version: 66.06
glider: 139
mission: 8
dive: 872
start: 11 10 110 11 39 16
data:
$ID,139
$MISSION,8
$DIVE,872
$D_SURF,3
$D_FLARE,3
$D_TGT,240
$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,80
$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,-2169820.2
$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
$GPS1,113307,2114.595,-15752.103,42,0.9,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-74.0
$GPS2,113856,2114.540,-15752.108,12,1.5,12,9.8
$SPEED_LIMITS,0.173,0.237
$TGT_NAME,HOME
$TGT_LATLONG,2114.600,-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,14.0,122,-27.9,-10.000
$D_GRID,240
$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,15,-1.82,-61.9,0.0,0.0,0,82,0.00,0.00,-64.25,0.000,2,0.000,0.000,427,1427,2729,0,0,0,0,0,0
$GC,85,-1.89,-115.9,3.6,-4.2,12,110,11.80,2.45,-7.55,0.000,4,0.132,0.033,2630,2877,3105,0,0,0,0,0,0
$GC,145,-1.84,-115.9,16.8,-17.2,23,151,0.00,2.47,0.00,0.000,6,0.000,0.035,2630,1447,3106,0,0,0,0,0,0
$GC,346,-1.68,-115.9,52.4,-17.4,49,351,0.25,2.08,0.00,0.000,4,0.104,0.043,2681,229,3107,0,0,0,0,0,0
$GC,362,-1.51,-115.9,55.7,-16.9,50,367,0.20,1.98,0.00,0.000,6,0.107,0.019,2719,1507,3107,0,0,0,0,0,0
$GC,623,-1.55,-115.9,92.7,-14.2,70,627,0.00,2.17,0.00,0.000,4,0.000,0.044,2719,236,3107,0,0,0,0,0,0
$GC,648,-1.55,-115.9,96.4,-14.0,72,651,0.00,1.98,0.00,0.000,6,0.000,0.019,2718,1501,3108,0,0,0,0,0,0
$GC,922,-1.65,-115.9,129.0,-11.4,93,926,0.12,2.25,0.00,0.000,4,0.065,0.021,2680,2886,3108,0,0,0,0,0,0
$GC,937,-1.74,-115.9,131.5,-11.0,94,941,0.00,2.40,0.00,0.000,6,0.000,0.031,2679,1449,3108,0,0,0,0,0,0
$GC,1199,-1.78,-115.9,163.3,-12.2,114,1203,0.00,2.33,0.00,0.000,4,0.000,0.021,2680,2882,3109,0,0,0,0,0,0
$GC,1282,-1.91,-116.8,172.5,-9.0,120,1287,0.20,2.40,0.00,0.000,6,0.049,0.032,2622,1449,3109,0,0,0,0,0,0
$GC,1558,-1.84,-116.8,205.9,-12.1,140,1562,0.12,2.08,0.00,0.000,4,0.108,0.044,2646,227,3109,0,0,0,0,0,0
$GC,1618,-1.76,-116.8,214.4,-13.6,142,1622,0.00,1.98,0.00,0.000,6,0.000,0.019,2646,1500,3109,0,0,0,0,0,0
$STATE,1812,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1812,begin apogee
$GC,1821,-0.31,0.0,240.4,13.1,152,1919,1.60,0.00,93.38,0.614,6,0.082,0.000,2979,1398,2630,0,0,0,0,0,0
$STATE,1919,end apogee,CONTROL_FINISHED_OK
$STATE,1920,begin climb
$GC,1922,1.89,116.8,245.2,0.0,157,2032,2.10,2.00,95.88,0.609,4,0.030,0.041,3471,244,2151,0,0,0,0,0,0
$GC,2141,1.59,116.8,235.2,11.8,167,2146,0.38,1.85,0.00,0.000,6,0.101,0.019,3399,1442,2144,0,0,0,0,0,0
$GC,2470,1.63,149.9,207.2,6.4,183,2502,0.00,2.22,27.42,0.578,4,0.000,0.022,3399,2788,2018,0,0,0,0,0,0
$GC,2622,1.69,160.6,195.3,8.8,191,2639,0.00,2.30,10.80,0.528,6,0.000,0.033,3399,1429,1974,0,0,0,0,0,0
$GC,2901,1.71,173.2,171.3,8.6,213,2918,0.10,2.08,11.50,0.525,4,0.075,0.045,3430,232,1923,0,0,0,0,0,0
$GC,2991,1.57,175.2,163.0,9.8,219,2996,0.20,1.85,0.00,0.000,6,0.102,0.021,3393,1421,1920,0,0,0,0,0,0
$GC,3254,1.64,209.7,144.7,6.3,239,3294,0.00,2.30,31.90,0.558,4,0.000,0.021,3393,2781,1774,0,0,0,0,0,0
$GC,3331,1.77,227.2,139.1,8.1,244,3355,0.17,2.33,16.35,0.528,6,0.052,0.034,3441,1421,1703,0,0,0,0,0,0
$GC,3608,1.74,235.7,110.6,9.1,266,3623,0.00,2.30,8.05,0.463,4,0.000,0.022,3440,2784,1667,0,0,0,0,0,0
$GC,3726,1.82,258.6,101.5,7.5,274,3754,0.00,2.33,20.60,0.516,6,0.000,0.035,3440,1418,1575,0,0,0,0,0,0
$GC,4009,1.82,258.6,71.1,10.3,296,4013,0.00,2.22,0.00,0.000,4,0.000,0.021,3440,2789,1571,0,0,0,0,0,0
$GC,4042,1.90,262.3,67.6,9.6,298,4052,0.05,2.38,4.05,0.337,6,0.048,0.033,3466,1416,1559,0,0,0,0,0,0
$GC,4317,1.90,262.3,38.5,10.2,320,4318,0.00,0.00,0.00,0.000,6,0.000,0.000,3466,1416,1557,0,0,0,0,0,0
$GC,4573,1.92,275.8,13.3,8.5,366,4591,0.00,2.28,12.27,0.443,4,0.000,0.020,3466,2794,1504,0,0,0,0,0,0
$STATE,4685,end climb,SURFACE_DEPTH_REACHED
$STATE,4685,begin surface coast
$FINISH,1.0,1.000470
$STATE,4716,end surface coast,CONTROL_FINISHED_OK
$STATE,4716,begin surface
$SM_CCo,4742,86.62,0.471,0,0,957,410.14
$SM_GC,1.88,0.00,0.00,86.62,0.000,0.000,0.471,427,1445,957,-12.07,-0.17,410.14
$IRIDIUM_FIX,2106.38,-15750.02,040200,101011
$TT8_MAMPS,0.029146
$HUMID,61.34
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,20.10
$XPDR_PINGS,0
$24V_AH,23.5,85.770
$10V_AH,10.1,68.236
$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,30.525,57.475,332.200,86.625,0.000,23.257,40.723,149.351,2.000,0.000,12.810,732.026,2410.755,421.459,1172.761,443.345,0.000,945.405,0.000,1166.654,0.000,13.564,0.000
$DEVICE_MAMPS,131.924,61.360,614.367,470.938,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,264.618,293.714,709.144,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,356016
$DATA_FILE_SIZE,22319,397
$CAP_FILE_SIZE,69249,0
$CFSIZE,260165632,164429824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101110,130038,2114.847,-15752.001,13,1.6,13,9.8