version: 66.06
glider: 139
mission: 8
dive: 695
start: 10 17 110 6 34 58
data:
$ID,139
$MISSION,8
$DIVE,695
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,600
$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,190
$T_MISSION,220
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52108
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$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,410
$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,-2165804
$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,3050
$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,1530
$C_ROLL_CLIMB,1500
$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,2630
$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,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.705256
$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
$GPS1,062830,2109.963,-15803.477,40,1.6,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-72.0
$GPS2,063438,2110.007,-15803.512,14,1.6,14,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,92.5,36421,-16.6,-7.895
$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,12,begin dive
$GC,15,-1.18,-116.8,0.0,0.0,0,81,0.00,0.00,-64.32,0.000,2,0.000,0.000,429,1538,2690,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.2,-3.0,12,115,12.65,2.38,-8.27,0.000,4,0.133,0.035,2785,2948,3110,0,0,0,0,0,0
$GC,132,-0.36,-116.8,14.6,-23.4,20,140,0.82,2.45,0.00,0.000,6,0.067,0.034,2973,1534,3111,0,0,0,0,0,0
$GC,336,-0.58,-116.8,26.8,-5.0,66,343,0.22,2.28,0.00,0.000,4,0.041,0.043,2905,229,3111,0,0,0,0,0,0
$GC,377,-0.69,-116.8,30.0,-7.9,74,383,0.00,2.15,0.00,0.000,6,0.000,0.019,2905,1593,3112,0,0,0,0,0,0
$GC,637,-0.77,-116.8,52.8,-8.6,95,641,0.10,2.38,0.00,0.000,4,0.072,0.045,2864,227,3112,0,0,0,0,0,0
$GC,677,-0.77,-116.8,56.7,-10.6,98,681,0.00,2.12,0.00,0.000,6,0.000,0.018,2864,1587,3113,0,0,0,0,0,0
$GC,942,-0.77,-116.8,82.8,-9.5,119,946,0.00,2.33,0.00,0.000,4,0.000,0.044,2864,229,3113,0,0,0,0,0,0
$GC,996,-0.77,-116.8,87.8,-9.9,123,1000,0.00,2.10,0.00,0.000,6,0.000,0.018,2864,1591,3113,0,0,0,0,0,0
$GC,1266,-0.83,-116.8,107.8,-6.2,144,1270,0.00,2.33,0.00,0.000,4,0.000,0.045,2864,232,3114,0,0,0,0,0,0
$GC,1361,-0.91,-116.8,114.9,-7.9,151,1365,0.00,2.10,0.00,0.000,6,0.000,0.018,2864,1595,3114,0,0,0,0,0,0
$GC,1627,-1.00,-116.8,131.5,-5.4,172,1631,0.15,2.35,0.00,0.000,4,0.054,0.046,2811,234,3115,0,0,0,0,0,0
$GC,1650,-0.97,-116.8,133.6,-8.4,173,1656,0.12,2.10,0.00,0.000,6,0.094,0.018,2838,1590,3115,0,0,0,0,0,0
$GC,1914,-1.01,-116.8,154.7,-8.3,194,1918,0.00,2.33,0.00,0.000,4,0.000,0.046,2838,231,3115,0,0,0,0,0,0
$GC,1955,-1.06,-116.8,159.2,-10.2,197,1959,0.00,2.10,0.00,0.000,6,0.000,0.019,2838,1587,3115,0,0,0,0,0,0
$GC,2218,-1.10,-116.8,181.2,-8.7,217,2223,0.12,2.35,0.00,0.000,4,0.061,0.047,2792,227,3115,0,0,0,0,0,0
$GC,2251,-1.00,-116.8,185.4,-12.3,219,2257,0.17,2.15,0.00,0.000,6,0.084,0.019,2830,1587,3115,0,0,0,0,0,0
$GC,2518,-1.04,-116.8,210.3,-9.8,237,2522,0.00,2.33,0.00,0.000,4,0.000,0.047,2830,230,3115,0,0,0,0,0,0
$GC,2556,-1.07,-116.8,215.0,-10.8,238,2562,0.00,2.15,0.00,0.000,6,0.000,0.020,2830,1579,3115,0,0,0,0,0,0
$GC,2874,-1.12,-116.8,243.3,-9.0,254,2879,0.10,2.33,0.00,0.000,4,0.071,0.048,2790,231,3115,0,0,0,0,0,0
$GC,2908,-1.04,-116.8,247.3,-11.7,255,2912,0.15,2.03,0.00,0.000,6,0.087,0.021,2823,1538,3115,0,0,0,0,0,0
$GC,3225,-1.09,-116.8,276.9,-9.9,270,3229,0.00,2.25,0.00,0.000,4,0.000,0.048,2822,232,3115,0,0,0,0,0,0
$GC,3269,-1.13,-116.8,281.6,-10.8,272,3273,0.00,2.03,0.00,0.000,6,0.000,0.021,2823,1530,3115,0,0,0,0,0,0
$GC,3599,-1.18,-116.8,308.9,-7.3,285,3603,0.15,2.28,0.00,0.000,4,0.057,0.050,2773,231,3114,0,0,0,0,0,0
$GC,3648,-1.12,-116.8,313.6,-9.5,286,3652,0.15,2.03,0.00,0.000,6,0.088,0.021,2805,1522,3113,0,0,0,0,0,0
$GC,3972,-1.12,-116.8,340.2,-8.6,294,3976,0.00,2.28,0.00,0.000,4,0.000,0.025,2806,2906,3112,0,0,0,0,0,0
$GC,3996,-1.18,-116.8,342.3,-8.1,294,4001,0.00,2.33,0.00,0.000,6,0.000,0.037,2806,1531,3111,0,0,0,0,0,0
$GC,4341,-1.18,-116.8,365.8,-6.5,303,4345,0.00,2.28,0.00,0.000,4,0.000,0.053,2806,228,3109,0,0,0,0,0,0
$GC,4383,-1.18,-116.8,368.7,-6.5,303,4389,0.00,2.08,0.00,0.000,6,0.000,0.023,2805,1531,3109,0,0,0,0,0,0
$GC,4716,-1.21,-116.8,391.0,-7.1,312,4720,0.00,2.25,0.00,0.000,4,0.000,0.053,2805,235,3107,0,0,0,0,0,0
$GC,4749,-1.21,-116.8,393.7,-8.2,312,4753,0.00,2.05,0.00,0.000,6,0.000,0.024,2806,1536,3107,0,0,0,0,0,0
$GC,5085,-1.21,-116.8,420.4,-7.7,321,5089,0.00,2.25,0.00,0.000,4,0.000,0.028,2806,2906,3105,0,0,0,0,0,0
$GC,5139,-1.32,-116.8,424.8,-8.4,322,5144,0.20,2.38,0.00,0.000,6,0.048,0.039,2747,1521,3104,0,0,0,0,0,0
$STATE,5379,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5379,begin apogee
$GC,5385,-0.31,0.0,452.4,11.7,328,5485,1.10,0.00,96.95,0.826,6,0.070,0.000,2982,1521,2630,0,0,0,0,0,0
$STATE,5486,end apogee,CONTROL_FINISHED_OK
$STATE,5486,begin climb
$GC,5490,1.18,116.8,455.8,0.0,330,5602,1.40,2.38,100.65,0.812,4,0.035,0.028,3310,2880,2152,0,0,0,0,0,0
$GC,5716,1.05,157.0,452.6,6.1,335,5758,0.15,2.42,35.28,0.788,6,0.103,0.041,3281,1500,1990,0,0,0,0,0,0
$GC,6083,0.91,157.0,422.5,8.9,344,6085,0.17,0.00,0.00,0.000,6,0.097,0.000,3246,1500,1982,0,0,0,0,0,0
$GC,6410,0.87,173.9,397.7,7.1,352,6430,0.00,2.40,14.35,0.740,4,0.000,0.029,3246,2872,1921,0,0,0,0,0,0
$GC,6497,0.89,194.8,391.4,6.9,353,6523,0.00,2.42,20.20,0.756,6,0.000,0.044,3246,1495,1835,0,0,0,0,0,0
$GC,6874,0.89,225.4,365.6,6.5,363,6906,0.00,2.30,27.23,0.762,4,0.000,0.059,3246,234,1711,0,0,0,0,0,0
$GC,6974,0.81,225.4,357.6,8.5,365,6978,0.00,2.05,0.00,0.000,6,0.000,0.027,3246,1492,1706,0,0,0,0,0,0
$GC,7293,0.82,233.7,334.7,7.5,373,7303,0.00,0.00,7.88,0.644,6,0.000,0.000,3246,1493,1677,0,0,0,0,0,0
$GC,7617,0.83,244.0,310.7,7.4,381,7633,0.00,2.30,10.30,0.670,4,0.000,0.058,3246,241,1635,0,0,0,0,0,0
$GC,7659,0.76,244.0,306.9,10.1,381,7665,0.15,2.08,0.00,0.000,6,0.101,0.028,3217,1500,1633,0,0,0,0,0,0
$GC,7976,0.88,282.1,284.6,6.2,395,8020,0.10,2.33,33.92,0.725,4,0.080,0.058,3247,242,1479,0,0,0,0,0,0
$GC,8071,0.83,282.1,277.2,9.0,399,8075,0.00,2.08,0.00,0.000,6,0.000,0.027,3247,1500,1476,0,0,0,0,0,0
$GC,8401,0.84,288.2,250.7,7.6,415,8413,0.00,2.38,5.93,0.551,4,0.000,0.028,3247,2886,1455,0,0,0,0,0,0
$GC,8433,0.92,288.2,247.9,8.2,416,8437,0.00,2.42,0.00,0.000,6,0.000,0.042,3247,1496,1454,0,0,0,0,0,0
$GC,8755,0.96,288.2,219.1,9.2,432,8759,0.00,2.22,0.00,0.000,4,0.000,0.056,3247,233,1454,0,0,0,0,0,0
$GC,8826,0.96,288.2,212.0,10.1,435,8830,0.00,2.05,0.00,0.000,6,0.000,0.026,3247,1503,1451,0,0,0,0,0,0
$GC,9150,1.02,288.2,185.0,8.0,456,9152,0.10,0.00,0.00,0.000,6,0.076,0.000,3280,1505,1451,0,0,0,0,0,0
$GC,9398,1.02,288.2,163.3,8.6,476,9399,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1505,1451,0,0,0,0,0,0
$GC,9652,1.03,295.5,144.2,7.6,496,9668,0.00,2.35,7.35,0.516,4,0.000,0.025,3280,2890,1425,0,0,0,0,0,0
$GC,9678,1.06,295.5,141.8,8.4,497,9684,0.00,2.42,0.00,0.000,6,0.000,0.040,3280,1498,1425,0,0,0,0,0,0
$GC,9937,1.07,302.2,122.7,7.6,518,9952,0.00,2.25,7.47,0.502,4,0.000,0.051,3279,236,1396,0,0,0,0,0,0
$GC,9993,1.01,302.2,117.9,9.4,521,9998,0.00,2.03,0.00,0.000,6,0.000,0.022,3280,1518,1395,0,0,0,0,0,0
$GC,10251,1.01,302.2,97.4,8.1,542,10252,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1519,1395,0,0,0,0,0,0
$GC,10507,1.12,338.5,79.0,6.3,562,10548,0.00,2.28,31.67,0.547,4,0.000,0.049,3280,233,1248,0,0,0,0,0,0
$GC,10632,1.19,338.5,68.8,8.8,571,10637,0.12,2.00,0.00,0.000,6,0.062,0.021,3321,1505,1245,0,0,0,0,0,0
$GC,10900,1.19,338.5,47.2,8.3,592,10904,0.00,2.20,0.00,0.000,4,0.000,0.048,3321,232,1244,0,0,0,0,0,0
$GC,10919,1.16,338.5,45.0,9.3,593,10925,0.00,2.03,0.00,0.000,6,0.000,0.021,3321,1493,1244,0,0,0,0,0,0
$GC,11184,1.16,345.6,25.4,7.6,622,11196,0.00,0.00,6.85,0.413,6,0.000,0.000,3322,1494,1220,0,0,0,0,0,0
$GC,11394,1.17,350.8,9.2,7.7,669,11407,0.00,2.20,6.22,0.390,4,0.000,0.047,3321,232,1198,0,0,0,0,0,0
$GC,11418,1.17,350.8,6.8,8.9,673,11425,0.00,2.03,0.00,0.000,6,0.000,0.021,3322,1506,1196,0,0,0,0,0,0
$STATE,11455,end climb,SURFACE_DEPTH_REACHED
$STATE,11455,begin surface coast
$FINISH,0.9,1.002548
$STATE,11487,end surface coast,CONTROL_FINISHED_OK
$STATE,11487,begin surface
$SM_CCo,11511,42.30,0.475,0,0,957,410.14
$SM_GC,1.60,0.00,0.00,42.30,0.000,0.000,0.475,425,1506,957,-12.07,-0.68,410.14
$IRIDIUM_FIX,2059.45,-15803.33,110100,030327
$TT8_MAMPS,0.028379
$HUMID,60.35
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.3,65.276
$10V_AH,10.0,52.945
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$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,30.900,124.850,412.250,42.300,0.000,31.080,35.414,166.864,4.500,0.000,14.727,1313.304,7551.771,499.114,1994.803,559.060,0.000,1396.120,0.000,1975.487,0.000,29.250,0.000
$DEVICE_MAMPS,132.691,59.059,826.059,474.773,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,462.206,444.719,1037.586,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355744
$DATA_FILE_SIZE,38023,688
$CAP_FILE_SIZE,128452,0
$CFSIZE,260165632,175259648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171010,094836,2110.315,-15803.753,10,1.9,26,9.8