version: 66.06
glider: 139
mission: 8
dive: 780
start: 10 28 110 21 27 22
data:
$ID,139
$MISSION,8
$DIVE,780
$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,-2167841
$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
$GPS1,211424,2109.678,-15759.016,36,1.7,52,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-71.3
$GPS2,212702,2109.669,-15759.102,15,1.7,15,9.8
$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,94.5,28860,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.18,-116.8,0.0,0.0,0,84,0.00,0.00,-63.88,0.000,2,0.000,0.000,428,1463,2743,0,0,0,0,0,0
$GC,88,-1.18,-116.8,3.2,-2.9,12,118,12.60,2.40,-7.15,0.000,4,0.130,0.035,2786,2877,3110,0,0,0,0,0,0
$GC,147,-0.93,-116.8,17.1,-19.5,23,154,0.22,2.47,0.00,0.000,6,0.071,0.034,2847,1451,3110,0,0,0,0,0,0
$GC,355,-0.85,-116.8,42.3,-11.6,55,359,0.00,2.08,0.00,0.000,4,0.000,0.045,2847,233,3111,0,0,0,0,0,0
$GC,369,-0.76,-116.8,44.5,-12.5,56,374,0.17,1.98,0.00,0.000,6,0.084,0.019,2884,1519,3111,0,0,0,0,0,0
$GC,630,-0.76,-116.8,67.6,-8.0,76,634,0.00,2.20,0.00,0.000,4,0.000,0.044,2884,229,3112,0,0,0,0,0,0
$GC,669,-0.83,-116.8,71.3,-9.8,79,672,0.00,2.00,0.00,0.000,6,0.000,0.018,2884,1505,3112,0,0,0,0,0,0
$GC,940,-0.90,-116.8,90.3,-6.0,100,942,0.15,0.00,0.00,0.000,6,0.053,0.000,2831,1521,3112,0,0,0,0,0,0
$GC,1188,-0.90,-116.8,111.8,-8.2,120,1193,0.10,2.20,0.00,0.000,4,0.099,0.045,2853,237,3112,0,0,0,0,0,0
$GC,1242,-0.93,-116.8,116.0,-7.7,124,1246,0.00,1.98,0.00,0.000,6,0.000,0.018,2854,1508,3112,0,0,0,0,0,0
$GC,1513,-0.98,-116.8,134.6,-7.0,145,1515,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1520,3113,0,0,0,0,0,0
$GC,1765,-1.03,-116.8,150.9,-6.7,165,1770,0.12,2.20,0.00,0.000,4,0.061,0.044,2806,234,3113,0,0,0,0,0,0
$GC,1838,-0.99,-116.8,157.6,-9.3,170,1843,0.12,1.98,0.00,0.000,6,0.089,0.018,2834,1517,3113,0,0,0,0,0,0
$GC,2102,-0.99,-116.8,176.8,-6.9,190,2106,0.00,2.20,0.00,0.000,4,0.000,0.044,2834,236,3113,0,0,0,0,0,0
$GC,2134,-0.99,-116.8,179.5,-7.5,192,2141,0.00,2.00,0.00,0.000,6,0.000,0.019,2834,1516,3113,0,0,0,0,0,0
$GC,2395,-0.99,-116.8,197.1,-6.7,213,2399,0.00,2.17,0.00,0.000,4,0.000,0.045,2834,235,3113,0,0,0,0,0,0
$GC,2435,-1.03,-116.8,200.0,-7.6,216,2439,0.00,1.98,0.00,0.000,6,0.000,0.020,2834,1513,3113,0,0,0,0,0,0
$GC,2701,-1.06,-116.8,217.4,-6.4,229,2705,0.00,2.20,0.00,0.000,4,0.000,0.022,2834,2877,3113,0,0,0,0,0,0
$GC,2718,-1.11,-116.8,218.6,-6.7,229,2724,0.12,2.40,0.00,0.000,6,0.062,0.032,2791,1445,3113,0,0,0,0,0,0
$GC,3036,-1.06,-116.8,246.3,-8.8,245,3041,0.12,2.08,0.00,0.000,4,0.093,0.048,2818,230,3113,0,0,0,0,0,0
$GC,3083,-1.06,-116.8,250.1,-7.5,247,3087,0.00,2.00,0.00,0.000,6,0.000,0.020,2818,1499,3112,0,0,0,0,0,0
$GC,3420,-1.06,-116.8,272.2,-6.6,263,3421,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1511,3112,0,0,0,0,0,0
$GC,3726,-1.09,-116.8,293.7,-8.2,278,3730,0.00,2.20,0.00,0.000,4,0.000,0.048,2818,234,3110,0,0,0,0,0,0
$GC,3787,-1.09,-116.8,299.1,-8.8,280,3791,0.00,1.90,0.00,0.000,6,0.000,0.021,2818,1459,3110,0,0,0,0,0,0
$GC,4104,-1.13,-116.8,322.2,-6.6,289,4105,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1462,3108,0,0,0,0,0,0
$GC,4429,-1.19,-116.8,347.2,-7.8,297,4434,0.12,2.28,0.00,0.000,4,0.063,0.025,2773,2829,3107,0,0,0,0,0,0
$GC,4464,-1.19,-116.8,350.0,-7.9,297,4468,0.00,2.35,0.00,0.000,6,0.000,0.036,2773,1451,3107,0,0,0,0,0,0
$GC,4801,-1.14,-116.8,378.0,-8.1,306,4805,0.12,2.28,0.00,0.000,4,0.095,0.025,2800,2821,3105,0,0,0,0,0,0
$GC,4822,-1.14,-116.8,379.6,-7.7,306,4826,0.00,2.35,0.00,0.000,6,0.000,0.038,2800,1446,3105,0,0,0,0,0,0
$GC,5168,-1.14,-116.8,403.4,-6.6,315,5172,0.00,2.08,0.00,0.000,4,0.000,0.053,2800,238,3103,0,0,0,0,0,0
$GC,5219,-1.14,-116.8,407.4,-7.1,316,5223,0.00,1.90,0.00,0.000,6,0.000,0.024,2800,1447,3103,0,0,0,0,0,0
$GC,5543,-1.14,-116.8,429.4,-6.4,324,5547,0.00,2.30,0.00,0.000,4,0.000,0.027,2800,2836,3100,0,0,0,0,0,0
$GC,5562,-1.19,-116.8,430.9,-6.8,324,5567,0.00,2.35,0.00,0.000,6,0.000,0.038,2800,1452,3100,0,0,0,0,0,0
$STATE,5823,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5824,begin apogee
$GC,5831,-0.31,0.0,452.4,8.9,331,5930,0.82,0.00,95.25,0.829,6,0.064,0.000,2980,1451,2630,0,0,0,0,0,0
$STATE,5930,end apogee,CONTROL_FINISHED_OK
$STATE,5931,begin climb
$GC,5933,1.18,116.8,456.9,0.0,333,6046,1.40,2.30,101.03,0.811,4,0.032,0.025,3312,2802,2152,0,0,0,0,0,0
$GC,6114,1.08,184.3,458.7,4.9,337,6181,0.15,2.40,59.15,0.798,6,0.101,0.040,3282,1421,1877,0,0,0,0,0,0
$GC,6519,0.93,184.3,423.5,8.5,347,6524,0.15,2.30,0.00,0.000,4,0.102,0.028,3253,2799,1868,0,0,0,0,0,0
$GC,6544,0.89,193.4,421.5,7.5,347,6557,0.00,2.40,7.57,0.650,6,0.000,0.042,3253,1419,1841,0,0,0,0,0,0
$GC,6884,0.83,208.9,396.2,7.2,355,6901,0.10,0.00,14.98,0.732,6,0.111,0.000,3234,1420,1778,0,0,0,0,0,0
$GC,7209,0.83,208.9,370.7,8.4,363,7214,0.00,2.33,0.00,0.000,4,0.000,0.028,3234,2797,1774,0,0,0,0,0,0
$GC,7247,0.89,208.9,367.1,9.4,363,7252,0.00,2.42,0.00,0.000,6,0.000,0.043,3234,1415,1774,0,0,0,0,0,0
$GC,7578,0.89,208.9,338.0,8.5,372,7582,0.00,2.08,0.00,0.000,4,0.000,0.058,3234,232,1772,0,0,0,0,0,0
$GC,7617,0.83,208.9,334.2,10.2,372,7622,0.00,1.90,0.00,0.000,6,0.000,0.027,3234,1410,1769,0,0,0,0,0,0
$GC,7948,0.88,243.7,311.7,6.3,381,7985,0.00,2.42,30.55,0.738,4,0.000,0.028,3234,2809,1636,0,0,0,0,0,0
$GC,8045,0.99,267.9,305.1,6.8,383,8074,0.15,2.45,22.75,0.714,6,0.059,0.041,3277,1415,1536,0,0,0,0,0,0
$GC,8394,0.93,267.9,273.9,9.0,398,8399,0.12,2.12,0.00,0.000,4,0.099,0.057,3252,226,1530,0,0,0,0,0,0
$GC,8447,0.87,267.9,268.7,10.5,400,8451,0.00,1.95,0.00,0.000,6,0.000,0.027,3252,1423,1527,0,0,0,0,0,0
$GC,8772,0.90,288.6,244.1,7.0,416,8792,0.00,0.00,17.83,0.671,6,0.000,0.000,3252,1425,1452,0,0,0,0,0,0
$GC,9103,0.97,309.9,219.3,6.9,432,9128,0.00,2.38,19.48,0.657,4,0.000,0.028,3252,2801,1365,0,0,0,0,0,0
$GC,9139,1.06,334.4,216.7,6.8,433,9167,0.12,2.42,22.58,0.653,6,0.065,0.041,3291,1413,1266,0,0,0,0,0,0
$GC,9478,1.03,334.4,187.0,9.0,454,9482,0.00,2.08,0.00,0.000,4,0.000,0.054,3290,234,1261,0,0,0,0,0,0
$GC,9517,0.92,334.4,183.1,11.0,457,9521,0.15,1.95,0.00,0.000,6,0.071,0.026,3249,1417,1259,0,0,0,0,0,0
$GC,9790,1.03,364.0,162.7,6.6,478,9822,0.12,2.12,25.77,0.617,4,0.065,0.052,3289,225,1144,0,0,0,0,0,0
$GC,9847,0.95,364.0,157.6,9.8,482,9852,0.10,1.98,0.00,0.000,6,0.060,0.025,3257,1420,1142,0,0,0,0,0,0
$GC,10116,1.08,408.7,140.5,5.9,503,10160,0.12,0.00,38.62,0.600,6,0.064,0.000,3298,1421,961,0,0,0,0,0,0
$GC,10413,1.08,408.7,112.9,9.9,527,10417,0.00,2.08,0.00,0.000,4,0.000,0.051,3298,227,958,0,0,0,0,0,0
$GC,10456,1.05,408.7,108.1,10.9,530,10460,0.00,1.92,0.00,0.000,6,0.000,0.023,3297,1435,956,0,0,0,0,0,0
$GC,10723,1.10,408.7,81.8,8.8,551,10727,0.00,2.22,0.00,0.000,4,0.000,0.023,3298,2803,956,0,0,0,0,0,0
$GC,10749,1.22,412.3,79.7,7.7,553,10754,0.00,2.38,0.00,0.000,6,0.000,0.036,3298,1410,956,0,0,0,0,0,0
$GC,11018,1.31,430.6,61.1,7.1,574,11047,0.17,2.12,18.65,0.508,4,0.051,0.049,3352,235,872,0,0,0,0,0,0
$GC,11096,1.21,430.6,52.8,11.6,579,11101,0.12,1.92,0.00,0.000,6,0.068,0.021,3317,1430,870,0,0,0,0,0,0
$GC,11363,1.25,430.6,29.7,8.1,600,11370,0.00,2.25,0.00,0.000,4,0.000,0.021,3315,2791,869,0,0,0,0,0,0
$GC,11395,1.33,431.9,27.1,7.8,606,11402,0.08,2.38,0.00,0.000,6,0.035,0.035,3355,1419,869,0,0,0,0,0,0
$GC,11598,1.25,431.9,5.9,9.8,652,11606,0.15,2.08,0.00,0.000,4,0.084,0.048,3322,239,869,0,0,0,0,0,0
$STATE,11625,end climb,SURFACE_DEPTH_REACHED
$STATE,11625,begin surface coast
$FINISH,1.3,1.023283
$STATE,11637,end surface coast,CONTROL_FINISHED_OK
$STATE,11637,begin surface
$SM_CCo,11723,0.00,0.000,0,0,866,432.71
$SM_GC,1.72,12.45,0.00,0.00,0.025,0.000,0.000,426,1460,866,-12.00,0.31,432.71
$IRIDIUM_FIX,2101.76,-15758.18,220100,212121
$TT8_MAMPS,0.028379
$HUMID,63.93
$INTERNAL_PRESSURE,9.23518
$TCM_TEMP,20.60
$XPDR_PINGS,0
$24V_AH,23.3,75.043
$10V_AH,10.0,60.288
$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,30.500,121.775,474.200,0.000,0.000,86.880,154.539,241.249,4.500,0.000,16.095,1267.846,8039.098,497.713,1833.367,835.069,0.000,1342.972,0.000,1815.158,0.000,29.265,0.000
$DEVICE_MAMPS,130.390,57.525,829.127,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,443.309,424.555,937.656,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,38161,659
$CAP_FILE_SIZE,129253,0
$CFSIZE,260165632,170033152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291010,004424,2110.221,-15757.818,46,1.0,64,9.8