version: 66.06
glider: 139
mission: 8
dive: 868
start: 11 10 110 2 22 39
data:
$ID,139
$MISSION,8
$DIVE,868
$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,-2169756.8
$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
$GPS1,021601,2113.304,-15752.422,42,1.4,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-73.7
$GPS2,022219,2113.345,-15752.470,16,1.4,16,9.8
$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,123.7,928,-27.6,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.78,-43.5,0.0,0.0,0,83,0.00,0.00,-64.47,0.000,2,0.000,0.000,428,1443,2744,0,0,0,0,0,0
$GC,86,-1.83,-79.9,3.4,-3.5,12,111,11.90,2.12,-4.25,0.000,4,0.132,0.058,2643,232,2959,0,0,0,0,0,0
$GC,129,-1.01,-79.9,14.5,-24.8,19,136,0.88,2.03,0.00,0.000,6,0.097,0.019,2827,1500,2960,0,0,0,0,0,0
$GC,336,-1.20,-79.9,37.8,-10.3,54,340,0.17,2.17,0.00,0.000,4,0.050,0.021,2773,2830,2962,0,0,0,0,0,0
$GC,377,-1.39,-79.9,42.2,-11.2,57,382,0.12,2.35,0.00,0.000,6,0.064,0.033,2733,1440,2962,0,0,0,0,0,0
$GC,646,-1.46,-79.9,73.7,-10.1,78,648,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1440,2963,0,0,0,0,0,0
$GC,897,-1.56,-79.9,99.2,-9.2,98,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1440,2964,0,0,0,0,0,0
$GC,1148,-1.66,-79.9,127.3,-11.2,118,1153,0.20,2.25,0.00,0.000,4,0.050,0.019,2677,2823,2964,0,0,0,0,0,0
$GC,1206,-1.76,-79.9,134.3,-13.0,122,1210,0.00,2.33,0.00,0.000,6,0.000,0.033,2677,1442,2964,0,0,0,0,0,0
$GC,1467,-1.76,-79.9,162.8,-9.5,142,1468,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1442,2965,0,0,0,0,0,0
$GC,1719,-1.76,-79.9,190.9,-12.1,162,1723,0.00,2.25,0.00,0.000,4,0.000,0.021,2677,2823,2965,0,0,0,0,0,0
$GC,1774,-1.86,-79.9,197.8,-11.4,166,1779,0.15,2.30,0.00,0.000,6,0.058,0.032,2632,1449,2965,0,0,0,0,0,0
$GC,2037,-1.80,-79.9,233.7,-14.4,179,2039,0.12,0.00,0.00,0.000,6,0.108,0.000,2656,1448,2965,0,0,0,0,0,0
$GC,2343,-1.80,-79.9,269.8,-9.6,194,2347,0.00,2.22,0.00,0.000,4,0.000,0.021,2656,2822,2965,0,0,0,0,0,0
$GC,2399,-1.89,-79.9,275.2,-9.4,196,2403,0.00,2.35,0.00,0.000,6,0.000,0.035,2656,1442,2965,0,0,0,0,0,0
$GC,2735,-1.89,-79.9,311.3,-11.3,210,2739,0.00,2.28,0.00,0.000,4,0.000,0.023,2656,2824,2965,0,0,0,0,0,0
$GC,2805,-1.98,-79.9,319.7,-11.8,211,2811,0.15,2.35,0.00,0.000,6,0.059,0.036,2608,1445,2965,0,0,0,0,0,0
$GC,3162,-1.90,-79.9,366.5,-13.5,220,3167,0.12,2.28,0.00,0.000,4,0.107,0.025,2632,2818,2963,0,0,0,0,0,0
$GC,3237,-1.94,-79.9,376.4,-11.6,221,3241,0.00,2.35,0.00,0.000,6,0.000,0.038,2632,1442,2963,0,0,0,0,0,0
$GC,3579,-1.94,-79.9,419.7,-12.8,230,3586,0.00,2.28,0.00,0.000,4,0.000,0.025,2633,2816,2961,0,0,0,0,0,0
$STATE,3590,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3590,begin apogee
$GC,3599,-0.31,0.0,421.6,13.0,230,3673,1.65,0.00,67.35,0.767,6,0.086,0.000,2975,1417,2629,0,0,0,0,0,0
$STATE,3674,end apogee,CONTROL_FINISHED_OK
$STATE,3674,begin climb
$GC,3677,1.83,79.9,425.8,0.0,232,3758,2.05,2.15,67.93,0.757,4,0.033,0.050,3454,231,2303,0,0,0,0,0,0
$GC,4015,1.52,85.3,411.0,7.2,239,4025,0.38,1.88,4.53,0.502,6,0.104,0.023,3382,1421,2282,0,0,0,0,0,0
$GC,4369,1.50,105.2,391.7,5.5,248,4393,0.00,2.35,18.60,0.722,4,0.000,0.026,3382,2782,2201,0,0,0,0,0,0
$GC,4410,1.52,121.2,389.1,6.0,248,4431,0.00,2.38,15.82,0.701,6,0.000,0.038,3382,1418,2135,0,0,0,0,0,0
$GC,4747,1.49,121.2,360.9,8.5,257,4751,0.00,2.30,0.00,0.000,4,0.000,0.026,3382,2792,2129,0,0,0,0,0,0
$GC,4860,1.51,137.0,352.9,6.0,259,4881,0.00,2.35,14.52,0.696,6,0.000,0.038,3382,1420,2070,0,0,0,0,0,0
$GC,5212,1.52,142.4,329.0,7.2,268,5225,0.00,2.33,5.53,0.553,4,0.000,0.025,3382,2795,2048,0,0,0,0,0,0
$GC,5322,1.57,149.7,321.2,7.0,270,5335,0.00,2.40,8.20,0.623,6,0.000,0.039,3382,1416,2019,0,0,0,0,0,0
$GC,5658,1.57,151.2,295.4,7.7,279,5659,0.00,0.00,0.00,0.000,6,0.000,0.000,3382,1416,2015,0,0,0,0,0,0
$GC,5967,1.60,171.7,276.7,5.4,294,5994,0.00,2.40,20.20,0.683,4,0.000,0.028,3382,2794,1930,0,0,0,0,0,0
$GC,6076,1.68,183.4,269.4,6.5,298,6094,0.15,2.40,12.07,0.640,6,0.062,0.039,3422,1414,1882,0,0,0,0,0,0
$GC,6421,1.64,184.8,242.5,7.7,315,6422,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,1414,1877,0,0,0,0,0,0
$GC,6729,1.61,184.8,216.8,8.5,330,6733,0.00,2.28,0.00,0.000,4,0.000,0.026,3421,2792,1875,0,0,0,0,0,0
$GC,6843,1.61,184.8,206.3,10.1,335,6847,0.00,2.38,0.00,0.000,6,0.000,0.038,3422,1419,1875,0,0,0,0,0,0
$GC,7177,1.58,185.0,176.0,7.9,359,7182,0.15,2.30,0.00,0.000,4,0.114,0.025,3394,2798,1874,0,0,0,0,0,0
$GC,7317,1.69,197.8,167.3,6.3,369,7340,0.10,2.38,12.65,0.578,6,0.078,0.037,3423,1418,1823,0,0,0,0,0,0
$GC,7594,1.69,198.3,148.2,7.8,391,7598,0.00,2.30,0.00,0.000,4,0.000,0.025,3423,2799,1821,0,0,0,0,0,0
$GC,7853,1.76,202.5,126.0,7.4,410,7868,0.00,2.35,5.53,0.452,6,0.000,0.035,3423,1420,1803,0,0,0,0,0,0
$GC,8125,1.78,216.7,108.2,6.2,431,8145,0.00,2.38,13.70,0.534,4,0.000,0.023,3423,2802,1745,0,0,0,0,0,0
$GC,8156,1.86,226.3,105.7,6.7,433,8173,0.15,2.38,9.95,0.506,6,0.061,0.035,3464,1420,1707,0,0,0,0,0,0
$GC,8434,1.86,226.3,85.7,8.1,455,8438,0.00,2.28,0.00,0.000,4,0.000,0.023,3464,2797,1704,0,0,0,0,0,0
$GC,8671,1.90,226.3,66.6,8.1,472,8677,0.00,2.38,0.00,0.000,6,0.000,0.035,3464,1423,1703,0,0,0,0,0,0
$GC,8931,1.91,233.2,46.6,7.1,493,8946,0.00,2.10,6.85,0.412,4,0.000,0.047,3464,235,1678,0,0,0,0,0,0
$GC,8994,1.80,236.8,42.1,7.5,497,9003,0.12,1.88,4.50,0.357,6,0.117,0.020,3441,1434,1664,0,0,0,0,0,0
$GC,9260,1.87,259.2,27.5,5.2,523,9290,0.00,2.28,20.65,0.474,4,0.000,0.019,3441,2791,1572,0,0,0,0,0,0
$GC,9338,1.97,261.1,22.6,7.7,538,9346,0.12,2.38,0.00,0.000,6,0.035,0.033,3484,1420,1572,0,0,0,0,0,0
$STATE,9532,end climb,SURFACE_DEPTH_REACHED
$STATE,9532,begin surface coast
$FINISH,0.9,1.023275
$STATE,9559,end surface coast,CONTROL_FINISHED_OK
$STATE,9559,begin surface
$SM_CCo,9583,89.55,0.469,0,0,957,410.14
$SM_GC,1.54,0.00,0.00,89.55,0.000,0.000,0.469,428,1417,957,-12.07,-0.90,410.14
$IRIDIUM_FIX,2104.07,-15750.89,030200,232333
$TT8_MAMPS,0.029146
$HUMID,59.76
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,20.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,420.7,9.9
$24V_AH,23.3,85.418
$10V_AH,9.9,67.971
$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,31.875,91.275,308.575,89.550,0.000,27.902,35.701,168.555,4.500,0.000,16.251,1153.040,6034.471,424.813,1884.436,549.293,0.000,1253.430,0.000,1858.888,0.000,30.580,0.000
$DEVICE_MAMPS,131.924,57.525,767.000,469.404,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,395.397,395.672,910.015,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,356048
$DATA_FILE_SIZE,31773,588
$CAP_FILE_SIZE,110085,0
$CFSIZE,260165632,164581376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,101110,050504,2113.256,-15752.835,13,2.3,32,9.8