version: 66.06
glider: 139
mission: 8
dive: 798
start: 10 31 110 10 26 31
data:
$ID,139
$MISSION,8
$DIVE,798
$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,-2168270.5
$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
$GPS1,101901,2101.936,-15745.102,50,1.9,50,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-71.1
$GPS2,102613,2101.940,-15745.047,18,1.8,35,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$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,218.4,11171,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.18,-116.8,0.0,0.0,0,84,0.00,0.00,-64.20,0.000,2,0.000,0.000,427,1416,2757,0,0,0,0,0,0
$GC,89,-1.18,-116.8,3.5,-4.0,12,114,12.62,2.42,-6.70,0.000,4,0.131,0.031,2784,2885,3107,0,0,0,0,0,0
$GC,196,-1.08,-116.8,24.6,-16.1,34,203,0.12,2.47,0.00,0.000,6,0.080,0.032,2813,1445,3109,0,0,0,0,0,0
$GC,397,-0.92,-116.8,51.7,-13.7,54,402,0.17,2.08,0.00,0.000,4,0.089,0.045,2850,234,3110,0,0,0,0,0,0
$GC,424,-0.80,-116.8,55.0,-11.7,56,428,0.12,2.00,0.00,0.000,6,0.094,0.019,2877,1516,3110,0,0,0,0,0,0
$GC,690,-0.80,-116.8,81.0,-9.6,77,694,0.00,2.22,0.00,0.000,4,0.000,0.044,2877,227,3111,0,0,0,0,0,0
$GC,710,-0.80,-116.8,83.1,-10.0,78,717,0.00,2.03,0.00,0.000,6,0.000,0.019,2877,1516,3111,0,0,0,0,0,0
$GC,970,-0.84,-116.8,106.4,-8.4,99,974,0.00,2.17,0.00,0.000,4,0.000,0.044,2877,235,3111,0,0,0,0,0,0
$GC,1014,-0.88,-116.8,110.1,-8.1,102,1017,0.00,2.00,0.00,0.000,6,0.000,0.018,2877,1513,3112,0,0,0,0,0,0
$GC,1280,-1.03,-116.8,127.7,-6.7,123,1285,0.22,2.22,0.00,0.000,4,0.041,0.042,2803,232,3112,0,0,0,0,0,0
$GC,1306,-1.03,-116.8,130.2,-8.9,125,1311,0.10,2.00,0.00,0.000,6,0.104,0.019,2825,1519,3112,0,0,0,0,0,0
$GC,1573,-1.03,-116.8,154.0,-8.3,146,1577,0.00,2.20,0.00,0.000,4,0.000,0.044,2825,233,3112,0,0,0,0,0,0
$GC,1650,-1.03,-116.8,161.3,-8.7,151,1655,0.00,1.98,0.00,0.000,6,0.000,0.018,2825,1518,3113,0,0,0,0,0,0
$GC,1910,-1.03,-116.8,182.0,-8.3,172,1914,0.00,2.17,0.00,0.000,4,0.000,0.044,2825,234,3113,0,0,0,0,0,0
$GC,1942,-1.03,-116.8,184.8,-8.1,174,1948,0.00,2.00,0.00,0.000,6,0.000,0.019,2825,1519,3113,0,0,0,0,0,0
$GC,2213,-1.03,-116.8,205.0,-7.6,194,2214,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1519,3113,0,0,0,0,0,0
$GC,2524,-1.03,-116.8,226.2,-7.3,209,2528,0.00,2.17,0.00,0.000,4,0.000,0.045,2825,237,3113,0,0,0,0,0,0
$GC,2574,-1.03,-116.8,230.5,-8.2,211,2578,0.00,1.98,0.00,0.000,6,0.000,0.021,2825,1503,3113,0,0,0,0,0,0
$GC,2902,-1.08,-116.8,256.7,-8.4,227,2906,0.00,2.22,0.00,0.000,4,0.000,0.023,2825,2874,3113,0,0,0,0,0,0
$GC,2916,-1.15,-116.8,258.2,-8.0,227,2922,0.12,2.40,0.00,0.000,6,0.061,0.034,2780,1444,3113,0,0,0,0,0,0
$GC,3236,-1.09,-116.8,284.4,-8.0,243,3241,0.15,2.08,0.00,0.000,4,0.086,0.048,2812,238,3113,0,0,0,0,0,0
$GC,3275,-1.13,-116.8,287.9,-7.6,244,3279,0.00,2.03,0.00,0.000,6,0.000,0.021,2812,1526,3112,0,0,0,0,0,0
$GC,3592,-1.13,-116.8,313.2,-8.1,256,3596,0.00,2.20,0.00,0.000,4,0.000,0.025,2812,2882,3111,0,0,0,0,0,0
$GC,3608,-1.17,-116.8,314.4,-7.5,256,3612,0.00,2.42,0.00,0.000,6,0.000,0.035,2812,1450,3111,0,0,0,0,0,0
$GC,3959,-1.21,-116.8,341.8,-7.6,265,3964,0.12,2.12,0.00,0.000,4,0.064,0.051,2769,231,3109,0,0,0,0,0,0
$GC,4031,-1.14,-116.8,348.6,-9.8,266,4036,0.15,2.00,0.00,0.000,6,0.087,0.022,2802,1494,3109,0,0,0,0,0,0
$GC,4377,-1.14,-116.8,377.1,-8.1,275,4381,0.00,2.20,0.00,0.000,4,0.000,0.025,2802,2833,3107,0,0,0,0,0,0
$GC,4400,-1.21,-116.8,379.1,-8.4,275,4405,0.00,2.38,0.00,0.000,6,0.000,0.038,2802,1446,3107,0,0,0,0,0,0
$GC,4744,-1.25,-116.8,407.1,-7.6,284,4749,0.12,2.10,0.00,0.000,4,0.065,0.054,2761,238,3104,0,0,0,0,0,0
$GC,4764,-1.21,-116.8,409.2,-8.3,284,4768,0.12,1.92,0.00,0.000,6,0.097,0.024,2788,1444,3104,0,0,0,0,0,0
$GC,5115,-1.21,-116.8,432.9,-7.3,293,5120,0.00,2.30,0.00,0.000,4,0.000,0.027,2788,2834,3102,0,0,0,0,0,0
$GC,5144,-1.27,-116.8,435.5,-8.9,293,5148,0.00,2.40,0.00,0.000,6,0.000,0.041,2787,1445,3102,0,0,0,0,0,0
$STATE,5315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5315,begin apogee
$GC,5321,-0.31,0.0,452.4,9.8,298,5421,0.90,0.00,96.22,0.829,6,0.061,0.000,2984,1445,2630,0,0,0,0,0,0
$STATE,5421,end apogee,CONTROL_FINISHED_OK
$STATE,5421,begin climb
$GC,5425,1.18,116.8,457.1,0.0,300,5538,1.40,2.17,101.18,0.815,4,0.032,0.054,3314,232,2153,0,0,0,0,0,0
$GC,5550,1.01,225.5,460.8,3.0,302,5654,0.22,1.95,94.60,0.806,6,0.100,0.025,3271,1427,1709,0,0,0,0,0,0
$GC,5970,0.87,225.5,431.0,8.4,313,5975,0.15,2.30,0.00,0.000,4,0.103,0.028,3242,2799,1700,0,0,0,0,0,0
$GC,5990,0.81,225.5,428.8,10.0,313,5994,0.00,2.45,0.00,0.000,6,0.000,0.044,3241,1415,1700,0,0,0,0,0,0
$GC,6335,0.77,225.5,398.4,9.0,322,6337,0.12,0.00,0.00,0.000,6,0.103,0.000,3217,1415,1697,0,0,0,0,0,0
$GC,6662,0.81,225.5,371.4,8.2,330,6666,0.00,2.10,0.00,0.000,4,0.000,0.059,3217,231,1695,0,0,0,0,0,0
$GC,6685,0.87,274.6,370.1,5.7,330,6735,0.10,1.92,41.72,0.783,6,0.079,0.028,3247,1418,1509,0,0,0,0,0,0
$GC,7072,0.87,274.6,339.8,8.1,340,7073,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1418,1504,0,0,0,0,0,0
$GC,7396,0.89,290.2,316.5,7.2,348,7416,0.00,2.15,13.73,0.708,4,0.000,0.058,3248,227,1445,0,0,0,0,0,0
$GC,7464,0.85,290.2,310.2,10.0,349,7468,0.00,1.98,0.00,0.000,6,0.000,0.028,3248,1411,1442,0,0,0,0,0,0
$GC,7799,0.85,291.6,284.3,7.8,362,7803,0.00,2.35,0.00,0.000,4,0.000,0.028,3247,2813,1441,0,0,0,0,0,0
$GC,7850,0.97,303.2,280.4,7.4,364,7868,0.00,2.45,12.35,0.678,6,0.000,0.041,3247,1413,1393,0,0,0,0,0,0
$GC,8203,1.01,333.0,256.0,6.5,381,8237,0.10,2.42,26.88,0.702,4,0.078,0.027,3279,2815,1270,0,0,0,0,0,0
$GC,8256,1.03,353.6,251.7,7.0,383,8281,0.00,2.47,19.27,0.674,6,0.000,0.042,3278,1418,1188,0,0,0,0,0,0
$GC,8604,1.03,353.6,222.6,8.9,400,8608,0.00,2.08,0.00,0.000,4,0.000,0.056,3278,233,1183,0,0,0,0,0,0
$GC,8664,0.99,353.6,215.9,11.4,402,8671,0.00,1.98,0.00,0.000,6,0.000,0.027,3278,1427,1181,0,0,0,0,0,0
$GC,8984,0.99,353.6,188.2,8.5,422,8985,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,1427,1181,0,0,0,0,0,0
$GC,9235,1.03,353.6,168.2,8.5,442,9239,0.00,2.10,0.00,0.000,4,0.000,0.054,3278,233,1180,0,0,0,0,0,0
$GC,9267,1.03,353.6,165.1,10.4,444,9274,0.00,1.95,0.00,0.000,6,0.000,0.026,3278,1420,1179,0,0,0,0,0,0
$GC,9531,1.07,360.3,145.6,7.6,465,9545,0.00,2.38,5.65,0.472,4,0.000,0.025,3278,2810,1160,0,0,0,0,0,0
$GC,9555,1.14,360.3,142.9,9.3,466,9562,0.00,2.45,0.00,0.000,6,0.000,0.039,3278,1418,1160,0,0,0,0,0,0
$GC,9818,1.23,387.5,122.3,6.7,487,9848,0.17,2.15,24.52,0.576,4,0.053,0.052,3330,232,1049,0,0,0,0,0,0
$GC,9924,1.14,387.5,110.2,12.8,494,9931,0.12,1.95,0.00,0.000,6,0.070,0.023,3300,1434,1046,0,0,0,0,0,0
$GC,10189,1.23,393.8,89.2,7.6,515,10197,0.00,0.00,6.45,0.451,6,0.000,0.000,3300,1435,1024,0,0,0,0,0,0
$GC,10453,1.34,414.7,71.1,7.0,536,10482,0.17,2.20,18.92,0.515,4,0.050,0.049,3353,226,937,0,0,0,0,0,0
$GC,10530,1.24,414.7,63.4,11.7,541,10535,0.10,1.92,0.00,0.000,6,0.069,0.021,3318,1422,935,0,0,0,0,0,0
$GC,10805,1.28,414.7,39.5,8.4,562,10811,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,1423,935,0,0,0,0,0,0
$GC,11069,1.28,414.7,17.6,10.0,601,11076,0.00,2.08,0.00,0.000,4,0.000,0.048,3318,238,935,0,0,0,0,0,0
$GC,11110,1.28,414.7,13.4,10.8,609,11117,0.00,1.88,0.00,0.000,6,0.000,0.021,3318,1422,935,0,0,0,0,0,0
$STATE,11214,end climb,SURFACE_DEPTH_REACHED
$STATE,11216,begin surface coast
$FINISH,0.8,1.023142
$STATE,11247,end surface coast,CONTROL_FINISHED_OK
$STATE,11248,begin surface
$SM_CCo,11330,0.00,0.000,0,0,931,416.76
$SM_GC,1.80,12.35,0.00,0.00,0.022,0.000,0.000,428,1422,931,-11.99,-0.79,416.76
$IRIDIUM_FIX,2057.14,-15743.60,250100,070758
$TT8_MAMPS,0.028379
$HUMID,63.03
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,21.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,421.2,62.6
$24V_AH,23.3,77.155
$10V_AH,9.9,61.862
$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,30.100,116.725,461.500,0.000,0.000,30.208,44.792,198.219,4.500,0.000,35.258,1216.936,7638.720,472.218,1828.700,595.196,0.000,1323.749,0.000,1784.700,0.000,30.699,0.000
$DEVICE_MAMPS,131.157,59.059,829.127,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,429.858,411.848,909.513,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,34782,640
$CAP_FILE_SIZE,122841,0
$CFSIZE,260165632,168935424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,311010,133614,2101.350,-15745.404,17,1.7,17,9.8