version: 66.06
glider: 139
mission: 8
dive: 705
start: 10 18 110 15 1 3
data:
$ID,139
$MISSION,8
$DIVE,705
$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,-2165987
$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
$GPS1,145437,2111.661,-15802.528,26,1.9,26,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-73.9
$GPS2,150044,2111.634,-15802.574,15,1.9,15,9.8
$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,97.8,35633,-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,13,begin dive
$GC,16,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.20,0.000,2,0.000,0.000,427,1532,2748,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.5,-3.6,12,110,12.65,2.42,-6.75,0.000,4,0.132,0.035,2787,2953,3110,0,0,0,0,0,0
$GC,132,-0.34,-116.8,16.2,-26.6,20,140,0.82,2.47,0.00,0.000,6,0.069,0.035,2974,1533,3111,0,0,0,0,0,0
$GC,336,-0.57,-116.8,31.8,-6.5,62,341,0.22,2.25,0.00,0.000,4,0.041,0.044,2905,228,3113,0,0,0,0,0,0
$GC,363,-0.66,-116.8,34.3,-9.2,64,367,0.00,2.15,0.00,0.000,6,0.000,0.018,2906,1598,3112,0,0,0,0,0,0
$GC,628,-0.74,-116.8,57.1,-8.2,85,632,0.00,2.38,0.00,0.000,4,0.000,0.044,2905,229,3114,0,0,0,0,0,0
$GC,675,-0.85,-116.8,61.3,-9.9,88,680,0.20,2.12,0.00,0.000,6,0.045,0.018,2842,1591,3114,0,0,0,0,0,0
$GC,934,-0.85,-116.8,88.8,-10.6,108,938,0.10,2.35,0.00,0.000,4,0.098,0.045,2865,231,3115,0,0,0,0,0,0
$GC,977,-0.88,-116.8,93.1,-9.9,111,981,0.00,2.12,0.00,0.000,6,0.000,0.018,2865,1602,3115,0,0,0,0,0,0
$GC,1242,-0.97,-116.8,114.8,-7.1,132,1247,0.12,2.38,0.00,0.000,4,0.061,0.045,2818,233,3116,0,0,0,0,0,0
$GC,1310,-0.97,-116.8,120.5,-8.2,137,1314,0.00,2.12,0.00,0.000,6,0.000,0.018,2818,1587,3116,0,0,0,0,0,0
$GC,1573,-0.97,-116.8,137.5,-7.2,158,1577,0.00,2.33,0.00,0.000,4,0.000,0.045,2818,228,3116,0,0,0,0,0,0
$GC,1618,-0.97,-116.8,141.4,-8.8,161,1623,0.00,2.15,0.00,0.000,6,0.000,0.018,2818,1599,3117,0,0,0,0,0,0
$GC,1879,-0.97,-116.8,163.9,-8.8,182,1883,0.00,2.35,0.00,0.000,4,0.000,0.046,2818,229,3117,0,0,0,0,0,0
$GC,1939,-0.97,-116.8,169.4,-8.2,186,1945,0.00,2.15,0.00,0.000,6,0.000,0.019,2818,1588,3117,0,0,0,0,0,0
$GC,2200,-0.97,-116.8,188.2,-7.5,207,2204,0.00,2.22,0.00,0.000,4,0.000,0.023,2818,2950,3117,0,0,0,0,0,0
$GC,2226,-1.01,-116.8,190.6,-9.2,209,2230,0.00,2.40,0.00,0.000,6,0.000,0.033,2818,1519,3117,0,0,0,0,0,0
$GC,2484,-1.01,-116.8,212.6,-8.3,225,2488,0.00,2.17,0.00,0.000,4,0.000,0.047,2818,235,3117,0,0,0,0,0,0
$GC,2521,-1.01,-116.8,216.3,-9.3,226,2528,0.00,2.15,0.00,0.000,6,0.000,0.020,2818,1594,3117,0,0,0,0,0,0
$GC,2837,-1.01,-116.8,242.2,-7.7,242,2841,0.00,2.33,0.00,0.000,4,0.000,0.048,2818,237,3117,0,0,0,0,0,0
$GC,2905,-1.01,-116.8,247.5,-7.9,245,2909,0.00,2.10,0.00,0.000,6,0.000,0.021,2818,1580,3117,0,0,0,0,0,0
$GC,3237,-1.06,-116.8,272.9,-8.1,261,3242,0.00,2.33,0.00,0.000,4,0.000,0.049,2818,231,3116,0,0,0,0,0,0
$GC,3261,-1.06,-116.8,275.0,-8.1,262,3265,0.00,2.03,0.00,0.000,6,0.000,0.021,2818,1532,3116,0,0,0,0,0,0
$GC,3587,-1.10,-116.8,298.5,-8.4,278,3591,0.00,2.22,0.00,0.000,4,0.000,0.050,2818,239,3115,0,0,0,0,0,0
$GC,3623,-1.16,-116.8,302.2,-9.9,279,3629,0.00,2.05,0.00,0.000,6,0.000,0.022,2818,1538,3115,0,0,0,0,0,0
$GC,3956,-1.21,-116.8,330.3,-8.7,288,3961,0.15,2.28,0.00,0.000,4,0.056,0.051,2770,239,3113,0,0,0,0,0,0
$GC,4017,-1.13,-116.8,337.2,-11.2,289,4022,0.15,2.03,0.00,0.000,6,0.088,0.023,2802,1529,3113,0,0,0,0,0,0
$GC,4333,-1.13,-116.8,365.2,-8.8,297,4337,0.00,2.28,0.00,0.000,4,0.000,0.027,2802,2909,3111,0,0,0,0,0,0
$GC,4356,-1.20,-116.8,367.4,-8.7,297,4360,0.00,2.33,0.00,0.000,6,0.000,0.037,2802,1534,3111,0,0,0,0,0,0
$GC,4696,-1.20,-116.8,397.9,-9.8,306,4700,0.00,2.25,0.00,0.000,4,0.000,0.054,2802,228,3109,0,0,0,0,0,0
$GC,4730,-1.20,-116.8,400.7,-8.1,306,4734,0.00,2.08,0.00,0.000,6,0.000,0.024,2802,1536,3108,0,0,0,0,0,0
$GC,5062,-1.20,-116.8,421.4,-6.4,314,5066,0.00,2.25,0.00,0.000,4,0.000,0.028,2802,2906,3106,0,0,0,0,0,0
$GC,5100,-1.30,-116.8,424.0,-6.6,314,5106,0.15,2.35,0.00,0.000,6,0.057,0.040,2755,1531,3106,0,0,0,0,0,0
$STATE,5428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5428,begin apogee
$GC,5436,-0.31,0.0,451.6,8.4,323,5537,1.05,0.00,97.72,0.837,6,0.072,0.000,2979,1485,2629,0,0,0,0,0,0
$STATE,5538,end apogee,CONTROL_FINISHED_OK
$STATE,5538,begin climb
$GC,5541,1.18,116.8,454.5,0.0,325,5654,1.42,2.22,102.65,0.818,4,0.035,0.054,3312,248,2153,0,0,0,0,0,0
$GC,5714,0.90,162.2,449.2,5.8,329,5762,0.32,2.05,40.50,0.797,6,0.097,0.026,3248,1512,1967,0,0,0,0,0,0
$GC,6086,0.82,165.3,421.6,7.8,338,6090,0.00,2.30,0.00,0.000,4,0.000,0.029,3248,2884,1958,0,0,0,0,0,0
$GC,6156,0.81,183.4,416.6,7.1,339,6182,0.12,2.40,18.70,0.763,6,0.104,0.042,3224,1506,1881,0,0,0,0,0,0
$GC,6505,0.81,183.4,390.5,8.0,348,6509,0.00,2.33,0.00,0.000,4,0.000,0.030,3223,2876,1875,0,0,0,0,0,0
$GC,6533,0.86,198.3,388.4,7.2,348,6554,0.00,2.40,14.07,0.741,6,0.000,0.044,3223,1500,1820,0,0,0,0,0,0
$GC,6880,0.90,231.4,366.4,6.4,357,6917,0.10,2.35,30.30,0.779,4,0.080,0.061,3254,233,1685,0,0,0,0,0,0
$GC,6943,0.77,231.4,361.2,9.5,358,6948,0.17,2.08,0.00,0.000,6,0.100,0.028,3220,1494,1682,0,0,0,0,0,0
$GC,7295,0.88,280.4,339.6,5.7,367,7344,0.00,2.33,43.22,0.773,4,0.000,0.060,3220,230,1486,0,0,0,0,0,0
$GC,7375,0.88,280.4,333.7,8.8,368,7379,0.00,2.10,0.00,0.000,6,0.000,0.029,3220,1502,1482,0,0,0,0,0,0
$GC,7708,0.98,308.1,310.6,6.6,376,7741,0.20,2.30,24.58,0.734,4,0.053,0.059,3274,234,1374,0,0,0,0,0,0
$GC,7810,0.88,308.1,300.1,11.3,378,7815,0.15,2.10,0.00,0.000,6,0.100,0.028,3244,1502,1370,0,0,0,0,0,0
$GC,8133,0.88,308.1,271.5,8.6,393,8137,0.00,2.25,0.00,0.000,4,0.000,0.058,3244,233,1367,0,0,0,0,0,0
$GC,8235,0.88,308.1,260.1,11.3,397,8239,0.00,2.05,0.00,0.000,6,0.000,0.028,3244,1502,1365,0,0,0,0,0,0
$GC,8552,0.96,328.9,234.6,7.0,412,8576,0.00,2.30,18.20,0.666,4,0.000,0.055,3244,231,1288,0,0,0,0,0,0
$GC,8627,0.96,328.9,228.0,9.2,415,8631,0.00,2.08,0.00,0.000,6,0.000,0.027,3244,1511,1284,0,0,0,0,0,0
$GC,8954,1.01,328.9,200.3,8.6,431,8959,0.12,2.30,0.00,0.000,4,0.067,0.055,3282,227,1284,0,0,0,0,0,0
$GC,8975,0.96,328.9,197.9,10.1,432,8982,0.08,2.10,0.00,0.000,6,0.081,0.026,3262,1506,1283,0,0,0,0,0,0
$GC,9235,0.96,328.9,173.0,8.9,453,9236,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,1506,1283,0,0,0,0,0,0
$GC,9489,0.96,328.9,151.2,8.2,473,9493,0.00,2.25,0.00,0.000,4,0.000,0.053,3262,228,1283,0,0,0,0,0,0
$GC,9543,0.96,328.9,146.4,8.3,477,9547,0.00,2.05,0.00,0.000,6,0.000,0.024,3263,1516,1281,0,0,0,0,0,0
$GC,9807,1.05,369.1,131.4,6.1,497,9846,0.00,0.00,34.92,0.593,6,0.000,0.000,3262,1521,1124,0,0,0,0,0,0
$GC,10100,1.11,369.1,105.6,9.7,520,10104,0.12,2.28,0.00,0.000,4,0.064,0.051,3302,232,1122,0,0,0,0,0,0
$GC,10186,1.01,369.1,94.2,14.2,526,10191,0.15,2.03,0.00,0.000,6,0.090,0.021,3271,1512,1118,0,0,0,0,0,0
$GC,10450,1.12,390.0,73.6,6.9,546,10474,0.10,2.30,18.38,0.522,4,0.074,0.051,3306,225,1039,0,0,0,0,0,0
$GC,10498,1.08,390.0,69.5,9.5,550,10502,0.00,2.03,0.00,0.000,6,0.000,0.021,3306,1505,1038,0,0,0,0,0,0
$GC,10765,1.14,404.2,46.5,7.3,571,10782,0.00,2.28,13.02,0.478,4,0.000,0.050,3306,231,980,0,0,0,0,0,0
$GC,10829,1.15,412.2,41.5,7.5,575,10844,0.00,2.05,8.10,0.440,6,0.000,0.021,3306,1508,947,0,0,0,0,0,0
$GC,11105,1.20,412.2,20.0,8.6,614,11111,0.00,2.25,0.00,0.000,4,0.000,0.048,3306,230,946,0,0,0,0,0,0
$GC,11149,1.20,412.2,15.5,10.3,623,11155,0.00,2.03,0.00,0.000,6,0.000,0.021,3306,1510,945,0,0,0,0,0,0
$STATE,11289,end climb,SURFACE_DEPTH_REACHED
$STATE,11289,begin surface coast
$FINISH,0.8,1.010905
$STATE,11322,end surface coast,CONTROL_FINISHED_OK
$STATE,11322,begin surface
$SM_CCo,11405,0.00,0.000,0,0,943,413.82
$SM_GC,1.77,12.40,0.00,0.00,0.025,0.000,0.000,426,1510,943,-12.00,-0.57,413.82
$IRIDIUM_FIX,2104.07,-15825.22,120100,111131
$TT8_MAMPS,0.028379
$HUMID,61.34
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,21.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,441.3,66.6
$24V_AH,23.3,66.375
$10V_AH,10.0,53.801
$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,31.100,133.175,464.375,0.000,0.000,23.059,38.466,169.544,5.000,0.000,15.332,1292.161,7448.167,488.360,1984.562,549.994,0.000,1388.248,0.000,1959.657,0.000,32.280,0.000
$DEVICE_MAMPS,131.924,152.633,836.797,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,445.653,425.304,984.469,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,38162,662
$CAP_FILE_SIZE,129400,0
$CFSIZE,260165632,174641152
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,181010,181224,2111.555,-15801.664,41,0.9,41,9.8