version: 66.06
glider: 139
mission: 8
dive: 795
start: 10 31 110 0 14 25
data:
$ID,139
$MISSION,8
$DIVE,795
$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,-2168189
$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
$GPS1,000737,2104.970,-15743.347,33,1.1,33,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-73.1
$GPS2,001407,2104.968,-15743.310,14,2.0,19,9.8
$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,211.1,17286,-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,13,begin dive
$GC,16,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.25,0.000,2,0.000,0.000,430,1426,2751,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.6,-3.7,12,111,12.62,2.15,-6.75,0.000,4,0.132,0.061,2785,228,3109,0,0,0,0,0,0
$GC,197,-0.94,-116.8,25.7,-14.8,35,204,0.25,2.05,0.00,0.000,6,0.080,0.019,2841,1514,3112,0,0,0,0,0,0
$GC,398,-0.84,-116.8,47.0,-10.0,55,403,0.12,2.22,0.00,0.000,4,0.103,0.045,2866,237,3112,0,0,0,0,0,0
$GC,426,-0.76,-116.8,49.7,-10.1,57,429,0.00,2.00,0.00,0.000,6,0.000,0.019,2866,1504,3113,0,0,0,0,0,0
$GC,695,-0.76,-116.8,71.8,-8.1,78,699,0.00,2.20,0.00,0.000,4,0.000,0.044,2866,230,3113,0,0,0,0,0,0
$GC,738,-0.79,-116.8,75.9,-10.3,81,742,0.00,2.00,0.00,0.000,6,0.000,0.018,2866,1505,3114,0,0,0,0,0,0
$GC,1002,-0.83,-116.8,96.5,-7.2,102,1006,0.00,2.20,0.00,0.000,4,0.000,0.020,2866,2878,3114,0,0,0,0,0,0
$GC,1027,-0.92,-116.8,98.4,-7.7,104,1031,0.00,2.40,0.00,0.000,6,0.000,0.029,2866,1441,3114,0,0,0,0,0,0
$GC,1295,-0.98,-116.8,119.6,-7.4,125,1301,0.12,2.05,0.00,0.000,4,0.061,0.044,2818,236,3115,0,0,0,0,0,0
$GC,1334,-0.92,-116.8,123.7,-9.7,127,1340,0.15,1.98,0.00,0.000,6,0.090,0.018,2849,1519,3115,0,0,0,0,0,0
$GC,1598,-0.96,-116.8,141.8,-6.5,148,1602,0.00,2.17,0.00,0.000,4,0.000,0.044,2849,238,3115,0,0,0,0,0,0
$GC,1640,-1.01,-116.8,145.4,-7.5,151,1644,0.00,1.98,0.00,0.000,6,0.000,0.018,2849,1510,3116,0,0,0,0,0,0
$GC,1907,-1.05,-116.8,163.7,-6.7,172,1911,0.12,2.22,0.00,0.000,4,0.061,0.044,2800,231,3116,0,0,0,0,0,0
$GC,1917,-1.05,-116.8,164.9,-7.1,172,1924,0.00,2.03,0.00,0.000,6,0.000,0.019,2800,1519,3116,0,0,0,0,0,0
$GC,2181,-1.00,-116.8,186.3,-7.6,193,2186,0.15,2.20,0.00,0.000,4,0.087,0.045,2833,236,3116,0,0,0,0,0,0
$GC,2210,-1.00,-116.8,188.9,-7.9,195,2213,0.00,1.98,0.00,0.000,6,0.000,0.019,2833,1509,3116,0,0,0,0,0,0
$GC,2483,-1.04,-116.8,205.7,-6.5,214,2487,0.00,2.20,0.00,0.000,4,0.000,0.045,2833,238,3116,0,0,0,0,0,0
$GC,2515,-1.08,-116.8,208.7,-8.3,215,2519,0.00,1.98,0.00,0.000,6,0.000,0.020,2833,1505,3115,0,0,0,0,0,0
$GC,2837,-1.12,-116.8,235.8,-8.1,231,2841,0.12,2.22,0.00,0.000,4,0.063,0.022,2787,2882,3116,0,0,0,0,0,0
$GC,2876,-1.12,-116.8,239.4,-9.2,232,2883,0.00,2.45,0.00,0.000,6,0.000,0.033,2786,1450,3115,0,0,0,0,0,0
$GC,3192,-1.09,-116.8,265.5,-8.3,248,3197,0.12,2.38,0.00,0.000,4,0.092,0.022,2815,2882,3115,0,0,0,0,0,0
$GC,3222,-1.19,-116.8,267.9,-7.3,249,3227,0.12,2.40,0.00,0.000,6,0.061,0.032,2768,1449,3115,0,0,0,0,0,0
$GC,3547,-1.13,-116.8,298.9,-10.3,265,3554,0.17,2.08,0.00,0.000,4,0.084,0.048,2806,236,3114,0,0,0,0,0,0
$GC,3599,-1.13,-116.8,304.4,-9.3,267,3603,0.00,2.00,0.00,0.000,6,0.000,0.021,2806,1503,3115,0,0,0,0,0,0
$GC,3931,-1.13,-116.8,330.5,-7.5,275,3935,0.00,2.25,0.00,0.000,4,0.000,0.025,2806,2881,3113,0,0,0,0,0,0
$GC,3964,-1.22,-116.8,332.8,-6.6,275,3969,0.00,2.42,0.00,0.000,6,0.000,0.035,2806,1444,3113,0,0,0,0,0,0
$GC,4297,-1.22,-116.8,355.4,-6.5,283,4298,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1443,3111,0,0,0,0,0,0
$GC,4621,-1.25,-116.8,375.8,-6.6,291,4623,0.12,0.00,0.00,0.000,6,0.064,0.000,2765,1443,3109,0,0,0,0,0,0
$GC,4946,-1.18,-116.8,404.1,-8.8,299,4951,0.12,2.40,0.00,0.000,4,0.094,0.027,2791,2870,3107,0,0,0,0,0,0
$GC,5000,-1.26,-116.8,408.3,-7.2,300,5004,0.00,2.42,0.00,0.000,6,0.000,0.038,2792,1449,3106,0,0,0,0,0,0
$GC,5320,-1.26,-116.8,434.0,-8.1,308,5321,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1449,3105,0,0,0,0,0,0
$STATE,5518,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5519,begin apogee
$GC,5526,-0.31,0.0,450.7,8.2,313,5627,0.88,0.00,96.90,0.828,6,0.065,0.000,2980,1448,2630,0,0,0,0,0,0
$STATE,5627,end apogee,CONTROL_FINISHED_OK
$STATE,5627,begin climb
$GC,5630,1.18,116.8,453.8,0.0,315,5742,1.42,2.17,100.80,0.813,4,0.034,0.054,3314,234,2151,0,0,0,0,0,0
$GC,5816,0.84,120.5,450.4,7.7,319,5821,0.40,2.00,0.00,0.000,6,0.092,0.025,3235,1459,2145,0,0,0,0,0,0
$GC,6136,0.87,201.1,435.6,4.3,327,6221,0.00,2.30,72.93,0.808,4,0.000,0.026,3235,2803,1809,0,0,0,0,0,0
$GC,6259,0.91,233.9,428.8,6.4,329,6296,0.00,2.42,29.77,0.777,6,0.000,0.042,3234,1423,1675,0,0,0,0,0,0
$GC,6641,0.91,233.9,399.4,8.0,339,6645,0.00,2.10,0.00,0.000,4,0.000,0.058,3234,231,1667,0,0,0,0,0,0
$GC,6685,0.83,233.9,394.9,10.4,340,6688,0.00,1.92,0.00,0.000,6,0.000,0.028,3234,1422,1664,0,0,0,0,0,0
$GC,7018,0.85,252.8,369.9,7.0,348,7038,0.00,2.17,15.88,0.739,4,0.000,0.058,3234,232,1599,0,0,0,0,0,0
$GC,7072,0.77,252.8,365.7,8.1,349,7076,0.00,1.98,0.00,0.000,6,0.000,0.028,3234,1426,1596,0,0,0,0,0,0
$GC,7390,0.78,261.9,342.2,7.5,357,7400,0.00,0.00,8.80,0.667,6,0.000,0.000,3235,1428,1562,0,0,0,0,0,0
$GC,7716,0.79,265.8,316.2,7.7,365,7727,0.00,2.15,4.90,0.541,4,0.000,0.056,3234,231,1544,0,0,0,0,0,0
$GC,7767,0.75,265.8,311.8,8.2,366,7770,0.00,1.95,0.00,0.000,6,0.000,0.028,3234,1420,1542,0,0,0,0,0,0
$GC,8099,0.82,315.4,291.0,5.7,377,8149,0.00,2.20,44.25,0.738,4,0.000,0.057,3235,231,1343,0,0,0,0,0,0
$GC,8214,0.83,326.4,283.8,7.4,382,8233,0.00,1.95,10.45,0.647,6,0.000,0.028,3234,1431,1298,0,0,0,0,0,0
$GC,8545,0.93,356.6,262.8,6.5,398,8579,0.00,2.40,27.02,0.696,4,0.000,0.028,3234,2807,1175,0,0,0,0,0,0
$GC,8594,1.12,402.7,259.2,5.8,400,8641,0.28,2.45,40.47,0.696,6,0.044,0.040,3308,1416,988,0,0,0,0,0,0
$GC,8966,1.06,402.7,217.2,11.1,418,8971,0.12,2.12,0.00,0.000,4,0.097,0.057,3282,229,982,0,0,0,0,0,0
$GC,9027,1.06,402.7,210.3,11.6,420,9030,0.00,1.95,0.00,0.000,6,0.000,0.026,3282,1432,980,0,0,0,0,0,0
$GC,9357,1.06,402.7,179.3,9.2,443,9358,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1434,980,0,0,0,0,0,0
$GC,9608,1.06,402.7,153.8,10.3,463,9612,0.00,2.10,0.00,0.000,4,0.000,0.053,3282,231,979,0,0,0,0,0,0
$GC,9683,1.06,402.7,144.7,12.4,468,9690,0.00,1.95,0.00,0.000,6,0.000,0.025,3282,1425,977,0,0,0,0,0,0
$GC,9943,1.11,402.7,118.2,9.4,489,9947,0.00,2.10,0.00,0.000,4,0.000,0.051,3282,229,977,0,0,0,0,0,0
$GC,9969,1.11,402.7,115.5,10.1,491,9973,0.00,1.90,0.00,0.000,6,0.000,0.025,3282,1423,977,0,0,0,0,0,0
$GC,10240,1.17,402.7,90.7,8.5,512,10244,0.10,2.28,0.00,0.000,4,0.074,0.023,3318,2800,977,0,0,0,0,0,0
$GC,10273,1.28,402.7,87.6,9.0,514,10278,0.00,2.40,0.00,0.000,6,0.000,0.036,3317,1414,977,0,0,0,0,0,0
$GC,10537,1.33,417.1,67.4,7.2,534,10555,0.10,2.35,11.95,0.493,4,0.072,0.022,3353,2803,928,0,0,0,0,0,0
$GC,10636,1.38,417.1,58.4,9.0,541,10640,0.00,2.38,0.00,0.000,6,0.000,0.035,3353,1419,928,0,0,0,0,0,0
$GC,10904,1.32,417.1,32.8,11.0,562,10908,0.00,2.03,0.00,0.000,4,0.000,0.049,3353,235,928,0,0,0,0,0,0
$GC,10959,1.24,417.1,26.5,10.4,570,10967,0.12,1.90,0.00,0.000,6,0.068,0.020,3322,1438,925,0,0,0,0,0,0
$GC,11164,1.24,417.1,9.7,8.7,616,11170,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,1438,925,0,0,0,0,0,0
$STATE,11229,end climb,SURFACE_DEPTH_REACHED
$STATE,11230,begin surface coast
$FINISH,0.9,0.998314
$STATE,11261,end surface coast,CONTROL_FINISHED_OK
$STATE,11264,begin surface
$SM_CCo,11347,0.00,0.000,0,0,924,418.48
$SM_GC,1.75,12.43,0.00,0.00,0.025,0.000,0.000,428,1439,924,-11.98,-0.31,418.48
$IRIDIUM_FIX,2059.45,-15741.46,240100,212104
$TT8_MAMPS,0.029146
$HUMID,63.42
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,20.80
$XPDR_PINGS,1
$24V_AH,23.3,76.805
$10V_AH,9.9,61.600
$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,30.200,116.650,464.125,0.000,0.000,29.103,30.388,188.031,5.000,0.000,19.777,1240.109,7554.557,470.346,1885.576,576.290,0.000,1342.702,0.000,1855.016,0.000,32.091,0.000
$DEVICE_MAMPS,131.924,61.360,828.360,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,429.711,407.188,917.831,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,34879,638
$CAP_FILE_SIZE,124882,0
$CFSIZE,260165632,169115648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,311010,032507,2104.172,-15743.686,59,1.0,59,9.8