version: 66.06
glider: 139
mission: 8
dive: 815
start: 11 2 110 17 33 34
data:
$ID,139
$MISSION,8
$DIVE,815
$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,-2168596.2
$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
$GPS1,172258,2101.635,-15754.447,12,3.3,31,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-71.7
$GPS2,173316,2101.594,-15754.419,15,3.0,34,9.8
$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,303.6,18173,-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,13,begin dive
$GC,16,-1.18,-116.8,0.0,0.0,0,88,0.00,0.00,-69.55,0.000,2,0.000,0.000,424,1431,2668,0,0,0,0,0,0
$GC,92,-1.18,-116.8,3.3,-3.6,13,123,12.65,2.45,-8.50,0.000,4,0.131,0.036,2785,2877,3109,0,0,0,0,0,0
$GC,183,-1.10,-116.8,19.4,-11.6,31,190,0.08,2.47,0.00,0.000,6,0.078,0.033,2805,1445,3110,0,0,0,0,0,0
$GC,392,-0.92,-116.8,47.6,-14.0,59,397,0.20,2.08,0.00,0.000,4,0.088,0.044,2847,231,3110,0,0,0,0,0,0
$GC,431,-0.84,-116.8,52.2,-11.1,62,435,0.00,2.00,0.00,0.000,6,0.000,0.018,2846,1501,3111,0,0,0,0,0,0
$GC,703,-0.78,-116.8,80.5,-10.5,83,708,0.15,2.22,0.00,0.000,4,0.090,0.021,2879,2884,3111,0,0,0,0,0,0
$GC,718,-0.78,-116.8,82.2,-9.8,84,722,0.00,2.40,0.00,0.000,6,0.000,0.030,2879,1446,3111,0,0,0,0,0,0
$GC,980,-0.86,-116.8,105.6,-8.5,104,984,0.00,2.05,0.00,0.000,4,0.000,0.042,2879,237,3112,0,0,0,0,0,0
$GC,1025,-0.94,-116.8,109.5,-7.8,107,1030,0.15,2.00,0.00,0.000,6,0.054,0.019,2827,1514,3112,0,0,0,0,0,0
$GC,1297,-0.94,-116.8,130.4,-7.5,128,1301,0.00,2.20,0.00,0.000,4,0.000,0.020,2826,2883,3112,0,0,0,0,0,0
$GC,1339,-1.00,-116.8,134.1,-8.0,131,1343,0.00,2.42,0.00,0.000,6,0.000,0.029,2827,1442,3113,0,0,0,0,0,0
$GC,1601,-1.00,-116.8,154.9,-7.4,151,1605,0.00,2.03,0.00,0.000,4,0.000,0.044,2826,238,3113,0,0,0,0,0,0
$GC,1676,-1.00,-116.8,161.1,-8.1,156,1680,0.00,1.98,0.00,0.000,6,0.000,0.018,2826,1508,3113,0,0,0,0,0,0
$GC,1943,-1.00,-116.8,180.3,-6.9,177,1947,0.00,2.17,0.00,0.000,4,0.000,0.044,2826,235,3113,0,0,0,0,0,0
$GC,1971,-1.00,-116.8,182.5,-7.8,179,1974,0.00,1.98,0.00,0.000,6,0.000,0.019,2826,1505,3113,0,0,0,0,0,0
$GC,2249,-1.03,-116.8,202.0,-6.8,200,2250,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1518,3114,0,0,0,0,0,0
$GC,2559,-1.07,-116.8,223.7,-7.2,215,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1518,3114,0,0,0,0,0,0
$GC,2865,-1.12,-116.8,246.1,-7.0,230,2869,0.00,2.17,0.00,0.000,4,0.000,0.047,2827,240,3114,0,0,0,0,0,0
$GC,2945,-1.16,-116.8,252.0,-7.4,233,2950,0.05,2.00,0.00,0.000,6,0.020,0.021,2782,1499,3113,0,0,0,0,0,0
$GC,3270,-1.12,-116.8,280.6,-8.6,249,3275,0.10,2.17,0.00,0.000,4,0.103,0.024,2804,2826,3112,0,0,0,0,0,0
$GC,3333,-1.20,-116.8,285.4,-7.4,251,3337,0.00,2.30,0.00,0.000,6,0.000,0.033,2803,1452,3112,0,0,0,0,0,0
$GC,3647,-1.20,-116.8,305.0,-5.7,264,3651,0.00,2.10,0.00,0.000,4,0.000,0.049,2804,234,3110,0,0,0,0,0,0
$GC,3690,-1.20,-116.8,307.9,-7.5,265,3694,0.00,1.90,0.00,0.000,6,0.000,0.023,2803,1449,3110,0,0,0,0,0,0
$GC,4025,-1.20,-116.8,329.5,-6.6,273,4029,0.00,2.28,0.00,0.000,4,0.000,0.025,2804,2828,3108,0,0,0,0,0,0
$GC,4100,-1.29,-116.8,335.7,-8.4,274,4105,0.15,2.35,0.00,0.000,6,0.056,0.035,2756,1447,3107,0,0,0,0,0,0
$GC,4438,-1.18,-116.8,369.5,-9.8,283,4443,0.17,2.30,0.00,0.000,4,0.085,0.026,2793,2831,3105,0,0,0,0,0,0
$GC,4472,-1.26,-116.8,372.4,-7.9,283,4477,0.00,2.35,0.00,0.000,6,0.000,0.038,2793,1449,3105,0,0,0,0,0,0
$GC,4804,-1.26,-116.8,395.0,-6.4,291,4808,0.00,2.12,0.00,0.000,4,0.000,0.053,2793,227,3103,0,0,0,0,0,0
$GC,4866,-1.26,-116.8,399.0,-7.0,292,4870,0.00,1.98,0.00,0.000,6,0.000,0.025,2793,1447,3103,0,0,0,0,0,0
$GC,5179,-1.26,-116.8,419.2,-6.5,300,5183,0.00,2.30,0.00,0.000,4,0.000,0.028,2793,2833,3101,0,0,0,0,0,0
$GC,5211,-1.34,-116.8,421.1,-6.8,300,5216,0.15,2.38,0.00,0.000,6,0.058,0.039,2747,1444,3100,0,0,0,0,0,0
$STATE,5545,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5545,begin apogee
$GC,5551,-0.31,0.0,450.7,8.9,309,5651,1.10,0.00,96.57,0.827,6,0.069,0.000,2983,1443,2630,0,0,0,0,0,0
$STATE,5652,end apogee,CONTROL_FINISHED_OK
$STATE,5652,begin climb
$GC,5655,1.18,116.8,453.0,0.0,311,5770,1.42,2.35,102.18,0.810,4,0.031,0.027,3315,2801,2152,0,0,0,0,0,0
$GC,5866,1.06,179.5,449.9,5.1,316,5930,0.17,2.42,55.05,0.796,6,0.103,0.040,3281,1421,1898,0,0,0,0,0,0
$GC,6255,0.92,192.1,424.5,7.3,326,6272,0.15,2.40,10.75,0.709,4,0.104,0.029,3253,2797,1846,0,0,0,0,0,0
$GC,6333,0.96,223.7,419.7,6.5,327,6370,0.00,2.42,29.80,0.779,6,0.000,0.043,3252,1420,1716,0,0,0,0,0,0
$GC,6682,0.89,230.0,393.6,7.6,336,6694,0.00,2.17,5.78,0.588,4,0.000,0.058,3252,233,1692,0,0,0,0,0,0
$GC,6724,0.75,230.0,389.7,9.2,336,6730,0.20,1.95,0.00,0.000,6,0.099,0.028,3213,1421,1689,0,0,0,0,0,0
$GC,7056,0.83,262.0,368.1,6.5,345,7092,0.00,2.38,29.15,0.765,4,0.000,0.028,3213,2815,1561,0,0,0,0,0,0
$GC,7118,0.94,262.0,362.6,9.5,346,7123,0.17,2.45,0.00,0.000,6,0.054,0.043,3261,1420,1561,0,0,0,0,0,0
$GC,7469,0.89,262.0,321.4,11.2,355,7473,0.00,2.35,0.00,0.000,4,0.000,0.029,3261,2808,1556,0,0,0,0,0,0
$GC,7492,0.89,262.0,319.0,9.5,355,7496,0.00,2.45,0.00,0.000,6,0.000,0.044,3261,1414,1556,0,0,0,0,0,0
$GC,7816,0.85,262.0,292.0,8.1,365,7821,0.12,2.10,0.00,0.000,4,0.102,0.059,3236,228,1554,0,0,0,0,0,0
$GC,7880,0.81,262.0,286.4,8.3,367,7886,0.00,1.92,0.00,0.000,6,0.000,0.028,3236,1419,1552,0,0,0,0,0,0
$GC,8199,0.88,286.5,264.5,6.8,383,8226,0.00,2.40,21.02,0.697,4,0.000,0.028,3236,2806,1462,0,0,0,0,0,0
$GC,8239,0.95,294.6,261.4,7.5,385,8255,0.00,2.45,9.07,0.621,6,0.000,0.041,3236,1419,1429,0,0,0,0,0,0
$GC,8577,1.05,336.4,239.6,6.0,401,8621,0.20,2.15,37.35,0.693,4,0.054,0.055,3290,231,1257,0,0,0,0,0,0
$GC,8671,0.93,336.4,230.6,10.6,405,8676,0.17,1.95,0.00,0.000,6,0.094,0.027,3256,1424,1253,0,0,0,0,0,0
$GC,9006,0.98,339.0,203.5,7.8,421,9010,0.00,2.30,0.00,0.000,4,0.000,0.027,3256,2805,1252,0,0,0,0,0,0
$GC,9067,1.14,357.0,198.5,7.1,424,9091,0.17,2.42,18.25,0.635,6,0.055,0.038,3306,1410,1174,0,0,0,0,0,0
$GC,9343,1.07,357.0,172.2,10.6,446,9347,0.00,2.35,0.00,0.000,4,0.000,0.025,3305,2814,1170,0,0,0,0,0,0
$GC,9362,1.07,357.0,170.1,10.7,447,9368,0.10,2.42,0.00,0.000,6,0.114,0.040,3286,1422,1170,0,0,0,0,0,0
$GC,9623,1.07,357.0,143.9,9.2,468,9627,0.00,2.08,0.00,0.000,4,0.000,0.052,3286,234,1170,0,0,0,0,0,0
$GC,9637,1.07,357.0,142.2,9.2,469,9641,0.00,1.92,0.00,0.000,6,0.000,0.026,3286,1420,1168,0,0,0,0,0,0
$GC,9902,1.13,370.8,120.9,7.3,490,9920,0.00,2.35,12.25,0.540,4,0.000,0.025,3286,2803,1117,0,0,0,0,0,0
$GC,9942,1.26,374.8,117.7,7.7,492,9953,0.12,2.42,5.32,0.443,6,0.034,0.037,3332,1416,1101,0,0,0,0,0,0
$GC,10212,1.26,374.8,89.6,9.6,514,10216,0.00,2.05,0.00,0.000,4,0.000,0.051,3332,228,1099,0,0,0,0,0,0
$GC,10280,1.20,374.8,82.7,11.6,519,10283,0.00,1.92,0.00,0.000,6,0.000,0.023,3332,1434,1097,0,0,0,0,0,0
$GC,10548,1.20,374.8,60.4,8.0,540,10552,0.00,2.25,0.00,0.000,4,0.000,0.022,3332,2809,1097,0,0,0,0,0,0
$GC,10569,1.26,389.2,58.9,7.2,541,10589,0.00,2.40,13.05,0.496,6,0.000,0.035,3332,1427,1042,0,0,0,0,0,0
$GC,10844,1.26,389.2,35.0,8.7,563,10847,0.00,2.05,0.00,0.000,4,0.000,0.048,3332,228,1041,0,0,0,0,0,0
$GC,10870,1.21,389.2,32.5,10.1,565,10874,0.00,1.88,0.00,0.000,6,0.000,0.021,3332,1431,1039,0,0,0,0,0,0
$GC,11135,1.21,389.2,10.1,9.1,622,11141,0.00,2.25,0.00,0.000,4,0.000,0.021,3332,2799,1039,0,0,0,0,0,0
$GC,11164,1.25,389.2,7.8,8.3,627,11170,0.00,2.38,0.00,0.000,6,0.000,0.035,3332,1425,1039,0,0,0,0,0,0
$STATE,11218,end climb,SURFACE_DEPTH_REACHED
$STATE,11218,begin surface coast
$FINISH,0.8,1.023252
$STATE,11255,end surface coast,CONTROL_FINISHED_OK
$STATE,11255,begin surface
$SM_CCo,11278,18.00,0.462,0,0,957,410.14
$SM_GC,1.60,0.00,0.00,18.00,0.000,0.000,0.462,429,1423,957,-12.06,-0.76,410.14
$IRIDIUM_FIX,2057.14,-15753.90,270100,171700
$TT8_MAMPS,0.029146
$HUMID,64.09
$INTERNAL_PRESSURE,9.23518
$TCM_TEMP,20.30
$XPDR_PINGS,0
$24V_AH,23.3,79.094
$10V_AH,9.9,63.302
$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,30.500,132.925,445.600,18.000,0.000,61.896,70.268,257.190,4.500,0.000,35.467,1263.756,7476.496,490.133,1934.043,744.262,0.000,1375.074,0.000,1892.562,0.000,29.242,0.000
$DEVICE_MAMPS,131.157,59.059,826.826,461.734,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,435.545,419.249,944.901,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355740
$DATA_FILE_SIZE,34747,647
$CAP_FILE_SIZE,131767,0
$CFSIZE,260165632,167903232
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021110,204307,2102.007,-15754.597,36,0.9,36,9.8