version: 66.06
glider: 139
mission: 8
dive: 769
start: 10 27 110 7 46 23
data:
$ID,139
$MISSION,8
$DIVE,769
$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,-2167556.5
$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
$GPS1,073104,2100.640,-15752.412,13,2.8,32,9.8
$_CALLS,3
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-71.7
$GPS2,074601,2100.690,-15752.551,35,1.8,40,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$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,300.9,21691,-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,-116.8,0.0,0.0,0,76,0.00,0.00,-58.80,0.000,2,0.000,0.000,424,1448,2613,0,0,0,0,0,0
$GC,80,-1.18,-116.8,3.3,-3.5,11,109,12.70,2.15,-9.68,0.000,4,0.133,0.058,2787,231,3108,0,0,0,0,0,0
$GC,228,-0.98,-116.8,30.8,-16.1,42,235,0.20,2.10,0.00,0.000,6,0.074,0.019,2833,1554,3110,0,0,0,0,0,0
$GC,488,-0.92,-116.8,58.0,-10.0,63,489,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1554,3110,0,0,0,0,0,0
$GC,741,-0.92,-116.8,84.3,-10.4,83,742,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1554,3110,0,0,0,0,0,0
$GC,994,-0.92,-116.8,106.0,-7.4,103,998,0.00,2.28,0.00,0.000,4,0.000,0.044,2833,232,3111,0,0,0,0,0,0
$GC,1048,-0.92,-116.8,110.1,-7.5,107,1052,0.00,2.08,0.00,0.000,6,0.000,0.018,2833,1567,3112,0,0,0,0,0,0
$GC,1317,-0.92,-116.8,131.0,-8.1,128,1321,0.00,2.28,0.00,0.000,4,0.000,0.044,2833,231,3112,0,0,0,0,0,0
$GC,1358,-0.92,-116.8,134.6,-8.2,131,1362,0.00,2.05,0.00,0.000,6,0.000,0.019,2833,1563,3111,0,0,0,0,0,0
$GC,1619,-0.92,-116.8,155.9,-8.7,151,1623,0.00,2.28,0.00,0.000,4,0.000,0.044,2834,228,3112,0,0,0,0,0,0
$GC,1661,-0.92,-116.8,160.0,-9.3,154,1665,0.00,2.10,0.00,0.000,6,0.000,0.019,2833,1569,3111,0,0,0,0,0,0
$GC,1929,-0.96,-116.8,182.1,-8.5,175,1933,0.00,2.17,0.00,0.000,4,0.000,0.021,2833,2922,3112,0,0,0,0,0,0
$GC,1943,-1.01,-116.8,183.7,-8.2,176,1948,0.00,2.40,0.00,0.000,6,0.000,0.031,2833,1501,3111,0,0,0,0,0,0
$GC,2215,-1.01,-116.8,206.0,-8.6,195,2219,0.00,2.17,0.00,0.000,4,0.000,0.046,2833,230,3111,0,0,0,0,0,0
$GC,2261,-1.05,-116.8,209.3,-7.1,197,2265,0.00,2.08,0.00,0.000,6,0.000,0.020,2833,1559,3111,0,0,0,0,0,0
$GC,2594,-1.09,-116.8,229.7,-6.2,213,2598,0.00,2.28,0.00,0.000,4,0.000,0.047,2833,231,3110,0,0,0,0,0,0
$GC,2642,-1.13,-116.8,233.1,-7.7,215,2646,0.12,2.10,0.00,0.000,6,0.061,0.021,2789,1563,3111,0,0,0,0,0,0
$GC,2975,-1.08,-116.8,263.1,-9.4,231,2977,0.12,0.00,0.00,0.000,6,0.093,0.000,2816,1568,3110,0,0,0,0,0,0
$GC,3282,-1.08,-116.8,288.3,-8.4,246,3286,0.00,2.28,0.00,0.000,4,0.000,0.047,2816,237,3108,0,0,0,0,0,0
$GC,3349,-1.08,-116.8,294.5,-9.2,249,3353,0.00,2.08,0.00,0.000,6,0.000,0.021,2816,1551,3108,0,0,0,0,0,0
$GC,3697,-1.08,-116.8,322.1,-6.9,259,3701,0.00,2.28,0.00,0.000,4,0.000,0.049,2816,239,3107,0,0,0,0,0,0
$GC,3767,-1.12,-116.8,327.4,-7.3,260,3771,0.00,2.08,0.00,0.000,6,0.000,0.022,2816,1546,3106,0,0,0,0,0,0
$GC,4113,-1.17,-116.8,350.2,-7.1,269,4114,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1551,3105,0,0,0,0,0,0
$GC,4439,-1.23,-116.8,372.9,-7.2,277,4444,0.15,2.30,0.00,0.000,4,0.058,0.053,2768,231,3103,0,0,0,0,0,0
$GC,4522,-1.15,-116.8,380.4,-9.2,278,4527,0.15,2.03,0.00,0.000,6,0.087,0.024,2802,1506,3103,0,0,0,0,0,0
$GC,4854,-1.15,-116.8,407.6,-8.3,286,4858,0.00,2.22,0.00,0.000,4,0.000,0.054,2801,234,3100,0,0,0,0,0,0
$GC,4897,-1.15,-116.8,411.7,-9.6,287,4901,0.00,2.03,0.00,0.000,6,0.000,0.025,2801,1493,3100,0,0,0,0,0,0
$GC,5229,-1.15,-116.8,436.1,-6.3,295,5233,0.00,2.30,0.00,0.000,4,0.000,0.028,2802,2881,3098,0,0,0,0,0,0
$GC,5291,-1.25,-116.8,439.2,-5.1,296,5297,0.10,2.35,0.00,0.000,6,0.074,0.039,2765,1502,3098,0,0,0,0,0,0
$STATE,5477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5477,begin apogee
$GC,5483,-0.31,0.0,450.1,5.9,301,5583,1.00,0.00,95.80,0.832,6,0.067,0.000,2981,1433,2630,0,0,0,0,0,0
$STATE,5583,end apogee,CONTROL_FINISHED_OK
$STATE,5584,begin climb
$GC,5588,1.18,116.8,451.4,0.0,303,5700,1.40,2.40,101.07,0.815,4,0.035,0.028,3307,2833,2152,0,0,0,0,0,0
$GC,5735,1.04,156.3,449.1,6.1,306,5777,0.15,2.42,35.35,0.788,6,0.102,0.041,3278,1458,1992,0,0,0,0,0,0
$GC,6091,0.90,158.4,420.4,7.8,315,6093,0.17,0.00,0.00,0.000,6,0.097,0.000,3244,1458,1983,0,0,0,0,0,0
$GC,6418,0.86,174.5,398.0,7.2,323,6438,0.00,2.40,15.27,0.747,4,0.000,0.030,3244,2837,1918,0,0,0,0,0,0
$GC,6519,0.87,184.4,390.0,7.4,325,6536,0.00,2.45,10.30,0.704,6,0.000,0.042,3244,1447,1877,0,0,0,0,0,0
$GC,6884,0.85,199.8,363.7,7.2,334,6900,0.00,0.00,14.50,0.734,6,0.000,0.000,3244,1447,1815,0,0,0,0,0,0
$GC,7207,0.89,231.9,340.9,6.4,342,7243,0.00,2.28,29.42,0.759,4,0.000,0.059,3244,227,1683,0,0,0,0,0,0
$GC,7259,0.83,231.9,336.9,7.9,343,7263,0.00,2.00,0.00,0.000,6,0.000,0.028,3244,1441,1680,0,0,0,0,0,0
$GC,7582,0.83,231.9,310.6,8.2,351,7586,0.00,2.38,0.00,0.000,4,0.000,0.029,3244,2851,1678,0,0,0,0,0,0
$GC,7625,0.92,231.9,307.0,8.9,352,7629,0.00,2.45,0.00,0.000,6,0.000,0.043,3244,1444,1677,0,0,0,0,0,0
$GC,7958,0.99,291.5,286.4,5.2,365,8017,0.10,2.22,51.65,0.736,4,0.077,0.058,3274,239,1441,0,0,0,0,0,0
$GC,8119,0.90,291.5,270.4,11.5,372,8124,0.15,2.03,0.00,0.000,6,0.097,0.027,3245,1463,1435,0,0,0,0,0,0
$GC,8452,0.99,328.2,245.6,6.2,388,8489,0.00,2.38,31.48,0.691,4,0.000,0.028,3244,2837,1292,0,0,0,0,0,0
$GC,8519,1.19,379.4,241.7,5.6,390,8571,0.25,2.47,45.33,0.687,6,0.030,0.041,3319,1451,1082,0,0,0,0,0,0
$GC,8902,1.09,379.4,199.7,12.1,409,8907,0.15,2.17,0.00,0.000,4,0.093,0.057,3288,235,1076,0,0,0,0,0,0
$GC,8958,1.00,379.4,193.4,11.8,413,8961,0.00,2.00,0.00,0.000,6,0.000,0.026,3288,1459,1073,0,0,0,0,0,0
$GC,9227,1.00,379.4,169.8,8.2,434,9230,0.00,2.17,0.00,0.000,4,0.000,0.054,3288,233,1073,0,0,0,0,0,0
$GC,9253,0.94,379.4,167.3,10.0,436,9257,0.15,1.98,0.00,0.000,6,0.091,0.026,3257,1460,1072,0,0,0,0,0,0
$GC,9520,1.03,394.1,146.4,7.2,457,9537,0.00,2.20,12.07,0.565,4,0.000,0.053,3256,234,1022,0,0,0,0,0,0
$GC,9567,1.03,394.1,142.7,8.2,460,9573,0.00,2.00,0.00,0.000,6,0.000,0.025,3257,1450,1020,0,0,0,0,0,0
$GC,9829,1.15,421.7,125.2,6.7,481,9860,0.20,2.38,24.33,0.577,4,0.048,0.025,3315,2834,909,0,0,0,0,0,0
$GC,9872,1.15,421.7,121.1,10.3,484,9877,0.00,2.42,0.00,0.000,6,0.000,0.038,3315,1448,910,0,0,0,0,0,0
$GC,10137,1.15,421.7,93.6,10.7,505,10141,0.00,2.12,0.00,0.000,4,0.000,0.051,3315,232,908,0,0,0,0,0,0
$GC,10227,1.10,421.7,83.5,11.0,511,10234,0.12,1.95,0.00,0.000,6,0.097,0.022,3290,1461,905,0,0,0,0,0,0
$GC,10489,1.17,421.7,64.1,8.1,532,10493,0.00,2.12,0.00,0.000,4,0.000,0.050,3290,231,905,0,0,0,0,0,0
$GC,10529,1.21,421.7,60.3,10.0,535,10533,0.10,1.95,0.00,0.000,6,0.071,0.022,3325,1454,905,0,0,0,0,0,0
$GC,10801,1.21,421.7,30.9,9.9,556,10805,0.00,2.10,0.00,0.000,4,0.000,0.047,3327,231,905,0,0,0,0,0,0
$GC,10821,1.21,421.7,28.7,9.7,559,10828,0.00,1.95,0.00,0.000,6,0.000,0.022,3327,1449,905,0,0,0,0,0,0
$GC,11025,1.21,421.7,10.5,9.0,605,11032,0.00,2.28,0.00,0.000,4,0.000,0.021,3327,2828,905,0,0,0,0,0,0
$GC,11053,1.28,421.7,8.5,8.1,610,11059,0.00,2.40,0.00,0.000,6,0.000,0.036,3327,1446,906,0,0,0,0,0,0
$STATE,11123,end climb,SURFACE_DEPTH_REACHED
$STATE,11123,begin surface coast
$FINISH,0.9,0.998173
$STATE,11153,end surface coast,CONTROL_FINISHED_OK
$STATE,11154,begin surface
$SM_CCo,11236,0.00,0.000,0,0,902,423.88
$SM_GC,1.71,12.48,0.00,0.00,0.025,0.000,0.000,426,1441,902,-11.99,-1.67,423.88
$IRIDIUM_FIX,2054.83,-15753.90,210100,070756
$TT8_MAMPS,0.029146
$HUMID,63.97
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,20.20
$XPDR_PINGS,0
$24V_AH,23.3,73.639
$10V_AH,9.9,59.294
$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,29.975,114.600,466.575,0.000,0.000,89.447,111.637,397.852,4.500,0.000,40.964,1226.395,7587.568,463.540,1902.486,947.365,0.000,1331.325,0.000,1862.200,0.000,29.255,0.000
$DEVICE_MAMPS,132.691,91.273,832.195,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,426.188,409.832,907.586,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,34904,632
$CAP_FILE_SIZE,129669,0
$CFSIZE,260165632,170729472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,271010,105500,2101.947,-15752.807,46,1.4,46,9.8