version: 66.06
glider: 139
mission: 8
dive: 797
start: 10 31 110 7 4 46
data:
$ID,139
$MISSION,8
$DIVE,797
$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,-2168234.5
$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
$GPS1,065800,2103.048,-15744.255,73,0.9,73,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-73.0
$GPS2,070426,2103.035,-15744.225,12,1.7,12,9.8
$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,216.0,13595,-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,-116.8,0.0,0.0,0,76,0.00,0.00,-58.90,0.000,2,0.000,0.000,429,1459,2593,0,0,0,0,0,0
$GC,80,-1.18,-116.8,3.3,-3.4,11,110,12.55,2.12,-10.32,0.000,4,0.129,0.058,2785,237,3108,0,0,0,0,0,0
$GC,230,-0.98,-116.8,29.7,-14.7,43,237,0.20,2.03,0.00,0.000,6,0.076,0.019,2840,1515,3110,0,0,0,0,0,0
$GC,429,-0.88,-116.8,53.9,-12.7,59,430,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1515,3110,0,0,0,0,0,0
$GC,680,-0.82,-116.8,79.1,-9.4,79,684,0.15,2.25,0.00,0.000,4,0.091,0.021,2872,2884,3111,0,0,0,0,0,0
$GC,719,-0.95,-116.8,82.7,-8.8,81,725,0.12,2.40,0.00,0.000,6,0.061,0.030,2823,1447,3111,0,0,0,0,0,0
$GC,981,-0.90,-116.8,107.5,-10.6,102,986,0.15,2.08,0.00,0.000,4,0.087,0.045,2856,231,3111,0,0,0,0,0,0
$GC,1005,-0.90,-116.8,110.3,-9.8,104,1009,0.00,2.00,0.00,0.000,6,0.000,0.018,2856,1511,3112,0,0,0,0,0,0
$GC,1278,-0.95,-116.8,133.0,-9.1,125,1282,0.00,2.20,0.00,0.000,4,0.000,0.043,2856,232,3113,0,0,0,0,0,0
$GC,1335,-1.00,-116.8,138.3,-8.3,129,1340,0.05,2.00,0.00,0.000,6,0.042,0.019,2813,1508,3112,0,0,0,0,0,0
$GC,1604,-0.97,-116.8,162.0,-8.7,150,1606,0.12,0.00,0.00,0.000,6,0.093,0.000,2841,1509,3113,0,0,0,0,0,0
$GC,1860,-1.01,-116.8,181.7,-7.4,170,1864,0.00,2.17,0.00,0.000,4,0.000,0.045,2841,230,3113,0,0,0,0,0,0
$GC,1901,-1.05,-116.8,185.1,-8.3,173,1905,0.00,2.03,0.00,0.000,6,0.000,0.020,2841,1517,3113,0,0,0,0,0,0
$GC,2162,-1.19,-116.8,202.6,-6.0,192,2167,0.22,2.20,0.00,0.000,4,0.042,0.042,2767,235,3114,0,0,0,0,0,0
$GC,2267,-1.06,-116.8,211.5,-9.5,196,2272,0.25,2.00,0.00,0.000,6,0.078,0.019,2821,1517,3113,0,0,0,0,0,0
$GC,2584,-1.06,-116.8,236.3,-8.1,211,2588,0.00,2.17,0.00,0.000,4,0.000,0.046,2821,240,3113,0,0,0,0,0,0
$GC,2632,-1.06,-116.8,241.0,-9.4,213,2636,0.00,1.98,0.00,0.000,6,0.000,0.021,2821,1502,3113,0,0,0,0,0,0
$GC,2966,-1.10,-116.8,263.1,-6.0,229,2970,0.00,2.22,0.00,0.000,4,0.000,0.023,2821,2874,3113,0,0,0,0,0,0
$GC,3018,-1.21,-116.8,266.5,-5.9,231,3023,0.15,2.42,0.00,0.000,6,0.054,0.032,2767,1443,3113,0,0,0,0,0,0
$GC,3344,-1.15,-116.8,291.6,-8.5,247,3346,0.15,0.00,0.00,0.000,6,0.090,0.000,2799,1443,3112,0,0,0,0,0,0
$GC,3666,-1.15,-116.8,315.6,-7.3,258,3667,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,1443,3111,0,0,0,0,0,0
$GC,3992,-1.15,-116.8,339.5,-7.4,266,3997,0.00,2.38,0.00,0.000,4,0.000,0.025,2799,2879,3109,0,0,0,0,0,0
$GC,4008,-1.15,-116.8,340.8,-7.4,266,4012,0.00,2.42,0.00,0.000,6,0.000,0.036,2799,1447,3108,0,0,0,0,0,0
$GC,4322,-1.15,-116.8,361.2,-6.2,274,4326,0.00,2.10,0.00,0.000,4,0.000,0.051,2799,234,3107,0,0,0,0,0,0
$GC,4380,-1.15,-116.8,365.2,-6.7,275,4384,0.00,2.00,0.00,0.000,6,0.000,0.023,2799,1488,3107,0,0,0,0,0,0
$GC,4702,-1.15,-116.8,385.9,-6.6,283,4706,0.00,2.22,0.00,0.000,4,0.000,0.026,2799,2841,3105,0,0,0,0,0,0
$GC,4731,-1.22,-116.8,387.9,-7.1,283,4735,0.00,2.40,0.00,0.000,6,0.000,0.037,2799,1441,3105,0,0,0,0,0,0
$GC,5069,-1.22,-116.8,411.2,-7.4,292,5072,0.00,2.08,0.00,0.000,4,0.000,0.054,2799,234,3102,0,0,0,0,0,0
$GC,5096,-1.22,-116.8,413.6,-8.2,292,5100,0.00,1.92,0.00,0.000,6,0.000,0.025,2799,1451,3102,0,0,0,0,0,0
$GC,5437,-1.22,-116.8,440.1,-7.9,301,5441,0.00,2.30,0.00,0.000,4,0.000,0.028,2799,2836,3100,0,0,0,0,0,0
$GC,5461,-1.29,-116.8,442.4,-8.8,301,5466,0.15,2.40,0.00,0.000,6,0.057,0.041,2750,1449,3100,0,0,0,0,0,0
$STATE,5520,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5520,begin apogee
$GC,5526,-0.31,0.0,448.3,10.0,303,5626,1.08,0.00,95.72,0.825,6,0.071,0.000,2979,1449,2630,0,0,0,0,0,0
$STATE,5626,end apogee,CONTROL_FINISHED_OK
$STATE,5627,begin climb
$GC,5631,1.18,116.8,451.6,0.0,305,5742,1.45,2.38,101.85,0.809,4,0.035,0.026,3313,2803,2152,0,0,0,0,0,0
$GC,5803,1.04,171.2,451.3,5.4,309,5857,0.17,2.42,47.88,0.792,6,0.099,0.039,3280,1420,1931,0,0,0,0,0,0
$GC,6181,0.89,171.2,421.6,8.1,319,6186,0.17,2.35,0.00,0.000,4,0.099,0.028,3245,2809,1921,0,0,0,0,0,0
$GC,6215,0.93,199.7,419.1,6.6,319,6247,0.00,2.42,24.62,0.767,6,0.000,0.041,3245,1419,1814,0,0,0,0,0,0
$GC,6597,0.88,199.7,390.4,8.1,329,6601,0.00,2.10,0.00,0.000,4,0.000,0.057,3245,232,1809,0,0,0,0,0,0
$GC,6630,0.76,199.7,387.0,9.7,329,6635,0.08,1.95,0.00,0.000,6,0.087,0.027,3219,1410,1807,0,0,0,0,0,0
$GC,6967,0.80,227.3,364.7,6.7,338,6996,0.00,2.38,24.17,0.755,4,0.000,0.027,3218,2809,1702,0,0,0,0,0,0
$GC,7057,0.90,227.3,358.0,8.0,340,7062,0.12,2.45,0.00,0.000,6,0.067,0.041,3255,1415,1701,0,0,0,0,0,0
$GC,7387,0.85,227.3,328.2,8.9,348,7388,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1415,1699,0,0,0,0,0,0
$GC,7711,0.83,246.1,304.1,7.0,356,7731,0.12,0.00,17.10,0.713,6,0.100,0.000,3230,1415,1626,0,0,0,0,0,0
$GC,8020,0.89,268.3,283.4,6.9,369,8046,0.00,2.12,20.35,0.705,4,0.000,0.056,3230,230,1535,0,0,0,0,0,0
$GC,8088,0.89,268.3,278.3,8.3,372,8092,0.00,1.98,0.00,0.000,6,0.000,0.028,3229,1426,1531,0,0,0,0,0,0
$GC,8422,0.98,288.8,255.4,7.0,388,8444,0.15,0.00,18.70,0.682,6,0.061,0.000,3273,1428,1451,0,0,0,0,0,0
$GC,8753,1.03,329.9,231.7,6.0,404,8796,0.00,2.20,36.20,0.685,4,0.000,0.056,3273,235,1285,0,0,0,0,0,0
$GC,8841,1.00,329.9,224.0,9.9,407,8846,0.00,1.92,0.00,0.000,6,0.000,0.027,3274,1425,1280,0,0,0,0,0,0
$GC,9162,1.00,329.9,196.6,8.3,424,9166,0.00,2.10,0.00,0.000,4,0.000,0.054,3273,235,1279,0,0,0,0,0,0
$GC,9213,0.96,329.9,191.6,10.2,427,9218,0.00,1.95,0.00,0.000,6,0.000,0.026,3273,1434,1277,0,0,0,0,0,0
$GC,9473,0.96,329.9,170.4,8.5,448,9477,0.00,2.30,0.00,0.000,4,0.000,0.026,3273,2813,1277,0,0,0,0,0,0
$GC,9500,1.05,329.9,167.8,8.1,450,9505,0.00,2.42,0.00,0.000,6,0.000,0.038,3273,1415,1276,0,0,0,0,0,0
$GC,9761,1.09,329.9,145.6,7.9,470,9765,0.00,2.08,0.00,0.000,4,0.000,0.053,3273,226,1277,0,0,0,0,0,0
$GC,9826,1.09,329.9,140.0,8.4,474,9833,0.00,1.95,0.00,0.000,6,0.000,0.025,3273,1422,1275,0,0,0,0,0,0
$GC,10089,1.22,378.9,123.3,5.7,495,10136,0.17,2.35,41.35,0.585,4,0.053,0.025,3326,2813,1084,0,0,0,0,0,0
$GC,10208,1.30,378.9,113.8,8.3,503,10213,0.00,2.42,0.00,0.000,6,0.000,0.035,3326,1414,1084,0,0,0,0,0,0
$GC,10475,1.31,388.2,92.1,7.5,524,10491,0.00,2.08,8.85,0.474,4,0.000,0.049,3326,231,1045,0,0,0,0,0,0
$GC,10522,1.27,388.2,88.2,9.1,527,10526,0.00,1.95,0.00,0.000,6,0.000,0.022,3326,1436,1044,0,0,0,0,0,0
$GC,10792,1.27,388.2,67.6,8.1,548,10796,0.00,2.22,0.00,0.000,4,0.000,0.021,3326,2810,1044,0,0,0,0,0,0
$GC,10818,1.34,388.2,65.3,8.9,550,10822,0.00,2.40,0.00,0.000,6,0.000,0.035,3325,1415,1043,0,0,0,0,0,0
$GC,11082,1.34,388.2,43.3,8.2,571,11085,0.00,2.05,0.00,0.000,4,0.000,0.048,3326,229,1043,0,0,0,0,0,0
$GC,11141,1.30,388.2,37.7,10.0,575,11144,0.00,1.88,0.00,0.000,6,0.000,0.020,3326,1435,1041,0,0,0,0,0,0
$GC,11405,1.30,388.2,11.8,10.0,624,11412,0.00,2.22,0.00,0.000,4,0.000,0.020,3326,2800,1042,0,0,0,0,0,0
$GC,11424,1.30,388.2,9.8,9.9,627,11430,0.00,2.38,0.00,0.000,6,0.000,0.034,3326,1422,1041,0,0,0,0,0,0
$STATE,11490,end climb,SURFACE_DEPTH_REACHED
$STATE,11490,begin surface coast
$FINISH,1.1,1.023202
$STATE,11523,end surface coast,CONTROL_FINISHED_OK
$STATE,11523,begin surface
$SM_CCo,11546,18.15,0.453,0,0,957,410.14
$SM_GC,1.70,0.00,0.00,18.15,0.000,0.000,0.453,427,1416,957,-12.07,-0.96,410.14
$IRIDIUM_FIX,2054.83,-15741.46,250100,030323
$TT8_MAMPS,0.029146
$HUMID,62.83
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,21.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,421.0,57.2
$24V_AH,23.3,77.040
$10V_AH,9.9,61.778
$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,30.275,117.925,436.800,18.150,0.000,28.784,33.244,187.927,4.500,0.000,12.437,1257.970,7749.431,503.277,1849.158,587.088,0.000,1329.832,0.000,1831.585,0.000,34.075,0.000
$DEVICE_MAMPS,128.856,58.292,824.525,453.297,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,436.953,417.710,922.190,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355772
$DATA_FILE_SIZE,34959,649
$CAP_FILE_SIZE,123841,0
$CFSIZE,260165632,168992768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,311010,101901,2101.936,-15745.102,50,1.9,50,9.8