version: 66.06
glider: 139
mission: 8
dive: 794
start: 10 30 110 20 57 28
data:
$ID,139
$MISSION,8
$DIVE,794
$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,-2168168.5
$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
$GPS1,205102,2105.557,-15743.106,41,1.5,41,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-71.2
$GPS2,205708,2105.566,-15743.077,12,1.6,12,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$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,209.8,18391,-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,-64.18,0.000,2,0.000,0.000,428,1425,2739,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.3,-3.2,12,110,12.62,2.12,-7.22,0.000,4,0.132,0.059,2785,228,3108,0,0,0,0,0,0
$GC,218,-0.95,-116.8,27.5,-15.3,40,225,0.20,2.03,0.00,0.000,6,0.074,0.019,2840,1508,3110,0,0,0,0,0,0
$GC,418,-0.85,-116.8,49.6,-10.8,58,420,0.12,0.00,0.00,0.000,6,0.098,0.000,2866,1509,3111,0,0,0,0,0,0
$GC,671,-0.85,-116.8,72.2,-9.0,78,672,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1509,3111,0,0,0,0,0,0
$GC,921,-0.85,-116.8,96.2,-8.6,98,925,0.00,2.17,0.00,0.000,4,0.000,0.044,2866,231,3112,0,0,0,0,0,0
$GC,955,-0.89,-116.8,99.1,-9.1,100,961,0.00,2.00,0.00,0.000,6,0.000,0.019,2866,1514,3112,0,0,0,0,0,0
$GC,1218,-0.95,-116.8,120.1,-8.0,121,1222,0.10,2.22,0.00,0.000,4,0.072,0.044,2826,227,3113,0,0,0,0,0,0
$GC,1251,-0.91,-116.8,123.6,-9.9,123,1256,0.12,2.00,0.00,0.000,6,0.087,0.018,2853,1518,3113,0,0,0,0,0,0
$GC,1516,-0.97,-116.8,144.5,-8.6,143,1520,0.00,2.17,0.00,0.000,4,0.000,0.044,2853,237,3114,0,0,0,0,0,0
$GC,1572,-1.02,-116.8,150.8,-10.1,147,1576,0.12,1.95,0.00,0.000,6,0.061,0.019,2807,1517,3114,0,0,0,0,0,0
$GC,1836,-0.97,-116.8,174.9,-8.3,167,1841,0.15,2.22,0.00,0.000,4,0.084,0.021,2840,2877,3114,0,0,0,0,0,0
$GC,1851,-0.97,-116.8,176.5,-7.5,168,1856,0.00,2.42,0.00,0.000,6,0.000,0.031,2840,1442,3114,0,0,0,0,0,0
$GC,2114,-1.02,-116.8,194.4,-6.8,188,2117,0.00,2.03,0.00,0.000,4,0.000,0.044,2840,238,3114,0,0,0,0,0,0
$GC,2138,-1.07,-116.8,196.1,-6.3,189,2144,0.10,1.98,0.00,0.000,6,0.072,0.020,2800,1514,3114,0,0,0,0,0,0
$GC,2397,-1.04,-116.8,213.1,-6.6,204,2401,0.10,2.25,0.00,0.000,4,0.102,0.022,2823,2885,3114,0,0,0,0,0,0
$GC,2445,-1.12,-116.8,216.3,-6.0,206,2449,0.00,2.40,0.00,0.000,6,0.000,0.030,2823,1447,3114,0,0,0,0,0,0
$GC,2776,-1.12,-116.8,239.2,-6.7,222,2780,0.00,2.33,0.00,0.000,4,0.000,0.021,2823,2876,3114,0,0,0,0,0,0
$GC,2823,-1.22,-116.8,242.6,-6.9,224,2828,0.17,2.40,0.00,0.000,6,0.048,0.031,2765,1442,3114,0,0,0,0,0,0
$GC,3152,-1.14,-116.8,271.6,-8.6,240,3157,0.17,2.08,0.00,0.000,4,0.084,0.048,2803,238,3114,0,0,0,0,0,0
$GC,3208,-1.14,-116.8,276.1,-6.8,242,3212,0.00,2.00,0.00,0.000,6,0.000,0.021,2803,1505,3114,0,0,0,0,0,0
$GC,3528,-1.14,-116.8,297.7,-7.2,258,3532,0.00,2.20,0.00,0.000,4,0.000,0.048,2802,231,3112,0,0,0,0,0,0
$GC,3566,-1.14,-116.8,300.6,-8.1,259,3570,0.00,2.00,0.00,0.000,6,0.000,0.021,2802,1496,3113,0,0,0,0,0,0
$GC,3901,-1.14,-116.8,325.8,-7.9,268,3902,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1508,3111,0,0,0,0,0,0
$GC,4226,-1.14,-116.8,351.6,-7.3,276,4230,0.00,2.17,0.00,0.000,4,0.000,0.025,2803,2829,3109,0,0,0,0,0,0
$GC,4247,-1.20,-116.8,352.8,-6.2,276,4252,0.00,2.35,0.00,0.000,6,0.000,0.038,2802,1453,3109,0,0,0,0,0,0
$GC,4597,-1.20,-116.8,373.6,-6.3,285,4601,0.00,2.10,0.00,0.000,4,0.000,0.053,2802,231,3107,0,0,0,0,0,0
$GC,4650,-1.24,-116.8,377.6,-7.4,286,4654,0.00,1.95,0.00,0.000,6,0.000,0.024,2802,1455,3106,0,0,0,0,0,0
$GC,4975,-1.24,-116.8,400.1,-6.9,294,4979,0.00,2.25,0.00,0.000,4,0.000,0.028,2803,2829,3104,0,0,0,0,0,0
$GC,5046,-1.32,-116.8,405.1,-6.4,295,5050,0.17,2.33,0.00,0.000,6,0.052,0.038,2750,1451,3104,0,0,0,0,0,0
$GC,5389,-1.23,-116.8,435.3,-9.1,304,5393,0.15,2.33,0.00,0.000,4,0.091,0.028,2781,2835,3101,0,0,0,0,0,0
$GC,5459,-1.28,-116.8,441.1,-8.0,305,5463,0.00,2.38,0.00,0.000,6,0.000,0.039,2781,1443,3101,0,0,0,0,0,0
$STATE,5598,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5598,begin apogee
$GC,5606,-0.31,0.0,451.3,7.3,309,5705,0.93,0.00,96.07,0.836,6,0.066,0.000,2981,1443,2630,0,0,0,0,0,0
$STATE,5706,end apogee,CONTROL_FINISHED_OK
$STATE,5706,begin climb
$GC,5709,1.18,116.8,454.0,0.0,311,5822,1.42,2.38,100.95,0.820,4,0.035,0.028,3314,2797,2153,0,0,0,0,0,0
$GC,5833,1.08,203.5,455.5,4.0,313,5917,0.15,2.42,75.45,0.808,6,0.104,0.041,3285,1420,1800,0,0,0,0,0,0
$GC,6251,0.92,203.5,416.9,10.1,324,6256,0.17,2.33,0.00,0.000,4,0.098,0.028,3251,2797,1791,0,0,0,0,0,0
$GC,6303,0.92,203.5,411.7,9.3,325,6307,0.00,2.42,0.00,0.000,6,0.000,0.044,3251,1422,1790,0,0,0,0,0,0
$GC,6621,0.86,203.5,382.1,9.2,333,6623,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1422,1787,0,0,0,0,0,0
$GC,6947,0.81,215.2,355.1,7.4,341,6958,0.12,0.00,9.30,0.685,6,0.103,0.000,3226,1422,1752,0,0,0,0,0,0
$GC,7271,0.90,291.3,339.7,4.5,349,7344,0.00,2.20,67.00,0.779,4,0.000,0.060,3226,236,1441,0,0,0,0,0,0
$GC,7408,0.90,291.3,329.0,8.9,352,7412,0.00,1.90,0.00,0.000,6,0.000,0.028,3226,1407,1436,0,0,0,0,0,0
$GC,7735,0.95,291.3,300.9,8.6,360,7737,0.15,0.00,0.00,0.000,6,0.061,0.000,3267,1408,1434,0,0,0,0,0,0
$GC,8045,0.91,291.3,271.6,9.1,374,8049,0.00,2.10,0.00,0.000,4,0.000,0.058,3267,231,1432,0,0,0,0,0,0
$GC,8114,0.81,291.3,264.8,10.9,377,8119,0.20,1.95,0.00,0.000,6,0.092,0.028,3228,1422,1430,0,0,0,0,0,0
$GC,8449,0.99,358.5,245.6,4.9,393,8514,0.17,2.17,57.08,0.711,4,0.055,0.058,3276,233,1167,0,0,0,0,0,0
$GC,8589,0.93,358.5,233.1,10.8,399,8594,0.08,1.98,0.00,0.000,6,0.078,0.027,3250,1419,1162,0,0,0,0,0,0
$GC,8928,1.01,377.7,208.0,7.0,415,8946,0.00,0.00,16.62,0.638,6,0.000,0.000,3250,1420,1090,0,0,0,0,0,0
$GC,9272,1.10,377.7,179.7,8.4,439,9276,0.17,2.12,0.00,0.000,4,0.054,0.054,3301,228,1087,0,0,0,0,0,0
$GC,9326,1.03,377.7,173.4,11.5,443,9330,0.12,1.92,0.00,0.000,6,0.100,0.026,3274,1427,1084,0,0,0,0,0,0
$GC,9595,1.07,377.7,150.0,8.2,464,9601,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1428,1084,0,0,0,0,0,0
$GC,9855,1.12,377.7,129.5,8.2,485,9859,0.00,2.10,0.00,0.000,4,0.000,0.051,3274,232,1084,0,0,0,0,0,0
$GC,9920,1.12,377.7,122.8,10.8,490,9924,0.00,1.95,0.00,0.000,6,0.000,0.025,3274,1428,1083,0,0,0,0,0,0
$GC,10193,1.20,377.7,100.6,8.2,511,10197,0.17,2.28,0.00,0.000,4,0.051,0.024,3328,2808,1083,0,0,0,0,0,0
$GC,10240,1.26,377.7,95.4,10.2,514,10244,0.00,2.40,0.00,0.000,6,0.000,0.038,3327,1417,1083,0,0,0,0,0,0
$GC,10501,1.26,377.7,69.0,9.8,534,10505,0.00,2.08,0.00,0.000,4,0.000,0.050,3328,220,1083,0,0,0,0,0,0
$GC,10546,1.19,377.7,63.8,11.1,537,10550,0.00,1.90,0.00,0.000,6,0.000,0.022,3328,1431,1082,0,0,0,0,0,0
$GC,10812,1.19,377.7,39.8,8.7,558,10816,0.00,2.20,0.00,0.000,4,0.000,0.021,3328,2800,1083,0,0,0,0,0,0
$GC,10831,1.24,377.7,37.9,8.8,559,10837,0.00,2.40,0.00,0.000,6,0.000,0.036,3328,1416,1083,0,0,0,0,0,0
$GC,11097,1.25,381.7,15.9,7.7,606,11109,0.00,2.08,4.22,0.337,4,0.000,0.048,3328,235,1072,0,0,0,0,0,0
$GC,11143,1.17,381.7,11.2,10.3,615,11150,0.08,1.90,0.00,0.000,6,0.076,0.021,3308,1425,1072,0,0,0,0,0,0
$STATE,11255,end climb,SURFACE_DEPTH_REACHED
$STATE,11255,begin surface coast
$FINISH,0.8,1.023327
$STATE,11290,end surface coast,CONTROL_FINISHED_OK
$STATE,11290,begin surface
$SM_CCo,11313,24.23,0.468,0,0,958,410.14
$SM_GC,1.57,0.00,0.00,24.23,0.000,0.000,0.468,431,1425,958,-12.05,-0.71,410.14
$IRIDIUM_FIX,2059.45,-15741.46,240100,171711
$TT8_MAMPS,0.029146
$HUMID,64.21
$INTERNAL_PRESSURE,9.23518
$TCM_TEMP,20.50
$XPDR_PINGS,0
$24V_AH,23.3,76.690
$10V_AH,10.0,61.515
$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,30.675,108.000,426.700,24.225,0.000,27.629,35.053,165.054,4.750,0.000,12.425,1244.968,7559.061,465.173,1863.951,565.337,0.000,1308.973,0.000,1851.363,0.000,32.068,0.000
$DEVICE_MAMPS,131.924,59.826,836.030,467.870,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,436.910,421.182,939.681,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355740
$DATA_FILE_SIZE,34883,648
$CAP_FILE_SIZE,122197,0
$CFSIZE,260165632,169177088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,311010,000737,2104.970,-15743.347,33,1.1,33,9.8