version: 66.06
glider: 139
mission: 7
dive: 615
start: 6 27 110 2 12 57
data:
$ID,139
$MISSION,7
$DIVE,615
$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,-2144154.2
$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
$GPS1,020627,2105.721,-15745.265,161,2.2,180,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-70.2
$GPS2,021206,2105.720,-15745.279,17,2.0,27,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,0.004
$KALMAN_X,-358560.5,291.6,-133.2,375082.4,-480.7
$KALMAN_Y,42817.4,323.8,-191.7,-45145.2,17.8
$MHEAD_RNG_PITCHd_Wd,78.9,4083,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,67,0.00,0.00,-49.83,0.000,2,0.000,0.000,425,1901,3125,0,0,0,0,0,0
$GC,70,-1.40,-77.9,3.3,-5.5,10,95,10.57,2.50,-5.03,0.000,4,0.132,0.053,2403,468,3370,0,0,0,0,0,0
$GC,106,-0.58,-77.9,12.9,-25.2,17,112,0.88,2.30,0.00,0.000,6,0.089,0.020,2581,1909,3371,0,0,0,0,0,0
$GC,315,-0.83,-77.9,28.9,-6.2,54,322,0.22,2.47,0.00,0.000,4,0.042,0.041,2511,466,3372,0,0,0,0,0,0
$GC,379,-0.93,-77.9,34.6,-8.9,62,384,0.00,2.25,0.00,0.000,6,0.000,0.019,2511,1888,3372,0,0,0,0,0,0
$GC,641,-1.01,-77.9,56.7,-8.8,87,645,0.00,2.42,0.00,0.000,4,0.000,0.041,2511,468,3372,0,0,0,0,0,0
$GC,698,-1.11,-77.9,62.0,-8.9,92,704,0.17,2.22,0.00,0.000,6,0.050,0.019,2454,1880,3373,0,0,0,0,0,0
$GC,960,-1.11,-77.9,89.9,-9.9,117,964,0.00,2.42,0.00,0.000,4,0.000,0.041,2454,466,3373,0,0,0,0,0,0
$GC,988,-1.08,-77.9,93.2,-11.2,119,994,0.12,2.22,0.00,0.000,6,0.095,0.019,2481,1881,3373,0,0,0,0,0,0
$GC,1250,-1.18,-77.9,117.8,-8.8,144,1252,0.10,0.00,0.00,0.000,6,0.073,0.000,2441,1885,3375,0,0,0,0,0,0
$GC,1505,-1.22,-77.9,141.0,-9.3,168,1509,0.00,2.42,0.00,0.000,4,0.000,0.041,2441,463,3375,0,0,0,0,0,0
$GC,1561,-1.25,-77.9,146.6,-9.9,173,1566,0.00,2.25,0.00,0.000,6,0.000,0.019,2441,1877,3375,0,0,0,0,0,0
$GC,1825,-1.31,-77.9,168.8,-7.6,198,1829,0.00,2.40,0.00,0.000,4,0.000,0.041,2441,466,3376,0,0,0,0,0,0
$GC,1921,-1.31,-77.9,178.0,-10.1,208,1927,0.00,2.25,0.00,0.000,6,0.000,0.019,2441,1880,3376,0,0,0,0,0,0
$GC,2185,-1.37,-77.9,200.5,-8.3,233,2190,0.12,2.42,0.00,0.000,4,0.062,0.042,2396,463,3376,0,0,0,0,0,0
$GC,2233,-1.33,-77.9,205.6,-10.6,235,2238,0.12,2.22,0.00,0.000,6,0.098,0.020,2423,1877,3376,0,0,0,0,0,0
$GC,2561,-1.38,-77.9,230.5,-7.9,251,2565,0.00,2.40,0.00,0.000,4,0.000,0.043,2423,469,3376,0,0,0,0,0,0
$GC,2609,-1.38,-77.9,234.9,-8.7,253,2613,0.00,2.22,0.00,0.000,6,0.000,0.021,2423,1878,3376,0,0,0,0,0,0
$GC,2942,-1.43,-77.9,261.0,-7.3,269,2946,0.00,2.40,0.00,0.000,4,0.000,0.043,2423,463,3376,0,0,0,0,0,0
$GC,3017,-1.47,-77.9,267.1,-7.9,272,3022,0.12,2.25,0.00,0.000,6,0.062,0.021,2381,1880,3376,0,0,0,0,0,0
$GC,3338,-1.47,-77.9,294.3,-9.2,288,3342,0.00,2.42,0.00,0.000,4,0.000,0.044,2381,467,3375,0,0,0,0,0,0
$GC,3361,-1.41,-77.9,296.8,-10.2,289,3366,0.12,2.25,0.00,0.000,6,0.100,0.022,2407,1878,3376,0,0,0,0,0,0
$GC,3682,-1.45,-77.9,325.5,-8.8,298,3686,0.00,2.40,0.00,0.000,4,0.000,0.045,2407,470,3374,0,0,0,0,0,0
$GC,3747,-1.45,-77.9,331.1,-8.4,299,3752,0.00,2.25,0.00,0.000,6,0.000,0.023,2407,1878,3374,0,0,0,0,0,0
$GC,4093,-1.50,-77.9,354.2,-6.9,308,4097,0.00,2.42,0.00,0.000,4,0.000,0.047,2407,462,3372,0,0,0,0,0,0
$GC,4196,-1.50,-77.9,362.2,-7.5,310,4201,0.00,2.28,0.00,0.000,6,0.000,0.025,2407,1872,3372,0,0,0,0,0,0
$GC,4510,-1.56,-77.9,384.1,-6.9,318,4515,0.15,2.45,0.00,0.000,4,0.059,0.049,2360,463,3370,0,0,0,0,0,0
$GC,4572,-1.47,-77.9,389.9,-9.6,319,4577,0.15,2.30,0.00,0.000,6,0.095,0.025,2394,1883,3369,0,0,0,0,0,0
$GC,4923,-1.47,-77.9,418.7,-8.0,328,4927,0.00,2.47,0.00,0.000,4,0.000,0.050,2393,462,3367,0,0,0,0,0,0
$GC,4969,-1.47,-77.9,422.7,-8.6,329,4973,0.00,2.33,0.00,0.000,6,0.000,0.026,2394,1878,3366,0,0,0,0,0,0
$GC,5294,-1.50,-77.9,445.3,-6.4,337,5298,0.00,2.45,0.00,0.000,4,0.000,0.051,2393,471,3364,0,0,0,0,0,0
$GC,5350,-1.50,-77.9,449.3,-7.5,338,5354,0.00,2.28,0.00,0.000,6,0.000,0.027,2393,1873,3364,0,0,0,0,0,0
$STATE,5361,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5362,begin apogee
$GC,5368,-0.31,0.0,450.2,6.8,338,5436,1.15,0.00,64.22,0.869,6,0.073,0.000,2644,2033,3050,0,0,0,0,0,0
$STATE,5437,end apogee,CONTROL_FINISHED_OK
$STATE,5437,begin climb
$GC,5440,1.40,77.9,450.6,0.0,340,5514,1.62,2.42,64.85,0.848,4,0.030,0.038,3024,3391,2732,0,0,0,0,0,0
$GC,5619,1.20,111.6,448.2,5.7,344,5656,0.22,2.38,29.45,0.826,6,0.112,0.033,2984,1999,2593,0,0,0,0,0,0
$GC,5989,1.09,121.7,421.7,7.3,353,6005,0.17,2.45,9.07,0.731,4,0.112,0.049,2953,607,2552,0,0,0,0,0,0
$GC,6011,0.99,121.7,419.7,8.3,353,6016,0.12,2.35,0.00,0.000,6,0.123,0.028,2931,1997,2551,0,0,0,0,0,0
$GC,6357,1.02,141.4,395.9,6.7,362,6381,0.00,2.47,17.75,0.800,4,0.000,0.049,2932,606,2471,0,0,0,0,0,0
$GC,6415,0.95,141.4,391.6,8.3,363,6419,0.00,2.35,0.00,0.000,6,0.000,0.029,2932,2015,2470,0,0,0,0,0,0
$GC,6729,0.98,160.8,369.8,6.7,371,6753,0.00,2.58,17.50,0.790,4,0.000,0.050,2933,606,2393,0,0,0,0,0,0
$GC,6796,0.95,160.8,364.7,8.5,372,6800,0.00,2.38,0.00,0.000,6,0.000,0.029,2932,2014,2390,0,0,0,0,0,0
$GC,7141,0.98,160.8,335.7,8.3,381,7145,0.00,2.47,0.00,0.000,4,0.000,0.051,2933,601,2389,0,0,0,0,0,0
$GC,7159,0.98,160.8,333.9,8.9,381,7163,0.00,2.38,0.00,0.000,6,0.000,0.030,2932,2014,2387,0,0,0,0,0,0
$GC,7506,1.08,211.4,314.5,4.5,390,7558,0.00,2.55,44.85,0.799,4,0.000,0.051,2933,608,2186,0,0,0,0,0,0
$GC,7758,1.08,211.4,294.1,10.7,396,7762,0.00,2.38,0.00,0.000,6,0.000,0.029,2933,2014,2178,0,0,0,0,0,0
$GC,8083,1.15,211.9,266.0,8.0,412,8088,0.15,2.45,0.00,0.000,4,0.070,0.051,2970,608,2178,0,0,0,0,0,0
$GC,8245,1.11,211.9,248.5,10.0,419,8249,0.00,2.38,0.00,0.000,6,0.000,0.029,2970,2022,2174,0,0,0,0,0,0
$GC,8570,1.17,230.0,223.4,6.8,435,8592,0.00,2.55,15.60,0.695,4,0.000,0.049,2970,605,2112,0,0,0,0,0,0
$GC,8660,1.13,230.0,215.8,8.9,438,8665,0.00,2.35,0.00,0.000,6,0.000,0.028,2970,2018,2108,0,0,0,0,0,0
$GC,8982,1.19,234.6,187.0,7.7,461,8992,0.00,2.47,5.22,0.525,4,0.000,0.047,2970,607,2092,0,0,0,0,0,0
$GC,9016,1.19,234.6,183.8,9.0,464,9022,0.00,2.33,0.00,0.000,6,0.000,0.027,2970,2014,2091,0,0,0,0,0,0
$GC,9279,1.27,250.6,164.5,6.9,489,9300,0.00,2.53,15.45,0.640,4,0.000,0.047,2970,602,2027,0,0,0,0,0,0
$GC,9453,1.27,250.6,150.0,9.0,508,9458,0.00,2.35,0.00,0.000,6,0.000,0.025,2970,2014,2023,0,0,0,0,0,0
$GC,9717,1.35,257.0,131.0,7.6,532,9730,0.17,2.50,6.50,0.520,4,0.058,0.046,3017,611,2002,0,0,0,0,0,0
$GC,9807,1.26,257.0,121.0,12.2,541,9813,0.15,2.30,0.00,0.000,6,0.104,0.024,2989,2023,2000,0,0,0,0,0,0
$GC,10071,1.35,283.6,99.8,6.2,566,10101,0.00,2.50,25.08,0.594,4,0.000,0.044,2988,605,1892,0,0,0,0,0,0
$GC,10112,1.40,283.6,96.4,8.2,570,10117,0.12,2.33,0.00,0.000,6,0.067,0.023,3025,2014,1890,0,0,0,0,0,0
$GC,10373,1.40,283.6,73.0,9.2,594,10377,0.00,2.45,0.00,0.000,4,0.000,0.043,3025,603,1889,0,0,0,0,0,0
$GC,10406,1.36,283.6,69.5,10.4,597,10411,0.00,2.30,0.00,0.000,6,0.000,0.022,3025,2012,1887,0,0,0,0,0,0
$GC,10670,1.40,289.0,47.8,7.6,621,10681,0.00,2.50,5.55,0.429,4,0.000,0.043,3025,605,1871,0,0,0,0,0,0
$GC,10834,1.37,289.0,31.6,10.3,638,10839,0.00,2.30,0.00,0.000,6,0.000,0.021,3025,2018,1868,0,0,0,0,0,0
$GC,11108,1.37,289.0,6.1,9.6,685,11113,0.00,2.42,0.00,0.000,4,0.000,0.041,3025,595,1868,0,0,0,0,0,0
$STATE,11140,end climb,SURFACE_DEPTH_REACHED
$STATE,11140,begin surface coast
$FINISH,0.6,1.023177
$STATE,11178,end surface coast,CONTROL_FINISHED_OK
$STATE,11178,begin surface
$SM_CCo,11201,8.43,0.453,0,0,1826,300.00
$SM_GC,2.75,0.00,0.00,8.43,0.000,0.000,0.453,425,1894,1826,-10.53,0.54,300.00
$IRIDIUM_FIX,2059.45,-15745.74,200999,232339
$TT8_MAMPS,0.029913
$HUMID,54.25
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.10
$XPDR_PINGS,0
$24V_AH,23.3,55.056
$10V_AH,10.0,48.796
$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,27.950,142.825,321.100,8.425,0.000,27.059,29.727,149.082,4.500,0.000,27.721,1360.320,7666.243,403.553,1648.470,467.170,33.388,1312.409,0.000,1596.280,0.000,31.454,0.000
$DEVICE_MAMPS,131.924,52.923,869.011,452.530,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,470.596,460.142,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,34893,700
$CAP_FILE_SIZE,133711,0
$CFSIZE,260165632,222457856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270610,052201,2105.890,-15744.317,96,1.7,96,9.8