version: 66.06
glider: 139
mission: 8
dive: 766
start: 10 26 110 21 21 27
data:
$ID,139
$MISSION,8
$DIVE,766
$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,-2167473.5
$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,1500
$C_ROLL_CLIMB,1450
$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
$GPS1,211426,2059.456,-15749.603,68,1.5,68,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-73.2
$GPS2,212107,2059.473,-15749.644,12,1.5,12,9.8
$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,177.6,2904,-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,-116.8,0.0,0.0,0,83,0.00,0.00,-64.15,0.000,2,0.000,0.000,430,1469,2759,0,0,0,0,0,0
$GC,87,-1.18,-116.8,3.7,-4.2,12,111,12.65,2.15,-6.50,0.000,4,0.133,0.059,2788,234,3107,0,0,0,0,0,0
$GC,241,-0.93,-116.8,33.8,-16.2,42,246,0.28,2.10,0.00,0.000,6,0.083,0.019,2845,1563,3110,0,0,0,0,0,0
$GC,510,-0.88,-116.8,59.6,-7.8,63,514,0.00,2.28,0.00,0.000,4,0.000,0.044,2845,235,3111,0,0,0,0,0,0
$GC,562,-0.88,-116.8,64.5,-8.5,67,566,0.00,2.05,0.00,0.000,6,0.000,0.018,2845,1564,3111,0,0,0,0,0,0
$GC,826,-0.88,-116.8,87.7,-9.3,88,830,0.00,2.28,0.00,0.000,4,0.000,0.044,2845,237,3111,0,0,0,0,0,0
$GC,894,-0.88,-116.8,94.3,-9.1,93,898,0.00,2.10,0.00,0.000,6,0.000,0.018,2845,1581,3112,0,0,0,0,0,0
$GC,1166,-0.88,-116.8,120.2,-8.6,114,1167,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1585,3112,0,0,0,0,0,0
$GC,1416,-0.92,-116.8,136.7,-5.8,134,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1585,3113,0,0,0,0,0,0
$GC,1667,-0.97,-116.8,153.8,-7.9,154,1671,0.00,2.33,0.00,0.000,4,0.000,0.044,2845,227,3113,0,0,0,0,0,0
$GC,1745,-1.02,-116.8,161.3,-9.7,159,1751,0.00,2.05,0.00,0.000,6,0.000,0.019,2845,1564,3113,0,0,0,0,0,0
$GC,2006,-1.08,-116.8,188.8,-10.3,180,2011,0.15,2.30,0.00,0.000,4,0.054,0.046,2794,236,3113,0,0,0,0,0,0
$GC,2064,-1.02,-116.8,195.6,-11.7,184,2069,0.15,2.08,0.00,0.000,6,0.084,0.020,2827,1559,3113,0,0,0,0,0,0
$GC,2326,-1.05,-116.8,217.0,-6.8,198,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1564,3113,0,0,0,0,0,0
$GC,2637,-1.08,-116.8,232.1,-4.0,213,2641,0.00,2.28,0.00,0.000,4,0.000,0.047,2827,233,3113,0,0,0,0,0,0
$GC,2682,-1.13,-116.8,234.4,-4.9,215,2686,0.12,2.08,0.00,0.000,6,0.061,0.021,2783,1562,3113,0,0,0,0,0,0
$GC,3016,-1.09,-116.8,259.6,-9.4,231,3018,0.15,0.00,0.00,0.000,6,0.087,0.000,2816,1566,3113,0,0,0,0,0,0
$GC,3321,-1.13,-116.8,287.6,-8.5,246,3325,0.00,2.28,0.00,0.000,4,0.000,0.049,2816,238,3112,0,0,0,0,0,0
$GC,3401,-1.13,-116.8,294.0,-7.8,249,3405,0.00,2.08,0.00,0.000,6,0.000,0.022,2816,1549,3111,0,0,0,0,0,0
$GC,3735,-1.16,-116.8,316.4,-6.3,259,3736,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1554,3110,0,0,0,0,0,0
$GC,4059,-1.20,-116.8,336.6,-6.0,267,4063,0.12,2.30,0.00,0.000,4,0.065,0.052,2774,231,3108,0,0,0,0,0,0
$GC,4137,-1.14,-116.8,342.3,-7.7,268,4142,0.12,2.00,0.00,0.000,6,0.095,0.024,2801,1493,3107,0,0,0,0,0,0
$GC,4474,-1.14,-116.8,364.3,-7.1,277,4475,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1497,3105,0,0,0,0,0,0
$GC,4800,-1.14,-116.8,388.7,-7.3,285,4804,0.00,2.28,0.00,0.000,4,0.000,0.028,2801,2881,3103,0,0,0,0,0,0
$GC,4820,-1.19,-116.8,390.2,-6.8,285,4824,0.00,2.35,0.00,0.000,6,0.000,0.038,2801,1498,3104,0,0,0,0,0,0
$GC,5165,-1.19,-116.8,414.1,-6.7,294,5166,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1498,3101,0,0,0,0,0,0
$GC,5492,-1.19,-116.8,437.9,-7.5,302,5496,0.00,2.17,0.00,0.000,4,0.000,0.055,2801,237,3100,0,0,0,0,0,0
$GC,5526,-1.19,-116.8,440.9,-8.6,302,5530,0.00,2.00,0.00,0.000,6,0.000,0.025,2801,1495,3099,0,0,0,0,0,0
$STATE,5655,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5655,begin apogee
$GC,5662,-0.31,0.0,450.8,7.5,306,5761,0.82,0.00,96.03,0.833,6,0.064,0.000,2981,1437,2630,0,0,0,0,0,0
$STATE,5762,end apogee,CONTROL_FINISHED_OK
$STATE,5762,begin climb
$GC,5766,1.18,116.8,453.6,0.0,308,5878,1.40,2.12,101.45,0.816,4,0.034,0.054,3309,244,2151,0,0,0,0,0,0
$GC,5992,0.87,134.6,450.3,7.1,313,6013,0.35,1.95,15.70,0.751,6,0.091,0.025,3240,1457,2081,0,0,0,0,0,0
$GC,6361,0.88,187.2,431.5,5.5,322,6414,0.00,2.38,46.97,0.803,4,0.000,0.029,3240,2818,1865,0,0,0,0,0,0
$GC,6441,0.90,205.3,425.9,7.1,323,6465,0.00,2.40,17.27,0.752,6,0.000,0.043,3240,1456,1793,0,0,0,0,0,0
$GC,6781,0.87,205.3,398.6,8.2,332,6785,0.00,2.17,0.00,0.000,4,0.000,0.058,3240,229,1786,0,0,0,0,0,0
$GC,6820,0.77,205.3,395.1,9.3,332,6825,0.05,2.00,0.00,0.000,6,0.074,0.027,3217,1436,1783,0,0,0,0,0,0
$GC,7156,0.79,226.4,371.1,6.9,341,7177,0.00,0.00,18.33,0.752,6,0.000,0.000,3216,1439,1706,0,0,0,0,0,0
$GC,7524,0.86,254.3,346.6,6.6,350,7553,0.10,0.00,25.80,0.756,6,0.081,0.000,3246,1439,1593,0,0,0,0,0,0
$GC,7847,0.86,254.3,320.2,8.2,358,7851,0.00,2.12,0.00,0.000,4,0.000,0.057,3246,234,1588,0,0,0,0,0,0
$GC,7875,0.79,254.3,317.4,9.8,358,7880,0.12,1.98,0.00,0.000,6,0.107,0.028,3222,1450,1585,0,0,0,0,0,0
$GC,8194,0.86,275.0,294.0,7.0,368,8217,0.00,2.20,18.40,0.716,4,0.000,0.056,3222,235,1507,0,0,0,0,0,0
$GC,8246,0.89,298.8,290.2,6.8,370,8275,0.10,2.00,22.20,0.716,6,0.081,0.028,3250,1456,1410,0,0,0,0,0,0
$GC,8599,0.93,329.3,267.5,6.5,387,8631,0.00,2.25,26.92,0.707,4,0.000,0.058,3250,239,1287,0,0,0,0,0,0
$GC,8655,0.87,329.3,263.0,8.0,389,8659,0.00,2.00,0.00,0.000,6,0.000,0.028,3251,1445,1284,0,0,0,0,0,0
$GC,8980,0.91,329.3,238.9,8.4,405,8981,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1447,1282,0,0,0,0,0,0
$GC,9286,0.96,329.3,210.1,9.7,420,9287,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1447,1281,0,0,0,0,0,0
$GC,9602,1.07,357.9,184.8,6.6,441,9633,0.15,2.17,24.88,0.643,4,0.060,0.055,3296,234,1170,0,0,0,0,0,0
$GC,9700,1.00,357.9,176.4,8.8,448,9705,0.15,1.98,0.00,0.000,6,0.093,0.026,3265,1460,1166,0,0,0,0,0,0
$GC,9969,1.09,384.6,160.3,6.7,469,10000,0.10,2.25,23.33,0.611,4,0.076,0.053,3298,230,1062,0,0,0,0,0,0
$GC,10028,1.00,384.6,154.4,11.4,473,10033,0.15,2.00,0.00,0.000,6,0.089,0.025,3268,1445,1059,0,0,0,0,0,0
$GC,10302,1.07,384.6,129.6,9.2,494,10306,0.00,2.30,0.00,0.000,4,0.000,0.025,3268,2837,1058,0,0,0,0,0,0
$GC,10341,1.23,384.6,125.7,9.3,497,10346,0.22,2.38,0.00,0.000,6,0.045,0.036,3334,1446,1058,0,0,0,0,0,0
$GC,10609,1.17,384.6,97.3,10.6,518,10613,0.15,2.12,0.00,0.000,4,0.089,0.051,3302,235,1058,0,0,0,0,0,0
$GC,10642,1.13,384.6,93.5,10.3,520,10649,0.00,1.98,0.00,0.000,6,0.000,0.024,3302,1454,1057,0,0,0,0,0,0
$GC,10905,1.13,384.6,70.3,9.5,541,10909,0.00,2.25,0.00,0.000,4,0.000,0.023,3302,2836,1056,0,0,0,0,0,0
$GC,10923,1.19,384.6,68.2,8.7,542,10930,0.00,2.40,0.00,0.000,6,0.000,0.036,3302,1456,1056,0,0,0,0,0,0
$GC,11185,1.23,384.6,45.4,8.2,563,11189,0.00,2.10,0.00,0.000,4,0.000,0.048,3302,228,1056,0,0,0,0,0,0
$GC,11250,1.23,384.6,39.6,8.9,567,11257,0.00,1.98,0.00,0.000,6,0.000,0.021,3302,1465,1056,0,0,0,0,0,0
$GC,11516,1.34,416.1,24.1,6.5,602,11551,0.17,2.20,27.12,0.491,4,0.051,0.048,3357,236,932,0,0,0,0,0,0
$GC,11600,1.25,416.1,15.1,11.3,618,11607,0.15,1.95,0.00,0.000,6,0.064,0.021,3320,1458,929,0,0,0,0,0,0
$STATE,11745,end climb,SURFACE_DEPTH_REACHED
$STATE,11745,begin surface coast
$FINISH,0.9,1.023224
$STATE,11782,end surface coast,CONTROL_FINISHED_OK
$STATE,11782,begin surface
$SM_CCo,11865,0.00,0.000,0,0,926,417.99
$SM_GC,1.63,12.38,0.00,0.00,0.022,0.000,0.000,430,1459,926,-11.98,-1.16,417.99
$IRIDIUM_FIX,2050.21,-15750.49,200100,171702
$TT8_MAMPS,0.029146
$HUMID,63.23
$INTERNAL_PRESSURE,9.23518
$TCM_TEMP,20.70
$XPDR_PINGS,0
$24V_AH,23.3,73.247
$10V_AH,9.9,59.024
$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,30.325,99.225,464.400,0.000,0.000,28.869,33.876,201.632,4.750,0.000,12.228,1255.578,8099.863,457.384,1851.425,593.780,0.000,1300.576,0.000,1835.869,0.000,32.130,0.000
$DEVICE_MAMPS,132.691,91.273,832.962,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,444.236,421.923,944.603,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,37922,659
$CAP_FILE_SIZE,121832,0
$CFSIZE,260165632,170921984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,271010,004030,2058.719,-15749.669,43,1.1,43,9.8