version: 66.06
glider: 139
mission: 8
dive: 792
start: 10 30 110 14 7 49
data:
$ID,139
$MISSION,8
$DIVE,792
$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,-2168138.2
$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
$GPS1,140107,2107.485,-15743.250,62,2.0,62,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-69.4
$GPS2,140731,2107.501,-15743.174,17,1.9,34,9.8
$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,162.2,3156,-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,-116.8,0.0,0.0,0,88,0.00,0.00,-69.47,0.000,2,0.000,0.000,427,1459,2714,0,0,0,0,0,0
$GC,91,-1.18,-116.8,3.4,-3.3,13,121,12.65,2.17,-7.53,0.000,4,0.133,0.063,2783,241,3110,0,0,0,0,0,0
$GC,208,-0.97,-116.8,26.1,-14.7,37,214,0.20,2.00,0.00,0.000,6,0.078,0.019,2837,1501,3111,0,0,0,0,0,0
$GC,417,-0.87,-116.8,49.2,-10.9,57,422,0.12,2.25,0.00,0.000,4,0.101,0.021,2862,2882,3111,0,0,0,0,0,0
$GC,445,-0.87,-116.8,52.2,-10.0,59,449,0.00,2.42,0.00,0.000,6,0.000,0.032,2862,1444,3111,0,0,0,0,0,0
$GC,711,-0.87,-116.8,77.1,-8.6,80,715,0.00,2.05,0.00,0.000,4,0.000,0.044,2862,234,3112,0,0,0,0,0,0
$GC,778,-0.87,-116.8,82.8,-8.5,85,781,0.00,2.00,0.00,0.000,6,0.000,0.018,2862,1510,3112,0,0,0,0,0,0
$GC,1047,-0.87,-116.8,102.1,-7.0,106,1051,0.00,2.22,0.00,0.000,4,0.000,0.020,2862,2883,3113,0,0,0,0,0,0
$GC,1066,-0.92,-116.8,103.6,-7.0,107,1071,0.00,2.42,0.00,0.000,6,0.000,0.030,2861,1446,3113,0,0,0,0,0,0
$GC,1328,-0.98,-116.8,123.6,-6.6,128,1333,0.12,2.08,0.00,0.000,4,0.062,0.044,2813,238,3113,0,0,0,0,0,0
$GC,1369,-0.92,-116.8,127.1,-8.6,131,1373,0.17,1.95,0.00,0.000,6,0.086,0.018,2849,1518,3113,0,0,0,0,0,0
$GC,1636,-0.96,-116.8,147.9,-9.5,152,1640,0.00,2.17,0.00,0.000,4,0.000,0.044,2849,238,3113,0,0,0,0,0,0
$GC,1677,-1.03,-116.8,152.1,-9.7,155,1682,0.08,2.00,0.00,0.000,6,0.035,0.019,2801,1516,3114,0,0,0,0,0,0
$GC,1946,-0.98,-116.8,179.8,-10.3,176,1951,0.15,2.22,0.00,0.000,4,0.086,0.021,2834,2877,3114,0,0,0,0,0,0
$GC,1994,-1.10,-116.8,184.9,-8.9,179,1999,0.12,2.40,0.00,0.000,6,0.061,0.030,2789,1450,3114,0,0,0,0,0,0
$GC,2272,-1.04,-116.8,211.5,-10.3,197,2274,0.15,0.00,0.00,0.000,6,0.087,0.000,2822,1449,3114,0,0,0,0,0,0
$GC,2577,-1.04,-116.8,237.9,-7.8,212,2581,0.00,2.35,0.00,0.000,4,0.000,0.022,2822,2878,3114,0,0,0,0,0,0
$GC,2622,-1.13,-116.8,241.0,-7.6,214,2626,0.00,2.42,0.00,0.000,6,0.000,0.031,2822,1442,3114,0,0,0,0,0,0
$GC,2955,-1.13,-116.8,264.2,-7.5,230,2956,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1441,3113,0,0,0,0,0,0
$GC,3264,-1.17,-116.8,288.4,-6.8,245,3269,0.12,2.08,0.00,0.000,4,0.064,0.048,2778,228,3113,0,0,0,0,0,0
$GC,3298,-1.08,-116.8,291.4,-8.5,246,3303,0.17,1.98,0.00,0.000,6,0.081,0.021,2816,1503,3113,0,0,0,0,0,0
$GC,3632,-1.08,-116.8,314.3,-7.0,257,3636,0.00,2.17,0.00,0.000,4,0.000,0.048,2817,238,3112,0,0,0,0,0,0
$GC,3690,-1.11,-116.8,318.2,-6.4,258,3693,0.00,1.98,0.00,0.000,6,0.000,0.022,2817,1499,3112,0,0,0,0,0,0
$GC,4008,-1.16,-116.8,335.2,-5.6,266,4012,0.00,2.17,0.00,0.000,4,0.000,0.025,2817,2827,3110,0,0,0,0,0,0
$GC,4075,-1.26,-116.8,339.5,-6.3,267,4080,0.17,2.35,0.00,0.000,6,0.050,0.035,2759,1447,3110,0,0,0,0,0,0
$GC,4422,-1.17,-116.8,369.7,-8.8,276,4424,0.17,0.00,0.00,0.000,6,0.084,0.000,2796,1446,3108,0,0,0,0,0,0
$GC,4748,-1.17,-116.8,391.2,-6.9,284,4752,0.00,2.30,0.00,0.000,4,0.000,0.026,2796,2833,3106,0,0,0,0,0,0
$GC,4801,-1.26,-116.8,395.4,-7.8,285,4805,0.00,2.38,0.00,0.000,6,0.000,0.038,2795,1450,3105,0,0,0,0,0,0
$GC,5125,-1.26,-116.8,420.4,-7.7,293,5126,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1449,3104,0,0,0,0,0,0
$GC,5451,-1.26,-116.8,441.4,-6.2,301,5455,0.00,2.28,0.00,0.000,4,0.000,0.027,2796,2825,3101,0,0,0,0,0,0
$GC,5499,-1.35,-116.8,444.4,-6.2,302,5503,0.17,2.35,0.00,0.000,6,0.053,0.040,2742,1449,3101,0,0,0,0,0,0
$STATE,5576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5576,begin apogee
$GC,5583,-0.31,0.0,450.7,8.4,304,5683,1.10,0.00,96.10,0.827,6,0.071,0.000,2978,1449,2629,0,0,0,0,0,0
$STATE,5684,end apogee,CONTROL_FINISHED_OK
$STATE,5684,begin climb
$GC,5687,1.18,116.8,452.9,0.0,306,5792,1.42,0.00,101.55,0.809,6,0.034,0.000,3312,1449,2153,0,0,0,0,0,0
$GC,6097,1.01,164.7,435.6,5.7,316,6146,0.22,2.35,41.60,0.791,4,0.096,0.028,3268,2794,1957,0,0,0,0,0,0
$GC,6171,1.01,222.5,431.3,5.3,317,6228,0.00,2.40,51.22,0.788,6,0.000,0.041,3268,1422,1722,0,0,0,0,0,0
$GC,6557,0.91,222.5,398.0,9.4,327,6561,0.00,2.08,0.00,0.000,4,0.000,0.057,3267,233,1714,0,0,0,0,0,0
$GC,6589,0.74,222.5,394.5,11.0,327,6594,0.28,1.90,0.00,0.000,6,0.091,0.027,3213,1406,1711,0,0,0,0,0,0
$GC,6923,0.81,248.0,371.8,6.7,335,6946,0.00,0.00,21.95,0.752,6,0.000,0.000,3213,1407,1618,0,0,0,0,0,0
$GC,7246,0.90,274.8,350.3,6.7,343,7276,0.15,2.12,23.92,0.746,4,0.064,0.056,3254,227,1508,0,0,0,0,0,0
$GC,7311,0.81,274.8,344.3,11.1,344,7316,0.15,1.98,0.00,0.000,6,0.101,0.028,3226,1428,1504,0,0,0,0,0,0
$GC,7659,0.89,293.8,319.6,7.0,353,7678,0.00,0.00,17.12,0.711,6,0.000,0.000,3226,1429,1432,0,0,0,0,0,0
$GC,7982,1.02,344.1,300.4,5.6,361,8034,0.20,2.15,44.50,0.732,4,0.053,0.055,3280,235,1226,0,0,0,0,0,0
$GC,8084,0.90,344.1,290.7,10.7,364,8089,0.17,1.98,0.00,0.000,6,0.093,0.027,3246,1431,1222,0,0,0,0,0,0
$GC,8405,0.96,346.0,264.2,7.8,379,8409,0.00,2.12,0.00,0.000,4,0.000,0.055,3245,232,1220,0,0,0,0,0,0
$GC,8461,0.97,352.8,259.3,7.6,381,8475,0.00,1.92,7.93,0.596,6,0.000,0.027,3245,1426,1190,0,0,0,0,0,0
$GC,8789,1.04,354.6,235.4,7.8,397,8790,0.12,0.00,0.00,0.000,6,0.067,0.000,3283,1427,1188,0,0,0,0,0,0
$GC,9095,1.04,354.6,205.2,10.1,412,9099,0.00,2.10,0.00,0.000,4,0.000,0.054,3283,233,1188,0,0,0,0,0,0
$GC,9142,0.98,354.6,199.9,11.6,414,9145,0.00,1.92,0.00,0.000,6,0.000,0.026,3283,1427,1187,0,0,0,0,0,0
$GC,9469,0.98,354.6,172.2,9.1,439,9473,0.00,2.12,0.00,0.000,4,0.000,0.053,3283,213,1186,0,0,0,0,0,0
$GC,9502,0.91,354.6,168.3,11.4,441,9507,0.17,1.92,0.00,0.000,6,0.087,0.025,3247,1425,1186,0,0,0,0,0,0
$GC,9766,1.05,397.0,150.2,6.0,461,9809,0.12,0.00,38.35,0.605,6,0.066,0.000,3287,1425,1009,0,0,0,0,0,0
$GC,10062,1.05,397.0,123.2,8.6,485,10066,0.00,2.08,0.00,0.000,4,0.000,0.051,3287,232,1007,0,0,0,0,0,0
$GC,10109,1.05,397.0,118.6,9.4,488,10115,0.00,1.92,0.00,0.000,6,0.000,0.024,3287,1417,1005,0,0,0,0,0,0
$GC,10371,1.10,397.0,94.0,10.0,509,10374,0.00,2.08,0.00,0.000,4,0.000,0.051,3286,229,1005,0,0,0,0,0,0
$GC,10398,1.10,397.0,90.5,11.3,511,10402,0.00,1.92,0.00,0.000,6,0.000,0.023,3287,1431,1005,0,0,0,0,0,0
$GC,10666,1.19,397.0,69.4,8.8,532,10670,0.10,2.12,0.00,0.000,4,0.072,0.050,3323,226,1005,0,0,0,0,0,0
$GC,10694,1.15,397.0,66.4,11.4,534,10698,0.10,1.88,0.00,0.000,6,0.104,0.023,3303,1424,1004,0,0,0,0,0,0
$GC,10968,1.23,397.0,43.6,8.0,555,10972,0.00,2.25,0.00,0.000,4,0.000,0.021,3303,2801,1004,0,0,0,0,0,0
$GC,11000,1.41,414.4,40.6,7.1,557,11022,0.20,2.40,15.07,0.478,6,0.027,0.035,3371,1418,939,0,0,0,0,0,0
$GC,11280,1.33,414.4,11.5,8.7,605,11288,0.15,2.10,0.00,0.000,4,0.090,0.051,3339,235,938,0,0,0,0,0,0
$GC,11334,1.23,414.4,5.9,12.2,616,11340,0.08,1.90,0.00,0.000,6,0.077,0.022,3320,1420,937,0,0,0,0,0,0
$STATE,11358,end climb,SURFACE_DEPTH_REACHED
$STATE,11358,begin surface coast
$FINISH,0.9,1.005210
$STATE,11385,end surface coast,CONTROL_FINISHED_OK
$STATE,11385,begin surface
$SM_CCo,11469,0.00,0.000,0,0,933,416.27
$SM_GC,1.74,12.48,0.00,0.00,0.027,0.000,0.000,428,1419,933,-11.99,-0.88,416.27
$IRIDIUM_FIX,2059.45,-15743.60,240100,101008
$TT8_MAMPS,0.029146
$HUMID,63.74
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,20.50
$XPDR_PINGS,0
$24V_AH,23.3,76.457
$10V_AH,9.9,61.339
$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,31.825,106.900,459.325,0.000,0.000,30.398,32.093,161.564,4.500,0.000,34.615,1219.188,7792.388,504.477,1766.695,559.430,0.000,1296.772,0.000,1739.944,0.000,29.251,0.000
$DEVICE_MAMPS,132.691,62.894,826.826,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,422.067,400.671,878.966,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,34982,627
$CAP_FILE_SIZE,121689,0
$CFSIZE,260165632,169299968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,301010,172007,2106.387,-15742.517,33,1.2,33,9.8