version: 66.06
glider: 139
mission: 8
dive: 733
start: 10 22 110 6 44 33
data:
$ID,139
$MISSION,8
$DIVE,733
$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,-2166665.8
$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,1500
$C_ROLL_CLIMB,1450
$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
$GPS1,063754,2110.135,-15752.762,27,1.0,44,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-73.6
$GPS2,064413,2110.128,-15752.770,11,1.0,16,9.8
$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,105.3,18803,-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,-116.8,0.0,0.0,0,82,0.00,0.00,-64.60,0.000,2,0.000,0.000,429,1454,2772,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.5,-3.6,12,109,12.60,0.00,-6.43,0.000,6,0.131,0.000,2783,1455,3108,0,0,0,0,0,0
$GC,309,-0.96,-116.8,40.8,-14.1,50,314,0.25,2.42,0.00,0.000,4,0.088,0.020,2838,2923,3111,0,0,0,0,0,0
$GC,329,-0.86,-116.8,43.4,-11.9,51,336,0.08,2.45,0.00,0.000,6,0.071,0.033,2860,1503,3111,0,0,0,0,0,0
$GC,592,-0.86,-116.8,65.0,-7.3,72,596,0.00,2.17,0.00,0.000,4,0.000,0.045,2860,234,3112,0,0,0,0,0,0
$GC,645,-0.86,-116.8,68.8,-6.2,76,649,0.00,2.08,0.00,0.000,6,0.000,0.018,2860,1564,3111,0,0,0,0,0,0
$GC,911,-0.86,-116.8,86.5,-6.5,97,915,0.00,2.28,0.00,0.000,4,0.000,0.044,2860,232,3112,0,0,0,0,0,0
$GC,944,-0.86,-116.8,89.1,-7.0,99,949,0.00,2.08,0.00,0.000,6,0.000,0.018,2860,1567,3112,0,0,0,0,0,0
$GC,1204,-0.90,-116.8,109.2,-9.2,120,1208,0.00,2.30,0.00,0.000,4,0.000,0.044,2860,234,3112,0,0,0,0,0,0
$GC,1298,-0.96,-116.8,118.2,-9.6,127,1302,0.00,2.05,0.00,0.000,6,0.000,0.018,2860,1565,3113,0,0,0,0,0,0
$GC,1565,-1.02,-116.8,139.3,-7.1,148,1570,0.15,2.30,0.00,0.000,4,0.054,0.045,2807,230,3113,0,0,0,0,0,0
$GC,1622,-0.98,-116.8,144.3,-8.5,152,1627,0.12,2.08,0.00,0.000,6,0.090,0.018,2835,1558,3113,0,0,0,0,0,0
$GC,1887,-0.98,-116.8,160.8,-6.6,172,1891,0.00,2.25,0.00,0.000,4,0.000,0.044,2834,234,3113,0,0,0,0,0,0
$GC,1911,-0.98,-116.8,162.9,-7.5,174,1915,0.00,2.08,0.00,0.000,6,0.000,0.019,2834,1565,3113,0,0,0,0,0,0
$GC,2178,-1.01,-116.8,181.4,-7.5,195,2182,0.00,2.28,0.00,0.000,4,0.000,0.045,2835,234,3113,0,0,0,0,0,0
$GC,2204,-1.01,-116.8,183.6,-8.5,197,2208,0.00,2.08,0.00,0.000,6,0.000,0.019,2836,1564,3113,0,0,0,0,0,0
$GC,2482,-1.06,-116.8,204.3,-6.4,217,2486,0.00,2.28,0.00,0.000,4,0.000,0.045,2835,232,3113,0,0,0,0,0,0
$GC,2558,-1.11,-116.8,209.3,-5.9,220,2563,0.12,2.08,0.00,0.000,6,0.061,0.019,2789,1560,3114,0,0,0,0,0,0
$GC,2881,-1.06,-116.8,234.4,-8.5,236,2885,0.12,2.25,0.00,0.000,4,0.091,0.024,2817,2927,3113,0,0,0,0,0,0
$GC,2906,-1.12,-116.8,236.6,-7.7,237,2911,0.00,2.42,0.00,0.000,6,0.000,0.033,2817,1494,3113,0,0,0,0,0,0
$GC,3232,-1.12,-116.8,262.5,-7.9,253,3236,0.00,2.15,0.00,0.000,4,0.000,0.048,2817,237,3113,0,0,0,0,0,0
$GC,3297,-1.12,-116.8,268.2,-8.9,255,3302,0.00,2.08,0.00,0.000,6,0.000,0.021,2817,1555,3112,0,0,0,0,0,0
$GC,3615,-1.16,-116.8,295.1,-9.3,271,3619,0.00,2.28,0.00,0.000,4,0.000,0.048,2817,238,3112,0,0,0,0,0,0
$GC,3652,-1.16,-116.8,298.9,-9.6,272,3659,0.00,2.10,0.00,0.000,6,0.000,0.022,2817,1552,3111,0,0,0,0,0,0
$GC,3966,-1.20,-116.8,320.3,-5.9,281,3968,0.12,0.00,0.00,0.000,6,0.063,0.000,2773,1552,3110,0,0,0,0,0,0
$GC,4289,-1.14,-116.8,350.9,-10.4,289,4294,0.12,2.30,0.00,0.000,4,0.094,0.051,2800,230,3108,0,0,0,0,0,0
$GC,4322,-1.14,-116.8,354.6,-10.9,289,4326,0.00,2.08,0.00,0.000,6,0.000,0.023,2800,1551,3108,0,0,0,0,0,0
$GC,4656,-1.14,-116.8,382.8,-7.9,297,4660,0.00,2.28,0.00,0.000,4,0.000,0.051,2800,238,3106,0,0,0,0,0,0
$GC,4702,-1.14,-116.8,386.7,-8.2,298,4706,0.00,2.10,0.00,0.000,6,0.000,0.024,2800,1551,3106,0,0,0,0,0,0
$GC,5026,-1.14,-116.8,407.5,-6.4,306,5030,0.00,2.28,0.00,0.000,4,0.000,0.053,2801,239,3104,0,0,0,0,0,0
$GC,5093,-1.14,-116.8,412.4,-7.0,307,5097,0.00,2.10,0.00,0.000,6,0.000,0.024,2801,1545,3103,0,0,0,0,0,0
$GC,5438,-1.14,-116.8,434.1,-6.5,316,5442,0.00,2.30,0.00,0.000,4,0.000,0.054,2800,231,3101,0,0,0,0,0,0
$GC,5458,-1.14,-116.8,435.4,-6.6,316,5462,0.00,2.05,0.00,0.000,6,0.000,0.025,2800,1509,3101,0,0,0,0,0,0
$STATE,5683,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5683,begin apogee
$GC,5689,-0.31,0.0,453.3,8.1,322,5789,0.82,0.00,96.45,0.834,6,0.064,0.000,2980,1444,2630,0,0,0,0,0,0
$STATE,5790,end apogee,CONTROL_FINISHED_OK
$STATE,5790,begin climb
$GC,5793,1.18,116.8,456.7,0.0,324,5899,1.42,0.00,102.00,0.817,6,0.034,0.000,3313,1444,2153,0,0,0,0,0,0
$GC,6202,0.95,116.8,437.6,8.2,334,6207,0.25,2.35,0.00,0.000,4,0.094,0.027,3259,2829,2143,0,0,0,0,0,0
$GC,6380,0.91,150.7,425.6,6.4,337,6417,0.00,2.40,29.27,0.785,6,0.000,0.041,3259,1459,2014,0,0,0,0,0,0
$GC,6755,0.87,193.5,401.8,6.0,347,6799,0.00,2.40,38.75,0.788,4,0.000,0.030,3259,2823,1840,0,0,0,0,0,0
$GC,6820,0.85,221.6,397.5,6.6,348,6854,0.12,2.45,26.45,0.765,6,0.102,0.043,3235,1443,1726,0,0,0,0,0,0
$GC,7168,0.86,224.3,370.6,7.8,357,7172,0.00,2.12,0.00,0.000,4,0.000,0.058,3236,234,1718,0,0,0,0,0,0
$GC,7211,0.77,224.3,366.8,8.7,357,7217,0.00,2.00,0.00,0.000,6,0.000,0.028,3236,1447,1716,0,0,0,0,0,0
$GC,7542,0.77,224.3,339.1,8.5,366,7546,0.00,2.33,0.00,0.000,4,0.000,0.029,3236,2844,1715,0,0,0,0,0,0
$GC,7566,0.82,224.3,337.0,8.6,366,7570,0.00,2.45,0.00,0.000,6,0.000,0.043,3236,1449,1715,0,0,0,0,0,0
$GC,7909,0.82,224.3,307.2,8.6,375,7913,0.00,2.12,0.00,0.000,4,0.000,0.058,3236,233,1713,0,0,0,0,0,0
$GC,7952,0.79,224.3,303.1,9.4,376,7955,0.00,1.98,0.00,0.000,6,0.000,0.028,3236,1448,1710,0,0,0,0,0,0
$GC,8291,0.83,260.8,279.9,6.2,391,8334,0.00,2.20,33.00,0.726,4,0.000,0.055,3235,230,1564,0,0,0,0,0,0
$GC,8341,0.83,260.8,276.2,8.0,393,8345,0.00,2.00,0.00,0.000,6,0.000,0.028,3236,1447,1563,0,0,0,0,0,0
$GC,8672,0.91,290.6,253.7,6.5,409,8704,0.00,2.25,26.05,0.694,4,0.000,0.056,3236,233,1444,0,0,0,0,0,0
$GC,8779,0.95,290.6,245.3,8.4,413,8784,0.00,2.00,0.00,0.000,6,0.000,0.027,3236,1468,1440,0,0,0,0,0,0
$GC,9096,1.01,295.0,221.8,7.7,429,9103,0.15,0.00,4.62,0.477,6,0.061,0.000,3280,1469,1427,0,0,0,0,0,0
$GC,9414,1.07,346.5,196.4,5.6,446,9468,0.00,2.28,45.62,0.661,4,0.000,0.054,3280,230,1216,0,0,0,0,0,0
$GC,9507,1.01,346.5,189.7,9.1,452,9513,0.00,2.03,0.00,0.000,6,0.000,0.025,3280,1452,1213,0,0,0,0,0,0
$GC,9767,1.01,346.5,165.9,10.3,473,9771,0.00,2.12,0.00,0.000,4,0.000,0.053,3280,232,1212,0,0,0,0,0,0
$GC,9793,0.95,346.5,163.0,11.0,475,9798,0.12,1.95,0.00,0.000,6,0.098,0.025,3255,1452,1211,0,0,0,0,0,0
$GC,10062,1.01,346.5,139.0,8.0,496,10066,0.00,2.28,0.00,0.000,4,0.000,0.025,3254,2838,1210,0,0,0,0,0,0
$GC,10086,1.13,360.5,136.8,7.3,498,10105,0.17,2.42,12.43,0.558,6,0.052,0.038,3307,1442,1159,0,0,0,0,0,0
$GC,10369,1.08,360.5,108.8,10.3,520,10373,0.10,2.10,0.00,0.000,4,0.106,0.052,3285,232,1157,0,0,0,0,0,0
$GC,10424,1.08,360.5,102.7,10.4,524,10428,0.00,1.98,0.00,0.000,6,0.000,0.023,3286,1462,1155,0,0,0,0,0,0
$GC,10690,1.08,360.5,79.9,8.7,545,10694,0.00,2.17,0.00,0.000,4,0.000,0.051,3285,225,1154,0,0,0,0,0,0
$GC,10742,1.08,360.5,74.5,10.5,549,10745,0.00,1.98,0.00,0.000,6,0.000,0.023,3286,1455,1154,0,0,0,0,0,0
$GC,11014,1.22,391.2,51.6,6.5,570,11046,0.12,2.30,26.33,0.520,4,0.063,0.023,3329,2839,1034,0,0,0,0,0,0
$GC,11075,1.29,391.2,46.8,8.5,574,11080,0.00,2.42,0.00,0.000,6,0.000,0.037,3328,1442,1034,0,0,0,0,0,0
$GC,11340,1.29,391.2,22.7,9.5,606,11347,0.00,2.12,0.00,0.000,4,0.000,0.050,3328,232,1032,0,0,0,0,0,0
$GC,11414,1.22,391.2,15.0,10.7,622,11421,0.00,1.95,0.00,0.000,6,0.000,0.021,3328,1460,1031,0,0,0,0,0,0
$STATE,11538,end climb,SURFACE_DEPTH_REACHED
$STATE,11538,begin surface coast
$FINISH,1.0,1.023396
$STATE,11571,end surface coast,CONTROL_FINISHED_OK
$STATE,11571,begin surface
$SM_CCo,11594,15.90,0.459,0,0,957,410.14
$SM_GC,1.93,0.00,0.00,15.90,0.000,0.000,0.459,427,1460,957,-12.07,-1.13,410.14
$IRIDIUM_FIX,2104.07,-15755.17,160100,030308
$TT8_MAMPS,0.028379
$HUMID,63.78
$INTERNAL_PRESSURE,9.22541
$TCM_TEMP,20.80
$XPDR_PINGS,0
$24V_AH,23.3,69.396
$10V_AH,10.0,56.145
$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,29.525,127.225,440.975,15.900,0.000,30.085,33.993,175.130,4.500,0.000,16.589,1274.532,7717.599,510.372,1914.350,567.226,0.000,1368.574,0.000,1893.722,0.000,29.247,0.000
$DEVICE_MAMPS,131.157,89.739,833.729,458.666,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,442.462,420.939,945.104,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355760
$DATA_FILE_SIZE,38029,657
$CAP_FILE_SIZE,126485,0
$CFSIZE,260165632,172957696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221010,095855,2110.177,-15751.825,13,1.8,13,9.8