version: 66.06
glider: 139
mission: 8
dive: 857
start: 11 8 110 13 36 46
data:
$ID,139
$MISSION,8
$DIVE,857
$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,-2169507.2
$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
$GPS1,132516,2106.077,-15747.307,10,6.5,29,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-70.9
$GPS2,133624,2106.085,-15747.418,37,1.8,41,9.8
$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,83.9,7791,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.18,-116.8,0.0,0.0,0,94,0.00,0.00,-75.05,0.000,2,0.000,0.000,424,1415,2816,0,0,0,0,0,0
$GC,97,-1.18,-116.8,3.6,-4.1,14,122,12.73,2.42,-5.55,0.000,4,0.133,0.031,2786,2886,3107,0,0,0,0,0,0
$GC,145,-0.40,-116.8,14.8,-23.3,22,152,0.77,2.47,0.00,0.000,6,0.068,0.033,2963,1456,3109,0,0,0,0,0,0
$GC,354,-0.89,-116.8,42.0,-12.8,56,356,0.47,0.00,0.00,0.000,6,0.036,0.000,2843,1456,3110,0,0,0,0,0,0
$GC,607,-0.80,-116.8,73.0,-10.3,76,612,0.15,2.33,0.00,0.000,4,0.088,0.020,2875,2881,3110,0,0,0,0,0,0
$GC,628,-0.80,-116.8,75.2,-8.9,77,635,0.00,2.45,0.00,0.000,6,0.000,0.031,2874,1448,3110,0,0,0,0,0,0
$GC,889,-0.85,-116.8,96.5,-7.5,98,893,0.00,2.05,0.00,0.000,4,0.000,0.044,2874,236,3110,0,0,0,0,0,0
$GC,936,-0.92,-116.8,100.0,-7.2,101,942,0.12,1.95,0.00,0.000,6,0.061,0.018,2829,1516,3111,0,0,0,0,0,0
$GC,1197,-0.92,-116.8,123.8,-9.4,122,1200,0.00,2.17,0.00,0.000,4,0.000,0.044,2829,237,3111,0,0,0,0,0,0
$GC,1216,-0.92,-116.8,125.8,-9.9,123,1220,0.00,2.00,0.00,0.000,6,0.000,0.018,2829,1531,3111,0,0,0,0,0,0
$GC,1481,-0.92,-116.8,147.2,-6.9,144,1485,0.00,2.17,0.00,0.000,4,0.000,0.020,2829,2878,3111,0,0,0,0,0,0
$GC,1535,-1.01,-116.8,150.9,-6.6,148,1539,0.00,2.38,0.00,0.000,6,0.000,0.028,2829,1446,3111,0,0,0,0,0,0
$GC,1802,-1.13,-116.8,167.0,-5.7,169,1807,0.12,2.35,0.00,0.000,4,0.061,0.021,2783,2883,3112,0,0,0,0,0,0
$GC,1858,-1.13,-116.8,170.4,-6.1,173,1862,0.00,2.40,0.00,0.000,6,0.000,0.029,2783,1442,3112,0,0,0,0,0,0
$GC,2124,-1.05,-116.8,190.4,-9.0,194,2128,0.17,2.05,0.00,0.000,4,0.085,0.045,2821,237,3112,0,0,0,0,0,0
$GC,2143,-1.02,-116.8,192.6,-9.7,195,2148,0.00,1.98,0.00,0.000,6,0.000,0.019,2821,1516,3112,0,0,0,0,0,0
$GC,2406,-1.02,-116.8,213.4,-6.7,211,2410,0.00,2.17,0.00,0.000,4,0.000,0.045,2821,238,3112,0,0,0,0,0,0
$GC,2452,-1.02,-116.8,216.3,-6.3,213,2456,0.00,1.98,0.00,0.000,6,0.000,0.020,2821,1504,3112,0,0,0,0,0,0
$GC,2787,-1.11,-116.8,236.7,-7.5,229,2791,0.00,2.20,0.00,0.000,4,0.000,0.022,2821,2874,3112,0,0,0,0,0,0
$GC,2826,-1.22,-116.8,240.1,-7.6,230,2833,0.12,2.42,0.00,0.000,6,0.029,0.031,2768,1452,3112,0,0,0,0,0,0
$GC,3145,-1.14,-116.8,268.1,-8.9,246,3150,0.15,2.08,0.00,0.000,4,0.089,0.048,2800,237,3111,0,0,0,0,0,0
$GC,3189,-1.14,-116.8,271.8,-7.8,248,3193,0.00,2.00,0.00,0.000,6,0.000,0.021,2801,1497,3111,0,0,0,0,0,0
$GC,3524,-1.14,-116.8,297.9,-9.0,264,3528,0.00,2.15,0.00,0.000,4,0.000,0.048,2800,238,3109,0,0,0,0,0,0
$GC,3571,-1.14,-116.8,302.4,-9.5,266,3574,0.00,1.88,0.00,0.000,6,0.000,0.022,2800,1445,3109,0,0,0,0,0,0
$GC,3898,-1.14,-116.8,323.7,-5.7,274,3902,0.00,2.25,0.00,0.000,4,0.000,0.024,2801,2825,3107,0,0,0,0,0,0
$GC,3924,-1.21,-116.8,325.1,-5.8,274,3928,0.00,2.35,0.00,0.000,6,0.000,0.035,2800,1444,3107,0,0,0,0,0,0
$GC,4270,-1.21,-116.8,349.2,-7.8,283,4274,0.00,2.08,0.00,0.000,4,0.000,0.051,2800,230,3105,0,0,0,0,0,0
$GC,4309,-1.21,-116.8,352.4,-8.3,283,4314,0.00,1.92,0.00,0.000,6,0.000,0.023,2800,1448,3105,0,0,0,0,0,0
$GC,4643,-1.21,-116.8,378.5,-7.6,292,4647,0.00,2.25,0.00,0.000,4,0.000,0.025,2800,2825,3103,0,0,0,0,0,0
$GC,4709,-1.28,-116.8,383.6,-6.4,293,4714,0.12,2.35,0.00,0.000,6,0.064,0.036,2760,1440,3103,0,0,0,0,0,0
$GC,5057,-1.21,-116.8,410.1,-7.5,302,5059,0.12,0.00,0.00,0.000,6,0.097,0.000,2786,1440,3101,0,0,0,0,0,0
$GC,5380,-1.21,-116.8,432.5,-7.0,310,5384,0.00,2.08,0.00,0.000,4,0.000,0.054,2786,237,3099,0,0,0,0,0,0
$GC,5400,-1.21,-116.8,434.0,-7.6,310,5403,0.00,1.90,0.00,0.000,6,0.000,0.025,2786,1442,3098,0,0,0,0,0,0
$STATE,5666,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5666,begin apogee
$GC,5674,-0.31,0.0,452.4,6.7,317,5773,0.90,0.00,95.20,0.825,6,0.065,0.000,2982,1444,2630,0,0,0,0,0,0
$STATE,5774,end apogee,CONTROL_FINISHED_OK
$STATE,5774,begin climb
$GC,5776,1.18,116.8,455.1,0.0,319,5886,1.40,0.00,101.32,0.809,6,0.032,0.000,3312,1444,2152,0,0,0,0,0,0
$GC,6185,1.00,156.0,438.9,6.1,329,6230,0.22,2.35,33.65,0.785,4,0.095,0.028,3267,2794,1994,0,0,0,0,0,0
$GC,6306,0.97,193.2,431.6,6.2,331,6347,0.00,2.42,33.50,0.782,6,0.000,0.041,3267,1417,1842,0,0,0,0,0,0
$GC,6693,0.86,195.4,402.1,7.8,341,6695,0.15,0.00,0.00,0.000,6,0.102,0.000,3238,1418,1834,0,0,0,0,0,0
$GC,7019,0.84,200.8,377.7,7.6,349,7032,0.00,2.40,6.32,0.614,4,0.000,0.029,3238,2797,1811,0,0,0,0,0,0
$GC,7107,0.85,211.4,371.0,7.4,350,7124,0.00,2.42,11.12,0.696,6,0.000,0.041,3238,1413,1767,0,0,0,0,0,0
$GC,7444,0.85,211.4,344.3,8.4,359,7448,0.00,2.35,0.00,0.000,4,0.000,0.028,3238,2803,1763,0,0,0,0,0,0
$GC,7472,0.86,216.7,342.0,7.7,359,7484,0.00,2.40,5.80,0.588,6,0.000,0.041,3238,1414,1745,0,0,0,0,0,0
$GC,7816,0.90,255.9,319.5,6.1,368,7859,0.00,2.42,35.22,0.748,4,0.000,0.028,3238,2801,1586,0,0,0,0,0,0
$GC,7914,1.03,280.3,313.3,6.8,370,7943,0.15,2.45,22.42,0.717,6,0.061,0.041,3281,1413,1487,0,0,0,0,0,0
$GC,8268,0.96,280.3,279.1,9.6,383,8272,0.00,2.35,0.00,0.000,4,0.000,0.028,3281,2801,1480,0,0,0,0,0,0
$GC,8284,0.91,280.3,277.7,8.9,383,8292,0.12,2.40,0.00,0.000,6,0.069,0.042,3250,1423,1480,0,0,0,0,0,0
$GC,8601,0.94,303.2,254.4,6.9,399,8626,0.00,2.15,19.95,0.682,4,0.000,0.057,3249,229,1393,0,0,0,0,0,0
$GC,8645,0.96,317.1,251.4,7.3,401,8666,0.00,1.92,13.25,0.647,6,0.000,0.027,3249,1413,1337,0,0,0,0,0,0
$GC,8980,1.01,319.4,225.8,7.8,417,8981,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1413,1333,0,0,0,0,0,0
$GC,9287,1.09,347.8,204.8,6.6,432,9321,0.17,2.42,26.98,0.649,4,0.056,0.027,3299,2809,1211,0,0,0,0,0,0
$GC,9341,1.09,347.8,200.0,9.2,434,9345,0.00,2.45,0.00,0.000,6,0.000,0.041,3299,1415,1211,0,0,0,0,0,0
$GC,9671,1.05,347.8,171.2,8.5,460,9675,0.00,2.10,0.00,0.000,4,0.000,0.054,3299,226,1208,0,0,0,0,0,0
$GC,9717,0.95,347.8,166.1,10.2,463,9724,0.20,1.92,0.00,0.000,6,0.090,0.025,3258,1433,1206,0,0,0,0,0,0
$GC,9980,1.01,347.8,145.8,8.2,484,9984,0.00,2.28,0.00,0.000,4,0.000,0.025,3258,2802,1205,0,0,0,0,0,0
$GC,9999,1.11,347.8,143.8,8.2,485,10004,0.15,2.38,0.00,0.000,6,0.058,0.038,3304,1417,1205,0,0,0,0,0,0
$GC,10261,1.11,347.8,117.7,9.6,505,10264,0.00,2.05,0.00,0.000,4,0.000,0.051,3304,228,1205,0,0,0,0,0,0
$GC,10300,1.04,347.8,113.9,9.0,507,10306,0.12,1.92,0.00,0.000,6,0.099,0.024,3279,1428,1204,0,0,0,0,0,0
$GC,10561,1.18,406.3,98.7,5.3,528,10617,0.12,2.35,48.92,0.565,4,0.064,0.023,3319,2798,972,0,0,0,0,0,0
$GC,10652,1.28,406.3,91.3,8.6,534,10660,0.00,2.42,0.00,0.000,6,0.000,0.036,3319,1420,972,0,0,0,0,0,0
$GC,10912,1.30,424.7,69.7,7.1,555,10934,0.00,2.12,16.10,0.501,4,0.000,0.050,3319,240,898,0,0,0,0,0,0
$GC,10970,1.30,424.7,65.3,8.7,559,10974,0.00,1.88,0.00,0.000,6,0.000,0.022,3319,1423,894,0,0,0,0,0,0
$GC,11241,1.33,424.7,39.5,10.3,580,11242,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,1425,895,0,0,0,0,0,0
$GC,11496,1.33,424.7,15.7,10.9,624,11503,0.00,2.10,0.00,0.000,4,0.000,0.049,3319,234,894,0,0,0,0,0,0
$GC,11531,1.33,424.7,11.5,11.9,631,11538,0.00,1.90,0.00,0.000,6,0.000,0.021,3319,1425,894,0,0,0,0,0,0
$STATE,11621,end climb,SURFACE_DEPTH_REACHED
$STATE,11621,begin surface coast
$FINISH,1.1,1.023320
$STATE,11656,end surface coast,CONTROL_FINISHED_OK
$STATE,11656,begin surface
$SM_CCo,11739,0.00,0.000,0,0,891,426.58
$SM_GC,1.79,12.43,0.00,0.00,0.024,0.000,0.000,425,1425,891,-12.00,-0.71,426.58
$IRIDIUM_FIX,2057.14,-15748.75,020200,131325
$TT8_MAMPS,0.028379
$HUMID,64.41
$INTERNAL_PRESSURE,9.23518
$TCM_TEMP,20.00
$XPDR_PINGS,0
$24V_AH,23.3,84.164
$10V_AH,9.9,67.005
$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,31.225,123.575,469.775,0.000,0.000,53.908,83.853,288.028,4.500,0.000,44.933,1257.847,7943.257,495.203,1904.826,798.903,0.000,1373.832,0.000,1857.163,0.000,29.254,0.000
$DEVICE_MAMPS,133.458,56.758,825.292,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,442.227,422.023,932.607,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,38091,658
$CAP_FILE_SIZE,129896,0
$CFSIZE,260165632,165253120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081110,165337,2106.406,-15747.454,36,1.6,36,9.8