version: 66.06
glider: 139
mission: 8
dive: 751
start: 10 24 110 17 58 58
data:
$ID,139
$MISSION,8
$DIVE,751
$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,-2167135.8
$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
$GPS1,175124,2107.829,-15746.786,68,1.7,68,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-73.0
$GPS2,175838,2107.916,-15746.820,13,1.3,13,9.8
$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,110.2,7785,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.18,-116.8,0.0,0.0,0,83,0.00,0.00,-64.28,0.000,2,0.000,0.000,426,1501,2731,0,0,0,0,0,0
$GC,87,-1.18,-116.8,3.5,-3.4,12,112,12.60,2.25,-7.10,0.000,4,0.130,0.058,2785,229,3109,0,0,0,0,0,0
$GC,125,-0.02,-116.8,14.6,-25.8,18,133,1.17,2.12,0.00,0.000,6,0.076,0.019,3042,1536,3111,0,0,0,0,0,0
$GC,333,-0.56,-116.8,34.8,-8.9,57,338,0.50,2.20,0.00,0.000,4,0.044,0.020,2919,2896,3112,0,0,0,0,0,0
$GC,401,-0.89,-116.8,40.7,-7.3,62,406,0.28,2.38,0.00,0.000,6,0.037,0.028,2835,1487,3112,0,0,0,0,0,0
$GC,671,-0.83,-116.8,70.7,-11.0,83,676,0.15,2.15,0.00,0.000,4,0.085,0.045,2868,241,3112,0,0,0,0,0,0
$GC,724,-0.83,-116.8,76.2,-10.0,87,727,0.00,2.00,0.00,0.000,6,0.000,0.018,2868,1518,3113,0,0,0,0,0,0
$GC,993,-0.90,-116.8,95.6,-5.5,108,997,0.00,2.15,0.00,0.000,4,0.000,0.020,2868,2883,3113,0,0,0,0,0,0
$GC,1014,-0.99,-116.8,96.9,-6.2,109,1020,0.15,2.33,0.00,0.000,6,0.053,0.030,2813,1501,3113,0,0,0,0,0,0
$GC,1274,-0.95,-116.8,118.3,-8.9,130,1279,0.15,2.17,0.00,0.000,4,0.084,0.045,2846,236,3114,0,0,0,0,0,0
$GC,1318,-0.99,-116.8,122.3,-8.5,133,1322,0.00,1.98,0.00,0.000,6,0.000,0.018,2846,1512,3114,0,0,0,0,0,0
$GC,1585,-1.04,-116.8,143.2,-7.3,154,1589,0.00,2.17,0.00,0.000,4,0.000,0.021,2847,2870,3114,0,0,0,0,0,0
$GC,1626,-1.17,-116.8,145.9,-6.3,157,1631,0.22,2.30,0.00,0.000,6,0.041,0.031,2773,1499,3114,0,0,0,0,0,0
$GC,1892,-1.05,-116.8,166.9,-8.9,178,1897,0.22,2.15,0.00,0.000,4,0.080,0.043,2822,238,3114,0,0,0,0,0,0
$GC,1919,-0.99,-116.8,169.2,-8.5,180,1922,0.00,1.98,0.00,0.000,6,0.000,0.019,2822,1508,3115,0,0,0,0,0,0
$GC,2187,-0.99,-116.8,191.4,-8.1,201,2191,0.00,2.17,0.00,0.000,4,0.000,0.045,2822,236,3115,0,0,0,0,0,0
$GC,2214,-0.99,-116.8,193.6,-7.9,203,2218,0.00,1.98,0.00,0.000,6,0.000,0.020,2822,1504,3115,0,0,0,0,0,0
$GC,2471,-0.99,-116.8,210.3,-6.8,219,2475,0.00,2.17,0.00,0.000,4,0.000,0.045,2822,231,3115,0,0,0,0,0,0
$GC,2517,-0.99,-116.8,213.5,-8.3,221,2520,0.00,1.98,0.00,0.000,6,0.000,0.020,2822,1499,3115,0,0,0,0,0,0
$GC,2853,-0.99,-116.8,237.9,-7.9,237,2857,0.00,2.20,0.00,0.000,4,0.000,0.022,2822,2872,3114,0,0,0,0,0,0
$GC,2891,-1.09,-116.8,241.0,-7.0,238,2897,0.00,2.33,0.00,0.000,6,0.000,0.033,2822,1510,3114,0,0,0,0,0,0
$GC,3211,-1.12,-116.8,261.3,-6.3,254,3215,0.00,2.17,0.00,0.000,4,0.000,0.047,2822,227,3114,0,0,0,0,0,0
$GC,3278,-1.12,-116.8,266.9,-8.5,257,3282,0.00,2.00,0.00,0.000,6,0.000,0.021,2822,1500,3114,0,0,0,0,0,0
$GC,3616,-1.17,-116.8,291.5,-7.7,273,3620,0.12,2.22,0.00,0.000,4,0.064,0.024,2778,2873,3113,0,0,0,0,0,0
$GC,3651,-1.21,-116.8,295.1,-9.2,274,3655,0.00,2.33,0.00,0.000,6,0.000,0.034,2778,1491,3113,0,0,0,0,0,0
$GC,3965,-1.18,-116.8,322.5,-8.3,283,3969,0.00,2.15,0.00,0.000,4,0.000,0.049,2778,228,3112,0,0,0,0,0,0
$GC,4041,-1.13,-116.8,329.4,-8.5,284,4046,0.12,2.00,0.00,0.000,6,0.093,0.022,2805,1499,3111,0,0,0,0,0,0
$GC,4378,-1.13,-116.8,352.3,-7.0,293,4379,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1505,3109,0,0,0,0,0,0
$GC,4703,-1.16,-116.8,377.6,-7.9,301,4707,0.00,2.28,0.00,0.000,4,0.000,0.026,2805,2878,3107,0,0,0,0,0,0
$GC,4724,-1.23,-116.8,379.3,-8.4,301,4729,0.10,2.35,0.00,0.000,6,0.072,0.038,2766,1495,3107,0,0,0,0,0,0
$GC,5070,-1.18,-116.8,410.8,-8.9,310,5074,0.12,2.20,0.00,0.000,4,0.097,0.054,2792,229,3104,0,0,0,0,0,0
$GC,5118,-1.18,-116.8,415.0,-8.2,311,5122,0.00,2.03,0.00,0.000,6,0.000,0.025,2792,1491,3104,0,0,0,0,0,0
$GC,5446,-1.18,-116.8,441.7,-8.1,319,5450,0.00,2.30,0.00,0.000,4,0.000,0.028,2792,2882,3103,0,0,0,0,0,0
$GC,5467,-1.21,-116.8,443.3,-7.9,319,5471,0.00,2.38,0.00,0.000,6,0.000,0.040,2792,1493,3102,0,0,0,0,0,0
$STATE,5565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5565,begin apogee
$GC,5574,-0.31,0.0,450.8,7.3,322,5673,0.88,0.00,96.53,0.828,6,0.066,0.000,2982,1438,2630,0,0,0,0,0,0
$STATE,5674,end apogee,CONTROL_FINISHED_OK
$STATE,5674,begin climb
$GC,5677,1.18,116.8,453.1,0.0,324,5790,1.40,2.45,101.07,0.813,4,0.034,0.028,3311,2837,2153,0,0,0,0,0,0
$GC,5797,1.06,184.1,453.3,4.9,326,5866,0.15,2.42,59.35,0.797,6,0.100,0.038,3282,1458,1878,0,0,0,0,0,0
$GC,6181,0.92,184.1,420.4,8.4,336,6186,0.15,2.33,0.00,0.000,4,0.103,0.028,3253,2833,1868,0,0,0,0,0,0
$GC,6243,0.97,221.4,416.2,6.2,337,6280,0.00,2.40,32.12,0.779,6,0.000,0.042,3253,1452,1727,0,0,0,0,0,0
$GC,6596,0.90,221.4,387.9,8.6,346,6600,0.00,2.17,0.00,0.000,4,0.000,0.058,3252,229,1721,0,0,0,0,0,0
$GC,6643,0.78,221.4,382.9,10.6,347,6647,0.17,2.00,0.00,0.000,6,0.101,0.027,3218,1447,1718,0,0,0,0,0,0
$GC,6968,0.82,258.0,361.5,6.2,355,7005,0.00,0.00,32.17,0.769,6,0.000,0.000,3218,1447,1577,0,0,0,0,0,0
$GC,7332,0.92,291.4,338.2,6.4,364,7368,0.15,2.25,29.83,0.753,4,0.061,0.057,3260,233,1441,0,0,0,0,0,0
$GC,7397,0.81,291.4,332.5,10.2,365,7402,0.17,2.00,0.00,0.000,6,0.096,0.028,3226,1456,1437,0,0,0,0,0,0
$GC,7748,0.86,291.4,303.4,8.6,374,7752,0.00,2.17,0.00,0.000,4,0.000,0.058,3226,229,1435,0,0,0,0,0,0
$GC,7809,0.86,291.4,297.0,10.3,375,7815,0.00,2.00,0.00,0.000,6,0.000,0.028,3226,1448,1433,0,0,0,0,0,0
$GC,8128,0.97,324.7,274.1,6.4,391,8165,0.15,2.22,29.02,0.716,4,0.061,0.056,3269,227,1305,0,0,0,0,0,0
$GC,8176,0.92,324.7,269.9,9.5,393,8180,0.00,2.00,0.00,0.000,6,0.000,0.028,3269,1444,1303,0,0,0,0,0,0
$GC,8508,0.92,324.7,240.1,9.7,409,8512,0.00,2.15,0.00,0.000,4,0.000,0.056,3269,227,1300,0,0,0,0,0,0
$GC,8541,0.85,324.7,236.2,11.0,410,8546,0.17,2.03,0.00,0.000,6,0.091,0.027,3234,1463,1299,0,0,0,0,0,0
$GC,8862,0.95,331.9,210.3,7.6,425,8874,0.10,2.22,6.60,0.543,4,0.077,0.054,3265,235,1276,0,0,0,0,0,0
$GC,8921,0.95,331.9,203.8,11.2,427,8924,0.00,1.98,0.00,0.000,6,0.000,0.026,3265,1456,1274,0,0,0,0,0,0
$GC,9253,0.95,331.9,173.5,8.2,452,9257,0.00,2.17,0.00,0.000,4,0.000,0.053,3265,226,1274,0,0,0,0,0,0
$GC,9309,0.91,331.9,167.9,9.0,456,9313,0.00,2.00,0.00,0.000,6,0.000,0.025,3266,1470,1272,0,0,0,0,0,0
$GC,9580,0.95,340.8,146.0,7.5,477,9591,0.00,0.00,8.93,0.539,6,0.000,0.000,3265,1471,1240,0,0,0,0,0,0
$GC,9845,1.01,348.0,127.2,7.6,498,9860,0.00,2.22,7.82,0.505,4,0.000,0.052,3266,232,1210,0,0,0,0,0,0
$GC,9893,1.01,348.0,122.4,10.3,501,9897,0.00,1.98,0.00,0.000,6,0.000,0.025,3265,1471,1208,0,0,0,0,0,0
$GC,10160,1.10,382.9,101.3,6.3,522,10201,0.10,2.17,30.80,0.559,4,0.074,0.046,3300,232,1067,0,0,0,0,0,0
$GC,10240,1.00,382.9,92.6,11.6,527,10246,0.17,1.98,0.00,0.000,6,0.087,0.024,3264,1451,1065,0,0,0,0,0,0
$GC,10502,1.16,455.9,75.6,4.6,548,10570,0.17,0.00,61.08,0.541,6,0.052,0.000,3317,1451,770,0,0,0,0,0,0
$GC,10822,1.16,455.9,42.7,11.4,573,10826,0.00,2.12,0.00,0.000,4,0.000,0.050,3317,230,766,0,0,0,0,0,0
$GC,10872,1.16,455.9,36.0,13.0,576,10879,0.00,1.98,0.00,0.000,6,0.000,0.022,3317,1455,764,0,0,0,0,0,0
$GC,11137,1.19,455.9,11.2,8.9,627,11143,0.00,2.28,0.00,0.000,4,0.000,0.021,3317,2833,764,0,0,0,0,0,0
$GC,11151,1.23,455.9,9.7,9.3,629,11158,0.00,2.40,0.00,0.000,6,0.000,0.035,3317,1452,764,0,0,0,0,0,0
$STATE,11213,end climb,SURFACE_DEPTH_REACHED
$STATE,11213,begin surface coast
$FINISH,1.0,1.023293
$STATE,11244,end surface coast,CONTROL_FINISHED_OK
$STATE,11244,begin surface
$SM_CCo,11326,0.00,0.000,0,0,760,458.47
$SM_GC,1.84,12.48,0.00,0.00,0.026,0.000,0.000,428,1449,760,-11.98,-1.44,458.47
$IRIDIUM_FIX,2059.45,-15748.75,180100,141432
$TT8_MAMPS,0.028379
$HUMID,64.05
$INTERNAL_PRESSURE,9.22541
$TCM_TEMP,20.40
$XPDR_PINGS,0
$24V_AH,23.3,71.423
$10V_AH,10.0,57.681
$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,32.350,125.725,495.325,0.000,0.000,32.783,56.752,206.635,4.500,0.000,13.495,1264.653,7447.836,506.449,1895.312,638.127,0.000,1395.872,0.000,1881.703,0.000,29.253,0.000
$DEVICE_MAMPS,130.390,108.914,828.360,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,436.482,419.128,935.286,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355760
$DATA_FILE_SIZE,34924,649
$CAP_FILE_SIZE,129275,0
$CFSIZE,260165632,171868160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,241010,210900,2107.818,-15744.974,41,1.4,41,9.8