version: 66.06
glider: 139
mission: 7
dive: 653
start: 7 2 110 3 23 1
data:
$ID,139
$MISSION,7
$DIVE,653
$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,-2145408.5
$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
$GPS1,031514,2107.555,-15757.785,90,9.5,109,9.8
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-70.4
$GPS2,032210,2107.468,-15757.872,35,1.8,35,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.181,-0.030
$KALMAN_X,-342780.4,-185.0,428.2,337457.4,-734.4
$KALMAN_Y,39259.7,14.0,-53.3,-38186.5,180.2
$MHEAD_RNG_PITCHd_Wd,89.5,26020,-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,-77.9,0.0,0.0,0,67,0.00,0.00,-49.62,0.000,2,0.000,0.000,428,1856,3109,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.1,-4.9,10,95,10.57,2.42,-5.38,0.000,4,0.133,0.057,2404,473,3371,0,0,0,0,0,0
$GC,198,-1.20,-77.9,29.4,-14.5,37,204,0.22,2.33,0.00,0.000,6,0.094,0.019,2449,1916,3372,0,0,0,0,0,0
$GC,396,-1.14,-77.9,57.3,-14.0,56,400,0.00,2.50,0.00,0.000,4,0.000,0.041,2449,463,3372,0,0,0,0,0,0
$GC,458,-1.06,-77.9,66.7,-14.9,62,463,0.15,2.28,0.00,0.000,6,0.099,0.019,2479,1882,3372,0,0,0,0,0,0
$GC,723,-1.13,-77.9,93.9,-9.4,86,727,0.00,2.42,0.00,0.000,4,0.000,0.041,2479,467,3374,0,0,0,0,0,0
$GC,789,-1.21,-77.9,100.4,-9.1,92,795,0.12,2.25,0.00,0.000,6,0.063,0.018,2436,1885,3374,0,0,0,0,0,0
$GC,1049,-1.21,-77.9,123.9,-8.2,117,1053,0.00,2.42,0.00,0.000,4,0.000,0.040,2436,466,3375,0,0,0,0,0,0
$GC,1161,-1.21,-77.9,133.9,-9.2,129,1165,0.00,2.25,0.00,0.000,6,0.000,0.018,2436,1881,3375,0,0,0,0,0,0
$GC,1424,-1.24,-77.9,155.6,-8.0,153,1428,0.00,2.42,0.00,0.000,4,0.000,0.040,2436,461,3376,0,0,0,0,0,0
$GC,1447,-1.24,-77.9,157.8,-9.1,155,1452,0.00,2.25,0.00,0.000,6,0.000,0.019,2436,1878,3376,0,0,0,0,0,0
$GC,1711,-1.29,-77.9,178.6,-7.3,179,1715,0.00,2.40,0.00,0.000,4,0.000,0.041,2435,461,3376,0,0,0,0,0,0
$GC,1782,-1.34,-77.9,185.1,-8.4,186,1786,0.00,2.22,0.00,0.000,6,0.000,0.019,2436,1875,3376,0,0,0,0,0,0
$GC,2055,-1.40,-77.9,204.7,-7.1,208,2060,0.12,2.25,0.00,0.000,4,0.062,0.026,2392,3254,3376,0,0,0,0,0,0
$GC,2085,-1.40,-77.9,207.2,-8.7,209,2089,0.00,2.28,0.00,0.000,6,0.000,0.027,2392,1867,3376,0,0,0,0,0,0
$GC,2405,-1.40,-77.9,235.5,-11.1,225,2409,0.00,2.35,0.00,0.000,4,0.000,0.042,2391,472,3376,0,0,0,0,0,0
$GC,2461,-1.37,-77.9,242.5,-12.7,227,2466,0.10,2.22,0.00,0.000,6,0.106,0.020,2413,1881,3376,0,0,0,0,0,0
$GC,2779,-1.43,-77.9,270.4,-7.3,242,2783,0.00,2.42,0.00,0.000,4,0.000,0.042,2412,465,3376,0,0,0,0,0,0
$GC,2807,-1.43,-77.9,273.0,-8.5,243,2811,0.00,2.25,0.00,0.000,6,0.000,0.021,2412,1881,3376,0,0,0,0,0,0
$GC,3129,-1.48,-77.9,294.9,-7.0,259,3133,0.00,2.42,0.00,0.000,4,0.000,0.044,2412,469,3375,0,0,0,0,0,0
$GC,3282,-1.48,-77.9,306.7,-8.5,264,3286,0.00,2.28,0.00,0.000,6,0.000,0.022,2413,1879,3375,0,0,0,0,0,0
$GC,3632,-1.52,-77.9,331.0,-7.0,273,3637,0.15,2.42,0.00,0.000,4,0.058,0.046,2367,469,3373,0,0,0,0,0,0
$GC,3703,-1.41,-77.9,338.0,-10.0,274,3708,0.17,2.28,0.00,0.000,6,0.091,0.023,2404,1870,3373,0,0,0,0,0,0
$GC,4046,-1.45,-77.9,363.4,-7.1,283,4051,0.00,2.42,0.00,0.000,4,0.000,0.047,2404,466,3371,0,0,0,0,0,0
$GC,4102,-1.45,-77.9,368.2,-8.4,284,4107,0.00,2.28,0.00,0.000,6,0.000,0.024,2404,1875,3370,0,0,0,0,0,0
$GC,4416,-1.50,-77.9,393.7,-8.1,292,4420,0.00,2.42,0.00,0.000,4,0.000,0.048,2404,470,3368,0,0,0,0,0,0
$GC,4481,-1.50,-77.9,399.5,-9.0,293,4485,0.00,2.28,0.00,0.000,6,0.000,0.025,2404,1877,3368,0,0,0,0,0,0
$GC,4827,-1.55,-77.9,422.4,-6.2,302,4832,0.12,2.45,0.00,0.000,4,0.066,0.050,2367,476,3366,0,0,0,0,0,0
$GC,4918,-1.49,-77.9,429.6,-8.4,304,4923,0.10,2.28,0.00,0.000,6,0.108,0.026,2388,1874,3365,0,0,0,0,0,0
$STATE,5244,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5244,begin apogee
$GC,5253,-0.31,0.0,450.4,6.8,312,5320,1.20,0.00,64.12,0.866,6,0.071,0.000,2646,2031,3050,0,0,0,0,0,0
$STATE,5321,end apogee,CONTROL_FINISHED_OK
$STATE,5321,begin climb
$GC,5324,1.40,77.9,451.2,0.0,313,5400,1.60,2.40,64.68,0.846,4,0.028,0.037,3023,3382,2731,0,0,0,0,0,0
$GC,5595,1.19,102.1,444.2,6.4,319,5624,0.22,2.33,21.08,0.811,6,0.111,0.033,2973,2013,2633,0,0,0,0,0,0
$GC,5967,1.09,125.6,419.4,6.4,328,5995,0.12,2.38,20.52,0.814,4,0.126,0.036,2961,3380,2536,0,0,0,0,0,0
$GC,6172,1.09,180.2,408.0,4.3,332,6225,0.00,2.35,48.10,0.834,6,0.000,0.035,2962,2002,2315,0,0,0,0,0,0
$GC,6558,1.06,187.5,381.9,7.5,342,6566,0.00,0.00,6.47,0.659,6,0.000,0.000,2963,2002,2285,0,0,0,0,0,0
$GC,6881,1.06,187.5,352.8,8.9,350,6886,0.00,2.45,0.00,0.000,4,0.000,0.053,2960,603,2282,0,0,0,0,0,0
$GC,6994,0.98,187.5,341.3,11.0,352,6999,0.17,2.33,0.00,0.000,6,0.117,0.029,2932,1994,2279,0,0,0,0,0,0
$GC,7341,1.04,187.5,312.7,8.2,361,7345,0.00,2.45,0.00,0.000,4,0.000,0.051,2931,606,2278,0,0,0,0,0,0
$GC,7383,1.04,187.5,309.1,8.8,362,7388,0.00,2.38,0.00,0.000,6,0.000,0.029,2932,2020,2277,0,0,0,0,0,0
$GC,7714,1.12,196.8,285.5,7.4,374,7731,0.12,2.50,8.73,0.682,4,0.076,0.050,2960,607,2246,0,0,0,0,0,0
$GC,7998,1.07,196.8,259.9,10.1,386,8002,0.00,2.35,0.00,0.000,6,0.000,0.028,2962,2021,2242,0,0,0,0,0,0
$GC,8322,1.10,222.4,235.4,6.3,402,8351,0.00,2.53,23.35,0.723,4,0.000,0.049,2961,607,2143,0,0,0,0,0,0
$GC,8443,1.10,223.2,226.4,8.0,407,8447,0.00,2.38,0.00,0.000,6,0.000,0.028,2962,2019,2138,0,0,0,0,0,0
$GC,8769,1.18,238.5,201.4,7.0,423,8788,0.00,0.00,15.30,0.670,6,0.000,0.000,2963,2024,2077,0,0,0,0,0,0
$GC,9107,1.27,256.6,176.5,6.8,453,9134,0.12,2.53,17.15,0.651,4,0.071,0.047,2997,607,2002,0,0,0,0,0,0
$GC,9271,1.23,256.6,160.3,11.2,470,9276,0.00,2.35,0.00,0.000,6,0.000,0.025,2997,2016,1998,0,0,0,0,0,0
$GC,9533,1.23,256.6,133.0,9.4,495,9537,0.00,2.45,0.00,0.000,4,0.000,0.045,2997,601,1997,0,0,0,0,0,0
$GC,9622,1.20,256.6,125.4,8.7,504,9628,0.12,2.33,0.00,0.000,6,0.112,0.025,2975,2020,1997,0,0,0,0,0,0
$GC,9887,1.31,260.6,107.2,7.7,529,9898,0.10,2.50,3.90,0.397,4,0.079,0.046,3005,599,1987,0,0,0,0,0,0
$GC,10163,1.32,272.8,83.7,7.2,558,10181,0.00,2.33,12.32,0.549,6,0.000,0.023,3006,2021,1938,0,0,0,0,0,0
$GC,10437,1.41,284.9,65.1,7.2,584,10456,0.00,2.50,12.43,0.531,4,0.000,0.043,3005,596,1886,0,0,0,0,0,0
$GC,10720,1.41,284.9,40.3,10.4,614,10726,0.00,2.30,0.00,0.000,6,0.000,0.021,3006,2007,1882,0,0,0,0,0,0
$GC,10989,1.48,284.9,12.9,10.9,653,10996,0.12,2.42,0.00,0.000,4,0.064,0.041,3047,601,1882,0,0,0,0,0,0
$STATE,11083,end climb,SURFACE_DEPTH_REACHED
$STATE,11085,begin surface coast
$FINISH,0.7,1.023176
$STATE,11117,end surface coast,CONTROL_FINISHED_OK
$STATE,11117,begin surface
$SM_CCo,11141,12.15,0.480,0,0,1826,300.00
$SM_GC,2.19,0.00,0.00,12.15,0.000,0.000,0.480,423,1897,1826,-10.54,0.65,300.00
$IRIDIUM_FIX,2101.76,-15803.33,260999,000042
$TT8_MAMPS,0.029913
$HUMID,54.68
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,23.3,58.421
$10V_AH,10.0,50.933
$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,27.000,118.225,318.150,12.150,0.000,23.908,29.287,214.203,4.500,0.000,35.711,1338.415,7560.503,391.953,1741.735,533.482,33.384,1308.991,0.000,1677.242,0.000,29.244,0.000
$DEVICE_MAMPS,133.458,56.758,865.943,480.142,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,457.922,441.794,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,34946,680
$CAP_FILE_SIZE,128279,0
$CFSIZE,260165632,220147712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020710,063157,2107.438,-15757.236,124,5.8,143,9.8