version: 66.06
glider: 139
mission: 8
dive: 771
start: 10 27 110 14 49 22
data:
$ID,139
$MISSION,8
$DIVE,771
$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,-2167588.2
$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
$GPS1,142438,2103.213,-15753.473,42,1.6,42,9.8
$_CALLS,5
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-68.9
$GPS2,144902,2103.422,-15753.557,15,1.6,15,9.8
$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,292.0,17284,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.18,-116.8,0.0,0.0,0,85,0.00,0.00,-63.88,0.000,2,0.000,0.000,428,1453,2768,0,0,0,0,0,0
$GC,88,-1.18,-116.8,3.6,-3.7,12,113,12.65,2.12,-6.35,0.000,4,0.132,0.060,2787,234,3108,0,0,0,0,0,0
$GC,317,-0.90,-116.8,45.0,-14.2,47,324,0.28,2.10,0.00,0.000,6,0.074,0.019,2849,1566,3109,0,0,0,0,0,0
$GC,577,-0.90,-116.8,69.1,-8.6,68,581,0.00,2.28,0.00,0.000,4,0.000,0.043,2849,236,3110,0,0,0,0,0,0
$GC,610,-0.87,-116.8,72.2,-9.5,70,614,0.00,2.08,0.00,0.000,6,0.000,0.018,2849,1574,3110,0,0,0,0,0,0
$GC,869,-0.87,-116.8,97.1,-9.3,90,873,0.00,2.30,0.00,0.000,4,0.000,0.044,2849,230,3110,0,0,0,0,0,0
$GC,921,-0.87,-116.8,101.6,-8.8,94,925,0.00,2.10,0.00,0.000,6,0.000,0.019,2849,1581,3111,0,0,0,0,0,0
$GC,1192,-0.92,-116.8,119.3,-6.5,115,1196,0.00,2.30,0.00,0.000,4,0.000,0.044,2849,233,3111,0,0,0,0,0,0
$GC,1267,-0.96,-116.8,124.8,-7.5,120,1273,0.00,2.08,0.00,0.000,6,0.000,0.019,2849,1562,3111,0,0,0,0,0,0
$GC,1529,-1.02,-116.8,146.9,-8.1,141,1530,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1562,3111,0,0,0,0,0,0
$GC,1781,-1.07,-116.8,166.2,-7.8,161,1786,0.15,2.28,0.00,0.000,4,0.054,0.045,2795,236,3111,0,0,0,0,0,0
$GC,1864,-1.01,-116.8,174.5,-10.3,167,1869,0.15,2.05,0.00,0.000,6,0.084,0.019,2829,1564,3111,0,0,0,0,0,0
$GC,2131,-1.01,-116.8,195.1,-7.4,188,2135,0.00,2.30,0.00,0.000,4,0.000,0.045,2829,231,3110,0,0,0,0,0,0
$GC,2182,-1.01,-116.8,199.4,-8.1,192,2186,0.00,2.05,0.00,0.000,6,0.000,0.020,2829,1558,3110,0,0,0,0,0,0
$GC,2442,-1.01,-116.8,219.9,-8.6,205,2446,0.00,2.25,0.00,0.000,4,0.000,0.045,2829,237,3110,0,0,0,0,0,0
$GC,2499,-1.05,-116.8,224.9,-8.2,207,2503,0.00,2.08,0.00,0.000,6,0.000,0.020,2829,1561,3110,0,0,0,0,0,0
$GC,2826,-1.09,-116.8,247.4,-7.1,223,2830,0.00,2.28,0.00,0.000,4,0.000,0.047,2829,233,3108,0,0,0,0,0,0
$GC,2861,-1.09,-116.8,250.4,-8.5,224,2865,0.00,2.05,0.00,0.000,6,0.000,0.021,2829,1554,3108,0,0,0,0,0,0
$GC,3178,-1.15,-116.8,277.1,-8.5,239,3183,0.12,2.30,0.00,0.000,4,0.062,0.048,2786,237,3107,0,0,0,0,0,0
$GC,3254,-1.10,-116.8,284.7,-9.8,242,3258,0.10,2.08,0.00,0.000,6,0.101,0.021,2808,1553,3107,0,0,0,0,0,0
$GC,3593,-1.10,-116.8,310.2,-7.8,256,3597,0.00,2.28,0.00,0.000,4,0.000,0.048,2808,231,3106,0,0,0,0,0,0
$GC,3677,-1.10,-116.8,318.1,-9.4,257,3682,0.00,2.10,0.00,0.000,6,0.000,0.022,2808,1564,3105,0,0,0,0,0,0
$GC,4009,-1.10,-116.8,346.2,-8.4,266,4013,0.00,2.30,0.00,0.000,4,0.000,0.051,2808,238,3103,0,0,0,0,0,0
$GC,4052,-1.10,-116.8,350.3,-9.0,267,4056,0.00,2.10,0.00,0.000,6,0.000,0.023,2808,1553,3103,0,0,0,0,0,0
$GC,4381,-1.10,-116.8,373.8,-6.9,275,4385,0.00,2.28,0.00,0.000,4,0.000,0.052,2808,239,3101,0,0,0,0,0,0
$GC,4446,-1.10,-116.8,378.7,-7.2,276,4450,0.00,2.08,0.00,0.000,6,0.000,0.024,2808,1542,3101,0,0,0,0,0,0
$GC,4794,-1.14,-116.8,402.5,-7.0,285,4798,0.00,2.20,0.00,0.000,4,0.000,0.028,2808,2878,3098,0,0,0,0,0,0
$GC,4824,-1.24,-116.8,404.8,-7.6,285,4829,0.12,2.35,0.00,0.000,6,0.062,0.038,2765,1504,3098,0,0,0,0,0,0
$GC,5162,-1.18,-116.8,435.2,-9.3,294,5167,0.15,2.25,0.00,0.000,4,0.089,0.055,2796,227,3096,0,0,0,0,0,0
$GC,5192,-1.18,-116.8,438.0,-9.0,294,5196,0.00,2.05,0.00,0.000,6,0.000,0.025,2796,1507,3096,0,0,0,0,0,0
$STATE,5326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5326,begin apogee
$GC,5333,-0.31,0.0,450.2,8.8,298,5431,0.85,0.00,94.53,0.833,6,0.064,0.000,2980,1433,2630,0,0,0,0,0,0
$STATE,5432,end apogee,CONTROL_FINISHED_OK
$STATE,5432,begin climb
$GC,5434,1.18,116.8,454.6,0.0,300,5548,1.40,2.17,100.93,0.815,4,0.033,0.054,3310,248,2151,0,0,0,0,0,0
$GC,5586,0.95,187.4,457.9,4.7,303,5659,0.28,1.95,61.55,0.803,6,0.095,0.025,3256,1451,1865,0,0,0,0,0,0
$GC,5983,0.86,187.4,427.1,10.0,313,5987,0.00,2.33,0.00,0.000,4,0.000,0.028,3256,2830,1856,0,0,0,0,0,0
$GC,6002,0.79,187.4,425.0,10.7,313,6007,0.17,2.42,0.00,0.000,6,0.092,0.041,3220,1451,1856,0,0,0,0,0,0
$GC,6349,0.83,215.3,399.0,6.6,322,6378,0.00,2.38,23.83,0.774,4,0.000,0.028,3221,2833,1752,0,0,0,0,0,0
$GC,6428,0.94,245.4,394.2,6.5,323,6462,0.15,2.42,27.88,0.773,6,0.061,0.042,3263,1450,1629,0,0,0,0,0,0
$GC,6803,0.87,245.4,360.8,9.8,333,6807,0.12,2.17,0.00,0.000,4,0.100,0.058,3238,234,1623,0,0,0,0,0,0
$GC,6859,0.83,245.4,355.3,10.0,334,6863,0.00,2.00,0.00,0.000,6,0.000,0.028,3238,1463,1619,0,0,0,0,0,0
$GC,7179,0.90,302.5,337.2,5.3,342,7236,0.00,2.25,49.58,0.768,4,0.000,0.056,3238,232,1394,0,0,0,0,0,0
$GC,7288,0.86,302.5,328.3,10.3,344,7292,0.00,1.98,0.00,0.000,6,0.000,0.028,3238,1443,1390,0,0,0,0,0,0
$GC,7639,0.90,303.2,299.9,7.9,353,7643,0.00,2.15,0.00,0.000,4,0.000,0.057,3238,229,1387,0,0,0,0,0,0
$GC,7750,0.90,303.2,290.6,8.4,358,7754,0.00,2.00,0.00,0.000,6,0.000,0.028,3238,1463,1384,0,0,0,0,0,0
$GC,8087,0.95,306.1,266.9,7.8,374,8091,0.00,2.17,0.00,0.000,4,0.000,0.056,3238,228,1383,0,0,0,0,0,0
$GC,8161,0.95,306.1,259.4,10.0,377,8165,0.00,1.98,0.00,0.000,6,0.000,0.027,3238,1453,1382,0,0,0,0,0,0
$GC,8488,1.08,357.6,237.5,5.6,393,8543,0.20,2.22,46.58,0.696,4,0.051,0.054,3294,231,1170,0,0,0,0,0,0
$GC,8572,0.95,357.6,230.0,10.9,396,8578,0.15,2.03,0.00,0.000,6,0.071,0.026,3259,1451,1167,0,0,0,0,0,0
$GC,8889,0.99,357.6,202.8,8.6,412,8893,0.00,2.15,0.00,0.000,4,0.000,0.054,3258,234,1165,0,0,0,0,0,0
$GC,8948,0.99,357.6,196.5,10.1,415,8952,0.00,1.95,0.00,0.000,6,0.000,0.026,3258,1453,1163,0,0,0,0,0,0
$GC,9214,1.03,357.6,171.2,9.8,436,9218,0.00,2.12,0.00,0.000,4,0.000,0.053,3258,234,1163,0,0,0,0,0,0
$GC,9253,1.03,357.6,167.2,10.3,439,9257,0.00,1.98,0.00,0.000,6,0.000,0.025,3259,1469,1162,0,0,0,0,0,0
$GC,9525,1.10,370.2,147.0,7.3,460,9541,0.12,2.25,10.88,0.555,4,0.065,0.052,3299,234,1119,0,0,0,0,0,0
$GC,9580,1.03,370.2,141.2,11.1,463,9586,0.12,1.98,0.00,0.000,6,0.097,0.025,3273,1462,1117,0,0,0,0,0,0
$GC,9843,1.08,372.8,120.5,7.8,484,9846,0.00,2.15,0.00,0.000,4,0.000,0.051,3273,228,1117,0,0,0,0,0,0
$GC,9902,1.08,372.8,114.9,9.1,488,9906,0.00,1.95,0.00,0.000,6,0.000,0.024,3273,1456,1116,0,0,0,0,0,0
$GC,10168,1.15,372.8,95.9,8.0,509,10172,0.12,2.15,0.00,0.000,4,0.063,0.051,3315,234,1116,0,0,0,0,0,0
$GC,10188,1.15,372.8,93.5,10.0,510,10195,0.00,1.98,0.00,0.000,6,0.000,0.023,3316,1453,1116,0,0,0,0,0,0
$GC,10448,1.15,372.8,68.5,9.0,531,10452,0.00,2.28,0.00,0.000,4,0.000,0.023,3315,2837,1116,0,0,0,0,0,0
$GC,10497,1.25,372.8,64.1,8.7,534,10504,0.00,2.40,0.00,0.000,6,0.000,0.035,3315,1449,1116,0,0,0,0,0,0
$GC,10757,1.28,403.5,45.5,6.5,555,10792,0.00,2.17,28.52,0.514,4,0.000,0.048,3315,234,983,0,0,0,0,0,0
$GC,10850,1.28,403.5,38.3,8.2,561,10856,0.00,1.98,0.00,0.000,6,0.000,0.021,3316,1463,980,0,0,0,0,0,0
$GC,11113,1.28,403.5,14.1,10.4,606,11119,0.00,2.17,0.00,0.000,4,0.000,0.049,3316,231,980,0,0,0,0,0,0
$GC,11132,1.28,403.5,12.1,11.0,609,11139,0.00,1.95,0.00,0.000,6,0.000,0.021,3316,1458,980,0,0,0,0,0,0
$STATE,11285,end climb,SURFACE_DEPTH_REACHED
$STATE,11285,begin surface coast
$FINISH,0.9,1.015562
$STATE,11334,end surface coast,CONTROL_FINISHED_OK
$STATE,11334,begin surface
$SM_CCo,11359,5.68,0.374,0,0,958,410.14
$SM_GC,1.63,0.00,0.00,5.68,0.000,0.000,0.374,424,1458,958,-12.08,-1.16,410.14
$IRIDIUM_FIX,2054.83,-15756.91,210100,141426
$TT8_MAMPS,0.029146
$HUMID,63.27
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,20.80
$XPDR_PINGS,0
$24V_AH,23.3,73.920
$10V_AH,9.9,59.485
$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,29.900,129.375,444.250,5.675,0.000,151.829,206.253,675.894,4.500,0.000,15.435,1290.547,7626.541,462.059,2033.521,1411.288,0.000,1396.938,0.000,2002.841,0.000,29.258,0.000
$DEVICE_MAMPS,131.924,79.768,832.962,374.296,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,441.011,421.671,954.678,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,37968,655
$CAP_FILE_SIZE,144904,0
$CFSIZE,260165632,170582016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,271010,180052,2104.474,-15755.063,67,7.0,86,9.8