version: 66.06
glider: 139
mission: 8
dive: 778
start: 10 28 110 14 34 50
data:
$ID,139
$MISSION,8
$DIVE,778
$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,-2167763.2
$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
$GPS1,142401,2109.025,-15800.280,63,0.9,63,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-70.2
$GPS2,143432,2109.084,-15800.370,16,1.2,16,9.8
$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,91.6,30757,-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,-116.8,0.0,0.0,0,78,0.00,0.00,-58.85,0.000,2,0.000,0.000,427,1429,2607,0,0,0,0,0,0
$GC,81,-1.18,-116.8,3.1,-3.2,11,111,12.65,2.08,-9.95,0.000,4,0.131,0.058,2786,231,3108,0,0,0,0,0,0
$GC,177,-0.97,-116.8,18.9,-12.1,30,184,0.20,2.03,0.00,0.000,6,0.075,0.019,2833,1507,3110,0,0,0,0,0,0
$GC,382,-0.86,-116.8,42.8,-11.5,59,387,0.12,2.28,0.00,0.000,4,0.100,0.021,2859,2884,3110,0,0,0,0,0,0
$GC,411,-0.93,-116.8,46.4,-11.0,61,416,0.00,2.42,0.00,0.000,6,0.000,0.031,2859,1442,3110,0,0,0,0,0,0
$GC,671,-0.93,-116.8,74.3,-9.2,81,675,0.00,2.08,0.00,0.000,4,0.000,0.045,2859,227,3111,0,0,0,0,0,0
$GC,701,-0.89,-116.8,76.9,-8.8,83,705,0.00,1.98,0.00,0.000,6,0.000,0.018,2859,1501,3111,0,0,0,0,0,0
$GC,971,-0.89,-116.8,99.4,-8.3,104,975,0.00,2.17,0.00,0.000,4,0.000,0.043,2859,235,3112,0,0,0,0,0,0
$GC,994,-0.89,-116.8,101.7,-8.4,105,999,0.00,1.98,0.00,0.000,6,0.000,0.018,2859,1520,3112,0,0,0,0,0,0
$GC,1258,-0.97,-116.8,122.2,-6.4,126,1262,0.00,2.17,0.00,0.000,4,0.000,0.044,2859,236,3112,0,0,0,0,0,0
$GC,1286,-1.03,-116.8,124.4,-7.1,128,1291,0.15,1.95,0.00,0.000,6,0.054,0.018,2806,1517,3112,0,0,0,0,0,0
$GC,1548,-0.99,-116.8,148.2,-9.2,148,1553,0.12,2.20,0.00,0.000,4,0.092,0.044,2834,234,3113,0,0,0,0,0,0
$GC,1588,-0.99,-116.8,152.0,-8.8,151,1592,0.00,2.00,0.00,0.000,6,0.000,0.019,2834,1513,3113,0,0,0,0,0,0
$GC,1858,-0.99,-116.8,168.3,-5.1,172,1861,0.00,2.20,0.00,0.000,4,0.000,0.044,2834,230,3113,0,0,0,0,0,0
$GC,1892,-0.99,-116.8,170.5,-6.7,174,1895,0.00,2.00,0.00,0.000,6,0.000,0.019,2834,1513,3113,0,0,0,0,0,0
$GC,2155,-0.99,-116.8,190.9,-9.2,195,2159,0.00,2.20,0.00,0.000,4,0.000,0.044,2834,230,3113,0,0,0,0,0,0
$GC,2181,-0.99,-116.8,193.3,-9.4,197,2184,0.00,1.98,0.00,0.000,6,0.000,0.020,2834,1502,3113,0,0,0,0,0,0
$GC,2446,-1.03,-116.8,216.9,-8.5,212,2447,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1515,3113,0,0,0,0,0,0
$GC,2756,-1.09,-116.8,236.3,-4.2,227,2760,0.00,2.17,0.00,0.000,4,0.000,0.047,2834,237,3113,0,0,0,0,0,0
$GC,2817,-1.14,-116.8,239.2,-5.3,229,2823,0.15,1.95,0.00,0.000,6,0.054,0.021,2783,1509,3113,0,0,0,0,0,0
$GC,3137,-1.09,-116.8,261.5,-8.0,245,3142,0.12,2.25,0.00,0.000,4,0.093,0.024,2810,2881,3112,0,0,0,0,0,0
$GC,3209,-1.18,-116.8,267.5,-7.7,248,3214,0.00,2.40,0.00,0.000,6,0.000,0.032,2810,1443,3112,0,0,0,0,0,0
$GC,3535,-1.18,-116.8,290.6,-5.6,264,3539,0.00,2.05,0.00,0.000,4,0.000,0.048,2810,237,3111,0,0,0,0,0,0
$GC,3592,-1.18,-116.8,293.7,-5.8,266,3596,0.00,2.03,0.00,0.000,6,0.000,0.022,2810,1504,3110,0,0,0,0,0,0
$GC,3909,-1.18,-116.8,308.3,-4.7,278,3913,0.00,2.20,0.00,0.000,4,0.000,0.049,2810,238,3108,0,0,0,0,0,0
$GC,3942,-1.18,-116.8,311.5,-10.0,278,3946,0.00,2.00,0.00,0.000,6,0.000,0.023,2810,1486,3108,0,0,0,0,0,0
$GC,4281,-1.21,-116.8,342.3,-9.1,287,4286,0.10,2.22,0.00,0.000,4,0.074,0.024,2773,2836,3106,0,0,0,0,0,0
$GC,4301,-1.27,-116.8,344.6,-9.4,287,4305,0.00,2.35,0.00,0.000,6,0.000,0.038,2774,1451,3106,0,0,0,0,0,0
$GC,4648,-1.22,-116.8,369.5,-7.0,296,4652,0.00,2.30,0.00,0.000,4,0.000,0.026,2774,2836,3104,0,0,0,0,0,0
$GC,4677,-1.22,-116.8,371.7,-6.7,296,4681,0.00,2.38,0.00,0.000,6,0.000,0.038,2774,1446,3104,0,0,0,0,0,0
$GC,5018,-1.18,-116.8,397.8,-7.6,305,5022,0.00,2.30,0.00,0.000,4,0.000,0.026,2774,2829,3101,0,0,0,0,0,0
$GC,5072,-1.21,-116.8,401.9,-7.3,306,5077,0.00,2.38,0.00,0.000,6,0.000,0.039,2773,1447,3101,0,0,0,0,0,0
$GC,5391,-1.16,-116.8,427.1,-7.4,314,5396,0.10,2.10,0.00,0.000,4,0.106,0.054,2795,237,3099,0,0,0,0,0,0
$GC,5413,-1.13,-116.8,428.6,-7.6,314,5417,0.00,1.92,0.00,0.000,6,0.000,0.025,2795,1452,3099,0,0,0,0,0,0
$STATE,5719,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5719,begin apogee
$GC,5725,-0.31,0.0,452.5,8.3,322,5824,0.85,0.00,95.57,0.834,6,0.064,0.000,2979,1411,2629,0,0,0,0,0,0
$STATE,5825,end apogee,CONTROL_FINISHED_OK
$STATE,5825,begin climb
$GC,5828,1.18,116.8,456.6,0.0,324,5941,1.42,2.12,101.05,0.820,4,0.034,0.054,3313,246,2151,0,0,0,0,0,0
$GC,6007,0.91,172.8,457.8,5.4,328,6064,0.32,1.90,49.03,0.802,6,0.094,0.025,3249,1430,1925,0,0,0,0,0,0
$GC,6375,0.84,185.5,433.6,7.3,337,6391,0.00,2.33,11.27,0.723,4,0.000,0.028,3249,2801,1873,0,0,0,0,0,0
$GC,6471,0.91,241.7,428.2,5.4,339,6527,0.00,2.40,50.53,0.803,6,0.000,0.042,3249,1425,1643,0,0,0,0,0,0
$GC,6841,0.87,241.7,401.1,8.1,348,6845,0.00,2.12,0.00,0.000,4,0.000,0.061,3248,235,1636,0,0,0,0,0,0
$GC,6908,0.75,241.7,394.9,10.1,349,6913,0.17,1.92,0.00,0.000,6,0.094,0.027,3213,1425,1631,0,0,0,0,0,0
$GC,7259,0.82,264.8,371.3,6.8,358,7280,0.00,0.00,19.58,0.756,6,0.000,0.000,3213,1429,1550,0,0,0,0,0,0
$GC,7585,0.87,264.8,345.8,8.2,366,7589,0.12,2.15,0.00,0.000,4,0.070,0.059,3249,234,1545,0,0,0,0,0,0
$GC,7630,0.78,264.8,341.1,10.5,367,7635,0.15,1.92,0.00,0.000,6,0.102,0.029,3220,1414,1543,0,0,0,0,0,0
$GC,7960,0.83,264.8,314.8,7.9,375,7964,0.00,2.08,0.00,0.000,4,0.000,0.058,3220,233,1542,0,0,0,0,0,0
$GC,8026,0.83,264.8,308.7,8.8,376,8030,0.00,1.92,0.00,0.000,6,0.000,0.028,3220,1422,1541,0,0,0,0,0,0
$GC,8360,0.92,289.5,284.2,6.8,389,8387,0.12,2.17,21.45,0.720,4,0.069,0.057,3256,239,1449,0,0,0,0,0,0
$GC,8411,0.85,289.5,280.3,8.2,391,8415,0.10,1.92,0.00,0.000,6,0.112,0.028,3237,1420,1446,0,0,0,0,0,0
$GC,8748,0.99,357.9,260.8,4.8,407,8814,0.12,2.38,60.20,0.719,4,0.067,0.026,3273,2818,1170,0,0,0,0,0,0
$GC,8830,1.02,379.0,255.2,6.9,411,8855,0.00,2.50,19.50,0.672,6,0.000,0.044,3273,1416,1084,0,0,0,0,0,0
$GC,9180,1.02,379.0,222.8,10.3,428,9184,0.00,2.08,0.00,0.000,4,0.000,0.058,3273,234,1077,0,0,0,0,0,0
$GC,9254,1.02,379.0,212.9,14.4,431,9259,0.00,1.98,0.00,0.000,6,0.000,0.026,3274,1427,1074,0,0,0,0,0,0
$GC,9576,1.02,379.0,178.9,9.9,453,9580,0.00,2.12,0.00,0.000,4,0.000,0.055,3273,228,1074,0,0,0,0,0,0
$GC,9610,0.97,379.0,175.0,11.6,455,9616,0.00,1.95,0.00,0.000,6,0.000,0.027,3274,1430,1073,0,0,0,0,0,0
$GC,9869,0.97,379.0,148.4,9.6,476,9873,0.00,2.28,0.00,0.000,4,0.000,0.025,3273,2809,1073,0,0,0,0,0,0
$GC,9887,1.04,379.0,146.6,8.9,477,9893,0.00,2.40,0.00,0.000,6,0.000,0.038,3274,1414,1073,0,0,0,0,0,0
$GC,10148,1.07,379.0,125.5,8.3,498,10152,0.00,2.05,0.00,0.000,4,0.000,0.052,3273,227,1073,0,0,0,0,0,0
$GC,10214,1.07,379.0,119.3,9.6,503,10218,0.00,1.95,0.00,0.000,6,0.000,0.024,3274,1428,1071,0,0,0,0,0,0
$GC,10486,1.13,399.1,99.1,7.0,524,10506,0.10,0.00,16.15,0.545,6,0.074,0.000,3308,1429,1002,0,0,0,0,0,0
$GC,10763,1.13,399.1,74.8,8.3,546,10767,0.00,2.08,0.00,0.000,4,0.000,0.050,3308,228,1000,0,0,0,0,0,0
$GC,10796,1.13,399.1,71.8,8.3,548,10803,0.00,1.92,0.00,0.000,6,0.000,0.023,3307,1419,999,0,0,0,0,0,0
$GC,11056,1.18,399.1,50.5,8.1,569,11060,0.00,2.30,0.00,0.000,4,0.000,0.023,3308,2805,999,0,0,0,0,0,0
$GC,11097,1.33,399.3,47.5,7.9,572,11102,0.12,2.35,0.00,0.000,6,0.062,0.035,3350,1416,999,0,0,0,0,0,0
$GC,11362,1.28,399.3,20.2,10.1,606,11368,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,1416,999,0,0,0,0,0,0
$STATE,11528,end climb,SURFACE_DEPTH_REACHED
$STATE,11528,begin surface coast
$FINISH,1.0,1.023178
$STATE,11563,end surface coast,CONTROL_FINISHED_OK
$STATE,11563,begin surface
$SM_CCo,11586,9.73,0.431,0,0,958,410.14
$SM_GC,1.66,0.00,0.00,9.73,0.000,0.000,0.431,430,1411,958,-12.06,-1.10,410.14
$IRIDIUM_FIX,2101.76,-15803.33,220100,141458
$TT8_MAMPS,0.029146
$HUMID,65.43
$INTERNAL_PRESSURE,9.21564
$TCM_TEMP,20.30
$XPDR_PINGS,0
$24V_AH,23.3,74.797
$10V_AH,10.0,60.111
$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,29.900,124.050,444.325,9.725,0.000,55.327,72.247,292.252,4.500,0.000,16.388,1271.864,7787.617,472.889,1918.040,771.682,0.000,1351.952,0.000,1899.723,0.000,29.249,0.000
$DEVICE_MAMPS,131.157,150.332,833.729,431.054,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,439.680,418.669,927.782,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,35075,652
$CAP_FILE_SIZE,130775,0
$CFSIZE,260165632,170160128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,281010,174916,2109.231,-15759.665,11,5.0,30,9.8