version: 66.06
glider: 139
mission: 8
dive: 832
start: 11 5 110 1 53 3
data:
$ID,139
$MISSION,8
$DIVE,832
$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,-2168941
$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
$GPS1,014558,2105.256,-15759.920,16,4.3,35,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-72.7
$GPS2,015245,2105.255,-15759.963,13,1.5,32,9.8
$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,317.7,6760,-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,-116.8,0.0,0.0,0,82,0.00,0.00,-64.22,0.000,2,0.000,0.000,423,1422,2731,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.8,-4.2,12,116,12.68,2.47,-7.07,0.000,4,0.132,0.035,2787,2884,3110,0,0,0,0,0,0
$GC,138,-0.62,-116.8,16.4,-22.6,21,146,0.55,2.47,0.00,0.000,6,0.068,0.035,2909,1454,3111,0,0,0,0,0,0
$GC,343,-0.68,-116.8,31.1,-6.9,65,347,0.00,2.10,0.00,0.000,4,0.000,0.044,2909,230,3111,0,0,0,0,0,0
$GC,397,-0.78,-116.8,35.9,-9.3,69,402,0.15,2.00,0.00,0.000,6,0.054,0.019,2859,1521,3112,0,0,0,0,0,0
$GC,657,-0.78,-116.8,61.0,-8.5,89,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1521,3112,0,0,0,0,0,0
$GC,911,-0.75,-116.8,88.7,-11.3,109,916,0.12,2.22,0.00,0.000,4,0.090,0.044,2887,227,3112,0,0,0,0,0,0
$GC,998,-0.80,-116.8,98.6,-10.2,115,1001,0.00,1.98,0.00,0.000,6,0.000,0.018,2887,1501,3113,0,0,0,0,0,0
$GC,1267,-0.91,-116.8,120.5,-6.8,136,1272,0.15,2.20,0.00,0.000,4,0.054,0.044,2834,231,3114,0,0,0,0,0,0
$GC,1319,-0.91,-116.8,125.1,-8.1,140,1322,0.00,1.98,0.00,0.000,6,0.000,0.018,2834,1512,3114,0,0,0,0,0,0
$GC,1589,-0.91,-116.8,145.6,-8.3,161,1593,0.00,2.22,0.00,0.000,4,0.000,0.043,2834,226,3114,0,0,0,0,0,0
$GC,1642,-0.91,-116.8,150.5,-9.3,165,1645,0.00,1.98,0.00,0.000,6,0.000,0.018,2834,1508,3114,0,0,0,0,0,0
$GC,1913,-0.91,-116.8,171.8,-7.7,186,1917,0.00,2.20,0.00,0.000,4,0.000,0.044,2834,231,3115,0,0,0,0,0,0
$GC,1972,-0.91,-116.8,176.9,-7.3,190,1976,0.00,2.00,0.00,0.000,6,0.000,0.019,2834,1515,3115,0,0,0,0,0,0
$GC,2241,-0.94,-116.8,192.9,-6.6,211,2245,0.00,2.17,0.00,0.000,4,0.000,0.044,2834,233,3115,0,0,0,0,0,0
$GC,2284,-0.98,-116.8,196.5,-7.3,214,2287,0.00,2.00,0.00,0.000,6,0.000,0.019,2834,1514,3115,0,0,0,0,0,0
$GC,2538,-1.07,-116.8,217.1,-8.4,228,2542,0.00,2.22,0.00,0.000,4,0.000,0.044,2834,224,3115,0,0,0,0,0,0
$GC,2607,-1.12,-116.8,222.9,-8.6,231,2612,0.12,1.98,0.00,0.000,6,0.061,0.020,2787,1512,3116,0,0,0,0,0,0
$GC,2940,-1.06,-116.8,249.9,-8.1,247,2942,0.15,0.00,0.00,0.000,6,0.086,0.000,2821,1512,3115,0,0,0,0,0,0
$GC,3248,-1.06,-116.8,269.8,-6.5,262,3252,0.00,2.20,0.00,0.000,4,0.000,0.047,2821,234,3115,0,0,0,0,0,0
$GC,3299,-1.06,-116.8,273.7,-7.4,264,3303,0.00,1.98,0.00,0.000,6,0.000,0.021,2821,1499,3115,0,0,0,0,0,0
$GC,3628,-1.20,-116.8,296.0,-6.7,280,3632,0.15,2.20,0.00,0.000,4,0.055,0.025,2770,2836,3114,0,0,0,0,0,0
$GC,3684,-1.20,-116.8,300.8,-7.9,282,3688,0.00,2.35,0.00,0.000,6,0.000,0.033,2770,1438,3113,0,0,0,0,0,0
$GC,4005,-1.13,-116.8,327.2,-8.5,290,4010,0.15,2.10,0.00,0.000,4,0.088,0.050,2802,230,3112,0,0,0,0,0,0
$GC,4062,-1.13,-116.8,332.3,-8.2,291,4065,0.00,1.92,0.00,0.000,6,0.000,0.022,2802,1452,3112,0,0,0,0,0,0
$GC,4380,-1.13,-116.8,355.0,-7.2,299,4384,0.00,2.10,0.00,0.000,4,0.000,0.050,2802,237,3109,0,0,0,0,0,0
$GC,4424,-1.13,-116.8,358.5,-8.2,300,4428,0.00,1.92,0.00,0.000,6,0.000,0.023,2802,1453,3109,0,0,0,0,0,0
$GC,4756,-1.13,-116.8,383.4,-7.2,308,4760,0.00,2.25,0.00,0.000,4,0.000,0.025,2802,2829,3107,0,0,0,0,0,0
$GC,4777,-1.20,-116.8,384.7,-7.0,308,4781,0.00,2.38,0.00,0.000,6,0.000,0.037,2802,1446,3107,0,0,0,0,0,0
$GC,5123,-1.20,-116.8,410.2,-7.7,317,5127,0.00,2.28,0.00,0.000,4,0.000,0.027,2802,2825,3105,0,0,0,0,0,0
$GC,5161,-1.31,-116.8,413.2,-7.7,317,5167,0.17,2.38,0.00,0.000,6,0.051,0.037,2747,1443,3105,0,0,0,0,0,0
$GC,5494,-1.22,-116.8,445.2,-9.1,326,5496,0.17,0.00,0.00,0.000,6,0.086,0.000,2785,1442,3103,0,0,0,0,0,0
$STATE,5570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5570,begin apogee
$GC,5577,-0.31,0.0,450.9,8.0,328,5677,0.90,0.00,96.62,0.820,6,0.066,0.000,2979,1442,2629,0,0,0,0,0,0
$STATE,5677,end apogee,CONTROL_FINISHED_OK
$STATE,5677,begin climb
$GC,5680,1.18,116.8,453.6,0.0,330,5792,1.45,2.33,102.45,0.803,4,0.034,0.026,3315,2802,2152,0,0,0,0,0,0
$GC,5806,1.10,223.4,455.7,3.1,333,5909,0.12,2.42,92.32,0.793,6,0.107,0.039,3292,1415,1719,0,0,0,0,0,0
$GC,6236,0.94,223.4,419.2,8.5,344,6238,0.17,0.00,0.00,0.000,6,0.099,0.000,3258,1415,1710,0,0,0,0,0,0
$GC,6558,0.90,242.6,396.3,7.0,352,6581,0.00,2.35,16.55,0.729,4,0.000,0.026,3258,2796,1639,0,0,0,0,0,0
$GC,6616,0.90,248.2,392.0,7.6,353,6629,0.00,2.42,6.62,0.614,6,0.000,0.041,3257,1419,1617,0,0,0,0,0,0
$GC,6975,0.84,248.2,363.0,8.3,362,6979,0.12,2.12,0.00,0.000,4,0.103,0.058,3233,229,1613,0,0,0,0,0,0
$GC,7026,0.80,248.2,358.8,8.8,363,7030,0.00,1.92,0.00,0.000,6,0.000,0.027,3233,1410,1609,0,0,0,0,0,0
$GC,7358,0.80,248.2,331.8,8.1,371,7362,0.00,2.35,0.00,0.000,4,0.000,0.028,3233,2815,1609,0,0,0,0,0,0
$GC,7374,0.84,259.9,330.7,7.4,371,7390,0.00,2.42,10.57,0.674,6,0.000,0.041,3233,1415,1569,0,0,0,0,0,0
$GC,7728,0.89,295.1,307.1,6.3,380,7765,0.00,2.15,31.62,0.728,4,0.000,0.057,3233,229,1427,0,0,0,0,0,0
$GC,7822,0.89,295.1,300.8,7.9,382,7826,0.00,1.98,0.00,0.000,6,0.000,0.027,3233,1429,1423,0,0,0,0,0,0
$GC,8164,0.96,318.6,279.1,6.8,397,8193,0.12,2.33,21.25,0.693,4,0.068,0.026,3270,2804,1330,0,0,0,0,0,0
$GC,8210,0.96,318.6,275.0,8.5,399,8214,0.00,2.42,0.00,0.000,6,0.000,0.041,3270,1419,1330,0,0,0,0,0,0
$GC,8542,0.98,339.5,249.7,7.0,415,8567,0.00,2.17,19.15,0.667,4,0.000,0.056,3270,234,1245,0,0,0,0,0,0
$GC,8578,1.01,361.2,246.9,6.9,416,8603,0.00,1.95,20.30,0.661,6,0.000,0.027,3271,1421,1156,0,0,0,0,0,0
$GC,8924,1.01,361.2,219.3,8.6,433,8928,0.00,2.08,0.00,0.000,4,0.000,0.054,3270,234,1152,0,0,0,0,0,0
$GC,8953,0.96,361.2,216.0,10.4,434,8956,0.00,1.95,0.00,0.000,6,0.000,0.026,3271,1430,1150,0,0,0,0,0,0
$GC,9279,0.96,361.2,188.4,9.2,454,9283,0.00,2.10,0.00,0.000,4,0.000,0.053,3270,228,1149,0,0,0,0,0,0
$GC,9299,0.96,361.2,186.6,9.6,455,9304,0.00,1.92,0.00,0.000,6,0.000,0.025,3271,1425,1149,0,0,0,0,0,0
$GC,9558,0.99,361.2,160.0,9.8,476,9559,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1426,1149,0,0,0,0,0,0
$GC,9812,1.05,362.5,138.6,7.8,496,9813,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1426,1149,0,0,0,0,0,0
$GC,10063,1.13,369.8,118.6,7.6,516,10079,0.10,2.12,7.62,0.492,4,0.075,0.051,3305,238,1121,0,0,0,0,0,0
$GC,10099,1.07,369.8,115.3,9.6,518,10103,0.00,1.90,0.00,0.000,6,0.000,0.023,3305,1426,1119,0,0,0,0,0,0
$GC,10367,1.10,388.3,96.1,7.1,539,10394,0.00,2.30,16.88,0.529,4,0.000,0.022,3305,2800,1046,0,0,0,0,0,0
$GC,10414,1.22,393.0,92.4,7.7,542,10425,0.00,2.40,5.60,0.423,6,0.000,0.035,3305,1414,1027,0,0,0,0,0,0
$GC,10682,1.37,443.4,75.3,5.6,563,10734,0.20,2.33,43.45,0.532,4,0.047,0.021,3365,2806,820,0,0,0,0,0,0
$GC,10750,1.37,443.4,70.0,8.3,568,10756,0.00,2.45,0.00,0.000,6,0.000,0.037,3365,1418,820,0,0,0,0,0,0
$GC,11010,1.29,443.4,38.3,11.0,589,11014,0.17,2.05,0.00,0.000,4,0.090,0.049,3330,235,818,0,0,0,0,0,0
$GC,11063,1.29,443.4,32.2,11.4,593,11067,0.00,1.88,0.00,0.000,6,0.000,0.021,3329,1430,816,0,0,0,0,0,0
$GC,11329,1.29,443.4,6.6,10.9,650,11335,0.00,2.25,0.00,0.000,4,0.000,0.021,3329,2797,816,0,0,0,0,0,0
$GC,11353,1.32,443.4,4.7,9.1,654,11361,0.00,2.38,0.00,0.000,6,0.000,0.035,3329,1426,816,0,0,0,0,0,0
$STATE,11367,end climb,SURFACE_DEPTH_REACHED
$STATE,11367,begin surface coast
$FINISH,0.9,1.023155
$STATE,11398,end surface coast,CONTROL_FINISHED_OK
$STATE,11398,begin surface
$SM_CCo,11481,0.00,0.000,0,0,812,445.71
$SM_GC,1.77,12.50,0.00,0.00,0.025,0.000,0.000,426,1419,812,-11.99,-0.88,445.71
$IRIDIUM_FIX,2059.45,-15759.05,290100,222243
$TT8_MAMPS,0.028379
$HUMID,63.03
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,20.40
$XPDR_PINGS,0
$24V_AH,23.3,81.064
$10V_AH,9.9,64.778
$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,30.450,121.700,491.025,0.000,0.000,27.426,41.434,177.094,4.500,0.000,32.629,1279.599,7557.125,517.218,1939.015,584.584,0.000,1396.272,0.000,1899.274,0.000,29.246,0.000
$DEVICE_MAMPS,131.924,57.525,819.923,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,445.752,432.098,962.831,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355772
$DATA_FILE_SIZE,38220,663
$CAP_FILE_SIZE,126098,0
$CFSIZE,260165632,166834176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051110,050555,2105.735,-15800.662,55,1.0,55,9.8