version: 66.06
glider: 139
mission: 8
dive: 747
start: 10 24 110 4 37 34
data:
$ID,139
$MISSION,8
$DIVE,747
$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,-2167065.8
$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
$GPS1,043030,2108.598,-15749.761,40,2.0,40,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-73.0
$GPS2,043716,2108.612,-15749.898,9,2.1,28,9.8
$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,103.5,13126,-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,-116.8,0.0,0.0,0,87,0.00,0.00,-69.65,0.000,2,0.000,0.000,424,1458,2805,0,0,0,0,0,0
$GC,91,-1.18,-116.8,3.7,-4.0,13,115,12.65,2.10,-5.68,0.000,4,0.132,0.053,2785,232,3109,0,0,0,0,0,0
$GC,150,-0.85,-116.8,17.7,-18.0,24,157,0.32,2.10,0.00,0.000,6,0.074,0.019,2866,1550,3110,0,0,0,0,0,0
$GC,351,-0.85,-116.8,38.0,-10.2,58,355,0.00,2.28,0.00,0.000,4,0.000,0.045,2866,229,3111,0,0,0,0,0,0
$GC,384,-0.81,-116.8,41.6,-10.5,60,388,0.00,2.00,0.00,0.000,6,0.000,0.019,2866,1499,3111,0,0,0,0,0,0
$GC,649,-0.81,-116.8,66.4,-9.5,81,653,0.00,2.20,0.00,0.000,4,0.000,0.044,2866,234,3111,0,0,0,0,0,0
$GC,681,-0.77,-116.8,69.5,-11.2,83,685,0.00,2.00,0.00,0.000,6,0.000,0.020,2865,1504,3111,0,0,0,0,0,0
$GC,948,-0.77,-116.8,96.0,-8.0,104,952,0.00,2.22,0.00,0.000,4,0.000,0.021,2866,2885,3112,0,0,0,0,0,0
$GC,981,-0.87,-116.8,98.2,-6.5,106,987,0.00,2.35,0.00,0.000,6,0.000,0.030,2865,1500,3112,0,0,0,0,0,0
$GC,1245,-0.92,-116.8,110.7,-4.9,127,1248,0.00,2.15,0.00,0.000,4,0.000,0.044,2866,237,3113,0,0,0,0,0,0
$GC,1314,-0.97,-116.8,115.7,-7.4,132,1319,0.12,1.98,0.00,0.000,6,0.061,0.018,2819,1521,3113,0,0,0,0,0,0
$GC,1573,-0.94,-116.8,142.7,-10.9,152,1577,0.12,2.20,0.00,0.000,4,0.090,0.044,2847,235,3113,0,0,0,0,0,0
$GC,1615,-0.98,-116.8,147.5,-10.9,155,1619,0.00,1.92,0.00,0.000,6,0.000,0.018,2847,1497,3113,0,0,0,0,0,0
$GC,1882,-1.04,-116.8,168.8,-6.2,176,1886,0.10,2.20,0.00,0.000,4,0.071,0.021,2807,2870,3113,0,0,0,0,0,0
$GC,1902,-1.07,-116.8,170.2,-6.0,177,1907,0.00,2.30,0.00,0.000,6,0.000,0.031,2807,1490,3113,0,0,0,0,0,0
$GC,2164,-1.04,-116.8,190.2,-7.2,198,2168,0.00,2.10,0.00,0.000,4,0.000,0.045,2807,236,3113,0,0,0,0,0,0
$GC,2231,-1.01,-116.8,195.7,-8.1,203,2235,0.08,1.98,0.00,0.000,6,0.068,0.019,2829,1498,3114,0,0,0,0,0,0
$GC,2507,-1.04,-116.8,215.4,-8.2,218,2508,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1502,3114,0,0,0,0,0,0
$GC,2815,-1.08,-116.8,239.5,-7.3,233,2819,0.00,2.15,0.00,0.000,4,0.000,0.046,2829,235,3114,0,0,0,0,0,0
$GC,2882,-1.08,-116.8,244.2,-6.1,235,2887,0.00,1.98,0.00,0.000,6,0.000,0.020,2829,1505,3114,0,0,0,0,0,0
$GC,3200,-1.13,-116.8,260.5,-4.6,251,3205,0.12,2.22,0.00,0.000,4,0.062,0.024,2784,2871,3113,0,0,0,0,0,0
$GC,3215,-1.13,-116.8,261.5,-4.9,251,3219,0.00,2.33,0.00,0.000,6,0.000,0.034,2783,1500,3113,0,0,0,0,0,0
$GC,3532,-1.09,-116.8,284.0,-8.2,266,3534,0.12,0.00,0.00,0.000,6,0.094,0.000,2811,1499,3112,0,0,0,0,0,0
$GC,3858,-1.09,-116.8,311.5,-8.5,279,3862,0.00,2.15,0.00,0.000,4,0.000,0.049,2811,238,3111,0,0,0,0,0,0
$GC,3915,-1.09,-116.8,316.9,-10.0,280,3919,0.00,2.00,0.00,0.000,6,0.000,0.022,2810,1490,3111,0,0,0,0,0,0
$GC,4235,-1.12,-116.8,341.8,-7.3,288,4239,0.00,2.25,0.00,0.000,4,0.000,0.025,2810,2876,3109,0,0,0,0,0,0
$GC,4259,-1.20,-116.8,343.5,-6.7,288,4263,0.00,2.35,0.00,0.000,6,0.000,0.035,2811,1496,3109,0,0,0,0,0,0
$GC,4601,-1.24,-116.8,365.5,-6.3,297,4606,0.15,2.17,0.00,0.000,4,0.057,0.051,2762,237,3106,0,0,0,0,0,0
$GC,4635,-1.14,-116.8,368.4,-8.4,297,4640,0.17,2.03,0.00,0.000,6,0.086,0.023,2799,1506,3106,0,0,0,0,0,0
$GC,4969,-1.14,-116.8,392.6,-7.5,305,4973,0.00,2.28,0.00,0.000,4,0.000,0.026,2799,2885,3104,0,0,0,0,0,0
$GC,5013,-1.24,-116.8,395.9,-7.3,306,5017,0.00,2.35,0.00,0.000,6,0.000,0.038,2799,1504,3104,0,0,0,0,0,0
$GC,5341,-1.24,-116.8,419.4,-6.7,314,5345,0.00,2.22,0.00,0.000,4,0.000,0.054,2799,227,3102,0,0,0,0,0,0
$GC,5398,-1.24,-116.8,423.4,-7.0,315,5402,0.00,2.05,0.00,0.000,6,0.000,0.025,2799,1497,3102,0,0,0,0,0,0
$GC,5716,-1.24,-116.8,445.8,-7.2,323,5717,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1508,3099,0,0,0,0,0,0
$STATE,5795,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5795,begin apogee
$GC,5803,-0.31,0.0,452.0,7.4,325,5902,0.85,0.00,96.22,0.837,6,0.064,0.000,2984,1440,2630,0,0,0,0,0,0
$STATE,5903,end apogee,CONTROL_FINISHED_OK
$STATE,5903,begin climb
$GC,5906,1.18,116.8,454.7,0.0,327,6017,1.40,2.45,101.40,0.820,4,0.035,0.029,3311,2866,2153,0,0,0,0,0,0
$GC,6062,1.04,164.6,454.6,5.7,330,6111,0.17,2.47,42.70,0.797,6,0.101,0.041,3277,1450,1958,0,0,0,0,0,0
$GC,6448,0.90,166.5,424.4,7.8,340,6450,0.15,0.00,0.00,0.000,6,0.104,0.000,3248,1450,1948,0,0,0,0,0,0
$GC,6774,0.87,193.9,402.4,6.7,348,6806,0.00,2.38,25.08,0.778,4,0.000,0.028,3248,2835,1838,0,0,0,0,0,0
$GC,6826,0.89,208.8,398.5,7.2,349,6846,0.00,2.45,15.02,0.740,6,0.000,0.043,3248,1451,1777,0,0,0,0,0,0
$GC,7191,0.91,266.8,377.1,5.3,358,7247,0.00,2.42,50.95,0.788,4,0.000,0.028,3248,2834,1542,0,0,0,0,0,0
$GC,7271,1.00,315.6,372.2,5.7,359,7320,0.00,2.45,43.50,0.772,6,0.000,0.043,3248,1452,1343,0,0,0,0,0,0
$GC,7648,1.00,315.6,337.3,10.9,369,7652,0.00,2.17,0.00,0.000,4,0.000,0.058,3248,232,1335,0,0,0,0,0,0
$GC,7753,0.95,315.6,324.6,12.0,371,7757,0.00,1.98,0.00,0.000,6,0.000,0.028,3248,1447,1331,0,0,0,0,0,0
$GC,8071,0.95,315.6,295.1,8.5,380,8075,0.00,2.17,0.00,0.000,4,0.000,0.058,3248,229,1331,0,0,0,0,0,0
$GC,8126,0.95,315.6,289.5,10.8,382,8130,0.00,2.00,0.00,0.000,6,0.000,0.028,3247,1455,1329,0,0,0,0,0,0
$GC,8447,0.95,318.9,263.4,7.7,398,8451,0.00,2.15,0.00,0.000,4,0.000,0.056,3248,232,1329,0,0,0,0,0,0
$GC,8507,0.95,318.9,257.4,9.3,400,8514,0.00,2.00,0.00,0.000,6,0.000,0.028,3248,1447,1327,0,0,0,0,0,0
$GC,8824,1.00,318.9,232.7,8.3,416,8828,0.00,2.12,0.00,0.000,4,0.000,0.055,3248,232,1327,0,0,0,0,0,0
$GC,8856,1.00,318.9,229.2,10.5,417,8860,0.00,1.98,0.00,0.000,6,0.000,0.027,3248,1455,1326,0,0,0,0,0,0
$GC,9177,1.09,344.1,204.4,6.8,433,9206,0.17,2.25,23.02,0.651,4,0.055,0.054,3298,231,1227,0,0,0,0,0,0
$GC,9225,0.99,344.1,200.0,10.9,435,9230,0.15,2.00,0.00,0.000,6,0.095,0.026,3268,1455,1224,0,0,0,0,0,0
$GC,9548,0.99,344.1,169.6,9.3,460,9552,0.00,2.30,0.00,0.000,4,0.000,0.026,3268,2837,1222,0,0,0,0,0,0
$GC,9568,1.05,344.1,167.7,10.1,461,9574,0.00,2.42,0.00,0.000,6,0.000,0.040,3268,1447,1222,0,0,0,0,0,0
$GC,9827,1.09,344.1,144.1,8.5,482,9831,0.00,2.12,0.00,0.000,4,0.000,0.052,3268,230,1222,0,0,0,0,0,0
$GC,9901,1.09,344.1,136.6,10.0,487,9906,0.00,1.95,0.00,0.000,6,0.000,0.024,3268,1467,1220,0,0,0,0,0,0
$GC,10160,1.13,344.1,113.1,9.6,508,10164,0.12,2.25,0.00,0.000,4,0.064,0.024,3308,2835,1220,0,0,0,0,0,0
$GC,10213,1.18,344.1,107.4,10.9,512,10217,0.00,2.40,0.00,0.000,6,0.000,0.037,3308,1442,1220,0,0,0,0,0,0
$GC,10478,1.18,344.1,80.9,8.7,533,10482,0.00,2.08,0.00,0.000,4,0.000,0.050,3308,231,1220,0,0,0,0,0,0
$GC,10524,1.11,344.1,76.4,8.6,536,10530,0.00,1.98,0.00,0.000,6,0.000,0.022,3308,1458,1220,0,0,0,0,0,0
$GC,10785,1.17,387.6,60.0,5.9,557,10827,0.00,0.00,37.00,0.528,6,0.000,0.000,3308,1458,1048,0,0,0,0,0,0
$GC,11082,1.22,398.5,37.3,7.4,580,11098,0.00,2.30,9.95,0.453,4,0.000,0.021,3308,2823,1004,0,0,0,0,0,0
$GC,11113,1.31,410.8,34.7,7.3,582,11134,0.08,2.40,12.00,0.462,6,0.036,0.035,3346,1450,954,0,0,0,0,0,0
$GC,11392,1.28,410.8,5.6,9.8,638,11399,0.00,2.15,0.00,0.000,4,0.000,0.047,3346,230,951,0,0,0,0,0,0
$STATE,11413,end climb,SURFACE_DEPTH_REACHED
$STATE,11413,begin surface coast
$FINISH,1.1,1.023271
$STATE,11444,end surface coast,CONTROL_FINISHED_OK
$STATE,11444,begin surface
$SM_CCo,11531,0.00,0.000,0,0,948,412.59
$SM_GC,1.79,12.60,0.00,0.00,0.026,0.000,0.000,430,1497,948,-11.98,-0.08,412.59
$IRIDIUM_FIX,2101.76,-15753.03,180100,010107
$TT8_MAMPS,0.028379
$HUMID,62.64
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,21.30
$XPDR_PINGS,0
$24V_AH,23.3,70.968
$10V_AH,9.9,57.335
$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,29.675,126.550,456.850,0.000,0.000,24.370,37.212,187.260,4.500,0.000,29.577,1257.756,7699.745,467.525,1934.953,568.020,0.000,1359.699,0.000,1899.106,0.000,29.260,0.000
$DEVICE_MAMPS,131.924,90.506,836.797,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,436.713,416.329,939.554,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,34920,649
$CAP_FILE_SIZE,127966,0
$CFSIZE,260165632,172118016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,241010,075100,2108.548,-15748.605,40,1.4,40,9.8