version: 66.06
glider: 139
mission: 8
dive: 779
start: 10 28 110 18 1 54
data:
$ID,139
$MISSION,8
$DIVE,779
$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,-2167824.2
$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,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
$GPS1,174916,2109.231,-15759.665,11,5.0,30,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-68.9
$GPS2,180136,2109.321,-15759.722,55,1.0,60,9.8
$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,92.8,29752,-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,13,begin dive
$GC,16,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.28,0.000,2,0.000,0.000,429,1410,2775,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.7,-3.8,12,110,12.62,2.42,-6.15,0.000,4,0.132,0.032,2787,2874,3107,0,0,0,0,0,0
$GC,168,-1.12,-116.8,20.3,-13.1,28,174,0.00,2.45,0.00,0.000,6,0.000,0.033,2787,1454,3109,0,0,0,0,0,0
$GC,377,-0.93,-116.8,48.9,-12.9,54,382,0.25,2.10,0.00,0.000,4,0.086,0.044,2843,224,3110,0,0,0,0,0,0
$GC,411,-0.84,-116.8,53.4,-11.6,56,419,0.08,2.03,0.00,0.000,6,0.071,0.019,2864,1513,3110,0,0,0,0,0,0
$GC,671,-0.84,-116.8,77.9,-10.3,77,675,0.00,2.20,0.00,0.000,4,0.000,0.044,2863,226,3111,0,0,0,0,0,0
$GC,690,-0.84,-116.8,79.9,-10.2,78,694,0.00,2.00,0.00,0.000,6,0.000,0.019,2864,1499,3111,0,0,0,0,0,0
$GC,957,-0.91,-116.8,103.9,-8.6,99,961,0.00,2.20,0.00,0.000,4,0.000,0.044,2864,227,3111,0,0,0,0,0,0
$GC,1026,-0.98,-116.8,110.5,-8.8,104,1030,0.12,1.90,0.00,0.000,6,0.061,0.019,2820,1470,3112,0,0,0,0,0,0
$GC,1294,-0.95,-116.8,137.2,-10.2,125,1298,0.12,2.20,0.00,0.000,4,0.094,0.021,2843,2824,3112,0,0,0,0,0,0
$GC,1313,-1.00,-116.8,139.7,-9.9,126,1318,0.00,2.35,0.00,0.000,6,0.000,0.032,2843,1435,3112,0,0,0,0,0,0
$GC,1582,-1.03,-116.8,158.3,-6.0,147,1587,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1435,3113,0,0,0,0,0,0
$GC,1842,-1.07,-116.8,175.2,-7.2,168,1844,0.12,0.00,0.00,0.000,6,0.062,0.000,2795,1435,3113,0,0,0,0,0,0
$GC,2095,-1.01,-116.8,198.3,-9.1,188,2100,0.15,2.08,0.00,0.000,4,0.087,0.047,2829,231,3112,0,0,0,0,0,0
$GC,2151,-1.01,-116.8,203.5,-8.0,191,2155,0.00,1.88,0.00,0.000,6,0.000,0.020,2829,1448,3112,0,0,0,0,0,0
$GC,2475,-1.01,-116.8,229.4,-8.5,207,2479,0.00,2.05,0.00,0.000,4,0.000,0.046,2829,238,3112,0,0,0,0,0,0
$GC,2498,-1.01,-116.8,231.9,-9.3,208,2502,0.00,1.90,0.00,0.000,6,0.000,0.021,2829,1443,3112,0,0,0,0,0,0
$GC,2829,-1.04,-116.8,257.9,-8.6,224,2830,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1443,3112,0,0,0,0,0,0
$GC,3138,-1.08,-116.8,283.8,-7.5,239,3142,0.00,2.08,0.00,0.000,4,0.000,0.048,2828,238,3111,0,0,0,0,0,0
$GC,3166,-1.11,-116.8,286.1,-8.1,240,3170,0.00,1.88,0.00,0.000,6,0.000,0.021,2828,1455,3111,0,0,0,0,0,0
$GC,3511,-1.17,-116.8,309.2,-7.3,254,3516,0.15,2.22,0.00,0.000,4,0.056,0.024,2779,2822,3110,0,0,0,0,0,0
$GC,3572,-1.17,-116.8,315.1,-9.1,255,3577,0.00,2.33,0.00,0.000,6,0.000,0.035,2778,1442,3109,0,0,0,0,0,0
$GC,3888,-1.12,-116.8,345.2,-9.5,263,3890,0.12,0.00,0.00,0.000,6,0.094,0.000,2805,1442,3108,0,0,0,0,0,0
$GC,4211,-1.12,-116.8,364.6,-4.9,271,4215,0.00,2.08,0.00,0.000,4,0.000,0.051,2805,228,3107,0,0,0,0,0,0
$GC,4235,-1.12,-116.8,365.9,-5.5,271,4238,0.00,1.92,0.00,0.000,6,0.000,0.023,2805,1446,3107,0,0,0,0,0,0
$GC,4581,-1.12,-116.8,388.1,-7.3,280,4585,0.00,2.28,0.00,0.000,4,0.000,0.026,2805,2826,3105,0,0,0,0,0,0
$GC,4641,-1.21,-116.8,393.9,-9.6,281,4645,0.00,2.35,0.00,0.000,6,0.000,0.036,2805,1449,3104,0,0,0,0,0,0
$GC,4957,-1.21,-116.8,423.1,-9.4,289,4961,0.00,2.12,0.00,0.000,4,0.000,0.054,2805,229,3103,0,0,0,0,0,0
$GC,4989,-1.21,-116.8,426.5,-9.9,289,4993,0.00,1.92,0.00,0.000,6,0.000,0.025,2805,1447,3102,0,0,0,0,0,0
$STATE,5322,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5322,begin apogee
$GC,5328,-0.31,0.0,451.4,7.2,298,5427,0.80,0.00,95.80,0.824,6,0.062,0.000,2980,1451,2630,0,0,0,0,0,0
$STATE,5428,end apogee,CONTROL_FINISHED_OK
$STATE,5428,begin climb
$GC,5432,1.18,116.8,454.2,0.0,300,5542,1.42,2.17,101.22,0.810,4,0.031,0.051,3315,234,2152,0,0,0,0,0,0
$GC,5581,0.84,118.0,453.9,7.8,304,5586,0.40,1.92,0.00,0.000,6,0.090,0.025,3236,1422,2146,0,0,0,0,0,0
$GC,5897,0.83,159.6,433.5,6.0,312,5940,0.00,2.35,36.90,0.789,4,0.000,0.026,3236,2802,1979,0,0,0,0,0,0
$GC,5984,0.86,186.2,428.5,6.7,313,6016,0.00,2.40,24.73,0.770,6,0.000,0.041,3236,1422,1870,0,0,0,0,0,0
$GC,6361,0.90,239.3,407.3,5.5,323,6410,0.00,0.00,47.08,0.787,6,0.000,0.000,3236,1422,1654,0,0,0,0,0,0
$GC,6722,0.90,244.5,380.2,7.7,332,6733,0.00,2.33,5.00,0.556,4,0.000,0.026,3236,2797,1632,0,0,0,0,0,0
$GC,6750,0.90,247.1,378.1,7.8,332,6759,0.00,2.42,4.03,0.487,6,0.000,0.043,3236,1421,1622,0,0,0,0,0,0
$GC,7090,0.90,247.1,351.6,7.9,341,7094,0.00,2.08,0.00,0.000,4,0.000,0.058,3235,236,1619,0,0,0,0,0,0
$GC,7133,0.86,247.1,348.0,8.5,342,7137,0.00,1.90,0.00,0.000,6,0.000,0.028,3235,1411,1616,0,0,0,0,0,0
$GC,7466,0.88,264.6,324.3,7.1,350,7487,0.00,2.40,15.88,0.716,4,0.000,0.029,3236,2813,1551,0,0,0,0,0,0
$GC,7508,0.99,287.4,321.2,6.9,351,7537,0.12,2.45,21.42,0.725,6,0.066,0.041,3274,1421,1457,0,0,0,0,0,0
$GC,7863,0.96,287.4,291.8,9.0,361,7867,0.00,2.10,0.00,0.000,4,0.000,0.057,3273,235,1453,0,0,0,0,0,0
$GC,7878,0.90,287.4,289.8,9.2,361,7884,0.12,1.92,0.00,0.000,6,0.099,0.028,3248,1419,1451,0,0,0,0,0,0
$GC,8197,0.96,311.0,266.1,6.8,377,8219,0.00,0.00,20.95,0.687,6,0.000,0.000,3249,1420,1361,0,0,0,0,0,0
$GC,8524,1.00,311.0,241.1,8.6,393,8525,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1420,1357,0,0,0,0,0,0
$GC,8833,1.09,335.1,218.2,6.8,408,8860,0.17,2.12,21.42,0.649,4,0.054,0.051,3299,235,1262,0,0,0,0,0,0
$GC,8885,0.97,335.1,213.4,10.7,410,8890,0.17,1.95,0.00,0.000,6,0.088,0.025,3262,1430,1260,0,0,0,0,0,0
$GC,9210,1.00,335.1,184.4,9.4,431,9215,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,1431,1259,0,0,0,0,0,0
$GC,9469,1.05,335.1,162.6,8.0,452,9473,0.00,2.08,0.00,0.000,4,0.000,0.051,3262,234,1259,0,0,0,0,0,0
$GC,9487,1.05,335.1,160.9,8.4,453,9491,0.00,1.90,0.00,0.000,6,0.000,0.025,3262,1426,1258,0,0,0,0,0,0
$GC,9754,1.12,339.5,142.7,7.7,474,9769,0.15,2.08,4.88,0.433,4,0.057,0.049,3309,234,1243,0,0,0,0,0,0
$GC,9800,1.02,339.5,137.5,11.8,477,9805,0.12,1.92,0.00,0.000,6,0.069,0.024,3270,1419,1242,0,0,0,0,0,0
$GC,10074,1.09,339.5,112.9,8.2,498,10077,0.00,2.05,0.00,0.000,4,0.000,0.050,3270,232,1242,0,0,0,0,0,0
$GC,10097,1.09,339.5,110.3,9.7,500,10101,0.00,1.88,0.00,0.000,6,0.000,0.024,3270,1422,1242,0,0,0,0,0,0
$GC,10370,1.19,354.8,89.1,7.2,521,10391,0.17,2.33,14.43,0.520,4,0.051,0.023,3326,2799,1182,0,0,0,0,0,0
$GC,10427,1.26,354.8,83.8,9.9,525,10431,0.00,2.38,0.00,0.000,6,0.000,0.035,3326,1417,1182,0,0,0,0,0,0
$GC,10693,1.26,354.8,61.6,9.5,546,10697,0.00,2.03,0.00,0.000,4,0.000,0.048,3326,234,1181,0,0,0,0,0,0
$GC,10737,1.19,354.8,57.3,10.6,549,10741,0.00,1.88,0.00,0.000,6,0.000,0.021,3326,1431,1179,0,0,0,0,0,0
$GC,11008,1.19,355.0,34.4,7.9,570,11011,0.00,2.20,0.00,0.000,4,0.000,0.021,3326,2799,1180,0,0,0,0,0,0
$GC,11046,1.26,360.0,31.3,7.7,572,11056,0.00,2.38,5.65,0.388,6,0.000,0.035,3326,1421,1162,0,0,0,0,0,0
$GC,11321,1.28,380.0,9.1,7.0,633,11345,0.00,2.08,18.38,0.460,4,0.000,0.047,3326,234,1079,0,0,0,0,0,0
$STATE,11400,end climb,SURFACE_DEPTH_REACHED
$STATE,11401,begin surface coast
$FINISH,2.1,1.023299
$STATE,11408,end surface coast,CONTROL_FINISHED_OK
$STATE,11408,begin surface
$SM_CCo,11435,24.12,0.462,0,0,958,410.14
$SM_GC,1.74,0.00,0.00,24.12,0.000,0.000,0.462,429,1463,958,-12.06,0.37,410.14
$IRIDIUM_FIX,2101.76,-15801.19,220100,181824
$TT8_MAMPS,0.029146
$HUMID,62.16
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,20.90
$XPDR_PINGS,0
$24V_AH,23.3,74.919
$10V_AH,10.0,60.199
$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,30.025,110.575,437.750,24.125,0.000,76.143,73.828,334.275,4.500,0.000,60.133,1234.498,7808.865,504.100,1828.985,814.707,0.000,1299.480,0.000,1770.142,0.000,29.251,0.000
$DEVICE_MAMPS,131.924,57.525,823.758,461.734,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,438.237,415.638,932.440,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355712
$DATA_FILE_SIZE,34950,651
$CAP_FILE_SIZE,124093,0
$CFSIZE,260165632,170098688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,281010,211424,2109.678,-15759.016,36,1.7,52,9.8