version: 66.06
glider: 139
mission: 8
dive: 801
start: 10 31 110 20 32 25
data:
$ID,139
$MISSION,8
$DIVE,801
$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,-2168338
$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
$GPS1,202507,2059.794,-15747.021,34,1.6,34,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-71.5
$GPS2,203207,2059.783,-15747.023,14,1.6,32,9.8
$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,225.1,6001,-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,-116.8,0.0,0.0,0,88,0.00,0.00,-69.55,0.000,2,0.000,0.000,426,1413,2720,0,0,0,0,0,0
$GC,91,-1.18,-116.8,3.4,-3.3,13,121,12.65,2.10,-7.50,0.000,4,0.132,0.060,2787,225,3110,0,0,0,0,0,0
$GC,252,-0.96,-116.8,32.5,-15.2,46,259,0.20,2.05,0.00,0.000,6,0.072,0.019,2842,1516,3111,0,0,0,0,0,0
$GC,516,-0.87,-116.8,60.9,-11.5,67,520,0.00,2.22,0.00,0.000,4,0.000,0.045,2842,229,3112,0,0,0,0,0,0
$GC,552,-0.76,-116.8,65.8,-12.0,69,559,0.15,2.03,0.00,0.000,6,0.066,0.019,2879,1518,3111,0,0,0,0,0,0
$GC,813,-0.76,-116.8,87.7,-7.9,90,817,0.00,2.20,0.00,0.000,4,0.000,0.021,2879,2877,3112,0,0,0,0,0,0
$GC,859,-0.90,-116.8,91.2,-7.7,93,864,0.12,2.40,0.00,0.000,6,0.061,0.028,2831,1446,3112,0,0,0,0,0,0
$GC,1125,-0.85,-116.8,118.4,-11.2,114,1130,0.15,2.05,0.00,0.000,4,0.084,0.045,2865,240,3112,0,0,0,0,0,0
$GC,1174,-0.89,-116.8,122.8,-7.6,117,1178,0.00,2.00,0.00,0.000,6,0.000,0.018,2865,1515,3112,0,0,0,0,0,0
$GC,1440,-0.97,-116.8,142.2,-7.5,138,1444,0.12,2.17,0.00,0.000,4,0.061,0.044,2815,240,3113,0,0,0,0,0,0
$GC,1488,-0.93,-116.8,146.6,-8.9,141,1494,0.15,1.98,0.00,0.000,6,0.085,0.018,2848,1525,3113,0,0,0,0,0,0
$GC,1749,-0.97,-116.8,164.7,-8.3,162,1753,0.00,2.20,0.00,0.000,4,0.000,0.021,2848,2880,3114,0,0,0,0,0,0
$GC,1765,-1.03,-116.8,166.2,-8.7,163,1770,0.10,2.40,0.00,0.000,6,0.071,0.031,2815,1453,3114,0,0,0,0,0,0
$GC,2028,-1.03,-116.8,185.7,-6.7,183,2032,0.00,2.05,0.00,0.000,4,0.000,0.044,2815,237,3114,0,0,0,0,0,0
$GC,2083,-1.03,-116.8,190.1,-8.0,187,2087,0.00,2.00,0.00,0.000,6,0.000,0.019,2814,1513,3114,0,0,0,0,0,0
$GC,2348,-1.03,-116.8,209.7,-7.4,204,2349,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1516,3114,0,0,0,0,0,0
$GC,2660,-1.03,-116.8,231.6,-6.3,219,2664,0.00,2.17,0.00,0.000,4,0.000,0.046,2815,238,3114,0,0,0,0,0,0
$GC,2717,-1.03,-116.8,234.9,-5.3,221,2721,0.00,1.98,0.00,0.000,6,0.000,0.020,2815,1505,3114,0,0,0,0,0,0
$GC,3038,-1.03,-116.8,255.6,-8.0,237,3042,0.00,2.17,0.00,0.000,4,0.000,0.048,2815,238,3114,0,0,0,0,0,0
$GC,3074,-1.03,-116.8,259.0,-10.5,238,3077,0.00,2.00,0.00,0.000,6,0.000,0.021,2815,1504,3114,0,0,0,0,0,0
$GC,3394,-1.03,-116.8,283.3,-5.8,254,3398,0.00,2.22,0.00,0.000,4,0.000,0.024,2815,2879,3113,0,0,0,0,0,0
$GC,3441,-1.14,-116.8,285.9,-5.2,256,3445,0.00,2.42,0.00,0.000,6,0.000,0.033,2814,1447,3112,0,0,0,0,0,0
$GC,3787,-1.17,-116.8,305.9,-6.5,271,3791,0.00,2.35,0.00,0.000,4,0.000,0.025,2815,2877,3111,0,0,0,0,0,0
$GC,3812,-1.26,-116.8,307.8,-7.1,271,3817,0.17,2.42,0.00,0.000,6,0.052,0.035,2758,1452,3110,0,0,0,0,0,0
$GC,4156,-1.16,-116.8,340.1,-9.8,280,4160,0.17,2.12,0.00,0.000,4,0.085,0.051,2794,231,3108,0,0,0,0,0,0
$GC,4166,-1.07,-116.8,341.3,-9.8,280,4170,0.00,2.00,0.00,0.000,6,0.000,0.024,2794,1489,3108,0,0,0,0,0,0
$GC,4485,-1.07,-116.8,366.6,-8.0,288,4490,0.10,2.22,0.00,0.000,4,0.105,0.026,2816,2835,3107,0,0,0,0,0,0
$GC,4507,-1.14,-116.8,368.1,-6.9,288,4511,0.00,2.38,0.00,0.000,6,0.000,0.037,2816,1441,3106,0,0,0,0,0,0
$GC,4853,-1.18,-116.8,388.3,-5.7,297,4854,0.10,0.00,0.00,0.000,6,0.075,0.000,2781,1440,3104,0,0,0,0,0,0
$GC,5178,-1.18,-116.8,417.2,-9.6,305,5182,0.00,2.08,0.00,0.000,4,0.000,0.054,2781,238,3102,0,0,0,0,0,0
$GC,5228,-1.14,-116.8,421.8,-9.1,306,5232,0.10,1.95,0.00,0.000,6,0.104,0.025,2802,1458,3102,0,0,0,0,0,0
$STATE,5517,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5517,begin apogee
$GC,5525,-0.31,0.0,441.4,6.2,313,5625,0.82,0.00,95.97,0.817,6,0.063,0.000,2982,1413,2630,0,0,0,0,0,0
$STATE,5625,end apogee,CONTROL_FINISHED_OK
$STATE,5625,begin climb
$GC,5628,1.18,116.8,443.6,0.0,315,5740,1.40,2.10,100.80,0.801,4,0.031,0.054,3314,239,2152,0,0,0,0,0,0
$GC,5804,0.84,116.8,440.4,8.4,319,5809,0.40,1.92,0.00,0.000,6,0.094,0.025,3235,1425,2145,0,0,0,0,0,0
$GC,6133,0.83,162.7,421.0,5.8,327,6178,0.00,2.38,39.58,0.784,4,0.000,0.029,3235,2808,1965,0,0,0,0,0,0
$GC,6250,0.94,246.4,415.2,4.1,329,6331,0.00,2.42,73.47,0.789,6,0.000,0.041,3234,1426,1625,0,0,0,0,0,0
$GC,6678,1.01,303.4,391.3,5.3,340,6735,0.15,2.15,49.25,0.779,4,0.060,0.057,3277,232,1391,0,0,0,0,0,0
$GC,6828,0.86,303.4,376.3,12.3,343,6833,0.20,1.95,0.00,0.000,6,0.092,0.027,3237,1418,1385,0,0,0,0,0,0
$GC,7142,0.86,303.4,347.7,8.8,351,7146,0.00,2.10,0.00,0.000,4,0.000,0.058,3237,230,1382,0,0,0,0,0,0
$GC,7185,0.81,303.4,343.1,10.6,352,7189,0.00,1.95,0.00,0.000,6,0.000,0.028,3237,1421,1381,0,0,0,0,0,0
$GC,7518,0.82,312.4,314.0,7.5,360,7527,0.00,0.00,7.25,0.617,6,0.000,0.000,3237,1423,1356,0,0,0,0,0,0
$GC,7823,0.86,314.0,290.9,7.8,370,7827,0.00,2.10,0.00,0.000,4,0.000,0.057,3237,228,1354,0,0,0,0,0,0
$GC,7845,0.86,314.0,289.0,9.3,371,7848,0.00,1.95,0.00,0.000,6,0.000,0.028,3237,1416,1353,0,0,0,0,0,0
$GC,8182,0.91,325.2,262.6,7.4,387,8199,0.00,2.10,12.35,0.659,4,0.000,0.054,3237,234,1303,0,0,0,0,0,0
$GC,8227,0.91,325.2,258.9,8.8,388,8231,0.00,1.95,0.00,0.000,6,0.000,0.028,3237,1421,1301,0,0,0,0,0,0
$GC,8558,0.97,325.2,233.8,8.3,404,8560,0.10,0.00,0.00,0.000,6,0.077,0.000,3269,1422,1300,0,0,0,0,0,0
$GC,8867,1.01,352.4,213.3,6.7,419,8896,0.00,2.15,24.70,0.660,4,0.000,0.054,3270,232,1192,0,0,0,0,0,0
$GC,8926,0.97,352.4,207.7,11.0,421,8932,0.00,1.95,0.00,0.000,6,0.000,0.026,3270,1424,1189,0,0,0,0,0,0
$GC,9256,0.97,352.4,173.2,10.1,445,9260,0.00,2.28,0.00,0.000,4,0.000,0.026,3270,2807,1188,0,0,0,0,0,0
$GC,9283,1.04,352.4,170.8,9.7,447,9287,0.00,2.42,0.00,0.000,6,0.000,0.041,3270,1416,1188,0,0,0,0,0,0
$GC,9550,1.10,366.0,151.6,7.3,468,9568,0.00,2.12,11.95,0.568,4,0.000,0.052,3269,240,1137,0,0,0,0,0,0
$GC,9610,1.07,366.0,145.4,10.4,472,9614,0.00,1.92,0.00,0.000,6,0.000,0.025,3270,1425,1135,0,0,0,0,0,0
$GC,9878,1.12,366.0,123.3,8.5,493,9883,0.10,2.30,0.00,0.000,4,0.074,0.025,3304,2806,1135,0,0,0,0,0,0
$GC,9905,1.19,366.0,120.4,9.7,495,9910,0.00,2.40,0.00,0.000,6,0.000,0.038,3304,1418,1135,0,0,0,0,0,0
$GC,10173,1.27,399.3,97.9,6.4,516,10208,0.10,2.10,29.25,0.559,4,0.074,0.051,3338,229,1001,0,0,0,0,0,0
$GC,10268,1.19,399.3,89.7,9.8,522,10273,0.10,1.95,0.00,0.000,6,0.071,0.023,3307,1426,998,0,0,0,0,0,0
$GC,10537,1.29,433.2,71.2,6.4,543,10573,0.10,2.33,29.02,0.528,4,0.074,0.022,3342,2794,863,0,0,0,0,0,0
$GC,10611,1.40,433.2,65.5,8.6,548,10615,0.00,2.38,0.00,0.000,6,0.000,0.037,3343,1413,863,0,0,0,0,0,0
$GC,10876,1.40,433.2,41.9,9.5,569,10879,0.00,2.03,0.00,0.000,4,0.000,0.048,3343,233,862,0,0,0,0,0,0
$GC,10950,1.33,433.2,33.9,11.3,574,10954,0.00,1.88,0.00,0.000,6,0.000,0.021,3343,1433,860,0,0,0,0,0,0
$GC,11215,1.30,433.2,6.7,11.7,628,11221,0.00,2.10,0.00,0.000,4,0.000,0.047,3342,238,860,0,0,0,0,0,0
$GC,11235,1.26,433.2,4.4,11.8,631,11242,0.00,1.88,0.00,0.000,6,0.000,0.022,3343,1411,861,0,0,0,0,0,0
$STATE,11247,end climb,SURFACE_DEPTH_REACHED
$STATE,11247,begin surface coast
$FINISH,0.8,1.006375
$STATE,11274,end surface coast,CONTROL_FINISHED_OK
$STATE,11274,begin surface
$SM_CCo,11358,0.00,0.000,0,0,857,434.67
$SM_GC,1.65,12.57,0.00,0.00,0.026,0.000,0.000,426,1411,857,-12.00,-1.10,434.67
$IRIDIUM_FIX,2052.52,-15744.48,250100,171709
$TT8_MAMPS,0.029146
$HUMID,63.58
$INTERNAL_PRESSURE,9.23518
$TCM_TEMP,20.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,401.7,68.6
$24V_AH,23.3,77.509
$10V_AH,10.0,62.121
$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,30.350,119.675,473.600,0.000,0.000,30.574,46.213,182.862,4.250,0.000,32.241,1245.146,7538.463,470.390,1910.692,602.866,0.000,1353.949,0.000,1876.629,0.000,29.149,0.000
$DEVICE_MAMPS,131.924,107.380,816.855,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,430.303,413.777,914.131,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,34854,639
$CAP_FILE_SIZE,126582,0
$CFSIZE,260165632,168751104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,311010,234307,2058.701,-15748.180,48,1.0,48,9.8