,-15801.477,78,3.1,97,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-59.5
$GPS2,204425,2108.068,-15801.603,42,1.1,42,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.161,-0.090
$KALMAN_X,-341247.6,-483.8,404.9,329808.1,-1309.6
$KALMAN_Y,28804.3,282.9,-131.3,-26812.9,941.4
$MHEAD_RNG_PITCHd_Wd,109.4,32552,-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,-77.9,0.0,0.0,0,118,0.00,0.00,-99.65,0.000,2,0.000,0.000,425,1861,3124,0,0,0,0,0,0
$GC,121,-1.40,-77.9,3.2,-5.3,20,141,10.60,0.00,-4.88,0.000,6,0.133,0.000,2402,1862,3368,0,0,0,0,0,0
$GC,345,-1.20,-77.9,44.3,-16.0,53,350,0.22,2.38,0.00,0.000,4,0.097,0.040,2449,464,3370,0,0,0,0,0,0
$GC,374,-1.04,-77.9,49.0,-15.9,55,380,0.17,2.33,0.00,0.000,6,0.100,0.019,2483,1911,3370,0,0,0,0,0,0
$GC,637,-1.11,-77.9,75.0,-8.9,80,641,0.00,2.47,0.00,0.000,4,0.000,0.041,2483,467,3370,0,0,0,0,0,0
$GC,692,-1.18,-77.9,80.7,-9.4,85,699,0.12,2.25,0.00,0.000,6,0.062,0.019,2438,1881,3371,0,0,0,0,0,0
$GC,955,-1.18,-77.9,108.1,-10.1,110,959,0.00,2.42,0.00,0.000,4,0.000,0.041,2438,466,3371,0,0,0,0,0,0
$GC,1040,-1.14,-77.9,118.4,-11.9,118,1046,0.12,2.25,0.00,0.000,6,0.094,0.019,2465,1876,3372,0,0,0,0,0,0
$GC,1301,-1.24,-77.9,142.8,-9.2,143,1305,0.00,2.42,0.00,0.000,4,0.000,0.041,2464,459,3372,0,0,0,0,0,0
$GC,1366,-1.30,-77.9,149.1,-9.9,149,1372,0.15,2.28,0.00,0.000,6,0.054,0.018,2415,1886,3372,0,0,0,0,0,0
$GC,1627,-1.30,-77.9,172.7,-7.7,174,1628,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1890,3372,0,0,0,0,0,0
$GC,1882,-1.30,-77.9,192.2,-8.1,198,1886,0.00,2.45,0.00,0.000,4,0.000,0.042,2415,458,3372,0,0,0,0,0,0
$GC,1944,-1.30,-77.9,198.0,-9.2,204,1948,0.00,2.28,0.00,0.000,6,0.000,0.020,2414,1880,3372,0,0,0,0,0,0
$GC,2198,-1.30,-77.9,220.6,-8.7,217,2202,0.00,2.42,0.00,0.000,4,0.000,0.042,2415,464,3372,0,0,0,0,0,0
$GC,2231,-1.26,-77.9,223.8,-9.6,218,2235,0.12,2.28,0.00,0.000,6,0.097,0.021,2441,1884,3372,0,0,0,0,0,0
$GC,2554,-1.35,-77.9,247.2,-6.5,234,2558,0.00,2.42,0.00,0.000,4,0.000,0.043,2442,469,3371,0,0,0,0,0,0
$GC,2661,-1.43,-77.9,254.9,-6.4,238,2666,0.17,2.25,0.00,0.000,6,0.050,0.021,2387,1874,3371,0,0,0,0,0,0
$GC,2976,-1.43,-77.9,284.8,-10.2,253,2980,0.00,2.40,0.00,0.000,4,0.000,0.044,2387,467,3370,0,0,0,0,0,0
$GC,3074,-1.38,-77.9,294.7,-10.1,257,3079,0.12,2.28,0.00,0.000,6,0.097,0.021,2413,1878,3369,0,0,0,0,0,0
$GC,3394,-1.44,-77.9,320.1,-7.4,267,3398,0.00,2.42,0.00,0.000,4,0.000,0.045,2413,460,3368,0,0,0,0,0,0
$GC,3477,-1.44,-77.9,327.4,-8.9,268,3481,0.00,2.30,0.00,0.000,6,0.000,0.023,2413,1878,3368,0,0,0,0,0,0
$GC,3808,-1.51,-77.9,357.4,-9.7,276,3813,0.12,2.45,0.00,0.000,4,0.064,0.048,2373,462,3365,0,0,0,0,0,0
$GC,3833,-1.46,-77.9,360.3,-11.6,276,3838,0.10,2.30,0.00,0.000,6,0.109,0.025,2394,1874,3365,0,0,0,0,0,0
$GC,4175,-1.49,-77.9,390.7,-8.2,285,4179,0.00,2.45,0.00,0.000,4,0.000,0.048,2394,465,3363,0,0,0,0,0,0
$GC,4264,-1.49,-77.9,398.9,-10.5,287,4268,0.00,2.30,0.00,0.000,6,0.000,0.025,2394,1870,3362,0,0,0,0,0,0
$GC,4593,-1.53,-77.9,427.4,-8.8,295,4597,0.00,2.47,0.00,0.000,4,0.000,0.051,2394,467,3360,0,0,0,0,0,0
$GC,4649,-1.53,-77.9,433.0,-9.4,296,4653,0.00,2.33,0.00,0.000,6,0.000,0.026,2394,1878,3360,0,0,0,0,0,0
$STATE,4878,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4878,begin apogee
$GC,4884,-0.31,0.0,451.8,8.1,302,4951,1.17,0.00,63.00,0.871,6,0.071,0.000,2647,2031,3050,0,0,0,0,0,0
$STATE,4952,end apogee,CONTROL_FINISHED_OK
$STATE,4952,begin climb
$GC,4955,1.40,77.9,452.6,0.0,303,5030,1.60,2.42,64.75,0.848,4,0.029,0.040,3024,3386,2732,0,0,0,0,0,0
$GC,5293,1.18,97.8,440.0,6.7,310,5318,0.25,2.38,17.40,0.803,6,0.110,0.035,2976,2001,2651,0,0,0,0,0,0
$GC,5646,1.08,118.5,413.9,6.6,319,5672,0.15,2.47,18.27,0.807,4,0.119,0.040,2947,3382,2566,0,0,0,0,0,0
$GC,5746,1.03,118.5,406.9,8.2,321,5750,0.00,2.35,0.00,0.000,6,0.000,0.036,2954,2012,2565,0,0,0,0,0,0
$GC,6065,1.01,136.8,382.9,6.8,329,6088,0.00,2.50,16.35,0.793,4,0.000,0.051,2952,604,2491,0,0,0,0,0,0
$GC,6109,0.92,153.0,379.9,6.9,330,6130,0.20,2.33,15.43,0.778,6,0.114,0.028,2916,1995,2426,0,0,0,0,0,0
$GC,6442,1.00,177.5,358.5,6.3,338,6470,0.00,2.55,22.02,0.798,4,0.000,0.053,2916,605,2325,0,0,0,0,0,0
$GC,6625,1.00,177.5,341.7,9.4,342,6629,0.00,2.38,0.00,0.000,6,0.000,0.030,2916,2012,2320,0,0,0,0,0,0
$GC,6953,1.08,177.5,313.8,8.7,350,6958,0.15,2.50,0.00,0.000,4,0.067,0.051,2951,600,2319,0,0,0,0,0,0
$GC,7029,1.04,177.5,305.7,10.5,351,7033,0.00,2.40,0.00,0.000,6,0.000,0.030,2954,2020,2317,0,0,0,0,0,0
$GC,7348,1.05,185.3,279.1,7.5,365,7361,0.00,2.55,6.72,0.640,4,0.000,0.051,2952,608,2294,0,0,0,0,0,0
$GC,7468,1.02,185.3,268.4,8.1,370,7472,0.00,2.38,0.00,0.000,6,0.000,0.029,2953,2022,2292,0,0,0,0,0,0
$GC,7793,1.08,235.2,250.1,4.6,386,7846,0.00,2.55,44.92,0.750,4,0.000,0.049,2953,600,2090,0,0,0,0,0,0
$GC,7949,1.08,235.2,236.9,10.7,393,7954,0.00,2.40,0.00,0.000,6,0.000,0.028,2953,2021,2083,0,0,0,0,0,0
$GC,8279,1.14,235.2,201.3,9.7,409,8283,0.00,2.47,0.00,0.000,4,0.000,0.049,2953,602,2082,0,0,0,0,0,0
$GC,8432,1.14,235.2,186.1,10.8,425,8437,0.00,2.35,0.00,0.000,6,0.000,0.027,2954,2014,2079,0,0,0,0,0,0
$GC,8695,1.22,235.2,163.5,8.3,449,8700,0.12,2.45,0.00,0.000,4,0.072,0.047,2988,602,2078,0,0,0,0,0,0
$GC,8776,1.18,235.2,154.9,10.8,457,8781,0.00,2.35,0.00,0.000,6,0.000,0.025,2988,2015,2077,0,0,0,0,0,0
$GC,9043,1.22,235.2,130.9,8.8,482,9048,0.00,2.47,0.00,0.000,4,0.000,0.047,2988,598,2077,0,0,0,0,0,0
$GC,9100,1.22,235.2,125.2,9.8,487,9105,0.00,2.35,0.00,0.000,6,0.000,0.025,2988,2020,2077,0,0,0,0,0,0
$GC,9362,1.27,235.2,101.5,9.3,512,9367,0.00,2.45,0.00,0.000,4,0.000,0.045,2987,601,2076,0,0,0,0,0,0
$GC,9507,1.27,235.2,88.5,8.5,527,9511,0.00,2.30,0.00,0.000,6,0.000,0.023,2988,2017,2076,0,0,0,0,0,0
$GC,9769,1.35,244.1,67.7,7.4,551,9782,0.00,2.50,6.90,0.486,4,0.000,0.044,2988,602,2054,0,0,0,0,0,0
$GC,9875,1.35,244.1,58.8,9.3,562,9879,0.00,2.30,0.00,0.000,6,0.000,0.022,2988,2021,2052,0,0,0,0,0,0
$GC,10138,1.49,271.2,42.0,6.2,586,10166,0.22,0.00,24.77,0.541,6,0.047,0.000,3052,2027,1944,0,0,0,0,0,0
$GC,10429,1.48,288.6,16.4,6.8,626,10452,0.00,2.50,15.90,0.502,4,0.000,0.043,3051,600,1872,0,0,0,0,0,0
$STATE,10558,end climb,SURFACE_DEPTH_REACHED
$STATE,10558,begin surface coast
$FINISH,0.6,0.999568
$STATE,10592,end surface coast,CONTROL_FINISHED_OK
$STATE,10592,begin surface
$SM_CCo,10615,7.47,0.437,0,0,1826,300.00
$SM_GC,2.44,0.00,0.00,7.47,0.000,0.000,0.437,427,1869,1826,-10.52,-0.17,300.00
$IRIDIUM_FIX,2101.76,-15801.19,170999,171723
$TT8_MAMPS,0.029146
$HUMID,53.81
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.00
$XPDR_PINGS,1
$24V_AH,23.4,52.632
$10V_AH,10.0,47.379
$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,27.375,119.550,316.450,7.475,0.000,22.542,40.456,327.739,4.750,0.000,43.132,1287.748,7166.945,410.008,1668.111,627.523,33.374,1307.352,0.000,1594.147,0.000,29.254,0.000
$DEVICE_MAMPS,132.691,52.923,870.545,437.190,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,443.839,430.774,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355936
$DATA_FILE_SIZE,34965,661
$CAP_FILE_SIZE,127480,0
$CFSIZE,260165632,223928320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230610,234436,2107.899,-15801.418,97,1.8,97,9.8