version: 66.06
glider: 139
mission: 8
dive: 763
start: 10 26 110 10 54 34
data:
$ID,139
$MISSION,8
$DIVE,763
$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,-2167401.8
$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
$GPS1,104636,2101.015,-15747.436,31,1.1,31,9.8
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-71.4
$GPS2,105414,2101.100,-15747.390,20,1.6,20,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$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,206.2,7279,-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,13,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,-64.12,0.000,2,0.000,0.000,429,1448,2766,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.6,-3.9,12,110,12.60,2.10,-6.47,0.000,4,0.131,0.058,2784,237,3108,0,0,0,0,0,0
$GC,213,-0.97,-116.8,27.5,-14.2,39,220,0.20,2.10,0.00,0.000,6,0.077,0.019,2831,1554,3110,0,0,0,0,0,0
$GC,423,-0.88,-116.8,48.8,-9.4,57,428,0.12,2.30,0.00,0.000,4,0.098,0.044,2857,234,3111,0,0,0,0,0,0
$GC,451,-0.85,-116.8,51.5,-8.6,59,455,0.00,2.08,0.00,0.000,6,0.000,0.018,2857,1562,3111,0,0,0,0,0,0
$GC,712,-0.85,-116.8,76.3,-10.1,79,716,0.00,2.28,0.00,0.000,4,0.000,0.044,2857,232,3112,0,0,0,0,0,0
$GC,758,-0.89,-116.8,80.9,-9.5,82,765,0.00,2.10,0.00,0.000,6,0.000,0.018,2858,1572,3111,0,0,0,0,0,0
$GC,1019,-0.94,-116.8,96.8,-5.4,103,1023,0.00,2.28,0.00,0.000,4,0.000,0.044,2857,235,3112,0,0,0,0,0,0
$GC,1081,-0.98,-116.8,100.7,-6.5,107,1085,0.00,2.08,0.00,0.000,6,0.000,0.018,2857,1573,3112,0,0,0,0,0,0
$GC,1341,-1.04,-116.8,119.9,-8.6,127,1349,0.15,2.30,0.00,0.000,4,0.053,0.044,2803,237,3112,0,0,0,0,0,0
$GC,1370,-0.98,-116.8,123.1,-11.7,128,1377,0.10,2.10,0.00,0.000,6,0.064,0.019,2831,1567,3113,0,0,0,0,0,0
$GC,1633,-0.98,-116.8,146.5,-9.0,149,1637,0.00,2.28,0.00,0.000,4,0.000,0.044,2831,231,3113,0,0,0,0,0,0
$GC,1667,-0.98,-116.8,150.0,-9.4,151,1672,0.00,2.08,0.00,0.000,6,0.000,0.019,2831,1569,3113,0,0,0,0,0,0
$GC,1926,-0.98,-116.8,170.0,-7.7,172,1927,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1569,3113,0,0,0,0,0,0
$GC,2178,-0.98,-116.8,187.7,-6.5,192,2182,0.00,2.28,0.00,0.000,4,0.000,0.045,2831,232,3113,0,0,0,0,0,0
$GC,2230,-0.98,-116.8,192.0,-8.9,196,2234,0.00,2.08,0.00,0.000,6,0.000,0.019,2831,1555,3113,0,0,0,0,0,0
$GC,2494,-0.98,-116.8,217.6,-11.0,212,2498,0.00,2.28,0.00,0.000,4,0.000,0.047,2831,231,3112,0,0,0,0,0,0
$GC,2553,-0.98,-116.8,223.8,-11.3,214,2556,0.00,2.08,0.00,0.000,6,0.000,0.020,2831,1556,3113,0,0,0,0,0,0
$GC,2873,-0.98,-116.8,247.2,-6.8,230,2877,0.00,2.28,0.00,0.000,4,0.000,0.048,2831,231,3112,0,0,0,0,0,0
$GC,2928,-1.02,-116.8,252.1,-8.6,232,2932,0.00,2.10,0.00,0.000,6,0.000,0.020,2831,1564,3112,0,0,0,0,0,0
$GC,3247,-1.07,-116.8,277.7,-7.0,247,3251,0.00,2.28,0.00,0.000,4,0.000,0.047,2831,237,3112,0,0,0,0,0,0
$GC,3257,-1.11,-116.8,278.6,-6.7,247,3262,0.10,2.08,0.00,0.000,6,0.073,0.021,2792,1555,3112,0,0,0,0,0,0
$GC,3576,-1.11,-116.8,303.7,-7.8,261,3580,0.00,2.25,0.00,0.000,4,0.000,0.024,2792,2927,3111,0,0,0,0,0,0
$GC,3604,-1.16,-116.8,306.3,-7.6,261,3609,0.00,2.42,0.00,0.000,6,0.000,0.035,2791,1503,3111,0,0,0,0,0,0
$GC,3940,-1.16,-116.8,334.8,-8.9,270,3944,0.00,2.17,0.00,0.000,4,0.000,0.049,2791,227,3109,0,0,0,0,0,0
$GC,4001,-1.16,-116.8,340.5,-8.9,271,4006,0.00,2.10,0.00,0.000,6,0.000,0.021,2791,1546,3109,0,0,0,0,0,0
$GC,4353,-1.16,-116.8,368.7,-7.9,280,4354,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1551,3108,0,0,0,0,0,0
$GC,4677,-1.16,-116.8,389.4,-5.8,288,4681,0.00,2.30,0.00,0.000,4,0.000,0.051,2792,230,3105,0,0,0,0,0,0
$GC,4715,-1.16,-116.8,391.7,-6.6,288,4719,0.00,2.03,0.00,0.000,6,0.000,0.024,2792,1495,3105,0,0,0,0,0,0
$GC,5050,-1.16,-116.8,414.1,-7.8,297,5054,0.00,2.28,0.00,0.000,4,0.000,0.028,2793,2882,3103,0,0,0,0,0,0
$GC,5105,-1.24,-116.8,418.6,-8.6,298,5109,0.00,2.35,0.00,0.000,6,0.000,0.038,2791,1500,3102,0,0,0,0,0,0
$GC,5429,-1.24,-116.8,445.3,-7.9,306,5433,0.00,2.20,0.00,0.000,4,0.000,0.054,2792,231,3101,0,0,0,0,0,0
$GC,5484,-1.24,-116.8,450.0,-8.3,307,5488,0.00,2.05,0.00,0.000,6,0.000,0.025,2792,1500,3100,0,0,0,0,0,0
$STATE,5491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5491,begin apogee
$GC,5499,-0.31,0.0,450.8,8.3,307,5598,0.85,0.00,96.12,0.828,6,0.065,0.000,2978,1440,2630,0,0,0,0,0,0
$STATE,5599,end apogee,CONTROL_FINISHED_OK
$STATE,5599,begin climb
$GC,5602,1.18,116.8,453.6,0.0,309,5715,1.42,2.17,101.25,0.812,4,0.034,0.054,3312,251,2151,0,0,0,0,0,0
$GC,5788,0.88,135.8,452.4,7.0,313,5812,0.35,1.98,17.05,0.752,6,0.091,0.025,3242,1470,2076,0,0,0,0,0,0
$GC,6152,0.89,204.1,433.9,4.8,322,6219,0.00,2.35,60.70,0.805,4,0.000,0.029,3243,2819,1797,0,0,0,0,0,0
$GC,6234,0.94,243.7,429.1,6.1,324,6275,0.00,2.40,35.83,0.782,6,0.000,0.043,3242,1461,1636,0,0,0,0,0,0
$GC,6598,0.94,243.7,400.4,8.1,333,6602,0.00,2.20,0.00,0.000,4,0.000,0.058,3242,227,1628,0,0,0,0,0,0
$GC,6632,0.83,243.7,397.3,10.1,333,6636,0.00,2.00,0.00,0.000,6,0.000,0.028,3242,1444,1626,0,0,0,0,0,0
$GC,6969,0.83,243.7,368.2,8.7,342,6970,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1446,1624,0,0,0,0,0,0
$GC,7292,0.83,243.7,341.9,8.0,350,7296,0.00,2.15,0.00,0.000,4,0.000,0.058,3242,229,1623,0,0,0,0,0,0
$GC,7330,0.77,243.7,338.5,9.3,350,7334,0.12,2.00,0.00,0.000,6,0.110,0.028,3218,1457,1621,0,0,0,0,0,0
$GC,7663,0.88,281.4,316.4,6.2,358,7700,0.10,2.25,31.55,0.746,4,0.079,0.057,3248,229,1481,0,0,0,0,0,0
$GC,7738,0.83,281.4,310.3,9.4,358,7742,0.00,2.03,0.00,0.000,6,0.000,0.028,3248,1451,1478,0,0,0,0,0,0
$GC,8059,0.83,281.4,283.7,8.1,371,8060,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1456,1476,0,0,0,0,0,0
$GC,8367,0.85,293.9,259.8,7.3,386,8386,0.00,0.00,11.45,0.648,6,0.000,0.000,3249,1456,1431,0,0,0,0,0,0
$GC,8695,0.92,311.1,236.2,7.1,402,8718,0.00,2.22,16.02,0.653,4,0.000,0.054,3248,235,1360,0,0,0,0,0,0
$GC,8762,0.96,344.5,231.6,6.4,404,8797,0.00,2.03,30.23,0.673,6,0.000,0.026,3249,1458,1225,0,0,0,0,0,0
$GC,9118,1.01,344.5,201.7,9.6,422,9123,0.10,2.17,0.00,0.000,4,0.076,0.054,3281,233,1220,0,0,0,0,0,0
$GC,9141,1.01,344.5,199.5,11.2,423,9146,0.00,1.98,0.00,0.000,6,0.000,0.026,3281,1451,1218,0,0,0,0,0,0
$GC,9399,1.01,344.5,172.2,10.2,444,9403,0.00,2.15,0.00,0.000,4,0.000,0.053,3281,231,1218,0,0,0,0,0,0
$GC,9428,0.93,344.5,169.1,11.2,446,9433,0.15,1.95,0.00,0.000,6,0.094,0.025,3251,1454,1217,0,0,0,0,0,0
$GC,9689,0.99,344.5,146.6,8.1,466,9690,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1455,1217,0,0,0,0,0,0
$GC,9941,1.10,367.6,127.4,6.9,486,9970,0.17,2.22,19.95,0.574,4,0.053,0.052,3302,232,1130,0,0,0,0,0,0
$GC,9994,1.00,367.6,122.3,10.1,489,10000,0.17,1.98,0.00,0.000,6,0.086,0.023,3266,1460,1128,0,0,0,0,0,0
$GC,10256,1.12,411.7,104.8,5.9,510,10303,0.12,2.22,37.92,0.569,4,0.064,0.051,3306,238,950,0,0,0,0,0,0
$GC,10334,1.05,411.7,97.9,11.3,516,10339,0.08,1.98,0.00,0.000,6,0.071,0.024,3280,1446,948,0,0,0,0,0,0
$GC,10607,1.13,411.7,74.1,9.2,537,10611,0.00,2.12,0.00,0.000,4,0.000,0.050,3279,233,947,0,0,0,0,0,0
$GC,10633,1.18,411.7,71.5,10.0,539,10637,0.12,1.92,0.00,0.000,6,0.063,0.023,3321,1453,946,0,0,0,0,0,0
$GC,10901,1.18,411.7,47.2,8.9,560,10902,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,1454,946,0,0,0,0,0,0
$GC,11151,1.22,411.7,23.7,8.6,590,11158,0.00,2.15,0.00,0.000,4,0.000,0.049,3321,234,946,0,0,0,0,0,0
$GC,11174,1.22,411.7,21.6,8.6,594,11181,0.00,1.95,0.00,0.000,6,0.000,0.021,3321,1457,945,0,0,0,0,0,0
$GC,11378,1.37,473.3,4.3,5.1,640,11397,0.12,0.00,16.08,0.459,2,0.061,0.000,3365,1458,874,0,0,0,0,0,0
$STATE,11398,end climb,SURFACE_DEPTH_REACHED
$STATE,11398,begin surface coast
$FINISH,0.8,1.020638
$STATE,11446,end surface coast,CONTROL_FINISHED_OK
$STATE,11446,begin surface
$SM_CCo,11530,0.00,0.000,0,0,869,431.97
$SM_GC,1.71,12.73,0.00,0.00,0.027,0.000,0.000,426,1457,869,-12.00,-1.24,431.97
$IRIDIUM_FIX,2052.52,-15744.48,200100,070724
$TT8_MAMPS,0.028379
$HUMID,63.38
$INTERNAL_PRESSURE,9.21564
$TCM_TEMP,20.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,420.1,71.7
$24V_AH,23.3,72.865
$10V_AH,10.0,58.751
$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,29.900,116.300,474.150,0.000,0.000,24.110,35.252,244.472,4.750,0.000,20.660,1246.990,7749.523,485.735,1862.992,633.711,0.000,1346.061,0.000,1835.878,0.000,33.564,0.000
$DEVICE_MAMPS,131.157,89.739,827.593,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,440.205,422.316,945.315,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,34913,654
$CAP_FILE_SIZE,125100,0
$CFSIZE,260165632,171114496
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,261010,140801,2100.317,-15748.287,41,1.4,41,9.8