version: 66.06
glider: 139
mission: 8
dive: 712
start: 10 19 110 10 15 48
data:
$ID,139
$MISSION,8
$DIVE,712
$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,-2166174
$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,1530
$C_ROLL_CLIMB,1500
$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
$GPS1,100958,2112.457,-15801.127,11,2.1,30,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-73.4
$GPS2,101528,2112.472,-15801.093,17,2.1,36,9.8
$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,101.6,33738,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.28,0.000,2,0.000,0.000,429,1523,2757,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.6,-3.6,12,110,12.57,2.22,-6.70,0.000,4,0.130,0.054,2786,235,3108,0,0,0,0,0,0
$GC,132,-0.29,-116.8,16.1,-26.2,20,139,0.90,2.15,0.00,0.000,6,0.076,0.019,2986,1584,3109,0,0,0,0,0,0
$GC,334,-0.82,-116.8,30.1,-6.0,66,340,0.50,2.33,0.00,0.000,4,0.043,0.041,2864,231,3110,0,0,0,0,0,0
$GC,369,-0.86,-116.8,33.0,-8.3,68,375,0.00,2.15,0.00,0.000,6,0.000,0.018,2863,1592,3110,0,0,0,0,0,0
$GC,629,-0.86,-116.8,55.3,-7.7,89,633,0.00,2.35,0.00,0.000,4,0.000,0.044,2863,228,3110,0,0,0,0,0,0
$GC,661,-0.82,-116.8,58.2,-9.2,91,665,0.00,2.12,0.00,0.000,6,0.000,0.018,2863,1591,3110,0,0,0,0,0,0
$GC,922,-0.82,-116.8,79.6,-8.2,111,926,0.00,2.35,0.00,0.000,4,0.000,0.044,2863,231,3110,0,0,0,0,0,0
$GC,989,-0.86,-116.8,85.5,-8.1,116,993,0.00,2.12,0.00,0.000,6,0.000,0.018,2863,1590,3110,0,0,0,0,0,0
$GC,1257,-0.90,-116.8,103.4,-6.4,137,1261,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1595,3111,0,0,0,0,0,0
$GC,1518,-0.96,-116.8,121.9,-7.0,158,1522,0.00,2.33,0.00,0.000,4,0.000,0.044,2863,237,3111,0,0,0,0,0,0
$GC,1560,-1.04,-116.8,125.3,-8.0,161,1565,0.17,2.12,0.00,0.000,6,0.048,0.018,2804,1602,3111,0,0,0,0,0,0
$GC,1826,-0.98,-116.8,150.3,-10.0,182,1828,0.15,0.00,0.00,0.000,6,0.085,0.000,2838,1606,3111,0,0,0,0,0,0
$GC,2080,-1.02,-116.8,171.9,-8.7,202,2084,0.00,2.35,0.00,0.000,4,0.000,0.045,2838,237,3111,0,0,0,0,0,0
$GC,2112,-1.02,-116.8,174.9,-8.4,204,2116,0.00,2.12,0.00,0.000,6,0.000,0.018,2838,1598,3111,0,0,0,0,0,0
$GC,2373,-1.07,-116.8,191.8,-5.7,224,2377,0.00,2.33,0.00,0.000,4,0.000,0.045,2838,237,3111,0,0,0,0,0,0
$GC,2439,-1.12,-116.8,196.0,-5.8,228,2446,0.10,2.12,0.00,0.000,6,0.032,0.019,2792,1584,3111,0,0,0,0,0,0
$GC,2697,-1.07,-116.8,215.5,-8.1,243,2699,0.10,0.00,0.00,0.000,6,0.104,0.000,2814,1585,3111,0,0,0,0,0,0
$GC,3003,-1.07,-116.8,242.3,-8.4,258,3007,0.00,2.30,0.00,0.000,4,0.000,0.047,2814,237,3110,0,0,0,0,0,0
$GC,3046,-1.07,-116.8,246.0,-8.8,260,3050,0.00,2.12,0.00,0.000,6,0.000,0.021,2814,1586,3110,0,0,0,0,0,0
$GC,3383,-1.11,-116.8,268.9,-6.9,276,3387,0.00,2.33,0.00,0.000,4,0.000,0.047,2814,238,3110,0,0,0,0,0,0
$GC,3416,-1.14,-116.8,272.0,-8.4,277,3419,0.00,2.12,0.00,0.000,6,0.000,0.021,2814,1582,3109,0,0,0,0,0,0
$GC,3733,-1.18,-116.8,298.4,-8.0,292,3737,0.00,2.22,0.00,0.000,4,0.000,0.025,2814,2950,3108,0,0,0,0,0,0
$GC,3747,-1.23,-116.8,299.6,-7.5,292,3755,0.10,2.42,0.00,0.000,6,0.031,0.035,2766,1537,3108,0,0,0,0,0,0
$GC,4059,-1.16,-116.8,327.1,-8.9,301,4064,0.15,2.28,0.00,0.000,4,0.088,0.051,2798,231,3106,0,0,0,0,0,0
$GC,4104,-1.16,-116.8,331.2,-8.0,302,4108,0.00,2.15,0.00,0.000,6,0.000,0.022,2798,1576,3105,0,0,0,0,0,0
$GC,4431,-1.16,-116.8,358.3,-8.0,310,4435,0.00,2.20,0.00,0.000,4,0.000,0.026,2798,2914,3103,0,0,0,0,0,0
$GC,4456,-1.22,-116.8,359.7,-6.0,310,4461,0.00,2.35,0.00,0.000,6,0.000,0.037,2798,1526,3103,0,0,0,0,0,0
$GC,4797,-1.22,-116.8,385.3,-7.2,319,4798,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1526,3101,0,0,0,0,0,0
$STATE,4835,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4835,begin apogee
$GC,4841,-0.31,0.0,388.6,7.3,320,4938,0.85,0.00,94.28,0.771,6,0.063,0.000,2984,1526,2630,0,0,0,0,0,0
$STATE,4939,end apogee,CONTROL_FINISHED_OK
$STATE,4939,begin climb
$GC,4942,1.18,116.8,391.6,0.0,322,5052,1.40,2.30,99.40,0.756,4,0.030,0.051,3313,235,2153,0,0,0,0,0,0
$GC,5249,0.86,121.1,380.0,7.7,329,5254,0.38,2.05,0.00,0.000,6,0.092,0.025,3239,1507,2141,0,0,0,0,0,0
$GC,5595,0.84,143.9,359.9,6.9,338,5624,0.00,2.38,22.55,0.729,4,0.000,0.028,3239,2878,2043,0,0,0,0,0,0
$GC,5668,0.93,212.5,357.1,4.8,339,5736,0.00,2.40,61.10,0.749,6,0.000,0.040,3239,1493,1762,0,0,0,0,0,0
$GC,6057,0.96,240.8,333.7,6.6,349,6088,0.00,2.38,24.45,0.719,4,0.000,0.027,3239,2883,1647,0,0,0,0,0,0
$GC,6139,1.05,254.3,327.7,7.3,350,6160,0.17,2.42,13.18,0.674,6,0.054,0.042,3289,1501,1592,0,0,0,0,0,0
$GC,6483,0.95,254.3,294.3,10.7,360,6487,0.15,2.25,0.00,0.000,4,0.094,0.058,3258,232,1586,0,0,0,0,0,0
$GC,6520,0.87,254.3,289.6,11.9,361,6526,0.00,2.05,0.00,0.000,6,0.000,0.027,3258,1501,1583,0,0,0,0,0,0
$GC,6837,0.87,254.3,259.4,9.5,377,6841,0.00,2.22,0.00,0.000,4,0.000,0.056,3258,235,1583,0,0,0,0,0,0
$GC,6867,0.79,254.3,256.4,10.6,378,6872,0.12,2.08,0.00,0.000,6,0.072,0.027,3222,1496,1581,0,0,0,0,0,0
$GC,7195,0.94,296.2,237.6,6.0,394,7239,0.15,2.33,35.38,0.686,4,0.061,0.054,3266,232,1421,0,0,0,0,0,0
$GC,7281,0.90,296.2,229.5,10.2,397,7287,0.00,2.08,0.00,0.000,6,0.000,0.026,3266,1509,1418,0,0,0,0,0,0
$GC,7598,0.90,296.2,203.4,8.1,413,7602,0.00,2.30,0.00,0.000,4,0.000,0.028,3266,2886,1415,0,0,0,0,0,0
$GC,7623,0.97,296.2,201.2,8.0,414,7627,0.00,2.42,0.00,0.000,6,0.000,0.040,3266,1494,1415,0,0,0,0,0,0
$GC,7954,0.99,310.4,175.7,7.3,439,7972,0.00,2.25,12.60,0.591,4,0.000,0.052,3266,232,1363,0,0,0,0,0,0
$GC,8064,0.96,310.4,167.2,8.2,447,8068,0.00,2.05,0.00,0.000,6,0.000,0.024,3266,1508,1359,0,0,0,0,0,0
$GC,8329,1.00,310.4,146.5,8.9,468,8333,0.00,2.28,0.00,0.000,4,0.000,0.025,3266,2888,1359,0,0,0,0,0,0
$GC,8352,1.09,310.4,144.3,9.0,469,8357,0.00,2.40,0.00,0.000,6,0.000,0.037,3266,1498,1359,0,0,0,0,0,0
$GC,8612,1.15,320.8,122.8,7.4,490,8628,0.15,2.22,9.52,0.518,4,0.058,0.048,3312,227,1321,0,0,0,0,0,0
$GC,8681,1.06,320.8,116.2,10.1,494,8688,0.12,2.08,0.00,0.000,6,0.071,0.022,3281,1513,1319,0,0,0,0,0,0
$GC,8945,1.13,346.8,97.9,6.7,515,8972,0.00,0.00,23.15,0.545,6,0.000,0.000,3281,1513,1216,0,0,0,0,0,0
$GC,9229,1.25,376.7,78.8,6.5,537,9261,0.17,0.00,26.40,0.526,6,0.051,0.000,3336,1513,1093,0,0,0,0,0,0
$GC,9517,1.22,376.7,52.0,10.3,560,9521,0.00,2.22,0.00,0.000,4,0.000,0.048,3335,233,1090,0,0,0,0,0,0
$GC,9627,1.13,376.7,40.0,11.1,568,9631,0.20,1.98,0.00,0.000,6,0.081,0.021,3294,1511,1088,0,0,0,0,0,0
$GC,9893,1.20,376.7,17.6,8.4,612,9900,0.00,2.25,0.00,0.000,4,0.000,0.047,3294,231,1087,0,0,0,0,0,0
$GC,9933,1.24,376.7,13.9,9.2,620,9940,0.08,2.00,0.00,0.000,6,0.036,0.020,3335,1503,1087,0,0,0,0,0,0
$STATE,10047,end climb,SURFACE_DEPTH_REACHED
$STATE,10047,begin surface coast
$FINISH,1.0,1.002668
$STATE,10080,end surface coast,CONTROL_FINISHED_OK
$STATE,10080,begin surface
$SM_CCo,10102,25.20,0.463,0,0,957,410.14
$SM_GC,1.65,0.00,0.00,25.20,0.000,0.000,0.463,426,1503,957,-12.07,-0.76,410.14
$IRIDIUM_FIX,2101.76,-15803.33,130100,090927
$TT8_MAMPS,0.029146
$HUMID,60.82
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,342.1,73.5
$24V_AH,23.4,67.083
$10V_AH,10.0,54.353
$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,31.175,107.050,422.000,25.200,0.000,26.127,31.473,133.394,3.750,0.000,37.508,1229.572,6327.148,470.786,1929.343,507.140,0.000,1310.475,0.000,1898.329,0.000,24.465,0.000
$DEVICE_MAMPS,130.390,57.525,770.835,462.501,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,438.250,441.701,1020.881,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355740
$DATA_FILE_SIZE,38063,653
$CAP_FILE_SIZE,116668,0
$CFSIZE,260165632,174256128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191010,130554,2112.350,-15801.076,39,1.7,39,9.8