version: 66.06
glider: 139
mission: 8
dive: 846
start: 11 6 110 23 47 40
data:
$ID,139
$MISSION,8
$DIVE,846
$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,-2169254
$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
$GPS1,234028,2106.368,-15754.176,11,2.4,30,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-72.2
$GPS2,234722,2106.362,-15754.246,18,2.4,37,9.8
$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,83.2,19599,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.18,-116.8,0.0,0.0,0,84,0.00,0.00,-64.25,0.000,2,0.000,0.000,425,1420,2729,0,0,0,0,0,0
$GC,88,-1.18,-116.8,3.2,-3.3,12,118,12.80,2.45,-7.53,0.000,4,0.137,0.035,2785,2870,3110,0,0,0,0,0,0
$GC,136,-0.33,-116.8,13.7,-20.9,20,143,0.85,2.47,0.00,0.000,6,0.067,0.035,2978,1449,3111,0,0,0,0,0,0
$GC,340,-0.73,-116.8,26.7,-8.4,66,347,0.38,2.12,0.00,0.000,4,0.037,0.044,2876,231,3113,0,0,0,0,0,0
$GC,364,-1.09,-116.8,28.6,-8.0,70,371,0.25,2.03,0.00,0.000,6,0.025,0.019,2796,1516,3113,0,0,0,0,0,0
$GC,574,-0.90,-116.8,52.1,-12.9,88,579,0.25,2.20,0.00,0.000,4,0.081,0.018,2852,2878,3113,0,0,0,0,0,0
$GC,601,-0.90,-116.8,55.0,-10.3,90,606,0.00,2.42,0.00,0.000,6,0.000,0.031,2852,1445,3112,0,0,0,0,0,0
$GC,866,-0.90,-116.8,77.4,-7.2,111,870,0.00,2.35,0.00,0.000,4,0.000,0.020,2852,2882,3114,0,0,0,0,0,0
$GC,881,-0.90,-116.8,78.7,-8.0,112,886,0.00,2.42,0.00,0.000,6,0.000,0.031,2852,1446,3114,0,0,0,0,0,0
$GC,1140,-0.90,-116.8,99.2,-7.7,132,1144,0.00,2.05,0.00,0.000,4,0.000,0.044,2852,237,3114,0,0,0,0,0,0
$GC,1205,-0.90,-116.8,104.2,-7.6,136,1211,0.00,2.00,0.00,0.000,6,0.000,0.018,2852,1514,3115,0,0,0,0,0,0
$GC,1469,-1.04,-116.8,123.4,-8.6,157,1473,0.15,2.22,0.00,0.000,4,0.054,0.021,2799,2889,3115,0,0,0,0,0,0
$GC,1559,-1.08,-116.8,132.3,-10.6,163,1564,0.00,2.45,0.00,0.000,6,0.000,0.030,2799,1439,3115,0,0,0,0,0,0
$GC,1819,-1.03,-116.8,156.7,-8.9,184,1824,0.12,2.05,0.00,0.000,4,0.094,0.045,2827,234,3116,0,0,0,0,0,0
$GC,1877,-1.03,-116.8,162.0,-8.8,188,1881,0.00,1.98,0.00,0.000,6,0.000,0.018,2827,1504,3116,0,0,0,0,0,0
$GC,2145,-1.03,-116.8,181.3,-7.2,209,2149,0.00,2.22,0.00,0.000,4,0.000,0.021,2827,2886,3116,0,0,0,0,0,0
$GC,2171,-1.11,-116.8,183.5,-7.5,211,2175,0.00,2.42,0.00,0.000,6,0.000,0.031,2827,1446,3116,0,0,0,0,0,0
$GC,2439,-1.22,-116.8,200.6,-6.4,232,2444,0.20,2.35,0.00,0.000,4,0.045,0.022,2763,2878,3117,0,0,0,0,0,0
$GC,2534,-1.17,-116.8,208.6,-8.8,236,2540,0.15,2.42,0.00,0.000,6,0.087,0.031,2795,1444,3116,0,0,0,0,0,0
$GC,2864,-1.13,-116.8,238.7,-10.9,252,2868,0.00,2.08,0.00,0.000,4,0.000,0.047,2795,231,3116,0,0,0,0,0,0
$GC,2936,-1.13,-116.8,247.4,-11.0,255,2940,0.00,2.00,0.00,0.000,6,0.000,0.020,2795,1516,3116,0,0,0,0,0,0
$GC,3264,-1.13,-116.8,272.2,-5.5,271,3268,0.00,2.20,0.00,0.000,4,0.000,0.023,2795,2879,3115,0,0,0,0,0,0
$GC,3279,-1.13,-116.8,273.3,-5.5,271,3284,0.00,2.45,0.00,0.000,6,0.000,0.034,2795,1440,3115,0,0,0,0,0,0
$GC,3596,-1.13,-116.8,293.5,-7.3,287,3600,0.00,2.05,0.00,0.000,4,0.000,0.048,2795,233,3114,0,0,0,0,0,0
$GC,3643,-1.13,-116.8,297.3,-9.0,289,3646,0.00,1.98,0.00,0.000,6,0.000,0.021,2795,1496,3115,0,0,0,0,0,0
$GC,3972,-1.13,-116.8,325.1,-8.1,298,3976,0.00,2.15,0.00,0.000,4,0.000,0.049,2795,238,3114,0,0,0,0,0,0
$GC,4009,-1.13,-116.8,328.6,-9.0,298,4014,0.00,1.90,0.00,0.000,6,0.000,0.022,2795,1460,3114,0,0,0,0,0,0
$GC,4341,-1.13,-116.8,356.9,-8.5,307,4343,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1460,3112,0,0,0,0,0,0
$GC,4666,-1.13,-116.8,381.2,-7.3,315,4670,0.00,2.10,0.00,0.000,4,0.000,0.052,2795,238,3110,0,0,0,0,0,0
$GC,4709,-1.13,-116.8,384.8,-8.1,316,4713,0.00,1.90,0.00,0.000,6,0.000,0.025,2795,1449,3109,0,0,0,0,0,0
$GC,5042,-1.13,-116.8,414.6,-9.3,324,5046,0.00,2.30,0.00,0.000,4,0.000,0.026,2795,2829,3107,0,0,0,0,0,0
$GC,5061,-1.18,-116.8,416.5,-8.6,324,5065,0.00,2.35,0.00,0.000,6,0.000,0.038,2795,1449,3107,0,0,0,0,0,0
$GC,5412,-1.18,-116.8,442.1,-6.7,333,5416,0.00,2.10,0.00,0.000,4,0.000,0.054,2795,230,3105,0,0,0,0,0,0
$GC,5431,-1.18,-116.8,443.9,-6.8,333,5435,0.00,1.92,0.00,0.000,6,0.000,0.025,2795,1448,3104,0,0,0,0,0,0
$STATE,5533,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5534,begin apogee
$GC,5540,-0.31,0.0,451.1,6.8,336,5640,0.85,0.00,96.55,0.819,6,0.064,0.000,2979,1449,2630,0,0,0,0,0,0
$STATE,5641,end apogee,CONTROL_FINISHED_OK
$STATE,5641,begin climb
$GC,5645,1.18,116.8,453.5,0.0,338,5757,1.40,2.17,100.80,0.803,4,0.031,0.052,3312,232,2151,0,0,0,0,0,0
$GC,5811,0.86,116.8,448.4,9.0,341,5815,0.32,1.95,0.00,0.000,6,0.085,0.025,3236,1421,2145,0,0,0,0,0,0
$GC,6148,0.88,187.1,430.4,4.7,350,6215,0.00,2.35,60.62,0.792,4,0.000,0.026,3236,2806,1865,0,0,0,0,0,0
$GC,6285,0.96,255.9,423.1,4.8,353,6355,0.10,2.42,60.30,0.784,6,0.076,0.041,3267,1419,1585,0,0,0,0,0,0
$GC,6694,0.90,277.4,395.3,6.9,363,6714,0.00,0.00,18.52,0.740,6,0.000,0.000,3267,1419,1499,0,0,0,0,0,0
$GC,7017,0.83,277.4,362.0,11.1,371,7019,0.17,0.00,0.00,0.000,6,0.092,0.000,3231,1419,1494,0,0,0,0,0,0
$GC,7342,0.83,278.9,334.9,7.8,379,7346,0.00,2.08,0.00,0.000,4,0.000,0.058,3231,234,1492,0,0,0,0,0,0
$GC,7408,0.83,278.9,329.5,7.9,380,7412,0.00,1.92,0.00,0.000,6,0.000,0.027,3231,1416,1489,0,0,0,0,0,0
$GC,7761,0.87,311.5,305.0,6.4,389,7797,0.00,2.15,29.67,0.726,4,0.000,0.056,3231,228,1358,0,0,0,0,0,0
$GC,7835,0.87,311.5,298.3,10.3,390,7839,0.00,1.95,0.00,0.000,6,0.000,0.028,3231,1424,1356,0,0,0,0,0,0
$GC,8161,1.01,370.5,275.6,5.2,406,8220,0.17,2.20,51.62,0.716,4,0.057,0.057,3279,239,1118,0,0,0,0,0,0
$GC,8271,0.96,370.5,266.6,9.9,410,8277,0.00,1.98,0.00,0.000,6,0.000,0.028,3280,1427,1114,0,0,0,0,0,0
$GC,8586,0.96,370.5,232.4,12.0,426,8590,0.00,2.30,0.00,0.000,4,0.000,0.027,3280,2812,1112,0,0,0,0,0,0
$GC,8605,1.00,370.5,230.2,10.9,426,8612,0.00,2.47,0.00,0.000,6,0.000,0.041,3279,1416,1112,0,0,0,0,0,0
$GC,8928,1.00,370.5,197.0,8.7,443,8932,0.00,2.08,0.00,0.000,4,0.000,0.055,3279,225,1111,0,0,0,0,0,0
$GC,8997,0.96,370.5,190.8,8.5,448,9000,0.00,1.95,0.00,0.000,6,0.000,0.025,3280,1428,1107,0,0,0,0,0,0
$GC,9262,0.96,370.5,170.5,8.1,469,9266,0.00,2.28,0.00,0.000,4,0.000,0.025,3279,2815,1108,0,0,0,0,0,0
$GC,9304,1.07,370.5,166.7,8.4,472,9309,0.00,2.42,0.00,0.000,6,0.000,0.038,3280,1414,1107,0,0,0,0,0,0
$GC,9563,1.09,392.0,146.3,6.9,492,9586,0.00,2.12,17.95,0.579,4,0.000,0.054,3279,228,1030,0,0,0,0,0,0
$GC,9619,1.07,397.3,142.4,7.7,495,9633,0.00,1.95,5.55,0.457,6,0.000,0.025,3280,1421,1010,0,0,0,0,0,0
$GC,9888,1.10,397.3,122.4,8.1,516,9891,0.00,2.05,0.00,0.000,4,0.000,0.051,3279,235,1009,0,0,0,0,0,0
$GC,9918,1.10,397.3,119.7,9.2,518,9921,0.00,1.90,0.00,0.000,6,0.000,0.024,3279,1422,1007,0,0,0,0,0,0
$GC,10189,1.18,397.3,98.4,8.1,539,10194,0.12,2.30,0.00,0.000,4,0.064,0.023,3320,2809,1007,0,0,0,0,0,0
$GC,10251,1.25,397.3,92.5,9.2,543,10257,0.00,2.38,0.00,0.000,6,0.000,0.035,3320,1414,1007,0,0,0,0,0,0
$GC,10512,1.26,412.4,72.0,7.2,564,10532,0.00,2.08,14.10,0.496,4,0.000,0.049,3320,228,947,0,0,0,0,0,0
$GC,10589,1.27,416.9,66.1,7.7,569,10598,0.00,1.92,5.03,0.388,6,0.000,0.022,3320,1421,929,0,0,0,0,0,0
$GC,10866,1.34,445.4,47.9,6.6,591,10898,0.10,2.33,25.20,0.497,4,0.072,0.020,3357,2806,813,0,0,0,0,0,0
$GC,10943,1.40,445.4,41.3,8.1,596,10947,0.00,2.40,0.00,0.000,6,0.000,0.036,3357,1420,813,0,0,0,0,0,0
$GC,11207,1.34,445.4,10.7,12.1,642,11214,0.00,2.10,0.00,0.000,4,0.000,0.052,3357,233,812,0,0,0,0,0,0
$STATE,11271,end climb,SURFACE_DEPTH_REACHED
$STATE,11271,begin surface coast
$FINISH,1.2,1.023161
$STATE,11296,end surface coast,CONTROL_FINISHED_OK
$STATE,11296,begin surface
$SM_CCo,11382,0.00,0.000,0,0,807,447.18
$SM_GC,1.78,12.57,0.00,0.00,0.022,0.000,0.000,424,1469,807,-12.00,0.54,447.18
$IRIDIUM_FIX,2059.45,-15753.90,310100,202011
$TT8_MAMPS,0.028379
$HUMID,64.37
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,20.00
$XPDR_PINGS,0
$24V_AH,23.3,82.766
$10V_AH,9.9,66.014
$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,30.975,130.300,485.925,0.000,0.000,30.692,34.321,178.975,4.500,0.000,38.607,1268.242,7450.049,497.121,1978.414,592.888,0.000,1404.088,0.000,1933.049,0.000,29.247,0.000
$DEVICE_MAMPS,136.526,57.525,819.156,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,444.585,431.386,972.663,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355680
$DATA_FILE_SIZE,38175,661
$CAP_FILE_SIZE,127169,0
$CFSIZE,260165632,165957632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071110,025936,2105.880,-15754.400,97,1.1,97,9.8