version: 66.06
glider: 139
mission: 8
dive: 787
start: 10 29 110 21 9 52
data:
$ID,139
$MISSION,8
$DIVE,787
$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,-2167972.2
$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
$GPS1,205825,2110.284,-15750.789,63,1.1,63,9.8
$_CALLS,2
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-71.9
$GPS2,210932,2110.271,-15750.761,14,1.5,14,9.8
$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,111.6,15867,-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,-64.43,0.000,2,0.000,0.000,425,1418,2751,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.3,-3.2,12,110,12.68,2.10,-6.90,0.000,4,0.133,0.058,2784,236,3109,0,0,0,0,0,0
$GC,167,-0.96,-116.8,20.8,-17.0,28,175,0.20,2.03,0.00,0.000,6,0.077,0.019,2831,1512,3111,0,0,0,0,0,0
$GC,378,-0.86,-116.8,47.1,-11.5,54,383,0.15,2.25,0.00,0.000,4,0.095,0.021,2862,2877,3112,0,0,0,0,0,0
$GC,398,-0.86,-116.8,49.5,-9.8,55,405,0.00,2.45,0.00,0.000,6,0.000,0.032,2862,1452,3112,0,0,0,0,0,0
$GC,658,-0.86,-116.8,73.6,-10.0,76,662,0.00,2.08,0.00,0.000,4,0.000,0.044,2862,227,3112,0,0,0,0,0,0
$GC,696,-0.86,-116.8,77.7,-10.4,79,700,0.00,1.98,0.00,0.000,6,0.000,0.018,2862,1502,3112,0,0,0,0,0,0
$GC,970,-0.90,-116.8,100.2,-7.3,100,974,0.00,2.20,0.00,0.000,4,0.000,0.043,2862,234,3112,0,0,0,0,0,0
$GC,994,-0.94,-116.8,102.7,-8.5,102,998,0.00,2.00,0.00,0.000,6,0.000,0.018,2862,1511,3113,0,0,0,0,0,0
$GC,1266,-1.00,-116.8,125.3,-8.1,123,1272,0.12,0.00,0.00,0.000,6,0.061,0.000,2815,1528,3113,0,0,0,0,0,0
$GC,1526,-1.00,-116.8,144.9,-6.3,144,1530,0.00,2.20,0.00,0.000,4,0.000,0.044,2814,234,3113,0,0,0,0,0,0
$GC,1587,-0.96,-116.8,149.4,-7.7,148,1594,0.08,2.00,0.00,0.000,6,0.067,0.018,2836,1510,3113,0,0,0,0,0,0
$GC,1849,-0.96,-116.8,169.3,-8.9,169,1853,0.00,2.20,0.00,0.000,4,0.000,0.021,2837,2875,3113,0,0,0,0,0,0
$GC,1869,-1.02,-116.8,171.4,-9.2,170,1876,0.00,2.42,0.00,0.000,6,0.000,0.031,2837,1448,3113,0,0,0,0,0,0
$GC,2131,-1.06,-116.8,196.5,-8.7,191,2135,0.00,2.05,0.00,0.000,4,0.000,0.045,2836,233,3113,0,0,0,0,0,0
$GC,2171,-1.10,-116.8,199.6,-8.1,194,2176,0.12,1.98,0.00,0.000,6,0.061,0.019,2790,1519,3113,0,0,0,0,0,0
$GC,2441,-1.04,-116.8,218.7,-7.3,207,2445,0.15,2.22,0.00,0.000,4,0.087,0.022,2824,2885,3114,0,0,0,0,0,0
$GC,2479,-1.15,-116.8,222.1,-7.3,208,2486,0.08,2.45,0.00,0.000,6,0.036,0.031,2782,1448,3113,0,0,0,0,0,0
$GC,2798,-1.09,-116.8,252.0,-10.0,224,2800,0.15,0.00,0.00,0.000,6,0.087,0.000,2815,1448,3112,0,0,0,0,0,0
$GC,3106,-1.09,-116.8,277.4,-8.6,239,3109,0.00,2.05,0.00,0.000,4,0.000,0.048,2815,237,3112,0,0,0,0,0,0
$GC,3144,-1.09,-116.8,280.6,-8.3,240,3150,0.00,2.00,0.00,0.000,6,0.000,0.021,2815,1500,3112,0,0,0,0,0,0
$GC,3459,-1.12,-116.8,304.1,-8.1,255,3463,0.00,2.15,0.00,0.000,4,0.000,0.023,2815,2819,3112,0,0,0,0,0,0
$GC,3483,-1.20,-116.8,306.0,-7.5,255,3488,0.12,2.30,0.00,0.000,6,0.062,0.035,2768,1452,3111,0,0,0,0,0,0
$GC,3826,-1.14,-116.8,334.4,-8.6,264,3830,0.15,2.10,0.00,0.000,4,0.087,0.050,2800,231,3110,0,0,0,0,0,0
$GC,3859,-1.14,-116.8,337.4,-8.1,264,3863,0.00,1.90,0.00,0.000,6,0.000,0.022,2800,1444,3110,0,0,0,0,0,0
$GC,4197,-1.14,-116.8,361.3,-7.1,273,4201,0.00,2.25,0.00,0.000,4,0.000,0.025,2800,2824,3107,0,0,0,0,0,0
$GC,4253,-1.23,-116.8,365.7,-7.1,274,4257,0.00,2.33,0.00,0.000,6,0.000,0.036,2800,1450,3107,0,0,0,0,0,0
$GC,4571,-1.23,-116.8,386.3,-6.2,282,4575,0.00,2.10,0.00,0.000,4,0.000,0.054,2800,238,3105,0,0,0,0,0,0
$GC,4606,-1.23,-116.8,388.6,-7.6,282,4610,0.00,1.95,0.00,0.000,6,0.000,0.024,2800,1448,3105,0,0,0,0,0,0
$GC,4941,-1.23,-116.8,412.4,-7.2,291,4945,0.00,2.30,0.00,0.000,4,0.000,0.027,2800,2837,3102,0,0,0,0,0,0
$GC,4965,-1.30,-116.8,414.1,-7.5,291,4970,0.15,2.38,0.00,0.000,6,0.057,0.039,2752,1446,3102,0,0,0,0,0,0
$GC,5317,-1.21,-116.8,443.2,-7.8,300,5319,0.15,0.00,0.00,0.000,6,0.091,0.000,2783,1446,3099,0,0,0,0,0,0
$STATE,5430,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5430,begin apogee
$GC,5437,-0.31,0.0,451.5,6.9,303,5536,0.93,0.00,95.65,0.828,6,0.067,0.000,2982,1446,2630,0,0,0,0,0,0
$STATE,5536,end apogee,CONTROL_FINISHED_OK
$STATE,5537,begin climb
$GC,5541,1.18,116.8,453.7,0.0,305,5652,1.40,2.22,101.30,0.813,4,0.035,0.054,3308,232,2152,0,0,0,0,0,0
$GC,5669,0.97,191.1,454.8,4.5,308,5745,0.25,1.95,64.65,0.795,6,0.102,0.025,3261,1428,1851,0,0,0,0,0,0
$GC,6082,0.89,198.3,423.5,7.6,318,6094,0.00,2.17,6.35,0.617,4,0.000,0.056,3261,238,1821,0,0,0,0,0,0
$GC,6124,0.72,198.3,419.7,10.1,318,6130,0.28,1.92,0.00,0.000,6,0.093,0.026,3207,1422,1819,0,0,0,0,0,0
$GC,6456,0.79,217.6,396.2,7.0,327,6476,0.00,0.00,18.27,0.754,6,0.000,0.000,3207,1422,1742,0,0,0,0,0,0
$GC,6781,0.89,265.4,377.3,5.7,335,6830,0.17,2.20,42.75,0.781,4,0.058,0.058,3254,236,1546,0,0,0,0,0,0
$GC,6883,0.78,265.4,367.9,11.2,337,6888,0.17,1.95,0.00,0.000,6,0.100,0.028,3221,1421,1541,0,0,0,0,0,0
$GC,7198,0.82,269.4,343.0,7.7,345,7202,0.00,2.10,0.00,0.000,4,0.000,0.057,3220,230,1539,0,0,0,0,0,0
$GC,7233,0.82,269.4,340.0,9.4,345,7237,0.00,1.95,0.00,0.000,6,0.000,0.028,3220,1422,1537,0,0,0,0,0,0
$GC,7570,0.89,284.8,314.4,7.2,354,7589,0.10,0.00,16.67,0.717,6,0.079,0.000,3252,1423,1468,0,0,0,0,0,0
$GC,7877,0.91,299.7,290.2,7.2,364,7901,0.00,2.20,14.07,0.690,4,0.000,0.058,3252,232,1407,0,0,0,0,0,0
$GC,7926,0.86,299.7,286.1,8.8,366,7930,0.00,1.98,0.00,0.000,6,0.000,0.028,3252,1428,1405,0,0,0,0,0,0
$GC,8260,0.86,299.7,260.6,7.9,382,8264,0.00,2.12,0.00,0.000,4,0.000,0.056,3252,231,1404,0,0,0,0,0,0
$GC,8313,0.86,299.7,256.0,9.2,384,8316,0.00,1.95,0.00,0.000,6,0.000,0.028,3252,1421,1402,0,0,0,0,0,0
$GC,8637,0.90,306.1,230.5,7.6,400,8649,0.00,2.17,5.75,0.535,4,0.000,0.054,3252,231,1382,0,0,0,0,0,0
$GC,8674,0.90,306.1,227.4,8.7,401,8678,0.00,1.92,0.00,0.000,6,0.000,0.027,3252,1424,1381,0,0,0,0,0,0
$GC,8996,0.94,306.1,201.3,8.2,417,8997,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1425,1381,0,0,0,0,0,0
$GC,9320,1.00,316.6,176.9,7.4,442,9336,0.00,2.17,10.80,0.582,4,0.000,0.053,3252,234,1338,0,0,0,0,0,0
$GC,9353,1.03,333.5,174.2,7.1,444,9375,0.00,1.92,16.05,0.604,6,0.000,0.025,3252,1430,1269,0,0,0,0,0,0
$GC,9635,1.12,357.9,154.3,6.8,466,9663,0.17,2.12,22.33,0.601,4,0.052,0.051,3304,235,1169,0,0,0,0,0,0
$GC,9695,1.01,357.9,148.3,12.5,470,9699,0.12,1.95,0.00,0.000,6,0.072,0.025,3273,1421,1165,0,0,0,0,0,0
$GC,9968,1.06,361.5,125.8,7.7,491,9974,0.00,0.00,3.75,0.365,6,0.000,0.000,3273,1422,1155,0,0,0,0,0,0
$GC,10230,1.18,401.4,107.4,6.1,512,10272,0.15,2.12,35.05,0.568,4,0.057,0.049,3319,231,991,0,0,0,0,0,0
$GC,10316,1.07,401.4,99.3,10.6,518,10321,0.17,1.95,0.00,0.000,6,0.087,0.024,3284,1436,988,0,0,0,0,0,0
$GC,10583,1.16,401.4,77.3,8.6,539,10587,0.00,2.12,0.00,0.000,4,0.000,0.050,3284,228,988,0,0,0,0,0,0
$GC,10639,1.24,432.1,73.4,6.5,543,10671,0.17,1.90,26.00,0.528,6,0.051,0.023,3338,1433,867,0,0,0,0,0,0
$GC,10936,1.21,432.1,46.9,10.7,566,10941,0.12,2.10,0.00,0.000,4,0.093,0.050,3311,235,865,0,0,0,0,0,0
$GC,10988,1.21,432.1,41.1,11.2,569,10995,0.00,1.90,0.00,0.000,6,0.000,0.021,3311,1419,863,0,0,0,0,0,0
$GC,11253,1.25,432.1,17.6,9.1,610,11260,0.00,2.08,0.00,0.000,4,0.000,0.048,3311,239,863,0,0,0,0,0,0
$GC,11297,1.25,432.1,12.4,11.6,619,11304,0.00,1.90,0.00,0.000,6,0.000,0.021,3311,1431,863,0,0,0,0,0,0
$STATE,11393,end climb,SURFACE_DEPTH_REACHED
$STATE,11393,begin surface coast
$FINISH,0.9,0.998869
$STATE,11422,end surface coast,CONTROL_FINISHED_OK
$STATE,11422,begin surface
$SM_CCo,11506,0.00,0.000,0,0,860,434.18
$SM_GC,1.74,12.43,0.00,0.00,0.026,0.000,0.000,430,1431,860,-11.98,-0.54,434.18
$IRIDIUM_FIX,2104.07,-15750.02,230100,212118
$TT8_MAMPS,0.029146
$HUMID,63.93
$INTERNAL_PRESSURE,9.23518
$TCM_TEMP,20.80
$XPDR_PINGS,0
$24V_AH,23.3,75.882
$10V_AH,10.0,60.903
$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,30.950,113.475,479.450,0.000,0.000,52.055,71.566,336.258,4.500,0.000,14.695,1237.060,7824.391,503.291,1785.559,814.774,0.000,1335.816,0.000,1777.146,0.000,29.258,0.000
$DEVICE_MAMPS,132.691,58.292,827.593,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,434.983,415.550,915.129,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355740
$DATA_FILE_SIZE,34903,647
$CAP_FILE_SIZE,128001,0
$CFSIZE,260165632,169603072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,301010,002306,2109.889,-15748.852,41,1.3,52,9.8