version: 66.06
glider: 139
mission: 8
dive: 851
start: 11 7 110 16 58 52
data:
$ID,139
$MISSION,8
$DIVE,851
$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,-2169363.8
$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
$GPS1,164006,2106.010,-15751.202,49,0.8,49,9.8
$_CALLS,4
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-71.8
$GPS2,165832,2105.988,-15751.335,15,1.6,15,9.8
$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,81.5,14546,-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,16,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.30,0.000,2,0.000,0.000,423,1410,2777,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.6,-4.1,12,110,12.70,0.00,-6.35,0.000,6,0.132,0.000,2785,1412,3107,0,0,0,0,0,0
$GC,315,-0.97,-116.8,38.0,-12.5,53,317,0.25,0.00,0.00,0.000,6,0.087,0.000,2838,1412,3110,0,0,0,0,0,0
$GC,569,-0.88,-116.8,67.0,-11.7,73,573,0.00,2.40,0.00,0.000,4,0.000,0.021,2838,2877,3110,0,0,0,0,0,0
$GC,588,-0.84,-116.8,69.1,-9.3,74,592,0.12,2.40,0.00,0.000,6,0.095,0.031,2865,1447,3110,0,0,0,0,0,0
$GC,846,-0.84,-116.8,91.5,-9.2,94,850,0.00,2.08,0.00,0.000,4,0.000,0.044,2864,223,3110,0,0,0,0,0,0
$GC,892,-0.90,-116.8,95.6,-10.4,97,895,0.00,1.98,0.00,0.000,6,0.000,0.018,2865,1500,3111,0,0,0,0,0,0
$GC,1162,-1.05,-116.8,118.8,-7.7,118,1166,0.20,2.12,0.00,0.000,4,0.044,0.019,2799,2837,3111,0,0,0,0,0,0
$GC,1228,-1.09,-116.8,125.7,-10.9,122,1235,0.00,2.38,0.00,0.000,6,0.000,0.029,2798,1442,3111,0,0,0,0,0,0
$GC,1491,-1.03,-116.8,151.7,-8.2,143,1495,0.12,2.05,0.00,0.000,4,0.094,0.044,2826,235,3112,0,0,0,0,0,0
$GC,1553,-1.03,-116.8,156.5,-7.4,147,1558,0.00,1.88,0.00,0.000,6,0.000,0.018,2826,1465,3112,0,0,0,0,0,0
$GC,1811,-1.03,-116.8,177.4,-8.9,168,1812,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1466,3112,0,0,0,0,0,0
$GC,2065,-1.03,-116.8,197.8,-7.1,188,2069,0.00,2.10,0.00,0.000,4,0.000,0.044,2826,238,3112,0,0,0,0,0,0
$GC,2109,-1.03,-116.8,200.9,-7.3,191,2115,0.00,1.85,0.00,0.000,6,0.000,0.020,2826,1453,3112,0,0,0,0,0,0
$GC,2427,-1.06,-116.8,224.5,-8.1,207,2430,0.00,2.08,0.00,0.000,4,0.000,0.045,2826,230,3112,0,0,0,0,0,0
$GC,2466,-1.09,-116.8,227.7,-8.2,208,2472,0.00,1.92,0.00,0.000,6,0.000,0.021,2826,1450,3112,0,0,0,0,0,0
$GC,2782,-1.17,-116.8,250.7,-6.2,224,2786,0.15,2.08,0.00,0.000,4,0.054,0.046,2772,238,3111,0,0,0,0,0,0
$GC,2828,-1.08,-116.8,253.7,-6.8,226,2832,0.20,1.88,0.00,0.000,6,0.080,0.021,2816,1448,3111,0,0,0,0,0,0
$GC,3162,-1.13,-116.8,280.9,-9.0,242,3166,0.00,2.28,0.00,0.000,4,0.000,0.023,2816,2823,3110,0,0,0,0,0,0
$GC,3196,-1.26,-116.8,284.3,-9.1,243,3201,0.17,2.33,0.00,0.000,6,0.048,0.032,2759,1449,3110,0,0,0,0,0,0
$GC,3512,-1.17,-116.8,311.8,-8.3,255,3517,0.17,2.10,0.00,0.000,4,0.085,0.050,2795,240,3109,0,0,0,0,0,0
$GC,3566,-1.17,-116.8,316.2,-7.2,256,3570,0.00,1.90,0.00,0.000,6,0.000,0.022,2796,1447,3109,0,0,0,0,0,0
$GC,3889,-1.17,-116.8,337.5,-6.5,264,3893,0.00,2.10,0.00,0.000,4,0.000,0.051,2795,231,3107,0,0,0,0,0,0
$GC,3916,-1.17,-116.8,339.8,-8.1,264,3923,0.00,1.92,0.00,0.000,6,0.000,0.023,2796,1449,3106,0,0,0,0,0,0
$GC,4266,-1.17,-116.8,366.1,-7.7,273,4270,0.00,2.08,0.00,0.000,4,0.000,0.051,2796,240,3104,0,0,0,0,0,0
$GC,4294,-1.17,-116.8,368.7,-8.8,273,4298,0.00,1.90,0.00,0.000,6,0.000,0.024,2796,1449,3104,0,0,0,0,0,0
$GC,4634,-1.17,-116.8,393.4,-6.8,282,4638,0.00,2.28,0.00,0.000,4,0.000,0.026,2796,2828,3102,0,0,0,0,0,0
$GC,4660,-1.24,-116.8,394.8,-5.8,282,4664,0.00,2.38,0.00,0.000,6,0.000,0.038,2796,1447,3101,0,0,0,0,0,0
$GC,5005,-1.24,-116.8,414.5,-5.7,291,5009,0.00,2.30,0.00,0.000,4,0.000,0.026,2796,2829,3099,0,0,0,0,0,0
$GC,5029,-1.31,-116.8,416.0,-5.7,291,5034,0.15,2.38,0.00,0.000,6,0.058,0.038,2749,1446,3099,0,0,0,0,0,0
$GC,5372,-1.23,-116.8,446.8,-9.9,300,5377,0.15,2.33,0.00,0.000,4,0.092,0.028,2781,2826,3097,0,0,0,0,0,0
$STATE,5403,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5403,begin apogee
$GC,5412,-0.31,0.0,450.2,9.1,300,5511,0.90,0.00,95.22,0.826,6,0.067,0.000,2979,1419,2629,0,0,0,0,0,0
$STATE,5512,end apogee,CONTROL_FINISHED_OK
$STATE,5512,begin climb
$GC,5516,1.18,116.8,455.3,0.0,303,5622,1.40,0.00,101.70,0.810,6,0.031,0.000,3310,1419,2154,0,0,0,0,0,0
$GC,5926,0.94,116.8,435.9,8.0,313,5931,0.25,2.33,0.00,0.000,4,0.094,0.027,3256,2799,2143,0,0,0,0,0,0
$GC,5981,0.88,137.0,431.8,7.0,314,6005,0.00,2.42,17.35,0.755,6,0.000,0.041,3256,1415,2070,0,0,0,0,0,0
$GC,6344,0.84,191.2,408.4,5.4,323,6400,0.12,2.40,48.38,0.794,4,0.108,0.028,3232,2799,1849,0,0,0,0,0,0
$GC,6480,0.91,244.7,401.0,5.5,326,6533,0.00,2.42,47.47,0.783,6,0.000,0.042,3232,1416,1631,0,0,0,0,0,0
$GC,6847,0.91,247.1,375.0,7.8,335,6851,0.00,2.35,0.00,0.000,4,0.000,0.028,3232,2804,1623,0,0,0,0,0,0
$GC,6884,0.98,251.5,371.9,7.7,335,6897,0.12,2.42,6.10,0.603,6,0.068,0.042,3268,1414,1603,0,0,0,0,0,0
$GC,7229,0.90,251.5,342.2,8.2,344,7234,0.12,2.12,0.00,0.000,4,0.103,0.059,3244,229,1601,0,0,0,0,0,0
$GC,7263,0.82,251.5,338.8,9.4,344,7267,0.00,1.92,0.00,0.000,6,0.000,0.028,3244,1410,1598,0,0,0,0,0,0
$GC,7598,0.82,258.4,312.9,7.6,353,7611,0.00,2.40,6.35,0.600,4,0.000,0.028,3243,2806,1576,0,0,0,0,0,0
$GC,7632,0.88,261.0,310.3,7.8,353,7645,0.00,2.45,4.40,0.505,6,0.000,0.042,3244,1416,1565,0,0,0,0,0,0
$GC,7953,0.88,262.9,284.2,7.8,366,7957,0.00,2.10,0.00,0.000,4,0.000,0.058,3243,228,1563,0,0,0,0,0,0
$GC,8000,0.83,262.9,280.0,9.7,368,8004,0.00,1.95,0.00,0.000,6,0.000,0.028,3244,1422,1560,0,0,0,0,0,0
$GC,8336,0.88,299.6,257.6,6.2,384,8373,0.00,0.00,34.42,0.710,6,0.000,0.000,3243,1424,1408,0,0,0,0,0,0
$GC,8686,1.03,376.7,236.1,4.4,401,8764,0.15,2.17,66.55,0.693,4,0.062,0.054,3285,227,1092,0,0,0,0,0,0
$GC,8823,0.97,376.7,226.0,9.5,407,8827,0.12,1.95,0.00,0.000,6,0.098,0.027,3261,1421,1088,0,0,0,0,0,0
$GC,9150,1.01,376.7,198.4,9.0,423,9154,0.00,2.30,0.00,0.000,4,0.000,0.026,3261,2806,1086,0,0,0,0,0,0
$GC,9183,1.15,376.7,195.2,8.1,425,9189,0.17,2.40,0.00,0.000,6,0.055,0.038,3311,1415,1085,0,0,0,0,0,0
$GC,9446,1.09,376.7,168.2,11.5,446,9450,0.12,2.08,0.00,0.000,4,0.098,0.054,3285,230,1084,0,0,0,0,0,0
$GC,9477,1.02,376.7,164.2,12.1,448,9481,0.00,1.95,0.00,0.000,6,0.000,0.025,3285,1431,1083,0,0,0,0,0,0
$GC,9746,1.03,377.4,140.2,7.9,469,9750,0.00,2.10,0.00,0.000,4,0.000,0.051,3285,235,1082,0,0,0,0,0,0
$GC,9781,0.99,377.4,137.0,9.5,471,9786,0.00,1.90,0.00,0.000,6,0.000,0.024,3285,1424,1081,0,0,0,0,0,0
$GC,10042,1.10,398.7,115.0,6.9,492,10065,0.00,2.10,17.77,0.554,4,0.000,0.049,3285,234,1003,0,0,0,0,0,0
$GC,10082,1.17,398.7,111.8,8.2,494,10086,0.00,1.90,0.00,0.000,6,0.000,0.024,3285,1424,1001,0,0,0,0,0,0
$GC,10354,1.31,425.9,93.0,6.7,515,10385,0.22,2.35,23.83,0.540,4,0.045,0.023,3351,2802,892,0,0,0,0,0,0
$GC,10398,1.31,425.9,88.8,9.5,518,10402,0.00,2.40,0.00,0.000,6,0.000,0.035,3351,1419,892,0,0,0,0,0,0
$GC,10664,1.31,425.9,62.2,10.1,539,10668,0.00,2.05,0.00,0.000,4,0.000,0.050,3350,228,891,0,0,0,0,0,0
$GC,10711,1.22,425.9,57.1,8.8,542,10718,0.15,1.92,0.00,0.000,6,0.067,0.021,3314,1432,889,0,0,0,0,0,0
$GC,10975,1.26,425.9,34.2,9.6,563,10979,0.00,2.05,0.00,0.000,4,0.000,0.047,3314,234,889,0,0,0,0,0,0
$GC,10995,1.26,425.9,31.7,10.6,564,11001,0.00,1.90,0.00,0.000,6,0.000,0.021,3314,1424,889,0,0,0,0,0,0
$GC,11260,1.26,425.9,8.7,10.5,623,11266,0.00,2.25,0.00,0.000,4,0.000,0.021,3314,2789,889,0,0,0,0,0,0
$GC,11289,1.33,425.9,6.1,10.2,628,11296,0.08,2.35,0.00,0.000,6,0.038,0.032,3353,1421,889,0,0,0,0,0,0
$STATE,11314,end climb,SURFACE_DEPTH_REACHED
$STATE,11314,begin surface coast
$FINISH,1.0,1.023286
$STATE,11345,end surface coast,CONTROL_FINISHED_OK
$STATE,11345,begin surface
$SM_CCo,11429,0.00,0.000,0,0,888,427.31
$SM_GC,1.68,12.57,0.00,0.00,0.025,0.000,0.000,425,1421,888,-11.99,-0.85,427.31
$IRIDIUM_FIX,2059.45,-15750.89,010200,161615
$TT8_MAMPS,0.029146
$HUMID,64.21
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,20.00
$XPDR_PINGS,0
$24V_AH,23.3,83.395
$10V_AH,9.9,66.464
$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,30.925,125.325,469.550,0.000,0.000,120.502,205.829,437.845,4.500,0.000,15.166,1241.102,7800.806,503.881,1846.228,1134.546,0.000,1356.027,0.000,1830.610,0.000,29.256,0.000
$DEVICE_MAMPS,131.924,59.059,826.059,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,430.235,412.232,917.065,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,34906,640
$CAP_FILE_SIZE,134432,0
$CFSIZE,260165632,165634048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,071110,201137,2106.243,-15750.144,100,0.9,100,9.8