version: 66.06
glider: 139
mission: 8
dive: 785
start: 10 29 110 14 28 16
data:
$ID,139
$MISSION,8
$DIVE,785
$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,-2167940
$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
$GPS1,142137,2110.605,-15753.378,37,1.6,37,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-71.7
$GPS2,142756,2110.616,-15753.359,13,1.3,13,9.8
$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,106.4,20115,-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,-64.50,0.000,2,0.000,0.000,424,1421,2548,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.0,-2.8,12,115,12.60,0.00,-11.90,0.000,6,0.130,0.000,2783,1422,3109,0,0,0,0,0,0
$GC,319,-0.96,-116.8,37.5,-14.2,56,324,0.25,2.40,0.00,0.000,4,0.090,0.020,2838,2876,3110,0,0,0,0,0,0
$GC,361,-1.00,-116.8,42.5,-10.2,59,365,0.00,2.40,0.00,0.000,6,0.000,0.032,2838,1450,3110,0,0,0,0,0,0
$GC,622,-0.91,-116.8,71.3,-10.9,79,626,0.00,2.10,0.00,0.000,4,0.000,0.046,2838,231,3111,0,0,0,0,0,0
$GC,640,-0.83,-116.8,73.4,-11.1,80,645,0.15,2.00,0.00,0.000,6,0.088,0.019,2870,1516,3111,0,0,0,0,0,0
$GC,908,-0.89,-116.8,96.4,-7.9,101,912,0.00,2.25,0.00,0.000,4,0.000,0.021,2870,2885,3111,0,0,0,0,0,0
$GC,923,-0.96,-116.8,98.0,-8.2,102,928,0.12,2.40,0.00,0.000,6,0.059,0.031,2827,1448,3111,0,0,0,0,0,0
$GC,1186,-0.96,-116.8,121.2,-8.4,122,1190,0.00,2.08,0.00,0.000,4,0.000,0.044,2827,233,3113,0,0,0,0,0,0
$GC,1210,-0.96,-116.8,123.8,-9.7,124,1214,0.00,2.00,0.00,0.000,6,0.000,0.018,2827,1512,3113,0,0,0,0,0,0
$GC,1478,-0.96,-116.8,148.5,-9.5,145,1479,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1527,3113,0,0,0,0,0,0
$GC,1733,-0.96,-116.8,170.6,-8.2,165,1737,0.00,2.20,0.00,0.000,4,0.000,0.045,2827,234,3114,0,0,0,0,0,0
$GC,1793,-0.96,-116.8,175.7,-7.4,169,1798,0.00,1.98,0.00,0.000,6,0.000,0.019,2827,1515,3114,0,0,0,0,0,0
$GC,2053,-0.96,-116.8,194.5,-7.2,190,2057,0.00,2.17,0.00,0.000,4,0.000,0.045,2826,234,3113,0,0,0,0,0,0
$GC,2077,-0.96,-116.8,196.6,-8.0,192,2081,0.00,2.00,0.00,0.000,6,0.000,0.020,2827,1511,3114,0,0,0,0,0,0
$GC,2336,-0.96,-116.8,216.3,-7.5,206,2340,0.00,2.20,0.00,0.000,4,0.000,0.046,2827,231,3113,0,0,0,0,0,0
$GC,2375,-0.99,-116.8,219.3,-8.4,207,2378,0.00,2.00,0.00,0.000,6,0.000,0.020,2827,1504,3114,0,0,0,0,0,0
$GC,2696,-1.04,-116.8,246.6,-8.7,223,2700,0.00,2.20,0.00,0.000,4,0.000,0.047,2827,238,3113,0,0,0,0,0,0
$GC,2732,-1.08,-116.8,249.2,-7.3,224,2736,0.00,1.98,0.00,0.000,6,0.000,0.021,2827,1508,3114,0,0,0,0,0,0
$GC,3053,-1.15,-116.8,264.6,-4.7,240,3057,0.12,2.22,0.00,0.000,4,0.061,0.048,2782,238,3113,0,0,0,0,0,0
$GC,3075,-1.15,-116.8,265.9,-5.8,241,3079,0.00,2.00,0.00,0.000,6,0.000,0.021,2782,1502,3113,0,0,0,0,0,0
$GC,3412,-1.10,-116.8,293.2,-9.2,257,3414,0.12,0.00,0.00,0.000,6,0.094,0.000,2809,1511,3111,0,0,0,0,0,0
$GC,3737,-1.10,-116.8,322.3,-9.0,267,3741,0.00,2.20,0.00,0.000,4,0.000,0.050,2809,231,3109,0,0,0,0,0,0
$GC,3771,-1.10,-116.8,325.7,-9.4,267,3775,0.00,2.03,0.00,0.000,6,0.000,0.024,2809,1490,3109,0,0,0,0,0,0
$GC,4107,-1.14,-116.8,354.0,-9.0,276,4111,0.00,2.17,0.00,0.000,4,0.000,0.051,2809,238,3107,0,0,0,0,0,0
$GC,4125,-1.14,-116.8,355.9,-9.3,276,4129,0.00,1.92,0.00,0.000,6,0.000,0.025,2809,1447,3107,0,0,0,0,0,0
$GC,4440,-1.18,-116.8,379.3,-6.5,284,4444,0.00,2.28,0.00,0.000,4,0.000,0.026,2810,2834,3105,0,0,0,0,0,0
$GC,4474,-1.29,-116.8,381.5,-6.2,284,4479,0.17,2.35,0.00,0.000,6,0.050,0.038,2754,1451,3105,0,0,0,0,0,0
$GC,4805,-1.19,-116.8,411.3,-9.3,292,4810,0.17,2.33,0.00,0.000,4,0.084,0.026,2791,2836,3103,0,0,0,0,0,0
$GC,4859,-1.25,-116.8,415.5,-7.6,293,4863,0.00,2.38,0.00,0.000,6,0.000,0.038,2790,1449,3102,0,0,0,0,0,0
$GC,5182,-1.25,-116.8,440.8,-7.9,301,5186,0.00,2.10,0.00,0.000,4,0.000,0.056,2791,234,3100,0,0,0,0,0,0
$GC,5212,-1.25,-116.8,443.3,-9.0,301,5216,0.00,1.95,0.00,0.000,6,0.000,0.025,2791,1448,3100,0,0,0,0,0,0
$STATE,5307,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5307,begin apogee
$GC,5313,-0.31,0.0,451.2,8.0,304,5412,0.88,0.00,95.93,0.832,6,0.064,0.000,2980,1451,2630,0,0,0,0,0,0
$STATE,5413,end apogee,CONTROL_FINISHED_OK
$STATE,5413,begin climb
$GC,5416,1.18,116.8,454.5,0.0,306,5529,1.42,2.25,101.00,0.815,4,0.033,0.054,3315,234,2151,0,0,0,0,0,0
$GC,5641,0.87,138.7,450.1,6.9,311,5667,0.38,1.92,19.40,0.762,6,0.092,0.026,3241,1428,2063,0,0,0,0,0,0
$GC,6017,0.89,207.2,431.5,4.8,320,6080,0.00,0.00,61.03,0.805,6,0.000,0.000,3241,1428,1785,0,0,0,0,0,0
$GC,6377,0.85,207.2,401.9,8.8,329,6381,0.00,2.33,0.00,0.000,4,0.000,0.029,3241,2803,1778,0,0,0,0,0,0
$GC,6422,0.85,207.2,398.3,9.0,330,6426,0.00,2.45,0.00,0.000,6,0.000,0.043,3241,1414,1777,0,0,0,0,0,0
$GC,6750,0.87,258.9,377.3,5.6,338,6797,0.00,0.00,44.75,0.783,6,0.000,0.000,3240,1414,1574,0,0,0,0,0,0
$GC,7118,0.87,258.9,346.7,9.1,347,7123,0.00,2.33,0.00,0.000,4,0.000,0.028,3241,2802,1568,0,0,0,0,0,0
$GC,7151,0.93,258.9,343.5,8.8,347,7156,0.00,2.42,0.00,0.000,6,0.000,0.043,3241,1412,1568,0,0,0,0,0,0
$GC,7483,0.96,279.8,319.6,6.9,355,7507,0.00,2.15,17.85,0.723,4,0.000,0.055,3241,238,1488,0,0,0,0,0,0
$GC,7555,0.96,279.8,313.1,9.3,356,7560,0.00,1.95,0.00,0.000,6,0.000,0.027,3240,1409,1485,0,0,0,0,0,0
$GC,7884,0.96,279.8,287.7,8.2,367,7886,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1414,1484,0,0,0,0,0,0
$GC,8192,0.96,279.8,258.5,9.3,382,8196,0.00,2.08,0.00,0.000,4,0.000,0.057,3241,231,1483,0,0,0,0,0,0
$GC,8231,0.92,279.8,254.9,9.8,383,8236,0.00,1.95,0.00,0.000,6,0.000,0.028,3241,1421,1481,0,0,0,0,0,0
$GC,8549,1.03,339.3,233.7,5.2,399,8604,0.15,0.00,51.97,0.701,6,0.061,0.000,3284,1421,1246,0,0,0,0,0,0
$GC,8905,1.03,339.3,205.3,9.2,416,8909,0.00,2.10,0.00,0.000,4,0.000,0.055,3283,234,1240,0,0,0,0,0,0
$GC,8956,0.97,339.3,199.3,11.0,418,8961,0.12,1.92,0.00,0.000,6,0.100,0.027,3259,1425,1237,0,0,0,0,0,0
$GC,9283,1.01,339.3,171.3,8.6,444,9287,0.00,2.10,0.00,0.000,4,0.000,0.054,3258,232,1237,0,0,0,0,0,0
$GC,9315,1.01,339.3,168.2,9.3,446,9319,0.00,1.92,0.00,0.000,6,0.000,0.026,3259,1429,1236,0,0,0,0,0,0
$GC,9584,1.07,345.1,146.5,7.6,467,9597,0.10,2.10,4.78,0.446,4,0.076,0.051,3292,232,1222,0,0,0,0,0,0
$GC,9642,0.98,345.1,141.1,9.9,471,9647,0.15,1.92,0.00,0.000,6,0.094,0.025,3262,1436,1221,0,0,0,0,0,0
$GC,9910,1.08,370.1,123.9,6.8,492,9938,0.10,2.22,22.75,0.579,4,0.075,0.052,3295,226,1120,0,0,0,0,0,0
$GC,9962,1.01,370.1,119.2,9.7,495,9968,0.12,1.95,0.00,0.000,6,0.095,0.025,3269,1426,1117,0,0,0,0,0,0
$GC,10224,1.10,370.1,97.8,8.4,516,10228,0.00,2.28,0.00,0.000,4,0.000,0.024,3269,2802,1117,0,0,0,0,0,0
$GC,10239,1.21,379.3,96.5,7.5,517,10256,0.20,2.40,8.88,0.498,6,0.048,0.037,3330,1415,1083,0,0,0,0,0,0
$GC,10517,1.21,379.3,68.9,9.7,539,10521,0.00,2.30,0.00,0.000,4,0.000,0.023,3330,2810,1081,0,0,0,0,0,0
$GC,10547,1.29,379.3,66.0,8.9,541,10552,0.00,2.40,0.00,0.000,6,0.000,0.036,3330,1419,1081,0,0,0,0,0,0
$GC,10812,1.29,379.3,43.3,8.3,562,10816,0.00,2.05,0.00,0.000,4,0.000,0.050,3329,234,1081,0,0,0,0,0,0
$GC,10836,1.22,379.3,41.0,8.8,563,10843,0.00,1.92,0.00,0.000,6,0.000,0.022,3330,1432,1080,0,0,0,0,0,0
$GC,11100,1.23,387.9,18.3,7.5,604,11112,0.00,0.00,8.40,0.432,6,0.000,0.000,3330,1432,1048,0,0,0,0,0,0
$STATE,11268,end climb,SURFACE_DEPTH_REACHED
$STATE,11268,begin surface coast
$FINISH,0.9,1.003911
$STATE,11316,end surface coast,CONTROL_FINISHED_OK
$STATE,11316,begin surface
$SM_CCo,11338,18.25,0.462,0,0,958,410.14
$SM_GC,1.98,0.00,0.00,18.25,0.000,0.000,0.462,424,1432,958,-12.08,-0.51,410.14
$IRIDIUM_FIX,2101.76,-15753.03,230100,111149
$TT8_MAMPS,0.029146
$HUMID,65.04
$INTERNAL_PRESSURE,9.22541
$TCM_TEMP,20.50
$XPDR_PINGS,1
$24V_AH,23.3,75.644
$10V_AH,9.9,60.730
$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,29.825,111.700,436.725,18.250,0.000,28.097,33.693,174.977,4.750,0.000,13.994,1251.750,7596.729,493.139,1824.446,565.328,0.000,1308.299,0.000,1816.512,0.000,29.241,0.000
$DEVICE_MAMPS,130.390,56.758,832.195,461.734,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,440.238,425.831,952.761,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,35047,653
$CAP_FILE_SIZE,119535,0
$CFSIZE,260165632,169725952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291010,173900,2110.423,-15751.985,42,1.4,47,9.8