version: 66.06
glider: 139
mission: 8
dive: 862
start: 11 9 110 6 56 35
data:
$ID,139
$MISSION,8
$DIVE,862
$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,534.75397
$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,-2169634.8
$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
$GPS1,063706,2108.608,-15749.702,55,0.9,55,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-72.1
$GPS2,065615,2108.637,-15749.816,13,2.0,13,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,CLOSE
$TGT_LATLONG,2113.000,-15752.080
$TGT_RADIUS,1000.000
$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,324.4,8975,-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,-116.8,0.0,0.0,0,93,0.00,0.00,-75.20,0.000,2,0.000,0.000,428,1464,2747,0,0,0,0,0,0
$GC,96,-1.18,-116.8,3.7,-4.3,14,121,12.60,2.40,-6.75,0.000,4,0.130,0.034,2784,2884,3109,0,0,0,0,0,0
$GC,204,-1.10,-116.8,22.9,-11.8,36,211,0.08,2.47,0.00,0.000,6,0.087,0.031,2803,1451,3110,0,0,0,0,0,0
$GC,411,-0.93,-116.8,46.2,-11.8,61,415,0.20,2.08,0.00,0.000,4,0.090,0.043,2845,234,3111,0,0,0,0,0,0
$GC,472,-0.90,-116.8,53.4,-11.4,65,478,0.00,2.00,0.00,0.000,6,0.000,0.018,2845,1517,3111,0,0,0,0,0,0
$GC,732,-0.86,-116.8,80.8,-11.8,86,736,0.00,2.20,0.00,0.000,4,0.000,0.019,2845,2880,3111,0,0,0,0,0,0
$GC,757,-0.90,-116.8,83.5,-10.1,87,763,0.00,2.40,0.00,0.000,6,0.000,0.028,2845,1447,3111,0,0,0,0,0,0
$GC,1016,-0.90,-116.8,106.9,-7.9,108,1020,0.00,2.05,0.00,0.000,4,0.000,0.043,2845,232,3111,0,0,0,0,0,0
$GC,1074,-0.90,-116.8,111.2,-7.7,112,1078,0.00,2.00,0.00,0.000,6,0.000,0.018,2845,1513,3112,0,0,0,0,0,0
$GC,1347,-1.03,-116.8,131.8,-7.9,133,1351,0.00,2.17,0.00,0.000,4,0.000,0.042,2845,229,3112,0,0,0,0,0,0
$GC,1428,-1.07,-116.8,138.6,-8.1,139,1433,0.12,2.00,0.00,0.000,6,0.061,0.018,2797,1527,3112,0,0,0,0,0,0
$GC,1703,-1.00,-116.8,160.7,-7.7,160,1708,0.15,2.20,0.00,0.000,4,0.088,0.021,2830,2887,3112,0,0,0,0,0,0
$GC,1750,-1.09,-116.8,164.3,-6.8,163,1755,0.00,2.42,0.00,0.000,6,0.000,0.029,2830,1444,3112,0,0,0,0,0,0
$GC,2015,-1.23,-116.8,182.9,-7.7,184,2019,0.20,2.05,0.00,0.000,4,0.045,0.042,2764,238,3112,0,0,0,0,0,0
$GC,2100,-1.09,-116.8,191.8,-10.7,190,2104,0.22,1.98,0.00,0.000,6,0.081,0.018,2812,1512,3112,0,0,0,0,0,0
$GC,2361,-1.09,-116.8,215.4,-8.5,205,2365,0.00,2.17,0.00,0.000,4,0.000,0.045,2812,239,3112,0,0,0,0,0,0
$GC,2389,-1.05,-116.8,218.0,-8.5,206,2393,0.00,2.00,0.00,0.000,6,0.000,0.019,2812,1510,3112,0,0,0,0,0,0
$GC,2715,-1.05,-116.8,245.9,-9.5,222,2716,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1515,3112,0,0,0,0,0,0
$GC,3025,-1.09,-116.8,270.4,-6.9,237,3029,0.00,2.20,0.00,0.000,4,0.000,0.022,2812,2874,3111,0,0,0,0,0,0
$GC,3078,-1.18,-116.8,273.6,-5.8,239,3082,0.00,2.40,0.00,0.000,6,0.000,0.031,2812,1451,3111,0,0,0,0,0,0
$GC,3402,-1.31,-116.8,291.7,-5.5,255,3407,0.20,2.35,0.00,0.000,4,0.047,0.021,2748,2884,3110,0,0,0,0,0,0
$GC,3426,-1.35,-116.8,293.3,-6.3,256,3430,0.00,2.42,0.00,0.000,6,0.000,0.032,2748,1450,3109,0,0,0,0,0,0
$GC,3773,-1.24,-116.8,320.1,-8.1,267,3778,0.15,2.10,0.00,0.000,4,0.094,0.049,2779,238,3108,0,0,0,0,0,0
$GC,3789,-1.15,-116.8,321.4,-8.1,267,3793,0.00,1.98,0.00,0.000,6,0.000,0.022,2780,1497,3108,0,0,0,0,0,0
$GC,4104,-1.12,-116.8,343.6,-7.0,275,4106,0.12,0.00,0.00,0.000,6,0.094,0.000,2807,1506,3106,0,0,0,0,0,0
$GC,4427,-1.16,-116.8,367.7,-8.0,283,4431,0.00,2.20,0.00,0.000,4,0.000,0.051,2807,230,3104,0,0,0,0,0,0
$GC,4488,-1.16,-116.8,373.4,-8.9,284,4491,0.00,1.92,0.00,0.000,6,0.000,0.024,2807,1448,3103,0,0,0,0,0,0
$GC,4803,-1.21,-116.8,399.0,-7.8,292,4807,0.00,2.28,0.00,0.000,4,0.000,0.026,2807,2834,3102,0,0,0,0,0,0
$GC,4827,-1.31,-116.8,401.0,-7.6,292,4832,0.17,2.38,0.00,0.000,6,0.050,0.037,2753,1450,3102,0,0,0,0,0,0
$GC,5171,-1.23,-116.8,432.0,-9.4,301,5175,0.15,2.12,0.00,0.000,4,0.091,0.054,2784,237,3099,0,0,0,0,0,0
$GC,5195,-1.19,-116.8,434.5,-9.4,301,5199,0.00,1.92,0.00,0.000,6,0.000,0.025,2785,1451,3099,0,0,0,0,0,0
$STATE,5420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5420,begin apogee
$GC,5428,-0.31,0.0,452.6,7.8,307,5527,0.90,0.00,95.60,0.822,6,0.064,0.000,2981,1452,2629,0,0,0,0,0,0
$STATE,5527,end apogee,CONTROL_FINISHED_OK
$STATE,5527,begin climb
$GC,5530,1.18,116.8,455.0,0.0,309,5637,1.42,0.00,102.32,0.806,6,0.030,0.000,3314,1453,2153,0,0,0,0,0,0
$GC,5948,0.94,116.8,426.3,9.0,320,5953,0.25,2.25,0.00,0.000,4,0.094,0.026,3260,2802,2141,0,0,0,0,0,0
$GC,6123,0.95,189.0,416.7,4.6,323,6192,0.00,2.42,62.45,0.794,6,0.000,0.040,3259,1414,1858,0,0,0,0,0,0
$GC,6506,0.89,222.2,393.4,6.4,333,6543,0.00,2.38,29.23,0.769,4,0.000,0.026,3260,2802,1723,0,0,0,0,0,0
$GC,6602,0.89,222.2,386.3,7.9,335,6606,0.00,2.45,0.00,0.000,6,0.000,0.043,3260,1416,1722,0,0,0,0,0,0
$GC,6927,0.83,233.2,361.8,7.4,343,6944,0.15,2.17,9.95,0.683,4,0.100,0.058,3229,235,1678,0,0,0,0,0,0
$GC,6978,0.79,243.2,357.9,7.4,344,6994,0.00,1.95,10.32,0.684,6,0.000,0.028,3230,1424,1636,0,0,0,0,0,0
$GC,7305,0.82,266.8,337.1,6.8,352,7333,0.00,2.35,21.35,0.735,4,0.000,0.026,3229,2808,1541,0,0,0,0,0,0
$GC,7358,0.92,266.8,332.6,8.3,353,7362,0.00,2.42,0.00,0.000,6,0.000,0.041,3230,1420,1541,0,0,0,0,0,0
$GC,7678,0.96,266.8,306.3,7.9,361,7683,0.12,2.10,0.00,0.000,4,0.068,0.058,3265,235,1537,0,0,0,0,0,0
$GC,7716,0.85,266.8,303.0,8.7,361,7722,0.15,1.95,0.00,0.000,6,0.100,0.027,3236,1428,1534,0,0,0,0,0,0
$GC,8032,0.91,314.4,285.2,5.7,375,8079,0.00,2.38,41.42,0.726,4,0.000,0.028,3236,2810,1347,0,0,0,0,0,0
$GC,8099,1.01,328.0,280.7,7.3,378,8123,0.15,2.45,13.18,0.661,6,0.061,0.041,3278,1420,1291,0,0,0,0,0,0
$GC,8435,0.97,328.0,250.8,9.0,394,8438,0.00,2.12,0.00,0.000,4,0.000,0.058,3278,227,1287,0,0,0,0,0,0
$GC,8519,0.91,328.0,241.4,11.8,397,8525,0.15,1.95,0.00,0.000,6,0.094,0.027,3247,1426,1284,0,0,0,0,0,0
$GC,8838,0.99,353.7,217.3,6.7,413,8866,0.00,2.22,21.88,0.655,4,0.000,0.054,3247,227,1188,0,0,0,0,0,0
$GC,8907,0.99,354.3,212.2,7.9,416,8911,0.00,1.95,0.00,0.000,6,0.000,0.027,3247,1414,1185,0,0,0,0,0,0
$GC,9237,1.18,354.3,188.2,8.2,436,9242,0.25,2.35,0.00,0.000,4,0.044,0.025,3322,2819,1184,0,0,0,0,0,0
$GC,9298,1.18,354.3,182.1,10.0,440,9304,0.00,2.45,0.00,0.000,6,0.000,0.038,3322,1422,1184,0,0,0,0,0,0
$GC,9558,1.09,354.3,155.8,10.0,461,9563,0.17,2.08,0.00,0.000,4,0.097,0.053,3287,234,1183,0,0,0,0,0,0
$GC,9626,1.02,354.3,149.4,9.5,466,9630,0.00,1.95,0.00,0.000,6,0.000,0.025,3287,1428,1181,0,0,0,0,0,0
$GC,9895,1.02,354.3,127.1,8.1,487,9899,0.00,2.33,0.00,0.000,4,0.000,0.025,3287,2813,1181,0,0,0,0,0,0
$GC,9936,1.13,358.0,124.0,7.7,490,9951,0.00,2.40,4.43,0.406,6,0.000,0.036,3287,1417,1169,0,0,0,0,0,0
$GC,10206,1.17,358.0,101.9,8.4,511,10210,0.00,2.03,0.00,0.000,4,0.000,0.050,3286,237,1169,0,0,0,0,0,0
$GC,10292,1.17,358.0,93.5,10.8,517,10296,0.00,1.92,0.00,0.000,6,0.000,0.023,3287,1424,1168,0,0,0,0,0,0
$GC,10564,1.40,387.8,72.2,6.5,538,10598,0.28,2.08,26.23,0.528,4,0.039,0.044,3371,237,1048,0,0,0,0,0,0
$GC,10637,1.23,387.8,66.0,9.2,543,10641,0.25,1.90,0.00,0.000,6,0.081,0.021,3319,1428,1045,0,0,0,0,0,0
$GC,10904,1.26,387.8,45.7,8.1,564,10908,0.00,2.25,0.00,0.000,4,0.000,0.021,3320,2802,1045,0,0,0,0,0,0
$GC,10918,1.29,387.8,44.5,8.1,565,10922,0.00,2.35,0.00,0.000,6,0.000,0.034,3320,1420,1044,0,0,0,0,0,0
$GC,11183,1.31,401.9,22.6,7.3,601,11201,0.00,0.00,12.80,0.454,6,0.000,0.000,3319,1420,989,0,0,0,0,0,0
$GC,11401,1.31,401.9,6.8,10.4,649,11407,0.00,2.08,0.00,0.000,4,0.000,0.044,3320,236,988,0,0,0,0,0,0
$GC,11420,1.34,401.9,4.4,10.7,652,11427,0.00,1.90,0.00,0.000,6,0.000,0.020,3320,1433,988,0,0,0,0,0,0
$STATE,11432,end climb,SURFACE_DEPTH_REACHED
$STATE,11432,begin surface coast
$FINISH,0.9,1.002974
$STATE,11459,end surface coast,CONTROL_FINISHED_OK
$STATE,11459,begin surface
$SM_CCo,11483,106.75,0.475,0,0,450,534.75
$SM_GC,1.50,0.00,0.00,106.75,0.000,0.000,0.475,427,1432,450,-12.07,-0.51,534.75
$IRIDIUM_FIX,2059.45,-15750.89,030200,070715
$TT8_MAMPS,0.029146
$HUMID,61.49
$INTERNAL_PRESSURE,9.22541
$TCM_TEMP,20.50
$XPDR_PINGS,1
$24V_AH,23.3,84.803
$10V_AH,9.9,67.459
$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,31.075,126.450,451.150,106.750,0.000,140.060,266.742,326.154,4.750,0.000,13.134,1294.396,7741.708,614.302,1946.927,1136.385,0.000,1497.378,0.000,1933.918,0.000,29.261,0.000
$DEVICE_MAMPS,130.390,57.525,822.224,474.773,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,443.586,431.316,967.787,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,356044
$DATA_FILE_SIZE,38046,660
$CAP_FILE_SIZE,138523,0
$CFSIZE,260165632,164900864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091110,101107,2109.662,-15749.673,42,1.1,42,9.8