version: 66.06
glider: 139
mission: 8
dive: 791
start: 10 30 110 10 46 2
data:
$ID,139
$MISSION,8
$DIVE,791
$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,-2168103
$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
$GPS1,103906,2108.081,-15745.150,38,0.8,43,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-70.8
$GPS2,104544,2108.112,-15745.093,22,1.3,22,9.8
$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,128.8,5677,-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,13,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,-64.18,0.000,2,0.000,0.000,427,1441,2735,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.1,-2.6,12,116,12.68,2.15,-7.28,0.000,4,0.133,0.061,2785,236,3109,0,0,0,0,0,0
$GC,146,-0.83,-116.8,16.6,-18.0,23,153,0.35,2.03,0.00,0.000,6,0.075,0.019,2864,1508,3110,0,0,0,0,0,0
$GC,350,-0.78,-116.8,39.1,-9.9,56,352,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1508,3111,0,0,0,0,0,0
$GC,604,-0.78,-116.8,62.4,-8.4,76,605,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1508,3111,0,0,0,0,0,0
$GC,853,-0.78,-116.8,83.8,-8.6,96,857,0.00,2.17,0.00,0.000,4,0.000,0.044,2864,234,3112,0,0,0,0,0,0
$GC,900,-0.82,-116.8,87.8,-8.7,99,906,0.00,1.98,0.00,0.000,6,0.000,0.019,2864,1515,3112,0,0,0,0,0,0
$GC,1161,-0.87,-116.8,109.7,-9.0,120,1165,0.00,2.17,0.00,0.000,4,0.000,0.044,2864,235,3113,0,0,0,0,0,0
$GC,1180,-0.90,-116.8,111.7,-9.5,121,1185,0.00,2.00,0.00,0.000,6,0.000,0.019,2864,1528,3113,0,0,0,0,0,0
$GC,1443,-0.97,-116.8,130.9,-6.4,142,1447,0.12,2.20,0.00,0.000,4,0.061,0.021,2816,2883,3113,0,0,0,0,0,0
$GC,1484,-1.02,-116.8,134.1,-7.6,145,1488,0.00,2.40,0.00,0.000,6,0.000,0.030,2816,1446,3113,0,0,0,0,0,0
$GC,1752,-0.99,-116.8,157.4,-9.7,166,1760,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1446,3114,0,0,0,0,0,0
$GC,2012,-0.99,-116.8,181.7,-9.5,187,2013,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1446,3114,0,0,0,0,0,0
$GC,2268,-0.99,-116.8,204.3,-8.2,206,2269,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1446,3114,0,0,0,0,0,0
$GC,2579,-0.99,-116.8,230.7,-9.0,221,2583,0.00,2.05,0.00,0.000,4,0.000,0.047,2816,235,3114,0,0,0,0,0,0
$GC,2625,-0.99,-116.8,235.2,-9.4,223,2628,0.00,1.98,0.00,0.000,6,0.000,0.020,2816,1508,3114,0,0,0,0,0,0
$GC,2964,-0.99,-116.8,261.3,-6.9,239,2965,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1519,3114,0,0,0,0,0,0
$GC,3269,-1.03,-116.8,280.7,-6.3,254,3273,0.00,2.20,0.00,0.000,4,0.000,0.048,2816,235,3114,0,0,0,0,0,0
$GC,3354,-1.03,-116.8,286.9,-7.8,257,3360,0.00,2.00,0.00,0.000,6,0.000,0.021,2816,1516,3113,0,0,0,0,0,0
$GC,3669,-1.06,-116.8,310.6,-7.7,270,3673,0.00,2.22,0.00,0.000,4,0.000,0.025,2816,2874,3112,0,0,0,0,0,0
$GC,3694,-1.15,-116.8,312.6,-8.1,270,3698,0.00,2.42,0.00,0.000,6,0.000,0.035,2816,1449,3112,0,0,0,0,0,0
$GC,4040,-1.19,-116.8,339.1,-7.6,279,4044,0.12,2.10,0.00,0.000,4,0.063,0.051,2772,238,3110,0,0,0,0,0,0
$GC,4161,-1.13,-116.8,350.6,-8.8,281,4166,0.15,2.00,0.00,0.000,6,0.090,0.022,2805,1500,3110,0,0,0,0,0,0
$GC,4502,-1.13,-116.8,377.1,-7.6,290,4506,0.00,2.20,0.00,0.000,4,0.000,0.052,2805,235,3107,0,0,0,0,0,0
$GC,4540,-1.13,-116.8,379.9,-7.2,290,4547,0.00,1.90,0.00,0.000,6,0.000,0.024,2805,1450,3107,0,0,0,0,0,0
$GC,4882,-1.13,-116.8,404.8,-7.8,299,4883,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1450,3105,0,0,0,0,0,0
$GC,5206,-1.16,-116.8,429.6,-7.2,307,5210,0.00,2.28,0.00,0.000,4,0.000,0.028,2805,2831,3104,0,0,0,0,0,0
$GC,5257,-1.27,-116.8,433.2,-6.6,308,5262,0.15,2.38,0.00,0.000,6,0.057,0.039,2755,1453,3103,0,0,0,0,0,0
$STATE,5492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5493,begin apogee
$GC,5501,-0.31,0.0,453.2,8.8,314,5601,1.05,0.00,96.57,0.831,6,0.068,0.000,2980,1409,2629,0,0,0,0,0,0
$STATE,5602,end apogee,CONTROL_FINISHED_OK
$STATE,5602,begin climb
$GC,5605,1.18,116.8,456.5,0.0,316,5714,1.40,0.00,101.43,0.813,6,0.034,0.000,3310,1409,2153,0,0,0,0,0,0
$GC,6013,0.95,121.9,437.4,7.7,326,6023,0.25,2.35,4.12,0.501,4,0.094,0.027,3256,2794,2132,0,0,0,0,0,0
$GC,6191,0.96,181.8,426.3,5.2,329,6253,0.00,2.40,53.95,0.798,6,0.000,0.041,3256,1426,1889,0,0,0,0,0,0
$GC,6568,0.91,209.4,401.6,6.6,339,6600,0.00,2.38,24.73,0.772,4,0.000,0.027,3256,2800,1775,0,0,0,0,0,0
$GC,6638,0.93,228.4,396.6,7.0,340,6662,0.00,2.45,18.08,0.746,6,0.000,0.044,3256,1415,1698,0,0,0,0,0,0
$GC,6991,0.89,239.9,371.2,7.4,349,7007,0.00,2.17,10.52,0.696,4,0.000,0.058,3255,233,1652,0,0,0,0,0,0
$GC,7066,0.78,239.9,364.3,9.4,350,7070,0.17,1.92,0.00,0.000,6,0.097,0.028,3222,1404,1648,0,0,0,0,0,0
$GC,7408,0.82,240.1,338.4,7.9,359,7410,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1404,1646,0,0,0,0,0,0
$GC,7732,0.89,254.5,313.7,7.2,367,7753,0.10,2.17,13.40,0.698,4,0.079,0.058,3252,232,1591,0,0,0,0,0,0
$GC,7782,0.81,254.5,309.1,9.2,368,7786,0.12,1.95,0.00,0.000,6,0.105,0.028,3229,1421,1588,0,0,0,0,0,0
$GC,8113,0.92,300.3,286.5,5.8,381,8160,0.10,2.17,40.58,0.728,4,0.077,0.057,3259,240,1405,0,0,0,0,0,0
$GC,8212,0.87,300.3,278.5,9.5,385,8216,0.00,1.95,0.00,0.000,6,0.000,0.028,3259,1423,1400,0,0,0,0,0,0
$GC,8537,0.87,300.3,250.5,9.0,401,8541,0.00,2.10,0.00,0.000,4,0.000,0.056,3259,230,1398,0,0,0,0,0,0
$GC,8561,0.83,300.3,248.1,9.7,402,8565,0.15,1.95,0.00,0.000,6,0.095,0.027,3229,1422,1396,0,0,0,0,0,0
$GC,8891,0.95,321.5,224.5,6.9,418,8916,0.12,2.35,18.30,0.652,4,0.066,0.025,3267,2807,1318,0,0,0,0,0,0
$GC,8931,1.02,332.6,221.3,7.4,419,8947,0.00,2.45,11.35,0.613,6,0.000,0.041,3267,1417,1273,0,0,0,0,0,0
$GC,9268,1.06,332.6,192.9,8.6,438,9272,0.00,2.08,0.00,0.000,4,0.000,0.054,3267,233,1269,0,0,0,0,0,0
$GC,9339,1.02,332.6,186.1,10.2,443,9343,0.00,1.92,0.00,0.000,6,0.000,0.026,3266,1432,1267,0,0,0,0,0,0
$GC,9608,1.02,332.6,164.1,8.1,464,9612,0.00,2.28,0.00,0.000,4,0.000,0.025,3267,2804,1266,0,0,0,0,0,0
$GC,9636,1.12,338.5,161.7,7.6,466,9648,0.12,2.40,5.72,0.482,6,0.064,0.037,3307,1414,1248,0,0,0,0,0,0
$GC,9900,1.07,343.5,138.8,7.7,487,9915,0.12,2.38,5.82,0.470,4,0.095,0.025,3281,2808,1229,0,0,0,0,0,0
$GC,9933,1.15,356.2,136.3,7.3,489,9952,0.00,2.40,12.70,0.551,6,0.000,0.037,3281,1420,1176,0,0,0,0,0,0
$GC,10215,1.21,377.0,116.4,7.0,511,10243,0.15,2.12,18.55,0.555,4,0.058,0.051,3327,238,1092,0,0,0,0,0,0
$GC,10289,1.10,377.0,109.6,10.2,516,10294,0.17,1.90,0.00,0.000,6,0.086,0.023,3291,1438,1089,0,0,0,0,0,0
$GC,10557,1.18,394.8,89.4,7.1,537,10580,0.00,2.30,16.08,0.522,4,0.000,0.022,3291,2816,1019,0,0,0,0,0,0
$GC,10598,1.30,407.5,86.3,7.3,540,10616,0.20,2.42,12.43,0.502,6,0.046,0.036,3352,1419,967,0,0,0,0,0,0
$GC,10882,1.23,407.5,58.4,10.1,562,10886,0.17,2.08,0.00,0.000,4,0.083,0.050,3314,233,965,0,0,0,0,0,0
$GC,10940,1.23,407.5,53.3,8.6,566,10944,0.00,1.90,0.00,0.000,6,0.000,0.022,3315,1429,963,0,0,0,0,0,0
$GC,11212,1.29,410.3,33.7,7.8,587,11215,0.00,2.22,0.00,0.000,4,0.000,0.021,3315,2798,963,0,0,0,0,0,0
$GC,11235,1.43,455.7,32.1,5.8,588,11283,0.17,2.38,39.83,0.495,6,0.028,0.033,3376,1422,771,0,0,0,0,0,0
$GC,11481,1.31,455.7,5.3,14.5,638,11488,0.20,2.08,0.00,0.000,4,0.083,0.044,3335,237,768,0,0,0,0,0,0
$STATE,11498,end climb,SURFACE_DEPTH_REACHED
$STATE,11498,begin surface coast
$FINISH,0.9,1.023155
$STATE,11520,end surface coast,CONTROL_FINISHED_OK
$STATE,11520,begin surface
$SM_CCo,11607,0.00,0.000,0,0,765,457.48
$SM_GC,1.71,12.45,0.00,0.00,0.021,0.000,0.000,427,1460,765,-11.98,0.28,457.48
$IRIDIUM_FIX,2101.76,-15745.74,240100,070736
$TT8_MAMPS,0.028379
$HUMID,63.46
$INTERNAL_PRESSURE,9.23518
$TCM_TEMP,20.70
$XPDR_PINGS,0
$24V_AH,23.3,76.345
$10V_AH,9.9,61.257
$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,30.825,108.475,504.150,0.000,0.000,31.492,33.434,183.771,4.750,0.000,22.477,1250.680,7746.181,500.452,1911.359,585.685,0.000,1388.932,0.000,1883.202,0.000,32.079,0.000
$DEVICE_MAMPS,132.691,150.332,830.661,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,434.108,413.256,920.331,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355772
$DATA_FILE_SIZE,34817,646
$CAP_FILE_SIZE,125804,0
$CFSIZE,260165632,169357312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,301010,140107,2107.485,-15743.250,62,2.0,62,9.8