version: 66.06
glider: 139
mission: 8
dive: 775
start: 10 28 110 4 24 25
data:
$ID,139
$MISSION,8
$DIVE,775
$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,534.75397
$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,-2167711.5
$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,1450
$C_ROLL_CLIMB,1420
$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
$GPS1,040025,2107.556,-15758.349,43,1.1,43,9.8
$_CALLS,5
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-72.4
$GPS2,042402,2107.744,-15758.650,15,1.4,15,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$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,270.7,5998,-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,-69.22,0.000,2,0.000,0.000,428,1433,2791,0,0,0,0,0,0
$GC,90,-1.18,-116.8,3.8,-4.5,13,115,12.68,2.38,-5.95,0.000,4,0.133,0.031,2785,2877,3108,0,0,0,0,0,0
$GC,202,-1.12,-116.8,24.7,-13.2,36,209,0.00,2.45,0.00,0.000,6,0.000,0.033,2785,1458,3110,0,0,0,0,0,0
$GC,411,-0.93,-116.8,53.6,-14.6,58,415,0.25,2.10,0.00,0.000,4,0.089,0.044,2841,225,3110,0,0,0,0,0,0
$GC,438,-0.81,-116.8,57.3,-13.6,60,443,0.15,2.00,0.00,0.000,6,0.092,0.019,2872,1514,3110,0,0,0,0,0,0
$GC,707,-0.90,-116.8,79.6,-8.1,81,711,0.00,2.20,0.00,0.000,4,0.000,0.043,2873,230,3111,0,0,0,0,0,0
$GC,772,-1.00,-116.8,85.0,-8.1,85,778,0.17,2.00,0.00,0.000,6,0.048,0.018,2811,1528,3110,0,0,0,0,0,0
$GC,1033,-0.96,-116.8,106.7,-8.5,106,1035,0.15,0.00,0.00,0.000,6,0.087,0.000,2844,1529,3111,0,0,0,0,0,0
$GC,1287,-1.00,-116.8,122.5,-6.4,126,1291,0.00,2.22,0.00,0.000,4,0.000,0.044,2844,226,3111,0,0,0,0,0,0
$GC,1353,-1.04,-116.8,127.5,-7.2,130,1360,0.00,2.03,0.00,0.000,6,0.000,0.019,2844,1516,3111,0,0,0,0,0,0
$GC,1618,-1.09,-116.8,145.7,-7.6,151,1623,0.15,2.22,0.00,0.000,4,0.054,0.021,2791,2885,3111,0,0,0,0,0,0
$GC,1645,-1.09,-116.8,148.5,-9.6,153,1650,0.10,2.45,0.00,0.000,6,0.104,0.031,2812,1438,3111,0,0,0,0,0,0
$GC,1909,-1.09,-116.8,173.5,-9.4,174,1912,0.00,2.03,0.00,0.000,4,0.000,0.045,2812,236,3111,0,0,0,0,0,0
$GC,1954,-1.05,-116.8,177.2,-9.0,177,1958,0.00,2.00,0.00,0.000,6,0.000,0.020,2813,1507,3111,0,0,0,0,0,0
$GC,2224,-1.05,-116.8,198.7,-7.7,198,2228,0.00,2.22,0.00,0.000,4,0.000,0.021,2812,2877,3110,0,0,0,0,0,0
$GC,2263,-1.13,-116.8,202.0,-8.2,200,2268,0.00,2.42,0.00,0.000,6,0.000,0.031,2813,1442,3110,0,0,0,0,0,0
$GC,2581,-1.13,-116.8,227.0,-8.2,215,2585,0.00,2.05,0.00,0.000,4,0.000,0.046,2812,230,3109,0,0,0,0,0,0
$GC,2641,-1.13,-116.8,232.7,-9.0,217,2646,0.00,1.98,0.00,0.000,6,0.000,0.020,2812,1513,3109,0,0,0,0,0,0
$GC,2960,-1.13,-116.8,261.0,-9.0,233,2964,0.00,2.20,0.00,0.000,4,0.000,0.048,2812,235,3108,0,0,0,0,0,0
$GC,2988,-1.13,-116.8,264.0,-10.3,234,2991,0.00,1.98,0.00,0.000,6,0.000,0.021,2812,1499,3108,0,0,0,0,0,0
$GC,3318,-1.13,-116.8,287.3,-6.3,250,3322,0.00,2.20,0.00,0.000,4,0.000,0.048,2812,235,3106,0,0,0,0,0,0
$GC,3341,-1.13,-116.8,289.2,-7.7,251,3345,0.00,1.90,0.00,0.000,6,0.000,0.022,2812,1460,3106,0,0,0,0,0,0
$GC,3688,-1.13,-116.8,314.0,-6.4,263,3692,0.00,2.10,0.00,0.000,4,0.000,0.049,2812,235,3105,0,0,0,0,0,0
$GC,3708,-1.13,-116.8,315.1,-5.6,263,3712,0.00,1.92,0.00,0.000,6,0.000,0.023,2812,1456,3105,0,0,0,0,0,0
$GC,4058,-1.17,-116.8,336.9,-7.0,272,4059,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1458,3103,0,0,0,0,0,0
$GC,4383,-1.21,-116.8,359.2,-7.0,280,4388,0.12,2.12,0.00,0.000,4,0.064,0.052,2770,240,3101,0,0,0,0,0,0
$GC,4414,-1.13,-116.8,362.1,-10.4,280,4418,0.10,1.92,0.00,0.000,6,0.071,0.025,2803,1441,3101,0,0,0,0,0,0
$GC,4761,-1.13,-116.8,386.9,-6.5,289,4765,0.00,2.28,0.00,0.000,4,0.000,0.027,2804,2832,3098,0,0,0,0,0,0
$GC,4819,-1.21,-116.8,390.5,-5.9,290,4823,0.00,2.38,0.00,0.000,6,0.000,0.037,2804,1446,3098,0,0,0,0,0,0
$GC,5133,-1.21,-116.8,408.1,-5.3,298,5136,0.00,2.08,0.00,0.000,4,0.000,0.053,2803,237,3096,0,0,0,0,0,0
$GC,5184,-1.21,-116.8,411.7,-6.8,299,5188,0.00,1.95,0.00,0.000,6,0.000,0.025,2803,1446,3096,0,0,0,0,0,0
$GC,5508,-1.28,-116.8,434.1,-8.1,307,5510,0.15,0.00,0.00,0.000,6,0.060,0.000,2760,1446,3094,0,0,0,0,0,0
$STATE,5666,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5666,begin apogee
$GC,5672,-0.31,0.0,452.5,11.4,311,5770,1.02,0.00,94.50,0.836,6,0.068,0.000,2979,1447,2630,0,0,0,0,0,0
$STATE,5771,end apogee,CONTROL_FINISHED_OK
$STATE,5771,begin climb
$GC,5775,1.18,116.8,457.6,0.0,313,5887,1.40,2.30,101.25,0.822,4,0.035,0.028,3307,2800,2152,0,0,0,0,0,0
$GC,5904,1.15,256.9,462.8,1.6,316,6031,0.00,2.42,120.57,0.813,6,0.000,0.039,3307,1422,1581,0,0,0,0,0,0
$GC,6363,0.95,256.9,416.2,11.5,327,6367,0.25,2.10,0.00,0.000,4,0.092,0.056,3253,232,1572,0,0,0,0,0,0
$GC,6467,0.80,256.9,404.5,10.8,329,6472,0.15,1.92,0.00,0.000,6,0.104,0.028,3224,1416,1569,0,0,0,0,0,0
$GC,6783,0.81,262.4,379.6,7.7,337,6787,0.00,2.35,0.00,0.000,4,0.000,0.028,3224,2813,1568,0,0,0,0,0,0
$GC,6802,0.86,270.9,378.1,7.5,337,6819,0.00,2.45,11.02,0.703,6,0.000,0.042,3224,1414,1525,0,0,0,0,0,0
$GC,7150,0.90,303.3,353.9,6.4,346,7188,0.10,2.20,29.60,0.762,4,0.078,0.058,3254,231,1392,0,0,0,0,0,0
$GC,7211,0.79,303.3,348.5,10.5,347,7215,0.15,1.95,0.00,0.000,6,0.101,0.028,3225,1422,1390,0,0,0,0,0,0
$GC,7525,0.84,303.3,323.4,8.1,355,7529,0.00,2.10,0.00,0.000,4,0.000,0.057,3224,231,1387,0,0,0,0,0,0
$GC,7577,0.84,303.3,317.9,10.9,356,7581,0.00,1.92,0.00,0.000,6,0.000,0.028,3224,1423,1384,0,0,0,0,0,0
$GC,7905,0.96,350.9,292.5,5.7,367,7953,0.15,2.17,41.65,0.737,4,0.061,0.056,3267,229,1198,0,0,0,0,0,0
$GC,8010,0.92,350.9,283.4,10.0,371,8015,0.00,1.95,0.00,0.000,6,0.000,0.028,3267,1421,1194,0,0,0,0,0,0
$GC,8328,0.92,354.6,258.8,7.7,387,8336,0.00,2.15,3.72,0.433,4,0.000,0.056,3267,227,1184,0,0,0,0,0,0
$GC,8371,0.87,354.6,254.7,9.4,388,8379,0.10,1.98,0.00,0.000,6,0.077,0.027,3242,1416,1182,0,0,0,0,0,0
$GC,8687,0.96,372.9,232.5,7.1,404,8711,0.00,2.12,17.17,0.658,4,0.000,0.054,3242,232,1107,0,0,0,0,0,0
$GC,8741,1.00,372.9,228.2,8.6,406,8746,0.12,1.92,0.00,0.000,6,0.067,0.027,3280,1424,1106,0,0,0,0,0,0
$GC,9058,1.00,372.9,198.2,10.0,422,9059,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1425,1105,0,0,0,0,0,0
$GC,9310,1.00,372.9,173.2,9.2,442,9314,0.00,2.30,0.00,0.000,4,0.000,0.025,3280,2806,1105,0,0,0,0,0,0
$GC,9325,1.00,372.9,171.8,9.3,443,9330,0.00,2.40,0.00,0.000,6,0.000,0.038,3280,1417,1105,0,0,0,0,0,0
$GC,9586,1.03,395.5,152.2,6.9,463,9613,0.00,2.15,19.90,0.594,4,0.000,0.054,3280,233,1016,0,0,0,0,0,0
$GC,9666,1.03,395.5,145.8,8.5,468,9672,0.00,1.95,0.00,0.000,6,0.000,0.024,3280,1425,1013,0,0,0,0,0,0
$GC,9926,1.07,395.5,126.1,9.1,489,9930,0.00,2.08,0.00,0.000,4,0.000,0.050,3280,236,1013,0,0,0,0,0,0
$GC,9967,1.07,395.5,121.6,10.8,492,9971,0.00,1.88,0.00,0.000,6,0.000,0.024,3280,1420,1012,0,0,0,0,0,0
$GC,10233,1.12,395.5,97.1,9.2,513,10237,0.00,2.05,0.00,0.000,4,0.000,0.050,3280,231,1012,0,0,0,0,0,0
$GC,10248,1.16,395.5,95.4,9.2,514,10251,0.00,1.90,0.00,0.000,6,0.000,0.024,3280,1431,1012,0,0,0,0,0,0
$GC,10515,1.27,437.0,75.6,6.0,535,10560,0.20,2.33,35.67,0.537,4,0.048,0.021,3339,2806,848,0,0,0,0,0,0
$GC,10568,1.23,437.0,70.9,8.9,538,10573,0.10,2.42,0.00,0.000,6,0.107,0.037,3319,1414,847,0,0,0,0,0,0
$GC,10832,1.23,437.0,50.0,8.6,558,10835,0.00,2.05,0.00,0.000,4,0.000,0.049,3319,232,846,0,0,0,0,0,0
$GC,10888,1.23,437.0,44.6,8.9,562,10892,0.00,1.90,0.00,0.000,6,0.000,0.021,3319,1436,844,0,0,0,0,0,0
$GC,11153,1.23,437.0,20.3,10.2,597,11159,0.00,2.22,0.00,0.000,4,0.000,0.021,3320,2793,844,0,0,0,0,0,0
$GC,11180,1.30,437.0,17.7,9.7,602,11187,0.00,2.38,0.00,0.000,6,0.000,0.034,3319,1419,844,0,0,0,0,0,0
$STATE,11334,end climb,SURFACE_DEPTH_REACHED
$STATE,11334,begin surface coast
$FINISH,0.9,1.021853
$STATE,11361,end surface coast,CONTROL_FINISHED_OK
$STATE,11361,begin surface
$SM_CCo,11384,78.03,0.480,0,0,449,534.75
$SM_GC,1.52,0.00,0.00,78.03,0.000,0.000,0.480,426,1414,449,-12.07,-1.02,534.75
$IRIDIUM_FIX,2059.45,-15801.19,220100,040425
$TT8_MAMPS,0.029146
$HUMID,62.56
$INTERNAL_PRESSURE,9.21564
$TCM_TEMP,20.40
$XPDR_PINGS,0
$24V_AH,23.3,74.435
$10V_AH,9.9,59.845
$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,30.200,123.800,475.075,78.025,0.000,139.786,191.044,663.871,4.500,0.000,15.948,1246.736,7813.324,550.609,1893.360,1374.475,0.000,1443.960,0.000,1868.226,0.000,29.254,0.000
$DEVICE_MAMPS,132.691,58.292,836.030,480.142,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,432.817,413.021,917.799,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355760
$DATA_FILE_SIZE,34890,643
$CAP_FILE_SIZE,142815,0
$CFSIZE,260165632,170319872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,281010,073636,2108.232,-15800.278,14,1.1,30,9.8