version: 66.06
glider: 139
mission: 8
dive: 776
start: 10 28 110 7 48 32
data:
$ID,139
$MISSION,8
$DIVE,776
$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,-2167729
$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
$GPS1,073636,2108.232,-15800.278,14,1.1,30,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-68.4
$GPS2,074812,2108.195,-15800.388,12,1.2,16,9.8
$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,265.3,2909,-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,17,-1.18,-116.8,0.0,0.0,0,100,0.00,0.00,-80.28,0.000,2,0.000,0.000,425,1414,2732,0,0,0,0,0,0
$GC,103,-1.18,-116.8,3.4,-3.5,15,133,12.77,2.47,-7.30,0.000,4,0.136,0.034,2785,2879,3110,0,0,0,0,0,0
$GC,208,-1.08,-116.8,21.3,-12.2,36,215,0.10,2.47,0.00,0.000,6,0.080,0.035,2811,1457,3110,0,0,0,0,0,0
$GC,420,-0.92,-116.8,50.0,-13.3,60,425,0.17,2.10,0.00,0.000,4,0.091,0.045,2847,231,3111,0,0,0,0,0,0
$GC,461,-0.88,-116.8,55.6,-10.1,63,465,0.00,2.00,0.00,0.000,6,0.000,0.018,2847,1502,3112,0,0,0,0,0,0
$GC,725,-0.88,-116.8,81.4,-10.7,84,729,0.00,2.20,0.00,0.000,4,0.000,0.020,2847,2880,3112,0,0,0,0,0,0
$GC,751,-0.93,-116.8,83.7,-9.9,86,755,0.00,2.42,0.00,0.000,6,0.000,0.030,2847,1444,3111,0,0,0,0,0,0
$GC,1016,-0.93,-116.8,109.8,-8.9,107,1019,0.00,2.03,0.00,0.000,4,0.000,0.044,2847,238,3111,0,0,0,0,0,0
$GC,1100,-0.93,-116.8,117.0,-8.2,113,1104,0.00,2.00,0.00,0.000,6,0.000,0.018,2847,1538,3112,0,0,0,0,0,0
$GC,1370,-0.93,-116.8,137.7,-7.7,134,1374,0.00,2.22,0.00,0.000,4,0.000,0.044,2847,238,3112,0,0,0,0,0,0
$GC,1407,-0.93,-116.8,141.1,-9.2,136,1413,0.00,2.00,0.00,0.000,6,0.000,0.018,2847,1518,3112,0,0,0,0,0,0
$GC,1672,-0.98,-116.8,160.2,-7.0,157,1676,0.00,2.20,0.00,0.000,4,0.000,0.021,2847,2877,3112,0,0,0,0,0,0
$GC,1693,-1.07,-116.8,162.2,-7.4,158,1700,0.10,2.42,0.00,0.000,6,0.032,0.030,2802,1451,3112,0,0,0,0,0,0
$GC,1958,-1.02,-116.8,186.3,-9.4,179,1962,0.12,2.10,0.00,0.000,4,0.094,0.045,2830,231,3112,0,0,0,0,0,0
$GC,2000,-1.02,-116.8,190.8,-8.2,182,2003,0.00,2.00,0.00,0.000,6,0.000,0.019,2830,1513,3112,0,0,0,0,0,0
$GC,2271,-1.02,-116.8,210.5,-7.2,199,2275,0.00,2.20,0.00,0.000,4,0.000,0.044,2829,240,3112,0,0,0,0,0,0
$GC,2291,-1.02,-116.8,212.2,-7.6,200,2294,0.00,1.95,0.00,0.000,6,0.000,0.020,2830,1506,3112,0,0,0,0,0,0
$GC,2628,-1.06,-116.8,235.2,-7.2,216,2632,0.00,2.17,0.00,0.000,4,0.000,0.045,2829,238,3112,0,0,0,0,0,0
$GC,2661,-1.09,-116.8,238.0,-7.9,217,2665,0.00,1.98,0.00,0.000,6,0.000,0.020,2829,1505,3112,0,0,0,0,0,0
$GC,2984,-1.14,-116.8,262.0,-7.5,233,2989,0.12,2.20,0.00,0.000,4,0.063,0.047,2785,239,3111,0,0,0,0,0,0
$GC,3005,-1.14,-116.8,264.0,-8.3,233,3010,0.00,1.98,0.00,0.000,6,0.000,0.021,2786,1510,3111,0,0,0,0,0,0
$GC,3322,-1.11,-116.8,293.4,-8.2,249,3327,0.10,2.22,0.00,0.000,4,0.101,0.048,2807,233,3110,0,0,0,0,0,0
$GC,3375,-1.11,-116.8,297.2,-7.0,251,3379,0.00,1.98,0.00,0.000,6,0.000,0.021,2807,1498,3110,0,0,0,0,0,0
$GC,3716,-1.11,-116.8,314.4,-4.7,261,3720,0.00,2.15,0.00,0.000,4,0.000,0.024,2808,2834,3108,0,0,0,0,0,0
$GC,3745,-1.19,-116.8,315.9,-5.6,261,3749,0.00,2.35,0.00,0.000,6,0.000,0.035,2807,1451,3108,0,0,0,0,0,0
$GC,4082,-1.19,-116.8,339.7,-7.3,270,4087,0.00,2.10,0.00,0.000,4,0.000,0.050,2807,233,3106,0,0,0,0,0,0
$GC,4125,-1.19,-116.8,343.0,-7.1,270,4130,0.00,1.92,0.00,0.000,6,0.000,0.023,2808,1449,3106,0,0,0,0,0,0
$GC,4457,-1.19,-116.8,361.1,-5.3,279,4461,0.00,2.25,0.00,0.000,4,0.000,0.025,2807,2825,3104,0,0,0,0,0,0
$GC,4515,-1.29,-116.8,364.3,-6.2,280,4520,0.17,2.35,0.00,0.000,6,0.050,0.037,2753,1448,3103,0,0,0,0,0,0
$GC,4829,-1.20,-116.8,391.0,-9.2,288,4834,0.17,2.30,0.00,0.000,4,0.085,0.026,2790,2831,3101,0,0,0,0,0,0
$GC,4851,-1.20,-116.8,392.5,-7.3,288,4855,0.00,2.35,0.00,0.000,6,0.000,0.038,2789,1453,3101,0,0,0,0,0,0
$GC,5198,-1.20,-116.8,414.7,-6.3,297,5201,0.00,2.10,0.00,0.000,4,0.000,0.054,2789,232,3099,0,0,0,0,0,0
$GC,5231,-1.17,-116.8,417.1,-6.8,297,5235,0.00,1.95,0.00,0.000,6,0.000,0.025,2789,1437,3098,0,0,0,0,0,0
$GC,5568,-1.17,-116.8,438.2,-6.6,306,5572,0.00,2.33,0.00,0.000,4,0.000,0.028,2790,2836,3096,0,0,0,0,0,0
$GC,5596,-1.22,-116.8,440.7,-8.1,306,5600,0.00,2.40,0.00,0.000,6,0.000,0.040,2789,1445,3096,0,0,0,0,0,0
$STATE,5730,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5731,begin apogee
$GC,5737,-0.31,0.0,452.0,8.3,310,5835,0.90,0.00,95.05,0.835,6,0.067,0.000,2983,1446,2630,0,0,0,0,0,0
$STATE,5836,end apogee,CONTROL_FINISHED_OK
$STATE,5836,begin climb
$GC,5840,1.18,116.8,455.0,0.0,312,5952,1.40,2.15,101.28,0.818,4,0.034,0.054,3311,241,2152,0,0,0,0,0,0
$GC,6001,0.89,139.4,454.1,6.9,315,6027,0.28,1.95,20.20,0.766,6,0.087,0.025,3243,1419,2061,0,0,0,0,0,0
$GC,6342,0.82,147.9,430.3,7.5,324,6354,0.00,2.35,7.50,0.660,4,0.000,0.028,3244,2808,2027,0,0,0,0,0,0
$GC,6450,0.85,178.3,423.0,6.5,326,6486,0.00,2.42,28.50,0.784,6,0.000,0.041,3243,1420,1902,0,0,0,0,0,0
$GC,6812,0.81,187.2,395.3,7.5,335,6825,0.00,2.38,8.45,0.675,4,0.000,0.028,3243,2816,1865,0,0,0,0,0,0
$GC,6883,0.82,195.7,390.1,7.5,336,6901,0.00,2.45,9.12,0.683,6,0.000,0.043,3243,1415,1831,0,0,0,0,0,0
$GC,7228,0.83,225.9,366.7,6.5,345,7260,0.00,2.15,27.45,0.765,4,0.000,0.059,3243,235,1707,0,0,0,0,0,0
$GC,7291,0.72,225.9,362.0,8.5,346,7295,0.17,1.95,0.00,0.000,6,0.100,0.028,3209,1418,1705,0,0,0,0,0,0
$GC,7641,0.78,225.9,335.4,8.3,355,7645,0.00,2.35,0.00,0.000,4,0.000,0.028,3210,2814,1702,0,0,0,0,0,0
$GC,7667,0.89,233.5,333.4,7.6,355,7679,0.15,2.42,7.05,0.625,6,0.059,0.042,3254,1420,1678,0,0,0,0,0,0
$GC,8011,0.95,284.0,310.7,5.6,364,8061,0.00,2.40,45.10,0.749,4,0.000,0.028,3254,2809,1471,0,0,0,0,0,0
$GC,8083,1.03,314.7,305.9,6.5,365,8116,0.00,2.47,28.15,0.722,6,0.000,0.044,3253,1416,1346,0,0,0,0,0,0
$GC,8447,1.06,341.8,279.8,6.7,381,8476,0.12,2.15,23.40,0.704,4,0.067,0.059,3291,232,1236,0,0,0,0,0,0
$GC,8561,0.95,341.8,266.5,13.2,386,8565,0.17,1.95,0.00,0.000,6,0.094,0.028,3256,1432,1231,0,0,0,0,0,0
$GC,8893,0.99,375.6,237.5,6.4,402,8924,0.00,0.00,29.65,0.684,6,0.000,0.000,3256,1433,1098,0,0,0,0,0,0
$GC,9221,1.03,375.6,211.7,8.3,418,9225,0.00,2.12,0.00,0.000,4,0.000,0.056,3256,232,1093,0,0,0,0,0,0
$GC,9285,1.03,375.6,206.0,8.6,420,9292,0.00,1.98,0.00,0.000,6,0.000,0.027,3256,1425,1091,0,0,0,0,0,0
$GC,9615,1.11,385.3,182.8,7.5,443,9629,0.15,2.33,8.48,0.559,4,0.058,0.025,3301,2812,1059,0,0,0,0,0,0
$GC,9663,1.20,385.3,178.4,8.4,446,9667,0.00,2.45,0.00,0.000,6,0.000,0.040,3301,1411,1058,0,0,0,0,0,0
$GC,9928,1.20,385.3,154.2,9.8,467,9932,0.00,2.08,0.00,0.000,4,0.000,0.054,3301,227,1058,0,0,0,0,0,0
$GC,10024,1.15,385.3,143.1,11.8,474,10028,0.00,1.95,0.00,0.000,6,0.000,0.024,3300,1437,1055,0,0,0,0,0,0
$GC,10290,1.15,385.3,113.0,9.7,495,10293,0.00,2.12,0.00,0.000,4,0.000,0.051,3301,225,1055,0,0,0,0,0,0
$GC,10322,1.09,385.3,109.8,9.9,497,10327,0.00,1.92,0.00,0.000,6,0.000,0.024,3301,1424,1055,0,0,0,0,0,0
$GC,10584,1.14,385.3,86.9,9.5,518,10585,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,1424,1055,0,0,0,0,0,0
$GC,10834,1.19,385.3,63.6,8.1,538,10836,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,1424,1055,0,0,0,0,0,0
$GC,11087,1.26,399.8,46.3,7.2,558,11103,0.10,0.00,13.40,0.484,6,0.073,0.000,3338,1424,999,0,0,0,0,0,0
$GC,11354,1.26,399.8,20.0,9.5,593,11361,0.00,2.08,0.00,0.000,4,0.000,0.047,3338,238,998,0,0,0,0,0,0
$GC,11394,1.21,399.8,16.5,9.5,600,11401,0.10,1.90,0.00,0.000,6,0.065,0.021,3312,1432,997,0,0,0,0,0,0
$STATE,11559,end climb,SURFACE_DEPTH_REACHED
$STATE,11559,begin surface coast
$FINISH,1.0,1.023183
$STATE,11611,end surface coast,CONTROL_FINISHED_OK
$STATE,11612,begin surface
$SM_CCo,11635,9.18,0.421,0,0,957,410.14
$SM_GC,1.67,0.00,0.00,9.18,0.000,0.000,0.421,430,1431,957,-12.05,-0.54,410.14
$IRIDIUM_FIX,2101.76,-15801.19,220100,070733
$TT8_MAMPS,0.029146
$HUMID,63.86
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,20.70
$XPDR_PINGS,0
$24V_AH,23.3,74.561
$10V_AH,10.0,59.934
$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,29.825,126.350,452.775,9.175,0.000,57.337,66.539,364.301,4.500,0.000,16.682,1268.598,7825.616,504.611,1900.137,835.623,0.000,1378.563,0.000,1882.790,0.000,29.264,0.000
$DEVICE_MAMPS,135.759,59.059,835.263,421.083,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,437.113,414.750,929.315,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355776
$DATA_FILE_SIZE,34955,650
$CAP_FILE_SIZE,132484,0
$CFSIZE,260165632,170278912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,281010,110407,2108.725,-15801.229,51,0.8,51,9.8