version: 66.06
glider: 139
mission: 8
dive: 833
start: 11 5 110 5 20 40
data:
$ID,139
$MISSION,8
$DIVE,833
$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,-2168954.8
$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
$GPS1,050555,2105.735,-15800.662,55,1.0,55,9.8
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-70.2
$GPS2,052020,2105.703,-15800.706,12,1.8,12,9.8
$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,324.5,5408,-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,12,begin dive
$GC,15,-1.18,-116.8,0.0,0.0,0,87,0.00,0.00,-69.88,0.000,2,0.000,0.000,425,1420,2788,0,0,0,0,0,0
$GC,92,-1.18,-116.8,3.5,-3.5,13,117,12.65,2.40,-6.18,0.000,4,0.131,0.031,2785,2877,3107,0,0,0,0,0,0
$GC,182,-1.11,-116.8,19.4,-12.5,31,190,0.08,2.47,0.00,0.000,6,0.085,0.034,2805,1448,3108,0,0,0,0,0,0
$GC,392,-0.94,-116.8,47.1,-12.9,58,397,0.17,2.10,0.00,0.000,4,0.092,0.045,2841,234,3109,0,0,0,0,0,0
$GC,445,-0.86,-116.8,54.0,-11.2,62,448,0.00,1.98,0.00,0.000,6,0.000,0.018,2842,1502,3110,0,0,0,0,0,0
$GC,716,-0.79,-116.8,81.8,-9.0,83,721,0.17,2.22,0.00,0.000,4,0.084,0.020,2879,2890,3110,0,0,0,0,0,0
$GC,756,-0.91,-116.8,85.1,-7.5,86,761,0.12,2.42,0.00,0.000,6,0.061,0.028,2832,1442,3110,0,0,0,0,0,0
$GC,1025,-0.91,-116.8,109.5,-8.5,107,1028,0.00,2.03,0.00,0.000,4,0.000,0.044,2831,238,3110,0,0,0,0,0,0
$GC,1089,-0.91,-116.8,115.4,-7.7,111,1096,0.00,1.95,0.00,0.000,6,0.000,0.018,2831,1518,3110,0,0,0,0,0,0
$GC,1349,-0.91,-116.8,133.8,-8.0,132,1353,0.00,2.17,0.00,0.000,4,0.000,0.043,2831,234,3111,0,0,0,0,0,0
$GC,1408,-0.91,-116.8,139.1,-8.9,136,1415,0.00,2.00,0.00,0.000,6,0.000,0.019,2831,1509,3111,0,0,0,0,0,0
$GC,1669,-0.91,-116.8,158.2,-5.7,157,1673,0.00,2.15,0.00,0.000,4,0.000,0.044,2831,240,3111,0,0,0,0,0,0
$GC,1697,-0.91,-116.8,159.7,-5.7,159,1701,0.00,1.95,0.00,0.000,6,0.000,0.019,2831,1518,3111,0,0,0,0,0,0
$GC,1967,-0.91,-116.8,173.5,-5.3,180,1971,0.00,2.17,0.00,0.000,4,0.000,0.045,2831,241,3111,0,0,0,0,0,0
$GC,1987,-0.91,-116.8,174.8,-5.6,181,1991,0.00,2.00,0.00,0.000,6,0.000,0.019,2831,1517,3111,0,0,0,0,0,0
$GC,2252,-0.96,-116.8,195.8,-9.3,202,2256,0.00,2.17,0.00,0.000,4,0.000,0.044,2831,241,3111,0,0,0,0,0,0
$GC,2302,-0.96,-116.8,200.9,-9.7,205,2308,0.00,1.98,0.00,0.000,6,0.000,0.019,2832,1517,3111,0,0,0,0,0,0
$GC,2558,-1.01,-116.8,222.2,-8.0,218,2562,0.00,2.20,0.00,0.000,4,0.000,0.044,2831,233,3111,0,0,0,0,0,0
$GC,2595,-1.06,-116.8,225.4,-8.6,219,2601,0.00,1.95,0.00,0.000,6,0.000,0.020,2831,1512,3111,0,0,0,0,0,0
$GC,2915,-1.21,-116.8,249.3,-7.5,235,2919,0.20,2.25,0.00,0.000,4,0.045,0.021,2765,2884,3110,0,0,0,0,0,0
$GC,2939,-1.21,-116.8,251.8,-8.7,236,2944,0.10,2.42,0.00,0.000,6,0.104,0.031,2786,1450,3110,0,0,0,0,0,0
$GC,3268,-1.21,-116.8,278.1,-7.5,252,3272,0.00,2.10,0.00,0.000,4,0.000,0.048,2785,236,3109,0,0,0,0,0,0
$GC,3289,-1.17,-116.8,280.0,-7.8,252,3296,0.00,2.00,0.00,0.000,6,0.000,0.021,2786,1498,3109,0,0,0,0,0,0
$GC,3604,-1.17,-116.8,303.8,-7.9,267,3608,0.00,2.15,0.00,0.000,4,0.000,0.048,2785,234,3108,0,0,0,0,0,0
$GC,3642,-1.17,-116.8,307.1,-8.7,267,3648,0.00,1.90,0.00,0.000,6,0.000,0.022,2786,1443,3108,0,0,0,0,0,0
$GC,3974,-1.17,-116.8,332.3,-7.1,276,3978,0.00,2.25,0.00,0.000,4,0.000,0.025,2786,2824,3106,0,0,0,0,0,0
$GC,4003,-1.22,-116.8,334.2,-7.0,276,4007,0.00,2.35,0.00,0.000,6,0.000,0.035,2786,1448,3106,0,0,0,0,0,0
$GC,4340,-1.22,-116.8,357.2,-7.4,285,4344,0.00,2.10,0.00,0.000,4,0.000,0.051,2786,235,3103,0,0,0,0,0,0
$GC,4377,-1.22,-116.8,360.7,-8.6,285,4383,0.00,1.90,0.00,0.000,6,0.000,0.024,2786,1444,3103,0,0,0,0,0,0
$GC,4709,-1.22,-116.8,386.3,-7.4,294,4713,0.00,2.10,0.00,0.000,4,0.000,0.053,2786,238,3101,0,0,0,0,0,0
$GC,4730,-1.22,-116.8,387.7,-6.6,294,4734,0.00,1.92,0.00,0.000,6,0.000,0.025,2786,1445,3101,0,0,0,0,0,0
$GC,5079,-1.22,-116.8,410.1,-6.2,303,5083,0.00,2.28,0.00,0.000,4,0.000,0.027,2786,2831,3098,0,0,0,0,0,0
$GC,5131,-1.29,-116.8,413.2,-5.3,304,5135,0.00,2.38,0.00,0.000,6,0.000,0.038,2786,1450,3098,0,0,0,0,0,0
$GC,5451,-1.29,-116.8,436.5,-8.0,312,5452,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1450,3095,0,0,0,0,0,0
$STATE,5609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5609,begin apogee
$GC,5616,-0.31,0.0,450.5,8.6,316,5714,0.90,0.00,95.38,0.834,6,0.066,0.000,2981,1450,2630,0,0,0,0,0,0
$STATE,5715,end apogee,CONTROL_FINISHED_OK
$STATE,5715,begin climb
$GC,5720,1.18,116.8,453.3,0.0,318,5832,1.40,2.30,101.85,0.816,4,0.034,0.028,3310,2793,2153,0,0,0,0,0,0
$GC,5848,1.09,204.7,454.8,3.9,321,5935,0.12,2.42,76.68,0.805,6,0.110,0.041,3287,1421,1795,0,0,0,0,0,0
$GC,6256,0.92,204.7,420.4,9.6,331,6261,0.17,2.30,0.00,0.000,4,0.100,0.028,3253,2797,1786,0,0,0,0,0,0
$GC,6333,0.92,204.7,413.6,8.5,332,6337,0.00,2.42,0.00,0.000,6,0.000,0.044,3252,1420,1786,0,0,0,0,0,0
$GC,6670,0.86,210.4,386.9,7.6,341,6678,0.00,2.38,4.00,0.496,4,0.000,0.031,3252,2799,1772,0,0,0,0,0,0
$GC,6744,0.86,210.4,380.6,9.1,342,6748,0.00,2.42,0.00,0.000,6,0.000,0.044,3253,1419,1772,0,0,0,0,0,0
$GC,7082,0.80,210.4,350.0,8.7,351,7086,0.12,2.35,0.00,0.000,4,0.106,0.029,3227,2798,1770,0,0,0,0,0,0
$GC,7106,0.84,238.1,348.1,6.6,351,7139,0.00,2.42,25.88,0.763,6,0.000,0.043,3227,1416,1658,0,0,0,0,0,0
$GC,7460,0.84,244.3,322.8,7.6,360,7472,0.00,2.15,6.28,0.604,4,0.000,0.058,3227,240,1633,0,0,0,0,0,0
$GC,7530,0.81,244.3,316.2,9.0,361,7534,0.00,1.92,0.00,0.000,6,0.000,0.028,3227,1410,1631,0,0,0,0,0,0
$GC,7861,0.89,313.0,297.3,4.8,370,7924,0.00,0.00,60.92,0.751,6,0.000,0.000,3227,1409,1354,0,0,0,0,0,0
$GC,8233,0.95,313.0,272.3,8.5,388,8238,0.12,2.10,0.00,0.000,4,0.069,0.058,3262,233,1347,0,0,0,0,0,0
$GC,8282,0.89,313.0,267.1,11.0,390,8286,0.00,1.95,0.00,0.000,6,0.000,0.028,3263,1422,1344,0,0,0,0,0,0
$GC,8611,0.92,340.8,240.7,6.6,406,8641,0.00,2.40,24.05,0.690,4,0.000,0.028,3263,2801,1239,0,0,0,0,0,0
$GC,8661,1.02,354.0,237.0,7.3,408,8680,0.00,2.42,13.07,0.644,6,0.000,0.042,3263,1415,1186,0,0,0,0,0,0
$GC,8992,1.05,354.0,207.7,9.2,424,8996,0.00,2.10,0.00,0.000,4,0.000,0.056,3263,228,1181,0,0,0,0,0,0
$GC,9039,1.05,354.0,202.7,10.8,426,9043,0.00,1.98,0.00,0.000,6,0.000,0.027,3262,1431,1179,0,0,0,0,0,0
$GC,9367,1.13,366.6,176.7,7.3,450,9386,0.15,2.40,10.95,0.588,4,0.061,0.026,3306,2816,1135,0,0,0,0,0,0
$GC,9415,1.18,366.6,172.3,8.9,453,9419,0.00,2.45,0.00,0.000,6,0.000,0.039,3306,1417,1134,0,0,0,0,0,0
$GC,9682,1.14,366.6,147.1,9.7,474,9683,0.00,0.00,0.00,0.000,6,0.000,0.000,3306,1418,1133,0,0,0,0,0,0
$GC,9930,1.14,366.6,122.3,9.7,494,9934,0.00,2.33,0.00,0.000,4,0.000,0.025,3306,2812,1133,0,0,0,0,0,0
$GC,9964,1.23,366.6,119.1,9.3,496,9971,0.00,2.42,0.00,0.000,6,0.000,0.038,3306,1428,1133,0,0,0,0,0,0
$GC,10224,1.23,366.6,97.1,8.0,517,10228,0.00,2.05,0.00,0.000,4,0.000,0.049,3306,232,1133,0,0,0,0,0,0
$GC,10250,1.23,366.6,94.9,9.6,519,10254,0.00,1.92,0.00,0.000,6,0.000,0.023,3306,1438,1131,0,0,0,0,0,0
$GC,10523,1.32,395.1,74.9,6.6,540,10554,0.12,0.00,25.10,0.535,6,0.064,0.000,3347,1441,1018,0,0,0,0,0,0
$GC,10813,1.27,395.1,49.7,8.8,563,10817,0.10,2.28,0.00,0.000,4,0.100,0.023,3326,2806,1016,0,0,0,0,0,0
$GC,10829,1.27,395.1,47.5,9.8,564,10833,0.00,2.38,0.00,0.000,6,0.000,0.036,3326,1418,1016,0,0,0,0,0,0
$GC,11092,1.27,395.1,26.8,8.3,588,11099,0.00,2.08,0.00,0.000,4,0.000,0.051,3325,235,1016,0,0,0,0,0,0
$GC,11131,1.27,395.1,21.6,12.8,595,11138,0.00,1.90,0.00,0.000,6,0.000,0.021,3326,1431,1015,0,0,0,0,0,0
$STATE,11317,end climb,SURFACE_DEPTH_REACHED
$STATE,11317,begin surface coast
$FINISH,0.9,1.009660
$STATE,11371,end surface coast,CONTROL_FINISHED_OK
$STATE,11371,begin surface
$SM_CCo,11396,13.10,0.445,0,0,957,410.14
$SM_GC,1.59,0.00,0.00,13.10,0.000,0.000,0.445,425,1432,957,-12.07,-0.51,410.14
$IRIDIUM_FIX,2057.14,-15801.19,300100,050520
$TT8_MAMPS,0.029146
$HUMID,64.09
$INTERNAL_PRESSURE,9.23518
$TCM_TEMP,20.50
$XPDR_PINGS,0
$24V_AH,23.3,81.193
$10V_AH,9.9,64.868
$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,29.125,126.675,444.150,13.100,0.000,90.407,99.581,389.197,4.500,0.000,12.935,1244.128,7733.120,490.195,1841.566,960.481,0.000,1346.140,0.000,1830.517,0.000,29.273,0.000
$DEVICE_MAMPS,131.157,58.292,833.729,444.860,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,437.114,418.763,930.363,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355748
$DATA_FILE_SIZE,38044,650
$CAP_FILE_SIZE,129033,0
$CFSIZE,260165632,166764544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051110,083222,2106.351,-15800.439,39,1.5,54,9.8