version: 66.06
glider: 139
mission: 8
dive: 861
start: 11 9 110 3 22 46
data:
$ID,139
$MISSION,8
$DIVE,861
$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,-2169620.8
$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
$GPS1,031516,2107.725,-15748.545,9,6.0,28,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-70.1
$GPS2,032228,2107.742,-15748.606,15,6.1,34,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,CLOSE
$TGT_LATLONG,2113.000,-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,318.6,11437,-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,-116.8,0.0,0.0,0,90,0.00,0.00,-69.65,0.000,2,0.000,0.000,425,1459,2665,0,0,0,0,0,0
$GC,93,-1.18,-116.8,3.2,-3.3,13,123,12.70,2.38,-8.85,0.000,4,0.133,0.035,2787,2875,3110,0,0,0,0,0,0
$GC,195,-1.11,-116.8,19.7,-12.4,33,202,0.00,2.47,0.00,0.000,6,0.000,0.033,2787,1445,3110,0,0,0,0,0,0
$GC,403,-0.90,-116.8,47.5,-13.1,60,408,0.28,2.05,0.00,0.000,4,0.086,0.043,2848,234,3111,0,0,0,0,0,0
$GC,429,-0.78,-116.8,51.1,-10.9,62,434,0.15,2.00,0.00,0.000,6,0.090,0.019,2880,1520,3112,0,0,0,0,0,0
$GC,698,-0.83,-116.8,71.9,-7.7,83,702,0.00,2.22,0.00,0.000,4,0.000,0.043,2880,229,3112,0,0,0,0,0,0
$GC,754,-0.89,-116.8,77.1,-9.1,87,759,0.10,2.00,0.00,0.000,6,0.072,0.019,2838,1526,3112,0,0,0,0,0,0
$GC,1020,-0.89,-116.8,101.7,-9.3,108,1024,0.00,2.22,0.00,0.000,4,0.000,0.044,2838,230,3113,0,0,0,0,0,0
$GC,1086,-0.89,-116.8,107.9,-9.2,113,1090,0.00,2.00,0.00,0.000,6,0.000,0.018,2838,1523,3113,0,0,0,0,0,0
$GC,1354,-0.89,-116.8,129.6,-8.4,134,1358,0.00,2.22,0.00,0.000,4,0.000,0.044,2838,227,3114,0,0,0,0,0,0
$GC,1378,-0.89,-116.8,131.7,-9.0,136,1381,0.00,1.98,0.00,0.000,6,0.000,0.018,2838,1506,3114,0,0,0,0,0,0
$GC,1651,-0.93,-116.8,153.3,-7.7,157,1654,0.00,2.20,0.00,0.000,4,0.000,0.021,2838,2882,3114,0,0,0,0,0,0
$GC,1697,-1.04,-116.8,156.8,-6.0,160,1702,0.00,2.40,0.00,0.000,6,0.000,0.028,2838,1446,3114,0,0,0,0,0,0
$GC,1962,-1.17,-116.8,172.9,-6.4,180,1967,0.20,2.33,0.00,0.000,4,0.044,0.019,2772,2877,3115,0,0,0,0,0,0
$GC,1987,-1.17,-116.8,175.2,-8.5,182,1992,0.10,2.40,0.00,0.000,6,0.104,0.030,2794,1450,3115,0,0,0,0,0,0
$GC,2252,-1.12,-116.8,198.0,-9.0,203,2256,0.00,2.10,0.00,0.000,4,0.000,0.047,2794,234,3115,0,0,0,0,0,0
$GC,2300,-1.07,-116.8,203.0,-9.8,206,2305,0.10,2.00,0.00,0.000,6,0.103,0.019,2815,1514,3114,0,0,0,0,0,0
$GC,2634,-1.12,-116.8,228.2,-7.7,222,2638,0.00,2.20,0.00,0.000,4,0.000,0.022,2815,2877,3115,0,0,0,0,0,0
$GC,2668,-1.23,-116.8,231.1,-7.8,223,2673,0.15,2.42,0.00,0.000,6,0.054,0.030,2763,1439,3115,0,0,0,0,0,0
$GC,2995,-1.13,-116.8,258.0,-7.1,239,3000,0.17,2.05,0.00,0.000,4,0.085,0.048,2800,238,3114,0,0,0,0,0,0
$GC,3033,-1.13,-116.8,261.0,-6.8,240,3039,0.00,2.00,0.00,0.000,6,0.000,0.021,2800,1499,3114,0,0,0,0,0,0
$GC,3350,-1.13,-116.8,278.1,-5.2,256,3354,0.00,2.17,0.00,0.000,4,0.000,0.048,2800,233,3113,0,0,0,0,0,0
$GC,3401,-1.13,-116.8,281.5,-6.4,258,3405,0.00,1.88,0.00,0.000,6,0.000,0.021,2800,1442,3113,0,0,0,0,0,0
$GC,3729,-1.13,-116.8,304.8,-8.2,273,3733,0.00,2.08,0.00,0.000,4,0.000,0.049,2800,233,3112,0,0,0,0,0,0
$GC,3763,-1.13,-116.8,307.9,-9.1,273,3767,0.00,1.92,0.00,0.000,6,0.000,0.022,2800,1451,3112,0,0,0,0,0,0
$GC,4098,-1.13,-116.8,336.4,-8.2,282,4102,0.00,2.25,0.00,0.000,4,0.000,0.025,2801,2832,3109,0,0,0,0,0,0
$GC,4146,-1.22,-116.8,339.8,-6.5,283,4150,0.00,2.35,0.00,0.000,6,0.000,0.034,2800,1450,3109,0,0,0,0,0,0
$GC,4476,-1.22,-116.8,360.1,-6.1,291,4480,0.00,2.08,0.00,0.000,4,0.000,0.051,2800,238,3108,0,0,0,0,0,0
$GC,4546,-1.22,-116.8,365.5,-7.3,292,4550,0.00,1.92,0.00,0.000,6,0.000,0.023,2801,1448,3107,0,0,0,0,0,0
$GC,4897,-1.22,-116.8,391.7,-7.5,301,4901,0.00,2.28,0.00,0.000,4,0.000,0.026,2800,2828,3105,0,0,0,0,0,0
$GC,4939,-1.33,-116.8,394.9,-7.1,301,4946,0.17,2.38,0.00,0.000,6,0.051,0.036,2747,1442,3105,0,0,0,0,0,0
$GC,5275,-1.24,-116.8,423.1,-8.5,310,5279,0.15,2.33,0.00,0.000,4,0.091,0.027,2779,2837,3103,0,0,0,0,0,0
$GC,5304,-1.29,-116.8,425.7,-6.9,310,5309,0.00,2.40,0.00,0.000,6,0.000,0.039,2778,1442,3102,0,0,0,0,0,0
$STATE,5639,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5639,begin apogee
$GC,5646,-0.31,0.0,450.4,7.4,319,5745,0.95,0.00,96.15,0.828,6,0.067,0.000,2983,1442,2629,0,0,0,0,0,0
$STATE,5746,end apogee,CONTROL_FINISHED_OK
$STATE,5746,begin climb
$GC,5750,1.18,116.8,453.3,0.0,321,5862,1.40,2.22,101.93,0.811,4,0.034,0.055,3311,231,2152,0,0,0,0,0,0
$GC,5887,0.90,171.3,454.2,5.4,324,5941,0.32,1.92,47.90,0.792,6,0.095,0.025,3247,1421,1931,0,0,0,0,0,0
$GC,6288,0.84,183.4,425.5,7.3,334,6304,0.00,2.38,10.48,0.703,4,0.000,0.028,3247,2796,1882,0,0,0,0,0,0
$GC,6326,0.82,195.0,422.6,7.4,334,6343,0.00,2.42,12.07,0.718,6,0.000,0.041,3247,1413,1833,0,0,0,0,0,0
$GC,6664,0.75,195.0,395.3,8.3,343,6666,0.17,0.00,0.00,0.000,6,0.094,0.000,3212,1413,1828,0,0,0,0,0,0
$GC,6987,0.85,251.0,376.3,5.4,351,7043,0.00,2.38,49.28,0.784,4,0.000,0.027,3213,2797,1605,0,0,0,0,0,0
$GC,7069,0.99,281.9,371.3,6.5,352,7103,0.22,2.42,27.85,0.755,6,0.049,0.041,3272,1420,1480,0,0,0,0,0,0
$GC,7439,0.91,281.9,337.4,9.2,362,7444,0.12,2.12,0.00,0.000,4,0.101,0.058,3247,227,1472,0,0,0,0,0,0
$GC,7454,0.82,281.9,336.1,8.6,362,7458,0.00,1.95,0.00,0.000,6,0.000,0.028,3247,1408,1470,0,0,0,0,0,0
$GC,7774,0.83,290.1,312.2,7.5,370,7786,0.00,2.42,6.62,0.604,4,0.000,0.028,3247,2813,1447,0,0,0,0,0,0
$GC,7808,0.90,301.5,309.6,7.4,370,7825,0.00,2.42,12.05,0.681,6,0.000,0.041,3248,1419,1400,0,0,0,0,0,0
$GC,8155,0.91,310.1,283.3,7.5,384,8168,0.00,2.10,8.60,0.631,4,0.000,0.054,3247,234,1364,0,0,0,0,0,0
$GC,8224,0.87,310.1,277.1,9.3,387,8227,0.00,1.95,0.00,0.000,6,0.000,0.028,3247,1423,1361,0,0,0,0,0,0
$GC,8558,0.87,310.1,246.2,9.0,403,8560,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1425,1360,0,0,0,0,0,0
$GC,8869,0.91,318.6,222.2,7.5,418,8882,0.00,2.35,7.95,0.586,4,0.000,0.028,3248,2812,1330,0,0,0,0,0,0
$GC,8892,0.99,335.8,220.4,7.1,419,8915,0.00,2.45,16.55,0.647,6,0.000,0.040,3247,1415,1260,0,0,0,0,0,0
$GC,9240,1.07,363.3,196.8,6.7,437,9270,0.15,2.15,24.60,0.647,4,0.061,0.055,3291,241,1149,0,0,0,0,0,0
$GC,9281,1.00,363.3,193.2,8.4,440,9286,0.12,1.95,0.00,0.000,6,0.100,0.026,3267,1424,1147,0,0,0,0,0,0
$GC,9550,1.00,363.3,170.2,8.4,461,9554,0.00,2.33,0.00,0.000,4,0.000,0.025,3267,2812,1145,0,0,0,0,0,0
$GC,9577,1.08,363.3,167.8,8.1,463,9581,0.00,2.42,0.00,0.000,6,0.000,0.038,3267,1417,1145,0,0,0,0,0,0
$GC,9844,1.14,380.7,149.8,7.1,484,9867,0.15,2.15,15.65,0.586,4,0.059,0.053,3311,237,1078,0,0,0,0,0,0
$GC,9940,1.06,380.7,139.7,11.7,490,9947,0.12,1.95,0.00,0.000,6,0.075,0.025,3281,1426,1074,0,0,0,0,0,0
$GC,10204,1.10,384.2,117.2,7.7,511,10213,0.00,2.33,4.07,0.370,4,0.000,0.025,3281,2809,1063,0,0,0,0,0,0
$GC,10253,1.24,391.2,113.3,7.6,513,10266,0.17,2.40,7.75,0.495,6,0.052,0.035,3334,1419,1035,0,0,0,0,0,0
$GC,10520,1.20,391.2,88.3,9.6,534,10525,0.10,2.10,0.00,0.000,4,0.105,0.051,3311,227,1033,0,0,0,0,0,0
$GC,10588,1.16,391.2,81.8,9.5,539,10592,0.00,1.92,0.00,0.000,6,0.000,0.023,3311,1429,1032,0,0,0,0,0,0
$GC,10860,1.21,391.2,59.4,7.9,560,10864,0.00,2.22,0.00,0.000,4,0.000,0.022,3312,2801,1032,0,0,0,0,0,0
$GC,10888,1.33,399.3,57.1,7.5,562,10903,0.12,2.38,7.97,0.456,6,0.062,0.035,3355,1419,1002,0,0,0,0,0,0
$GC,11156,1.27,399.3,29.5,10.2,583,11163,0.15,0.00,0.00,0.000,6,0.089,0.000,3324,1419,1000,0,0,0,0,0,0
$GC,11359,1.39,496.6,14.7,3.5,629,11453,0.12,2.12,79.93,0.491,4,0.063,0.047,3366,237,603,0,0,0,0,0,0
$STATE,11458,end climb,SURFACE_DEPTH_REACHED
$STATE,11458,begin surface coast
$FINISH,0.8,1.023419
$STATE,11482,end surface coast,CONTROL_FINISHED_OK
$STATE,11483,begin surface
$SM_CCo,11568,0.00,0.000,0,0,598,498.45
$SM_GC,1.72,12.73,0.00,0.00,0.024,0.000,0.000,430,1462,598,-11.98,0.34,498.45
$IRIDIUM_FIX,2059.45,-15743.60,030200,000005
$TT8_MAMPS,0.029146
$HUMID,63.34
$INTERNAL_PRESSURE,9.20588
$TCM_TEMP,19.80
$XPDR_PINGS,0
$24V_AH,23.3,84.656
$10V_AH,9.9,67.363
$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,31.425,131.625,537.400,0.000,0.000,24.622,42.000,193.892,4.500,0.000,35.425,1256.521,7667.350,527.044,1909.168,630.666,0.000,1428.460,0.000,1863.116,0.000,29.252,0.000
$DEVICE_MAMPS,132.691,58.292,827.593,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,436.975,422.787,937.160,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,356064
$DATA_FILE_SIZE,38086,651
$CAP_FILE_SIZE,131380,0
$CFSIZE,260165632,164986880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091110,063706,2108.608,-15749.702,55,0.9,55,9.8