version: 66.06
glider: 139
mission: 8
dive: 844
start: 11 6 110 17 11 10
data:
$ID,139
$MISSION,8
$DIVE,844
$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,-2169201.5
$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
$GPS1,170407,2106.416,-15755.920,32,1.5,32,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-72.4
$GPS2,171050,2106.374,-15755.896,16,1.8,16,9.8
$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,82.8,22448,-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,-69.75,0.000,2,0.000,0.000,427,1414,2686,0,0,0,0,0,0
$GC,91,-1.18,-116.8,3.3,-3.4,13,115,12.55,0.00,-8.35,0.000,6,0.129,0.000,2784,1416,3109,0,0,0,0,0,0
$GC,310,-0.96,-116.8,38.4,-13.3,52,315,0.25,2.40,0.00,0.000,4,0.088,0.020,2840,2878,3111,0,0,0,0,0,0
$GC,325,-0.80,-116.8,40.2,-10.9,53,330,0.17,2.42,0.00,0.000,6,0.082,0.031,2877,1450,3111,0,0,0,0,0,0
$GC,586,-0.80,-116.8,67.0,-10.5,73,590,0.00,2.10,0.00,0.000,4,0.000,0.045,2877,237,3112,0,0,0,0,0,0
$GC,631,-0.80,-116.8,72.2,-11.2,76,635,0.00,1.98,0.00,0.000,6,0.000,0.019,2878,1504,3112,0,0,0,0,0,0
$GC,901,-0.80,-116.8,99.0,-8.8,97,905,0.00,2.17,0.00,0.000,4,0.000,0.044,2877,237,3112,0,0,0,0,0,0
$GC,915,-0.80,-116.8,100.6,-8.4,98,919,0.00,1.95,0.00,0.000,6,0.000,0.019,2877,1501,3112,0,0,0,0,0,0
$GC,1181,-1.03,-116.8,124.8,-8.8,119,1186,0.22,2.20,0.00,0.000,4,0.043,0.018,2810,2880,3113,0,0,0,0,0,0
$GC,1266,-1.06,-116.8,134.0,-10.9,125,1271,0.00,2.42,0.00,0.000,6,0.000,0.031,2810,1446,3113,0,0,0,0,0,0
$GC,1531,-1.03,-116.8,155.6,-7.5,145,1534,0.00,2.05,0.00,0.000,4,0.000,0.044,2810,238,3114,0,0,0,0,0,0
$GC,1561,-0.96,-116.8,158.4,-8.9,147,1566,0.15,1.95,0.00,0.000,6,0.087,0.018,2842,1517,3114,0,0,0,0,0,0
$GC,1827,-1.01,-116.8,177.2,-7.2,168,1829,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1522,3114,0,0,0,0,0,0
$GC,2079,-1.07,-116.8,194.4,-6.3,188,2084,0.12,2.22,0.00,0.000,4,0.060,0.044,2793,231,3115,0,0,0,0,0,0
$GC,2152,-1.00,-116.8,200.1,-8.7,193,2157,0.17,1.95,0.00,0.000,6,0.083,0.019,2831,1511,3115,0,0,0,0,0,0
$GC,2488,-1.05,-116.8,221.1,-5.3,209,2492,0.00,2.17,0.00,0.000,4,0.000,0.045,2831,236,3115,0,0,0,0,0,0
$GC,2549,-1.08,-116.8,225.2,-6.3,211,2554,0.00,1.98,0.00,0.000,6,0.000,0.020,2831,1508,3115,0,0,0,0,0,0
$GC,2868,-1.17,-116.8,247.0,-8.0,227,2873,0.15,2.17,0.00,0.000,4,0.054,0.046,2776,237,3115,0,0,0,0,0,0
$GC,2902,-1.10,-116.8,250.8,-10.8,228,2907,0.15,2.00,0.00,0.000,6,0.087,0.021,2809,1514,3114,0,0,0,0,0,0
$GC,3221,-1.10,-116.8,274.1,-6.0,243,3225,0.00,2.17,0.00,0.000,4,0.000,0.048,2809,240,3114,0,0,0,0,0,0
$GC,3267,-1.10,-116.8,277.2,-7.7,245,3270,0.00,1.98,0.00,0.000,6,0.000,0.021,2809,1502,3114,0,0,0,0,0,0
$GC,3606,-1.10,-116.8,300.1,-7.6,261,3610,0.00,2.22,0.00,0.000,4,0.000,0.024,2810,2882,3112,0,0,0,0,0,0
$GC,3621,-1.15,-116.8,301.6,-7.5,261,3626,0.00,2.42,0.00,0.000,6,0.000,0.035,2810,1446,3112,0,0,0,0,0,0
$GC,3972,-1.26,-116.8,329.6,-8.0,270,3977,0.15,2.38,0.00,0.000,4,0.056,0.025,2760,2873,3110,0,0,0,0,0,0
$GC,4039,-1.26,-116.8,335.4,-8.6,271,4043,0.00,2.42,0.00,0.000,6,0.000,0.035,2760,1440,3109,0,0,0,0,0,0
$GC,4386,-1.18,-116.8,365.9,-8.6,280,4391,0.15,2.08,0.00,0.000,4,0.089,0.051,2792,238,3108,0,0,0,0,0,0
$GC,4407,-1.14,-116.8,367.7,-8.1,280,4411,0.00,2.00,0.00,0.000,6,0.000,0.023,2792,1490,3108,0,0,0,0,0,0
$GC,4758,-1.14,-116.8,396.3,-8.5,289,4762,0.00,2.20,0.00,0.000,4,0.000,0.026,2792,2830,3106,0,0,0,0,0,0
$GC,4804,-1.21,-116.8,400.7,-8.8,290,4808,0.00,2.35,0.00,0.000,6,0.000,0.038,2792,1448,3105,0,0,0,0,0,0
$GC,5129,-1.21,-116.8,427.1,-8.0,298,5132,0.00,2.10,0.00,0.000,4,0.000,0.055,2791,229,3102,0,0,0,0,0,0
$GC,5143,-1.21,-116.8,428.3,-7.4,298,5146,0.00,1.92,0.00,0.000,6,0.000,0.025,2791,1448,3103,0,0,0,0,0,0
$GC,5456,-1.21,-116.8,449.4,-6.4,306,5460,0.00,2.28,0.00,0.000,4,0.000,0.028,2792,2833,3101,0,0,0,0,0,0
$STATE,5463,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5463,begin apogee
$GC,5474,-0.31,0.0,450.1,6.1,306,5573,0.85,0.00,95.65,0.820,6,0.064,0.000,2980,1420,2629,0,0,0,0,0,0
$STATE,5574,end apogee,CONTROL_FINISHED_OK
$STATE,5574,begin climb
$GC,5577,1.18,116.8,452.4,0.0,308,5690,1.40,2.17,100.75,0.803,4,0.031,0.055,3312,235,2151,0,0,0,0,0,0
$GC,5707,0.93,168.2,452.6,5.6,311,5760,0.30,1.92,45.17,0.783,6,0.095,0.025,3254,1433,1943,0,0,0,0,0,0
$GC,6080,0.86,196.4,427.2,6.6,320,6112,0.00,2.33,24.65,0.765,4,0.000,0.027,3254,2802,1827,0,0,0,0,0,0
$GC,6140,0.86,196.4,422.5,7.9,321,6145,0.00,2.45,0.00,0.000,6,0.000,0.041,3254,1414,1827,0,0,0,0,0,0
$GC,6492,0.79,196.4,394.1,7.9,330,6497,0.17,2.35,0.00,0.000,4,0.096,0.028,3219,2800,1821,0,0,0,0,0,0
$GC,6551,0.88,222.9,389.9,6.7,331,6581,0.10,2.42,23.38,0.758,6,0.077,0.041,3250,1413,1721,0,0,0,0,0,0
$GC,6910,0.85,243.0,363.5,7.0,340,6935,0.00,2.42,18.20,0.736,4,0.000,0.028,3249,2797,1638,0,0,0,0,0,0
$GC,6977,0.86,244.6,358.0,7.8,341,6981,0.00,2.40,0.00,0.000,6,0.000,0.041,3249,1420,1638,0,0,0,0,0,0
$GC,7324,0.82,244.6,330.3,7.9,350,7328,0.00,2.12,0.00,0.000,4,0.000,0.058,3249,234,1634,0,0,0,0,0,0
$GC,7352,0.72,244.6,327.4,9.6,350,7357,0.20,1.90,0.00,0.000,6,0.093,0.028,3210,1411,1632,0,0,0,0,0,0
$GC,7691,0.84,278.5,305.0,6.4,359,7728,0.10,2.15,31.20,0.734,4,0.081,0.056,3240,231,1493,0,0,0,0,0,0
$GC,7749,0.84,278.5,300.4,8.8,360,7752,0.00,1.98,0.00,0.000,6,0.000,0.028,3240,1429,1490,0,0,0,0,0,0
$GC,8073,0.86,296.6,276.0,7.1,375,8095,0.00,2.33,16.27,0.684,4,0.000,0.027,3240,2808,1420,0,0,0,0,0,0
$GC,8136,0.98,296.6,271.4,8.0,377,8141,0.10,2.42,0.00,0.000,6,0.076,0.040,3272,1414,1420,0,0,0,0,0,0
$GC,8452,0.98,298.5,245.0,7.8,392,8455,0.00,2.08,0.00,0.000,4,0.000,0.055,3272,235,1417,0,0,0,0,0,0
$GC,8485,0.91,298.5,242.1,9.0,393,8490,0.08,1.95,0.00,0.000,6,0.081,0.027,3252,1422,1414,0,0,0,0,0,0
$GC,8810,0.99,331.9,220.3,6.4,409,8847,0.00,2.38,30.62,0.670,4,0.000,0.028,3253,2799,1276,0,0,0,0,0,0
$GC,8889,1.16,360.9,215.5,6.6,412,8925,0.22,2.42,26.48,0.653,6,0.048,0.038,3314,1411,1157,0,0,0,0,0,0
$GC,9240,1.07,360.9,178.1,11.3,435,9244,0.15,2.10,0.00,0.000,4,0.093,0.054,3283,230,1153,0,0,0,0,0,0
$GC,9284,1.04,360.9,173.2,10.7,438,9288,0.00,1.95,0.00,0.000,6,0.000,0.025,3283,1428,1150,0,0,0,0,0,0
$GC,9549,1.07,389.8,152.9,6.6,459,9578,0.00,2.35,24.80,0.601,4,0.000,0.025,3283,2811,1039,0,0,0,0,0,0
$GC,9607,1.18,389.8,148.6,7.9,463,9612,0.10,2.42,0.00,0.000,6,0.074,0.038,3317,1419,1039,0,0,0,0,0,0
$GC,9873,1.18,389.8,123.1,8.6,484,9877,0.00,2.08,0.00,0.000,4,0.000,0.051,3317,232,1037,0,0,0,0,0,0
$GC,9920,1.13,389.8,118.7,9.8,487,9925,0.10,1.92,0.00,0.000,6,0.104,0.024,3296,1430,1035,0,0,0,0,0,0
$GC,10186,1.18,389.8,98.1,8.9,508,10190,0.00,2.08,0.00,0.000,4,0.000,0.049,3296,228,1035,0,0,0,0,0,0
$GC,10237,1.18,389.8,92.9,11.0,512,10241,0.00,1.88,0.00,0.000,6,0.000,0.024,3296,1419,1034,0,0,0,0,0,0
$GC,10510,1.32,431.7,72.4,6.0,533,10555,0.17,2.35,34.90,0.533,4,0.051,0.021,3349,2803,869,0,0,0,0,0,0
$GC,10594,1.42,431.7,65.2,8.8,538,10601,0.00,2.42,0.00,0.000,6,0.000,0.035,3349,1418,869,0,0,0,0,0,0
$GC,10856,1.36,431.7,37.7,11.0,559,10860,0.00,2.05,0.00,0.000,4,0.000,0.049,3349,230,868,0,0,0,0,0,0
$GC,10893,1.25,431.7,32.3,13.6,561,10900,0.10,1.92,0.00,0.000,6,0.070,0.021,3324,1434,867,0,0,0,0,0,0
$GC,11159,1.25,431.7,7.2,10.0,618,11165,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1434,866,0,0,0,0,0,0
$STATE,11207,end climb,SURFACE_DEPTH_REACHED
$STATE,11207,begin surface coast
$FINISH,0.8,1.023163
$STATE,11243,end surface coast,CONTROL_FINISHED_OK
$STATE,11243,begin surface
$SM_CCo,11327,0.00,0.000,0,0,863,433.45
$SM_GC,1.89,12.43,0.00,0.00,0.023,0.000,0.000,426,1434,863,-12.00,-0.45,433.45
$IRIDIUM_FIX,2059.45,-15759.05,310100,131335
$TT8_MAMPS,0.028379
$HUMID,63.97
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,20.10
$XPDR_PINGS,0
$24V_AH,23.3,82.539
$10V_AH,10.0,65.837
$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,30.825,130.875,472.075,0.000,0.000,27.798,33.966,193.824,4.500,0.000,16.775,1252.421,7479.750,467.995,1909.210,611.347,0.000,1371.960,0.000,1887.750,0.000,29.247,0.000
$DEVICE_MAMPS,128.856,57.525,819.923,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,428.792,414.169,915.309,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,34921,637
$CAP_FILE_SIZE,129296,0
$CFSIZE,260165632,166088704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061110,202107,2106.493,-15754.887,34,1.0,34,9.8