version: 66.06
glider: 139
mission: 8
dive: 873
start: 11 10 110 13 6 29
data:
$ID,139
$MISSION,8
$DIVE,873
$D_SURF,3
$D_FLARE,3
$D_TGT,240
$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,80
$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,-2169839
$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
$GPS1,130038,2114.847,-15752.001,13,1.6,13,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-74.8
$GPS2,130608,2114.824,-15752.011,15,1.8,15,9.8
$SPEED_LIMITS,0.173,0.237
$TGT_NAME,HOME
$TGT_LATLONG,2114.600,-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,186.2,431,-27.9,-10.000
$D_GRID,240
$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,-1.82,-61.9,0.0,0.0,0,82,0.00,0.00,-64.40,0.000,2,0.000,0.000,427,1443,2724,0,0,0,0,0,0
$GC,85,-1.89,-116.8,3.5,-3.7,12,110,11.82,2.15,-7.70,0.000,4,0.133,0.058,2632,232,3109,0,0,0,0,0,0
$GC,189,-1.62,-116.8,27.9,-23.4,33,196,0.28,2.03,0.00,0.000,6,0.092,0.019,2690,1505,3111,0,0,0,0,0,0
$GC,386,-1.62,-116.8,59.5,-14.7,49,390,0.00,2.25,0.00,0.000,4,0.000,0.020,2690,2888,3111,0,0,0,0,0,0
$GC,425,-1.74,-116.8,64.7,-12.7,52,429,0.00,2.42,0.00,0.000,6,0.000,0.033,2690,1450,3111,0,0,0,0,0,0
$GC,693,-1.74,-116.8,102.2,-14.7,73,696,0.00,2.10,0.00,0.000,4,0.000,0.045,2690,236,3112,0,0,0,0,0,0
$GC,738,-1.74,-116.8,109.9,-15.4,76,742,0.00,1.98,0.00,0.000,6,0.000,0.018,2690,1509,3112,0,0,0,0,0,0
$GC,1006,-1.80,-116.8,143.5,-11.2,97,1011,0.15,2.22,0.00,0.000,4,0.058,0.044,2646,228,3113,0,0,0,0,0,0
$GC,1021,-1.80,-116.8,146.0,-11.5,98,1025,0.00,1.98,0.00,0.000,6,0.000,0.019,2646,1504,3113,0,0,0,0,0,0
$GC,1286,-1.80,-116.8,179.3,-12.5,119,1293,0.00,2.20,0.00,0.000,4,0.000,0.021,2646,2875,3113,0,0,0,0,0,0
$GC,1340,-1.84,-116.8,186.8,-13.2,122,1347,0.00,2.45,0.00,0.000,6,0.000,0.034,2646,1446,3113,0,0,0,0,0,0
$GC,1614,-1.84,-116.8,226.4,-15.6,139,1618,0.00,2.35,0.00,0.000,4,0.000,0.021,2646,2875,3113,0,0,0,0,0,0
$GC,1653,-1.93,-116.8,232.1,-13.4,140,1660,0.00,2.45,0.00,0.000,6,0.000,0.034,2646,1450,3113,0,0,0,0,0,0
$STATE,1721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1721,begin apogee
$GC,1727,-0.31,0.0,241.8,14.1,144,1826,1.60,0.00,94.57,0.618,6,0.082,0.000,2978,1450,2630,0,0,0,0,0,0
$STATE,1827,end apogee,CONTROL_FINISHED_OK
$STATE,1827,begin climb
$GC,1830,1.89,116.8,248.0,0.0,149,1939,2.05,2.12,96.40,0.616,4,0.031,0.044,3474,235,2152,0,0,0,0,0,0
$GC,1968,1.58,127.0,248.1,8.9,155,1987,0.40,1.98,9.45,0.526,6,0.100,0.019,3397,1494,2112,0,0,0,0,0,0
$GC,2302,1.57,152.3,222.7,7.3,171,2330,0.00,2.30,22.12,0.584,4,0.000,0.021,3398,2849,2008,0,0,0,0,0,0
$GC,2395,1.61,183.5,216.3,6.6,175,2428,0.00,2.45,27.85,0.590,6,0.000,0.033,3398,1410,1881,0,0,0,0,0,0
$GC,2753,1.63,202.4,185.4,8.0,197,2780,0.00,2.40,16.80,0.562,4,0.000,0.021,3398,2848,1803,0,0,0,0,0,0
$GC,2813,1.74,226.3,180.5,7.4,201,2841,0.12,2.45,21.38,0.567,6,0.065,0.035,3433,1416,1707,0,0,0,0,0,0
$GC,3100,1.69,226.3,152.7,10.5,224,3104,0.00,2.38,0.00,0.000,4,0.000,0.023,3433,2848,1702,0,0,0,0,0,0
$GC,3223,1.73,226.3,140.4,10.3,232,3229,0.00,2.50,0.00,0.000,6,0.000,0.035,3434,1415,1702,0,0,0,0,0,0
$GC,3483,1.74,232.9,114.3,9.3,253,3497,0.00,2.42,6.07,0.439,4,0.000,0.022,3434,2848,1680,0,0,0,0,0,0
$GC,3579,1.80,235.9,105.3,9.7,259,3588,0.00,2.42,4.18,0.366,6,0.000,0.035,3433,1420,1668,0,0,0,0,0,0
$GC,3852,1.80,235.9,75.6,10.6,281,3856,0.00,2.05,0.00,0.000,4,0.000,0.047,3433,231,1667,0,0,0,0,0,0
$GC,3912,1.71,237.8,68.8,9.8,285,3916,0.00,1.95,0.00,0.000,6,0.000,0.021,3433,1472,1664,0,0,0,0,0,0
$GC,4177,1.74,256.7,47.0,8.0,306,4205,0.00,2.28,18.65,0.491,4,0.000,0.020,3433,2854,1582,0,0,0,0,0,0
$GC,4294,1.87,281.8,37.7,7.3,314,4323,0.10,2.45,22.05,0.486,6,0.077,0.033,3464,1415,1479,0,0,0,0,0,0
$GC,4584,1.87,281.8,10.4,10.2,367,4591,0.00,2.40,0.00,0.000,4,0.000,0.021,3464,2856,1476,0,0,0,0,0,0
$GC,4607,1.88,287.2,8.0,9.4,371,4622,0.00,2.47,5.43,0.367,6,0.000,0.033,3464,1422,1457,0,0,0,0,0,0
$STATE,4656,end climb,SURFACE_DEPTH_REACHED
$STATE,4656,begin surface coast
$FINISH,1.1,1.000309
$STATE,4691,end surface coast,CONTROL_FINISHED_OK
$STATE,4691,begin surface
$SM_CCo,4715,74.75,0.475,0,0,958,410.14
$SM_GC,1.86,0.00,0.00,74.75,0.000,0.000,0.475,426,1419,958,-12.07,-0.88,410.14
$IRIDIUM_FIX,2104.07,-15753.03,040200,111104
$TT8_MAMPS,0.029146
$HUMID,61.81
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,20.10
$XPDR_PINGS,0
$24V_AH,23.5,85.848
$10V_AH,10.1,68.293
$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,29.675,63.600,344.950,74.750,0.000,30.921,35.045,134.376,2.000,0.000,18.009,700.084,2406.189,440.775,1148.897,418.962,0.000,967.468,0.000,1139.739,0.000,13.572,0.000
$DEVICE_MAMPS,132.691,58.292,618.202,474.773,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,258.442,287.640,697.720,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,356064
$DATA_FILE_SIZE,22373,388
$CAP_FILE_SIZE,67607,0
$CFSIZE,260165632,164388864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101110,142731,2114.450,-15752.134,39,1.3,39,9.8