version: 66.06
glider: 139
mission: 8
dive: 786
start: 10 29 110 17 48 34
data:
$ID,139
$MISSION,8
$DIVE,786
$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,-2167956.8
$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
$GPS1,173900,2110.423,-15751.985,42,1.4,47,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-72.2
$GPS2,174814,2110.473,-15751.974,15,1.9,15,9.8
$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,109.1,17868,-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,17,-1.18,-116.8,0.0,0.0,0,84,0.00,0.00,-64.53,0.000,2,0.000,0.000,424,1433,2744,0,0,0,0,0,0
$GC,87,-1.18,-116.8,3.2,-3.2,12,112,12.62,2.15,-7.10,0.000,4,0.131,0.059,2784,228,3108,0,0,0,0,0,0
$GC,147,-0.83,-116.8,17.1,-19.4,23,153,0.32,2.03,0.00,0.000,6,0.078,0.019,2865,1500,3110,0,0,0,0,0,0
$GC,358,-0.83,-116.8,39.3,-10.1,57,359,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1505,3111,0,0,0,0,0,0
$GC,609,-0.83,-116.8,64.3,-9.6,77,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1505,3112,0,0,0,0,0,0
$GC,861,-0.83,-116.8,88.8,-9.2,97,863,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1505,3112,0,0,0,0,0,0
$GC,1116,-0.88,-116.8,111.7,-7.6,117,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1505,3113,0,0,0,0,0,0
$GC,1367,-0.94,-116.8,129.7,-8.2,137,1368,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1505,3113,0,0,0,0,0,0
$GC,1621,-1.04,-116.8,147.9,-5.5,157,1626,0.17,2.17,0.00,0.000,4,0.048,0.045,2805,234,3114,0,0,0,0,0,0
$GC,1678,-0.99,-116.8,152.2,-7.5,161,1682,0.12,1.90,0.00,0.000,6,0.089,0.019,2833,1470,3114,0,0,0,0,0,0
$GC,1944,-0.99,-116.8,171.5,-8.4,182,1948,0.00,2.10,0.00,0.000,4,0.000,0.045,2833,234,3114,0,0,0,0,0,0
$GC,1972,-0.99,-116.8,174.3,-9.7,184,1975,0.00,1.85,0.00,0.000,6,0.000,0.020,2833,1450,3115,0,0,0,0,0,0
$GC,2239,-1.02,-116.8,198.7,-9.2,205,2243,0.00,2.25,0.00,0.000,4,0.000,0.022,2833,2816,3115,0,0,0,0,0,0
$GC,2285,-1.12,-116.8,203.3,-9.2,208,2290,0.12,2.30,0.00,0.000,6,0.060,0.031,2785,1446,3114,0,0,0,0,0,0
$GC,2614,-1.05,-116.8,236.8,-10.0,224,2616,0.17,0.00,0.00,0.000,6,0.086,0.000,2823,1447,3114,0,0,0,0,0,0
$GC,2921,-1.08,-116.8,263.6,-8.5,239,2925,0.00,2.22,0.00,0.000,4,0.000,0.022,2823,2815,3114,0,0,0,0,0,0
$GC,2972,-1.18,-116.8,267.6,-7.7,241,2977,0.15,2.33,0.00,0.000,6,0.053,0.033,2769,1443,3114,0,0,0,0,0,0
$GC,3298,-1.10,-116.8,295.3,-8.4,257,3303,0.20,2.25,0.00,0.000,4,0.082,0.021,2812,2820,3114,0,0,0,0,0,0
$GC,3319,-1.10,-116.8,297.4,-7.9,258,3323,0.00,2.33,0.00,0.000,6,0.000,0.035,2812,1451,3113,0,0,0,0,0,0
$GC,3651,-1.10,-116.8,321.6,-7.9,267,3655,0.00,2.25,0.00,0.000,4,0.000,0.024,2812,2816,3112,0,0,0,0,0,0
$GC,3674,-1.18,-116.8,323.9,-8.2,267,3679,0.00,2.30,0.00,0.000,6,0.000,0.035,2812,1452,3112,0,0,0,0,0,0
$GC,4014,-1.18,-116.8,356.4,-9.7,276,4018,0.00,2.08,0.00,0.000,4,0.000,0.051,2812,237,3111,0,0,0,0,0,0
$GC,4071,-1.21,-116.8,361.8,-9.5,277,4075,0.12,1.90,0.00,0.000,6,0.063,0.023,2770,1440,3110,0,0,0,0,0,0
$GC,4391,-1.15,-116.8,388.6,-8.0,285,4396,0.12,2.28,0.00,0.000,4,0.094,0.026,2796,2826,3108,0,0,0,0,0,0
$GC,4445,-1.22,-116.8,392.9,-7.8,286,4449,0.00,2.33,0.00,0.000,6,0.000,0.037,2796,1450,3108,0,0,0,0,0,0
$GC,4764,-1.22,-116.8,416.1,-7.0,294,4765,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1450,3106,0,0,0,0,0,0
$GC,5089,-1.22,-116.8,436.8,-6.4,302,5093,0.00,2.33,0.00,0.000,4,0.000,0.027,2797,2829,3104,0,0,0,0,0,0
$GC,5134,-1.30,-116.8,439.6,-6.6,303,5139,0.12,2.35,0.00,0.000,6,0.063,0.038,2752,1449,3104,0,0,0,0,0,0
$STATE,5261,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5261,begin apogee
$GC,5267,-0.31,0.0,450.4,8.7,306,5367,1.05,0.00,96.32,0.818,6,0.068,0.000,2978,1449,2630,0,0,0,0,0,0
$STATE,5368,end apogee,CONTROL_FINISHED_OK
$STATE,5368,begin climb
$GC,5372,1.18,116.8,453.3,0.0,308,5479,1.42,0.00,100.93,0.803,6,0.033,0.000,3313,1449,2153,0,0,0,0,0,0
$GC,5780,1.00,154.2,437.4,6.2,318,5822,0.22,2.17,32.62,0.779,4,0.095,0.054,3268,232,2000,0,0,0,0,0,0
$GC,5836,0.87,178.1,434.1,6.8,319,5865,0.15,1.92,22.33,0.756,6,0.103,0.025,3240,1412,1902,0,0,0,0,0,0
$GC,6199,0.84,195.3,410.0,7.1,328,6219,0.00,2.40,15.40,0.734,4,0.000,0.028,3240,2811,1832,0,0,0,0,0,0
$GC,6240,0.84,195.3,406.4,8.5,328,6246,0.00,2.45,0.00,0.000,6,0.000,0.041,3240,1417,1832,0,0,0,0,0,0
$GC,6571,0.81,195.3,376.7,8.9,337,6575,0.00,2.08,0.00,0.000,4,0.000,0.057,3239,231,1829,0,0,0,0,0,0
$GC,6601,0.72,195.3,374.4,8.3,337,6606,0.17,1.95,0.00,0.000,6,0.099,0.027,3205,1427,1826,0,0,0,0,0,0
$GC,6938,0.84,242.1,356.3,5.8,346,6987,0.12,2.38,41.33,0.765,4,0.070,0.027,3242,2813,1642,0,0,0,0,0,0
$GC,7063,0.89,242.1,344.9,9.5,348,7067,0.00,2.42,0.00,0.000,6,0.000,0.041,3242,1421,1641,0,0,0,0,0,0
$GC,7394,0.89,242.1,313.7,9.0,356,7398,0.00,2.10,0.00,0.000,4,0.000,0.058,3242,236,1637,0,0,0,0,0,0
$GC,7478,0.85,242.1,306.4,8.1,357,7483,0.00,1.92,0.00,0.000,6,0.000,0.028,3242,1417,1633,0,0,0,0,0,0
$GC,7793,0.86,252.6,284.6,7.4,370,7804,0.00,0.00,9.15,0.638,6,0.000,0.000,3242,1417,1600,0,0,0,0,0,0
$GC,8102,0.88,269.3,260.2,7.1,385,8125,0.00,2.15,15.55,0.671,4,0.000,0.056,3242,232,1532,0,0,0,0,0,0
$GC,8159,0.88,269.3,256.0,8.1,387,8163,0.00,1.98,0.00,0.000,6,0.000,0.028,3242,1418,1529,0,0,0,0,0,0
$GC,8486,0.95,279.9,232.3,7.4,403,8502,0.00,2.40,9.98,0.614,4,0.000,0.028,3242,2812,1489,0,0,0,0,0,0
$GC,8535,1.10,287.7,228.6,7.5,405,8551,0.20,2.42,8.62,0.590,6,0.050,0.040,3299,1419,1457,0,0,0,0,0,0
$GC,8871,1.05,287.7,199.8,9.0,421,8875,0.00,2.08,0.00,0.000,4,0.000,0.054,3299,234,1454,0,0,0,0,0,0
$GC,8911,0.93,287.7,195.7,10.3,424,8915,0.22,1.95,0.00,0.000,6,0.087,0.025,3253,1440,1452,0,0,0,0,0,0
$GC,9179,1.01,308.7,176.0,6.9,445,9206,0.00,2.33,18.95,0.613,4,0.000,0.026,3253,2795,1370,0,0,0,0,0,0
$GC,9224,1.17,346.1,173.0,6.2,448,9266,0.22,2.40,33.28,0.622,6,0.046,0.038,3316,1411,1218,0,0,0,0,0,0
$GC,9518,1.10,346.1,146.5,9.5,471,9523,0.12,2.05,0.00,0.000,4,0.097,0.051,3290,234,1214,0,0,0,0,0,0
$GC,9574,1.05,346.1,141.6,8.6,475,9578,0.00,1.95,0.00,0.000,6,0.000,0.024,3291,1430,1212,0,0,0,0,0,0
$GC,9841,1.05,346.1,122.0,7.9,496,9845,0.00,2.30,0.00,0.000,4,0.000,0.024,3290,2803,1212,0,0,0,0,0,0
$GC,9869,1.14,346.1,119.6,8.7,498,9873,0.00,2.40,0.00,0.000,6,0.000,0.037,3291,1415,1212,0,0,0,0,0,0
$GC,10129,1.14,346.1,97.9,8.5,518,10132,0.00,2.03,0.00,0.000,4,0.000,0.049,3291,233,1212,0,0,0,0,0,0
$GC,10161,1.14,346.1,94.6,9.8,520,10165,0.00,1.90,0.00,0.000,6,0.000,0.022,3291,1428,1210,0,0,0,0,0,0
$GC,10429,1.22,346.1,71.0,9.4,541,10433,0.10,2.08,0.00,0.000,4,0.073,0.048,3327,234,1210,0,0,0,0,0,0
$GC,10489,1.15,346.1,63.8,10.7,545,10496,0.10,1.90,0.00,0.000,6,0.069,0.022,3301,1420,1210,0,0,0,0,0,0
$GC,10752,1.19,346.1,43.4,8.2,566,10756,0.00,2.25,0.00,0.000,4,0.000,0.022,3301,2809,1210,0,0,0,0,0,0
$GC,10771,1.27,346.1,41.4,8.4,567,10778,0.08,2.40,0.00,0.000,6,0.038,0.035,3338,1421,1210,0,0,0,0,0,0
$GC,11036,1.23,346.1,15.8,9.8,608,11042,0.00,2.28,0.00,0.000,4,0.000,0.021,3338,2798,1210,0,0,0,0,0,0
$GC,11063,1.23,346.1,13.2,9.4,613,11069,0.00,2.38,0.00,0.000,6,0.000,0.036,3338,1424,1210,0,0,0,0,0,0
$STATE,11179,end climb,SURFACE_DEPTH_REACHED
$STATE,11179,begin surface coast
$FINISH,0.9,1.010634
$STATE,11214,end surface coast,CONTROL_FINISHED_OK
$STATE,11215,begin surface
$SM_CCo,11237,51.58,0.478,0,0,958,410.14
$SM_GC,1.73,0.00,0.00,51.58,0.000,0.000,0.478,426,1420,958,-12.07,-0.85,410.14
$IRIDIUM_FIX,2059.45,-15753.03,230100,141438
$TT8_MAMPS,0.029146
$HUMID,63.19
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,20.40
$XPDR_PINGS,0
$24V_AH,23.3,75.756
$10V_AH,10.0,60.816
$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,30.850,109.075,404.450,51.575,0.000,59.128,125.806,168.267,4.500,0.000,16.091,1233.683,7630.662,493.356,1811.698,668.183,0.000,1304.469,0.000,1793.590,0.000,29.253,0.000
$DEVICE_MAMPS,131.157,59.059,818.389,477.841,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,435.663,420.919,934.728,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,35015,647
$CAP_FILE_SIZE,121740,0
$CFSIZE,260165632,169668608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291010,205825,2110.284,-15750.789,63,1.1,63,9.8