version: 66.06
glider: 139
mission: 8
dive: 820
start: 11 3 110 10 8 50
data:
$ID,139
$MISSION,8
$DIVE,820
$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,-2168706.8
$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,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
$GPS1,100207,2102.483,-15755.986,35,0.9,35,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-73.3
$GPS2,100832,2102.466,-15755.967,18,0.9,18,9.8
$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,306.1,15133,-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,-64.32,0.000,2,0.000,0.000,429,1431,2754,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.4,-3.4,12,111,12.62,2.45,-6.88,0.000,4,0.131,0.035,2785,2875,3110,0,0,0,0,0,0
$GC,185,-1.10,-116.8,20.9,-12.2,32,193,0.08,2.45,0.00,0.000,6,0.081,0.032,2805,1455,3112,0,0,0,0,0,0
$GC,388,-0.91,-116.8,46.9,-14.0,58,393,0.20,2.08,0.00,0.000,4,0.090,0.044,2847,237,3113,0,0,0,0,0,0
$GC,436,-0.85,-116.8,53.9,-13.4,61,442,0.00,2.00,0.00,0.000,6,0.000,0.019,2847,1512,3113,0,0,0,0,0,0
$GC,696,-0.80,-116.8,81.0,-9.2,82,701,0.12,2.22,0.00,0.000,4,0.094,0.045,2874,231,3113,0,0,0,0,0,0
$GC,731,-0.85,-116.8,84.5,-9.9,84,735,0.00,2.00,0.00,0.000,6,0.000,0.018,2874,1505,3114,0,0,0,0,0,0
$GC,998,-1.05,-116.8,104.4,-7.3,105,1002,0.22,2.22,0.00,0.000,4,0.041,0.041,2801,227,3114,0,0,0,0,0,0
$GC,1069,-0.97,-116.8,111.1,-10.0,110,1073,0.17,2.00,0.00,0.000,6,0.081,0.018,2839,1516,3114,0,0,0,0,0,0
$GC,1336,-0.97,-116.8,131.8,-7.6,131,1340,0.00,2.20,0.00,0.000,4,0.000,0.021,2839,2886,3115,0,0,0,0,0,0
$GC,1349,-1.00,-116.8,132.9,-7.7,132,1353,0.00,2.42,0.00,0.000,6,0.000,0.031,2839,1448,3115,0,0,0,0,0,0
$GC,1616,-1.05,-116.8,153.9,-8.5,153,1619,0.00,2.05,0.00,0.000,4,0.000,0.044,2839,235,3115,0,0,0,0,0,0
$GC,1667,-1.09,-116.8,158.7,-9.0,156,1673,0.08,2.00,0.00,0.000,6,0.036,0.019,2799,1521,3116,0,0,0,0,0,0
$GC,1930,-1.04,-116.8,181.2,-8.2,177,1935,0.12,2.20,0.00,0.000,4,0.092,0.021,2828,2877,3116,0,0,0,0,0,0
$GC,1971,-1.15,-116.8,184.3,-6.3,180,1977,0.12,2.38,0.00,0.000,6,0.059,0.030,2778,1448,3116,0,0,0,0,0,0
$GC,2249,-1.06,-116.8,207.7,-9.2,199,2253,0.20,2.08,0.00,0.000,4,0.081,0.043,2822,232,3116,0,0,0,0,0,0
$GC,2284,-1.06,-116.8,211.4,-8.4,200,2287,0.00,1.95,0.00,0.000,6,0.000,0.019,2822,1503,3116,0,0,0,0,0,0
$GC,2605,-1.06,-116.8,234.4,-6.4,216,2609,0.00,2.20,0.00,0.000,4,0.000,0.045,2822,232,3116,0,0,0,0,0,0
$GC,2665,-1.06,-116.8,239.1,-8.3,218,2672,0.00,2.00,0.00,0.000,6,0.000,0.021,2822,1505,3116,0,0,0,0,0,0
$GC,2983,-1.11,-116.8,262.8,-7.6,234,2987,0.00,2.17,0.00,0.000,4,0.000,0.047,2822,230,3115,0,0,0,0,0,0
$GC,3004,-1.15,-116.8,264.4,-7.4,235,3009,0.10,2.00,0.00,0.000,6,0.074,0.021,2784,1508,3115,0,0,0,0,0,0
$GC,3338,-1.12,-116.8,290.2,-8.5,251,3342,0.10,2.22,0.00,0.000,4,0.104,0.048,2806,232,3114,0,0,0,0,0,0
$GC,3390,-1.12,-116.8,295.4,-9.6,253,3394,0.00,1.98,0.00,0.000,6,0.000,0.021,2806,1500,3114,0,0,0,0,0,0
$GC,3731,-1.12,-116.8,325.3,-8.9,263,3735,0.00,2.17,0.00,0.000,4,0.000,0.025,2806,2837,3113,0,0,0,0,0,0
$GC,3770,-1.22,-116.8,328.5,-8.9,263,3774,0.00,2.35,0.00,0.000,6,0.000,0.035,2806,1443,3113,0,0,0,0,0,0
$GC,4101,-1.22,-116.8,355.5,-8.0,271,4105,0.00,2.10,0.00,0.000,4,0.000,0.051,2806,229,3112,0,0,0,0,0,0
$GC,4152,-1.22,-116.8,360.0,-8.9,272,4159,0.00,1.92,0.00,0.000,6,0.000,0.023,2806,1451,3111,0,0,0,0,0,0
$GC,4479,-1.25,-116.8,387.8,-8.8,280,4484,0.12,2.28,0.00,0.000,4,0.064,0.026,2764,2829,3109,0,0,0,0,0,0
$GC,4514,-1.25,-116.8,391.4,-9.8,280,4518,0.00,2.35,0.00,0.000,6,0.000,0.038,2763,1452,3109,0,0,0,0,0,0
$GC,4848,-1.19,-116.8,422.4,-9.2,288,4853,0.12,2.30,0.00,0.000,4,0.094,0.027,2790,2834,3107,0,0,0,0,0,0
$GC,4896,-1.27,-116.8,426.7,-7.6,289,4900,0.00,2.38,0.00,0.000,6,0.000,0.038,2790,1441,3106,0,0,0,0,0,0
$STATE,5216,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5216,begin apogee
$GC,5224,-0.31,0.0,452.8,8.0,297,5325,0.88,0.00,97.35,0.823,6,0.064,0.000,2980,1441,2630,0,0,0,0,0,0
$STATE,5325,end apogee,CONTROL_FINISHED_OK
$STATE,5325,begin climb
$GC,5328,1.18,116.8,456.3,0.0,299,5440,1.40,2.33,101.38,0.808,4,0.031,0.028,3310,2798,2153,0,0,0,0,0,0
$GC,5452,1.10,211.0,458.7,3.6,301,5544,0.00,2.42,82.38,0.798,6,0.000,0.039,3310,1419,1768,0,0,0,0,0,0
$GC,5873,0.89,211.0,419.8,9.1,312,5878,0.30,2.33,0.00,0.000,4,0.092,0.027,3246,2798,1759,0,0,0,0,0,0
$GC,5918,0.90,217.8,415.9,7.6,313,5930,0.00,2.40,5.32,0.574,6,0.000,0.043,3246,1421,1742,0,0,0,0,0,0
$GC,6249,0.85,217.8,388.5,8.2,321,6252,0.00,2.33,0.00,0.000,4,0.000,0.028,3246,2799,1739,0,0,0,0,0,0
$GC,6297,0.85,217.8,384.6,8.9,322,6301,0.00,2.42,0.00,0.000,6,0.000,0.042,3246,1416,1739,0,0,0,0,0,0
$GC,6625,0.81,217.8,355.4,8.9,330,6629,0.00,2.08,0.00,0.000,4,0.000,0.058,3246,230,1738,0,0,0,0,0,0
$GC,6692,0.72,217.8,349.4,9.0,331,6696,0.15,1.95,0.00,0.000,6,0.080,0.028,3206,1405,1734,0,0,0,0,0,0
$GC,7042,0.91,313.5,333.2,3.6,340,7135,0.20,2.15,83.47,0.764,4,0.055,0.057,3259,232,1350,0,0,0,0,0,0
$GC,7151,0.84,313.5,325.9,9.0,342,7155,0.12,1.98,0.00,0.000,6,0.103,0.028,3235,1425,1347,0,0,0,0,0,0
$GC,7497,0.89,316.6,300.6,7.8,351,7501,0.00,2.12,0.00,0.000,4,0.000,0.057,3235,232,1343,0,0,0,0,0,0
$GC,7523,0.89,316.6,298.2,9.1,351,7527,0.00,1.92,0.00,0.000,6,0.000,0.028,3235,1419,1341,0,0,0,0,0,0
$GC,7855,0.96,320.2,272.2,7.7,367,7867,0.10,2.10,5.40,0.535,4,0.078,0.054,3266,235,1323,0,0,0,0,0,0
$GC,7882,0.91,320.2,269.5,9.2,368,7886,0.00,1.95,0.00,0.000,6,0.000,0.028,3266,1421,1322,0,0,0,0,0,0
$GC,8212,0.94,340.2,244.4,7.0,384,8235,0.00,2.35,18.52,0.664,4,0.000,0.026,3266,2808,1242,0,0,0,0,0,0
$GC,8264,1.08,367.1,240.6,6.7,386,8294,0.00,2.45,24.75,0.668,6,0.000,0.040,3266,1412,1133,0,0,0,0,0,0
$GC,8612,1.11,393.3,214.0,6.7,403,8641,0.12,2.15,23.05,0.645,4,0.066,0.054,3303,236,1026,0,0,0,0,0,0
$GC,8721,1.03,393.3,203.1,11.3,407,8727,0.15,1.92,0.00,0.000,6,0.094,0.025,3273,1436,1022,0,0,0,0,0,0
$GC,9051,1.06,393.3,173.7,9.3,432,9055,0.00,2.12,0.00,0.000,4,0.000,0.051,3273,230,1021,0,0,0,0,0,0
$GC,9063,1.06,393.3,172.1,9.2,433,9067,0.00,1.95,0.00,0.000,6,0.000,0.026,3273,1411,1020,0,0,0,0,0,0
$GC,9332,1.06,393.3,148.5,8.5,454,9336,0.00,2.05,0.00,0.000,4,0.000,0.051,3273,234,1020,0,0,0,0,0,0
$GC,9365,1.06,393.3,145.2,9.9,456,9368,0.00,1.90,0.00,0.000,6,0.000,0.025,3273,1429,1019,0,0,0,0,0,0
$GC,9633,1.15,416.5,125.6,6.8,477,9661,0.12,2.33,20.25,0.563,4,0.063,0.022,3314,2798,930,0,0,0,0,0,0
$GC,9671,1.15,416.5,121.8,9.2,479,9677,0.00,2.40,0.00,0.000,6,0.000,0.037,3314,1419,930,0,0,0,0,0,0
$GC,9931,1.15,416.5,97.7,10.3,500,9935,0.00,2.05,0.00,0.000,4,0.000,0.051,3314,231,929,0,0,0,0,0,0
$GC,10018,1.10,416.5,87.9,10.4,506,10022,0.12,1.92,0.00,0.000,6,0.097,0.023,3289,1432,927,0,0,0,0,0,0
$GC,10287,1.25,449.9,69.6,6.4,527,10321,0.15,2.17,28.55,0.522,4,0.055,0.048,3338,234,794,0,0,0,0,0,0
$GC,10338,1.25,449.9,65.2,8.3,531,10342,0.00,1.90,0.00,0.000,6,0.000,0.021,3338,1422,793,0,0,0,0,0,0
$GC,10608,1.25,449.9,42.3,9.1,552,10612,0.00,2.25,0.00,0.000,4,0.000,0.021,3338,2801,792,0,0,0,0,0,0
$GC,10622,1.25,449.9,40.6,9.6,553,10626,0.00,2.38,0.00,0.000,6,0.000,0.035,3338,1418,792,0,0,0,0,0,0
$GC,10887,1.25,449.9,15.5,9.5,595,10893,0.00,2.05,0.00,0.000,4,0.000,0.048,3338,242,791,0,0,0,0,0,0
$GC,10939,1.18,449.9,9.6,11.4,606,10947,0.12,1.88,0.00,0.000,6,0.066,0.020,3307,1428,790,0,0,0,0,0,0
$STATE,11011,end climb,SURFACE_DEPTH_REACHED
$STATE,11011,begin surface coast
$FINISH,0.9,1.011265
$STATE,11048,end surface coast,CONTROL_FINISHED_OK
$STATE,11048,begin surface
$SM_CCo,11132,0.00,0.000,0,0,788,451.84
$SM_GC,1.73,12.38,0.00,0.00,0.025,0.000,0.000,430,1429,788,-11.98,-0.62,451.84
$IRIDIUM_FIX,2054.83,-15753.90,280100,060635
$TT8_MAMPS,0.028379
$HUMID,63.30
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,20.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,442.9,58.7
$24V_AH,23.3,79.659
$10V_AH,10.0,63.735
$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,30.725,133.825,490.425,0.000,0.000,30.854,36.201,170.831,4.750,0.000,18.961,1234.144,7301.608,488.338,1895.652,586.779,0.000,1382.988,0.000,1872.583,0.000,32.264,0.000
$DEVICE_MAMPS,131.157,57.525,822.991,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,423.578,410.721,914.719,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355772
$DATA_FILE_SIZE,34936,630
$CAP_FILE_SIZE,128221,0
$CFSIZE,260165632,167587840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,031110,131508,2102.463,-15756.480,10,2.0,10,9.8