version: 66.06
glider: 139
mission: 8
dive: 838
start: 11 5 110 22 14 6
data:
$ID,139
$MISSION,8
$DIVE,838
$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,-2169059
$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
$GPS1,220106,2107.625,-15801.290,42,1.3,47,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-72.0
$GPS2,221347,2107.612,-15801.272,17,1.6,17,9.8
$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,86.2,31888,-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,-116.8,0.0,0.0,0,76,0.00,0.00,-59.12,0.000,2,0.000,0.000,424,1415,2606,0,0,0,0,0,0
$GC,81,-1.18,-116.8,3.2,-3.0,11,111,12.68,2.42,-10.10,0.000,4,0.131,0.031,2784,2884,3109,0,0,0,0,0,0
$GC,132,-0.59,-116.8,13.4,-16.5,20,140,0.57,2.47,0.00,0.000,6,0.065,0.033,2920,1454,3109,0,0,0,0,0,0
$GC,336,-0.70,-116.8,29.6,-6.9,66,344,0.10,2.12,0.00,0.000,4,0.073,0.044,2881,241,3111,0,0,0,0,0,0
$GC,384,-0.74,-116.8,33.7,-9.1,70,387,0.00,1.95,0.00,0.000,6,0.000,0.018,2882,1504,3111,0,0,0,0,0,0
$GC,655,-0.74,-116.8,58.9,-9.8,91,659,0.00,2.20,0.00,0.000,4,0.000,0.044,2882,234,3111,0,0,0,0,0,0
$GC,685,-0.74,-116.8,62.2,-11.0,93,689,0.00,1.98,0.00,0.000,6,0.000,0.018,2882,1508,3111,0,0,0,0,0,0
$GC,955,-0.81,-116.8,85.1,-6.8,114,956,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1527,3111,0,0,0,0,0,0
$GC,1207,-1.06,-116.8,101.2,-6.3,134,1212,0.25,2.20,0.00,0.000,4,0.038,0.018,2795,2881,3112,0,0,0,0,0,0
$GC,1247,-1.06,-116.8,104.4,-8.0,137,1252,0.12,2.40,0.00,0.000,6,0.095,0.029,2822,1441,3112,0,0,0,0,0,0
$GC,1515,-1.06,-116.8,126.0,-8.0,158,1516,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1441,3112,0,0,0,0,0,0
$GC,1764,-1.06,-116.8,145.2,-7.4,178,1767,0.00,2.03,0.00,0.000,4,0.000,0.044,2822,238,3113,0,0,0,0,0,0
$GC,1784,-1.06,-116.8,146.8,-7.8,179,1788,0.00,1.95,0.00,0.000,6,0.000,0.019,2822,1509,3113,0,0,0,0,0,0
$GC,2049,-1.06,-116.8,166.6,-7.7,200,2053,0.00,2.17,0.00,0.000,4,0.000,0.044,2822,235,3113,0,0,0,0,0,0
$GC,2073,-1.06,-116.8,168.7,-7.8,202,2077,0.00,1.95,0.00,0.000,6,0.000,0.019,2822,1506,3113,0,0,0,0,0,0
$GC,2343,-1.06,-116.8,189.0,-8.0,223,2347,0.00,2.17,0.00,0.000,4,0.000,0.044,2822,237,3113,0,0,0,0,0,0
$GC,2370,-1.06,-116.8,191.3,-8.5,225,2374,0.00,1.95,0.00,0.000,6,0.000,0.020,2822,1502,3113,0,0,0,0,0,0
$GC,2634,-1.09,-116.8,211.0,-6.8,241,2638,0.00,2.17,0.00,0.000,4,0.000,0.044,2823,231,3113,0,0,0,0,0,0
$GC,2685,-1.09,-116.8,214.7,-6.7,243,2689,0.00,1.98,0.00,0.000,6,0.000,0.020,2822,1500,3113,0,0,0,0,0,0
$GC,3011,-1.09,-116.8,234.8,-6.6,259,3015,0.00,2.17,0.00,0.000,4,0.000,0.046,2822,237,3112,0,0,0,0,0,0
$GC,3073,-1.12,-116.8,239.2,-7.0,261,3079,0.00,1.90,0.00,0.000,6,0.000,0.021,2823,1455,3112,0,0,0,0,0,0
$GC,3391,-1.17,-116.8,259.0,-5.8,277,3395,0.12,2.10,0.00,0.000,4,0.064,0.048,2779,232,3111,0,0,0,0,0,0
$GC,3445,-1.10,-116.8,263.0,-7.9,279,3449,0.15,1.88,0.00,0.000,6,0.086,0.021,2812,1446,3111,0,0,0,0,0,0
$GC,3772,-1.10,-116.8,287.3,-8.4,295,3776,0.00,2.08,0.00,0.000,4,0.000,0.048,2812,231,3110,0,0,0,0,0,0
$GC,3806,-1.10,-116.8,290.9,-10.4,296,3810,0.00,1.92,0.00,0.000,6,0.000,0.022,2812,1441,3109,0,0,0,0,0,0
$GC,4144,-1.13,-116.8,321.3,-8.2,307,4148,0.00,2.25,0.00,0.000,4,0.000,0.025,2812,2823,3108,0,0,0,0,0,0
$GC,4178,-1.25,-116.8,323.7,-6.5,307,4183,0.15,2.33,0.00,0.000,6,0.054,0.034,2763,1445,3108,0,0,0,0,0,0
$GC,4513,-1.18,-116.8,349.2,-7.7,315,4517,0.15,2.08,0.00,0.000,4,0.087,0.051,2795,238,3106,0,0,0,0,0,0
$GC,4547,-1.18,-116.8,352.0,-7.5,315,4550,0.00,1.90,0.00,0.000,6,0.000,0.023,2795,1450,3105,0,0,0,0,0,0
$GC,4883,-1.18,-116.8,376.7,-7.9,324,4887,0.00,2.25,0.00,0.000,4,0.000,0.025,2795,2827,3104,0,0,0,0,0,0
$GC,4912,-1.27,-116.8,379.5,-9.6,324,4916,0.00,2.35,0.00,0.000,6,0.000,0.036,2795,1443,3104,0,0,0,0,0,0
$GC,5252,-1.27,-116.8,413.7,-10.5,333,5256,0.00,2.28,0.00,0.000,4,0.000,0.026,2795,2823,3101,0,0,0,0,0,0
$GC,5297,-1.36,-116.8,418.2,-10.5,334,5302,0.20,2.35,0.00,0.000,6,0.048,0.038,2737,1444,3101,0,0,0,0,0,0
$STATE,5625,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5625,begin apogee
$GC,5631,-0.31,0.0,453.7,9.9,342,5731,1.15,0.00,95.78,0.821,6,0.070,0.000,2983,1443,2630,0,0,0,0,0,0
$STATE,5732,end apogee,CONTROL_FINISHED_OK
$STATE,5732,begin climb
$GC,5736,1.18,116.8,456.1,0.0,344,5847,1.42,2.35,101.30,0.806,4,0.031,0.028,3317,2799,2153,0,0,0,0,0,0
$GC,5873,0.99,142.7,454.7,6.7,348,5902,0.25,2.42,23.60,0.762,6,0.091,0.040,3267,1419,2048,0,0,0,0,0,0
$GC,6243,0.86,146.1,426.0,7.7,357,6248,0.15,2.35,0.00,0.000,4,0.103,0.028,3238,2798,2039,0,0,0,0,0,0
$GC,6272,0.91,185.9,423.8,6.1,357,6316,0.00,2.42,37.83,0.782,6,0.000,0.041,3238,1415,1871,0,0,0,0,0,0
$GC,6653,0.91,222.1,399.7,6.3,367,6694,0.00,2.38,32.35,0.773,4,0.000,0.028,3238,2799,1723,0,0,0,0,0,0
$GC,6751,0.92,234.7,392.6,7.3,369,6768,0.00,2.42,12.20,0.706,6,0.000,0.041,3238,1420,1673,0,0,0,0,0,0
$GC,7110,0.95,261.3,367.6,6.7,378,7139,0.00,2.12,24.02,0.751,4,0.000,0.056,3238,235,1563,0,0,0,0,0,0
$GC,7179,0.89,261.3,362.0,9.0,379,7183,0.00,1.92,0.00,0.000,6,0.000,0.027,3238,1405,1560,0,0,0,0,0,0
$GC,7526,0.90,266.5,336.8,7.7,388,7532,0.00,0.00,4.72,0.529,6,0.000,0.000,3238,1405,1543,0,0,0,0,0,0
$GC,7849,0.90,266.5,309.2,8.4,396,7853,0.00,2.35,0.00,0.000,4,0.000,0.028,3239,2809,1541,0,0,0,0,0,0
$GC,7868,0.95,266.5,307.5,8.5,396,7873,0.00,2.42,0.00,0.000,6,0.000,0.041,3238,1419,1541,0,0,0,0,0,0
$GC,8198,1.05,347.6,288.2,4.2,410,8280,0.17,2.15,71.30,0.733,4,0.056,0.056,3286,231,1211,0,0,0,0,0,0
$GC,8342,0.95,347.6,275.0,11.8,416,8347,0.15,1.98,0.00,0.000,6,0.094,0.027,3257,1431,1206,0,0,0,0,0,0
$GC,8663,0.95,347.6,246.0,8.3,432,8667,0.00,2.15,0.00,0.000,4,0.000,0.055,3257,227,1204,0,0,0,0,0,0
$GC,8695,0.91,347.6,242.9,9.3,433,8699,0.00,1.95,0.00,0.000,6,0.000,0.027,3257,1420,1203,0,0,0,0,0,0
$GC,9018,0.91,348.7,219.2,7.8,449,9022,0.00,2.30,0.00,0.000,4,0.000,0.027,3257,2809,1202,0,0,0,0,0,0
$GC,9047,1.03,348.7,216.4,8.8,450,9051,0.00,2.42,0.00,0.000,6,0.000,0.039,3257,1416,1202,0,0,0,0,0,0
$GC,9371,1.07,348.7,187.5,8.2,470,9376,0.12,2.08,0.00,0.000,4,0.065,0.054,3295,232,1201,0,0,0,0,0,0
$GC,9418,0.98,348.7,182.5,10.5,473,9424,0.15,1.90,0.00,0.000,6,0.094,0.025,3264,1426,1199,0,0,0,0,0,0
$GC,9681,1.07,393.8,164.3,5.9,494,9725,0.00,2.35,38.28,0.625,4,0.000,0.026,3264,2805,1024,0,0,0,0,0,0
$GC,9755,1.28,441.0,159.9,5.8,499,9805,0.28,2.40,41.22,0.615,6,0.042,0.036,3339,1418,830,0,0,0,0,0,0
$GC,10058,1.18,441.0,123.5,12.4,523,10062,0.15,2.10,0.00,0.000,4,0.091,0.052,3308,231,825,0,0,0,0,0,0
$GC,10100,1.12,441.0,117.9,12.1,526,10104,0.00,1.92,0.00,0.000,6,0.000,0.024,3308,1426,824,0,0,0,0,0,0
$GC,10368,1.16,441.0,91.5,9.8,547,10372,0.00,2.25,0.00,0.000,4,0.000,0.023,3308,2802,824,0,0,0,0,0,0
$GC,10407,1.33,441.0,87.6,8.4,550,10412,0.12,2.38,0.00,0.000,6,0.063,0.036,3350,1415,823,0,0,0,0,0,0
$GC,10676,1.33,444.4,65.6,7.7,571,10679,0.00,2.03,0.00,0.000,4,0.000,0.050,3350,234,823,0,0,0,0,0,0
$GC,10707,1.25,444.4,62.9,8.7,573,10712,0.12,1.90,0.00,0.000,6,0.094,0.022,3324,1428,822,0,0,0,0,0,0
$GC,10982,1.25,444.4,39.5,8.1,594,10986,0.00,2.25,0.00,0.000,4,0.000,0.019,3324,2820,822,0,0,0,0,0,0
$GC,11009,1.42,462.4,37.1,7.1,596,11032,0.15,2.40,17.23,0.486,6,0.054,0.035,3375,1418,744,0,0,0,0,0,0
$GC,11293,1.33,462.4,4.2,12.7,649,11300,0.17,2.08,0.00,0.000,4,0.083,0.048,3337,245,741,0,0,0,0,0,0
$STATE,11307,end climb,SURFACE_DEPTH_REACHED
$STATE,11307,begin surface coast
$FINISH,0.9,1.023320
$STATE,11335,end surface coast,CONTROL_FINISHED_OK
$STATE,11335,begin surface
$SM_CCo,11422,0.00,0.000,0,0,737,464.11
$SM_GC,1.79,12.55,0.00,0.00,0.025,0.000,0.000,427,1451,737,-12.00,0.03,464.11
$IRIDIUM_FIX,2101.76,-15756.04,300100,222215
$TT8_MAMPS,0.028379
$HUMID,64.56
$INTERNAL_PRESSURE,9.21564
$TCM_TEMP,19.90
$XPDR_PINGS,0
$24V_AH,23.3,81.802
$10V_AH,9.9,65.311
$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,31.625,130.050,499.825,0.000,0.000,51.669,77.147,416.895,4.500,0.000,17.298,1261.828,7619.750,501.454,1885.263,904.315,0.000,1369.307,0.000,1863.449,0.000,29.258,0.000
$DEVICE_MAMPS,131.157,55.991,821.457,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,442.221,428.269,960.095,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355892
$DATA_FILE_SIZE,38051,657
$CAP_FILE_SIZE,132020,0
$CFSIZE,260165632,166445056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061110,012534,2107.161,-15800.687,10,2.5,29,9.8