version: 66.06
glider: 139
mission: 8
dive: 796
start: 10 31 110 3 39 51
data:
$ID,139
$MISSION,8
$DIVE,796
$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,-2168221.2
$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
$GPS1,032507,2104.172,-15743.686,59,1.0,59,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-70.6
$GPS2,033931,2104.208,-15743.597,20,1.1,31,9.8
$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,213.1,15908,-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,16,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.15,0.000,2,0.000,0.000,428,1439,2714,0,0,0,0,0,0
$GC,87,-1.18,-116.8,3.1,-3.2,12,117,12.65,2.15,-7.70,0.000,4,0.132,0.059,2784,231,3110,0,0,0,0,0,0
$GC,220,-0.97,-116.8,26.7,-14.2,40,227,0.22,2.03,0.00,0.000,6,0.072,0.018,2837,1515,3111,0,0,0,0,0,0
$GC,426,-0.87,-116.8,51.1,-12.2,59,431,0.12,2.22,0.00,0.000,4,0.097,0.044,2863,236,3112,0,0,0,0,0,0
$GC,472,-0.83,-116.8,57.2,-12.0,62,476,0.00,1.95,0.00,0.000,6,0.000,0.018,2863,1502,3112,0,0,0,0,0,0
$GC,739,-0.83,-116.8,82.9,-8.0,83,743,0.00,2.20,0.00,0.000,4,0.000,0.044,2863,228,3112,0,0,0,0,0,0
$GC,777,-0.83,-116.8,85.9,-7.4,86,781,0.00,2.00,0.00,0.000,6,0.000,0.018,2863,1502,3112,0,0,0,0,0,0
$GC,1049,-1.01,-116.8,102.2,-6.1,107,1053,0.15,2.22,0.00,0.000,4,0.053,0.021,2808,2885,3113,0,0,0,0,0,0
$GC,1124,-1.01,-116.8,108.1,-7.9,112,1131,0.00,2.45,0.00,0.000,6,0.000,0.029,2808,1445,3113,0,0,0,0,0,0
$GC,1387,-0.96,-116.8,132.4,-9.6,133,1391,0.15,2.05,0.00,0.000,4,0.086,0.044,2841,235,3113,0,0,0,0,0,0
$GC,1414,-0.96,-116.8,135.1,-9.2,135,1418,0.00,1.98,0.00,0.000,6,0.000,0.018,2842,1506,3114,0,0,0,0,0,0
$GC,1684,-0.99,-116.8,156.4,-7.5,156,1688,0.00,2.20,0.00,0.000,4,0.000,0.044,2841,231,3113,0,0,0,0,0,0
$GC,1746,-1.03,-116.8,161.9,-8.8,160,1750,0.00,2.00,0.00,0.000,6,0.000,0.018,2841,1513,3114,0,0,0,0,0,0
$GC,2012,-1.07,-116.8,183.2,-8.0,181,2017,0.10,2.20,0.00,0.000,4,0.073,0.023,2802,2875,3114,0,0,0,0,0,0
$GC,2056,-1.07,-116.8,186.4,-6.9,184,2060,0.00,2.40,0.00,0.000,6,0.000,0.031,2802,1441,3114,0,0,0,0,0,0
$GC,2317,-1.03,-116.8,203.7,-6.1,202,2322,0.10,2.08,0.00,0.000,4,0.103,0.045,2824,235,3113,0,0,0,0,0,0
$GC,2339,-1.03,-116.8,205.3,-6.3,203,2343,0.00,2.00,0.00,0.000,6,0.000,0.019,2824,1510,3113,0,0,0,0,0,0
$GC,2676,-1.03,-116.8,232.2,-9.0,219,2680,0.00,2.20,0.00,0.000,4,0.000,0.045,2825,240,3113,0,0,0,0,0,0
$GC,2754,-1.03,-116.8,239.7,-9.4,222,2758,0.00,1.98,0.00,0.000,6,0.000,0.021,2824,1508,3112,0,0,0,0,0,0
$GC,3080,-1.06,-116.8,264.8,-7.3,238,3084,0.00,2.22,0.00,0.000,4,0.000,0.023,2825,2878,3112,0,0,0,0,0,0
$GC,3163,-1.15,-116.8,271.2,-7.3,241,3169,0.12,2.40,0.00,0.000,6,0.061,0.031,2777,1446,3112,0,0,0,0,0,0
$GC,3485,-1.10,-116.8,300.5,-9.4,257,3489,0.15,2.08,0.00,0.000,4,0.088,0.048,2810,238,3111,0,0,0,0,0,0
$GC,3513,-1.10,-116.8,303.6,-8.7,257,3517,0.00,2.00,0.00,0.000,6,0.000,0.021,2810,1506,3111,0,0,0,0,0,0
$GC,3855,-1.10,-116.8,326.4,-6.6,266,3859,0.00,2.20,0.00,0.000,4,0.000,0.049,2810,231,3109,0,0,0,0,0,0
$GC,3874,-1.10,-116.8,327.9,-7.0,266,3878,0.00,1.98,0.00,0.000,6,0.000,0.022,2810,1495,3109,0,0,0,0,0,0
$GC,4224,-1.14,-116.8,351.3,-6.7,275,4228,0.00,2.17,0.00,0.000,4,0.000,0.051,2810,238,3107,0,0,0,0,0,0
$GC,4282,-1.17,-116.8,355.4,-7.0,276,4286,0.00,1.92,0.00,0.000,6,0.000,0.024,2810,1453,3107,0,0,0,0,0,0
$GC,4602,-1.22,-116.8,374.8,-5.9,284,4607,0.12,2.30,0.00,0.000,4,0.064,0.027,2769,2833,3105,0,0,0,0,0,0
$GC,4637,-1.22,-116.8,377.0,-6.2,284,4641,0.00,2.38,0.00,0.000,6,0.000,0.038,2769,1445,3105,0,0,0,0,0,0
$GC,4971,-1.16,-116.8,402.0,-7.9,292,4975,0.12,2.33,0.00,0.000,4,0.095,0.027,2795,2829,3103,0,0,0,0,0,0
$GC,4990,-1.16,-116.8,403.9,-7.9,292,4995,0.00,2.38,0.00,0.000,6,0.000,0.039,2795,1450,3102,0,0,0,0,0,0
$GC,5337,-1.16,-116.8,427.6,-6.9,301,5341,0.00,2.12,0.00,0.000,4,0.000,0.056,2795,234,3100,0,0,0,0,0,0
$GC,5379,-1.16,-116.8,431.1,-8.6,301,5384,0.00,1.92,0.00,0.000,6,0.000,0.025,2795,1449,3100,0,0,0,0,0,0
$STATE,5667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5667,begin apogee
$GC,5673,-0.31,0.0,452.1,7.3,309,5771,0.85,0.00,95.28,0.829,6,0.064,0.000,2980,1450,2630,0,0,0,0,0,0
$STATE,5772,end apogee,CONTROL_FINISHED_OK
$STATE,5772,begin climb
$GC,5776,1.18,116.8,455.0,0.0,311,5888,1.42,2.17,100.68,0.815,4,0.035,0.054,3312,236,2151,0,0,0,0,0,0
$GC,5900,0.98,189.8,456.6,4.6,313,5972,0.22,1.90,63.55,0.797,6,0.100,0.025,3268,1416,1855,0,0,0,0,0,0
$GC,6318,0.87,189.8,422.5,8.8,324,6323,0.15,2.35,0.00,0.000,4,0.102,0.028,3239,2812,1846,0,0,0,0,0,0
$GC,6358,0.87,190.1,419.4,7.9,324,6363,0.00,2.42,0.00,0.000,6,0.000,0.042,3239,1415,1845,0,0,0,0,0,0
$GC,6689,0.86,216.5,395.5,6.7,333,6714,0.00,0.00,22.73,0.762,6,0.000,0.000,3239,1415,1747,0,0,0,0,0,0
$GC,7016,0.83,220.2,371.2,7.7,341,7022,0.00,0.00,3.95,0.485,6,0.000,0.000,3239,1415,1732,0,0,0,0,0,0
$GC,7339,0.84,226.8,346.5,7.6,349,7348,0.00,0.00,7.30,0.637,6,0.000,0.000,3239,1415,1705,0,0,0,0,0,0
$GC,7664,0.84,227.1,321.9,7.9,357,7668,0.00,2.10,0.00,0.000,4,0.000,0.058,3238,230,1702,0,0,0,0,0,0
$GC,7712,0.78,227.1,317.8,9.0,358,7716,0.00,1.92,0.00,0.000,6,0.000,0.028,3238,1415,1701,0,0,0,0,0,0
$GC,8042,0.81,255.3,294.9,6.6,367,8075,0.00,2.42,25.73,0.726,4,0.000,0.028,3238,2813,1589,0,0,0,0,0,0
$GC,8111,0.91,259.6,289.9,7.7,370,8123,0.00,2.45,5.57,0.560,6,0.000,0.042,3239,1416,1570,0,0,0,0,0,0
$GC,8448,0.95,290.0,265.9,6.5,386,8481,0.00,2.20,27.00,0.704,4,0.000,0.057,3239,231,1446,0,0,0,0,0,0
$GC,8542,0.95,294.6,258.9,7.7,390,8553,0.00,1.98,5.15,0.518,6,0.000,0.028,3238,1432,1428,0,0,0,0,0,0
$GC,8876,1.07,326.3,236.4,6.5,406,8911,0.20,2.20,28.40,0.681,4,0.052,0.055,3293,223,1299,0,0,0,0,0,0
$GC,8934,0.96,326.3,231.7,8.8,408,8938,0.17,1.95,0.00,0.000,6,0.091,0.027,3258,1422,1296,0,0,0,0,0,0
$GC,9257,1.03,351.5,209.6,6.8,424,9286,0.00,2.15,22.45,0.647,4,0.000,0.053,3258,229,1196,0,0,0,0,0,0
$GC,9339,1.03,351.5,202.4,9.3,427,9342,0.00,1.95,0.00,0.000,6,0.000,0.026,3258,1426,1192,0,0,0,0,0,0
$GC,9662,1.09,351.5,173.7,8.5,452,9667,0.12,2.33,0.00,0.000,4,0.066,0.025,3298,2812,1191,0,0,0,0,0,0
$GC,9701,1.14,351.5,170.0,9.1,454,9708,0.00,2.45,0.00,0.000,6,0.000,0.038,3298,1417,1191,0,0,0,0,0,0
$GC,9962,1.11,351.5,146.3,8.4,475,9965,0.00,2.05,0.00,0.000,4,0.000,0.052,3298,232,1191,0,0,0,0,0,0
$GC,10008,1.05,351.5,141.6,9.0,478,10015,0.00,1.95,0.00,0.000,6,0.000,0.025,3298,1428,1189,0,0,0,0,0,0
$GC,10269,1.05,351.5,120.0,8.6,499,10273,0.00,2.28,0.00,0.000,4,0.000,0.024,3298,2807,1189,0,0,0,0,0,0
$GC,10280,1.05,351.5,118.7,9.0,500,10284,0.00,2.40,0.00,0.000,6,0.000,0.036,3298,1412,1189,0,0,0,0,0,0
$GC,10548,1.05,351.5,95.5,8.5,521,10551,0.00,2.05,0.00,0.000,4,0.000,0.051,3298,231,1189,0,0,0,0,0,0
$GC,10590,1.05,351.5,91.4,9.0,524,10593,0.00,1.88,0.00,0.000,6,0.000,0.024,3298,1422,1188,0,0,0,0,0,0
$GC,10860,1.10,351.5,71.9,9.1,545,10864,0.00,2.25,0.00,0.000,4,0.000,0.023,3298,2806,1188,0,0,0,0,0,0
$GC,10894,1.25,351.5,68.5,9.2,547,10901,0.08,2.40,0.00,0.000,6,0.038,0.035,3335,1420,1188,0,0,0,0,0,0
$GC,11155,1.25,351.5,45.9,8.4,568,11159,0.00,2.03,0.00,0.000,4,0.000,0.048,3335,235,1188,0,0,0,0,0,0
$GC,11202,1.18,351.5,41.3,9.4,571,11207,0.10,1.90,0.00,0.000,6,0.069,0.021,3309,1427,1188,0,0,0,0,0,0
$GC,11467,1.23,354.8,21.9,7.7,607,11473,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,1427,1188,0,0,0,0,0,0
$GC,11670,1.29,376.4,6.5,6.9,653,11701,0.10,2.15,21.23,0.465,4,0.072,0.048,3347,235,1093,0,0,0,0,0,0
$STATE,11715,end climb,SURFACE_DEPTH_REACHED
$STATE,11715,begin surface coast
$FINISH,2.5,1.023122
$STATE,11725,end surface coast,CONTROL_FINISHED_OK
$STATE,11725,begin surface
$SM_CCo,11750,27.17,0.466,0,0,957,410.14
$SM_GC,1.39,0.00,0.00,27.17,0.000,0.000,0.466,430,1459,957,-12.06,0.25,410.14
$IRIDIUM_FIX,2054.83,-15746.61,250100,030344
$TT8_MAMPS,0.029146
$HUMID,63.46
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,20.70
$XPDR_PINGS,0
$24V_AH,23.3,76.931
$10V_AH,9.9,61.692
$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,30.050,128.925,429.000,27.175,0.000,91.321,112.193,358.066,5.000,0.000,31.525,1280.913,8004.709,488.218,1928.718,933.806,0.000,1368.639,0.000,1885.049,0.000,34.984,0.000
$DEVICE_MAMPS,131.924,59.059,829.127,466.336,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,445.433,421.205,947.815,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355760
$DATA_FILE_SIZE,38093,662
$CAP_FILE_SIZE,133852,0
$CFSIZE,260165632,169041920
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,311010,065800,2103.048,-15744.255,73,0.9,73,9.8