version: 66.06
glider: 139
mission: 8
dive: 802
start: 10 31 110 23 49 22
data:
$ID,139
$MISSION,8
$DIVE,802
$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,-2168352.8
$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
$GPS1,234307,2058.701,-15748.180,48,1.0,48,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-71.5
$GPS2,234902,2058.706,-15748.178,13,1.3,13,9.8
$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,233.6,3255,-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,-64.50,0.000,2,0.000,0.000,425,1411,2662,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.2,-3.4,12,115,12.60,2.08,-8.82,0.000,4,0.130,0.061,2786,239,3108,0,0,0,0,0,0
$GC,246,-0.95,-116.8,31.9,-14.5,45,254,0.22,2.00,0.00,0.000,6,0.074,0.019,2839,1508,3110,0,0,0,0,0,0
$GC,510,-0.84,-116.8,61.9,-10.4,66,514,0.12,2.20,0.00,0.000,4,0.100,0.045,2864,234,3111,0,0,0,0,0,0
$GC,549,-0.79,-116.8,66.1,-9.5,69,553,0.00,2.00,0.00,0.000,6,0.000,0.019,2864,1506,3111,0,0,0,0,0,0
$GC,818,-0.79,-116.8,89.9,-9.6,90,822,0.00,2.20,0.00,0.000,4,0.000,0.021,2864,2887,3112,0,0,0,0,0,0
$GC,843,-0.84,-116.8,92.1,-9.2,92,848,0.00,2.45,0.00,0.000,6,0.000,0.031,2864,1441,3112,0,0,0,0,0,0
$GC,1112,-0.90,-116.8,112.8,-6.3,113,1116,0.00,2.05,0.00,0.000,4,0.000,0.044,2864,230,3112,0,0,0,0,0,0
$GC,1160,-0.96,-116.8,116.2,-6.5,116,1165,0.10,1.98,0.00,0.000,6,0.071,0.018,2823,1521,3112,0,0,0,0,0,0
$GC,1420,-0.96,-116.8,134.1,-8.0,136,1424,0.00,2.20,0.00,0.000,4,0.000,0.044,2823,236,3113,0,0,0,0,0,0
$GC,1435,-0.93,-116.8,135.6,-8.5,137,1439,0.12,1.98,0.00,0.000,6,0.089,0.019,2851,1516,3113,0,0,0,0,0,0
$GC,1698,-0.98,-116.8,155.9,-8.2,157,1702,0.00,2.20,0.00,0.000,4,0.000,0.044,2850,230,3114,0,0,0,0,0,0
$GC,1762,-1.04,-116.8,161.7,-8.6,161,1768,0.12,1.98,0.00,0.000,6,0.061,0.019,2804,1515,3114,0,0,0,0,0,0
$GC,2027,-0.99,-116.8,182.3,-7.5,182,2032,0.12,2.25,0.00,0.000,4,0.090,0.022,2833,2884,3114,0,0,0,0,0,0
$GC,2067,-1.11,-116.8,185.3,-6.5,185,2073,0.10,2.42,0.00,0.000,6,0.072,0.030,2790,1442,3114,0,0,0,0,0,0
$GC,2342,-1.05,-116.8,207.4,-8.8,204,2347,0.15,2.08,0.00,0.000,4,0.086,0.046,2823,235,3114,0,0,0,0,0,0
$GC,2365,-1.05,-116.8,209.8,-8.7,205,2369,0.00,1.98,0.00,0.000,6,0.000,0.020,2824,1506,3115,0,0,0,0,0,0
$GC,2698,-1.05,-116.8,234.5,-7.5,221,2699,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1516,3114,0,0,0,0,0,0
$GC,3004,-1.09,-116.8,257.2,-7.4,236,3008,0.00,2.17,0.00,0.000,4,0.000,0.047,2823,240,3114,0,0,0,0,0,0
$GC,3048,-1.09,-116.8,260.9,-8.7,238,3052,0.00,1.98,0.00,0.000,6,0.000,0.021,2824,1506,3114,0,0,0,0,0,0
$GC,3382,-1.13,-116.8,291.1,-8.8,254,3386,0.00,2.17,0.00,0.000,4,0.000,0.048,2823,243,3113,0,0,0,0,0,0
$GC,3442,-1.17,-116.8,296.6,-8.6,256,3447,0.12,2.00,0.00,0.000,6,0.062,0.021,2780,1511,3113,0,0,0,0,0,0
$GC,3776,-1.12,-116.8,324.1,-7.8,265,3781,0.12,2.25,0.00,0.000,4,0.092,0.025,2807,2872,3111,0,0,0,0,0,0
$GC,3838,-1.20,-116.8,328.7,-7.0,266,3843,0.00,2.42,0.00,0.000,6,0.000,0.035,2808,1444,3111,0,0,0,0,0,0
$GC,4192,-1.20,-116.8,352.7,-6.8,275,4193,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1443,3108,0,0,0,0,0,0
$GC,4514,-1.20,-116.8,377.8,-7.2,283,4518,0.00,2.08,0.00,0.000,4,0.000,0.051,2807,232,3107,0,0,0,0,0,0
$GC,4556,-1.20,-116.8,380.5,-6.6,284,4560,0.00,2.00,0.00,0.000,6,0.000,0.023,2807,1493,3107,0,0,0,0,0,0
$GC,4891,-1.23,-116.8,401.2,-6.7,292,4893,0.12,0.00,0.00,0.000,6,0.064,0.000,2766,1499,3105,0,0,0,0,0,0
$GC,5213,-1.18,-116.8,432.4,-9.6,300,5218,0.12,2.22,0.00,0.000,4,0.094,0.054,2792,232,3103,0,0,0,0,0,0
$GC,5253,-1.18,-116.8,436.0,-8.9,300,5258,0.00,1.95,0.00,0.000,6,0.000,0.025,2792,1457,3103,0,0,0,0,0,0
$STATE,5459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5459,begin apogee
$GC,5466,-0.31,0.0,452.1,7.5,306,5566,0.88,0.00,96.30,0.822,6,0.063,0.000,2982,1408,2630,0,0,0,0,0,0
$STATE,5566,end apogee,CONTROL_FINISHED_OK
$STATE,5567,begin climb
$GC,5569,1.18,116.8,455.1,0.0,308,5683,1.40,2.12,101.15,0.807,4,0.031,0.053,3313,244,2151,0,0,0,0,0,0
$GC,5689,0.99,190.6,456.8,4.6,310,5764,0.22,1.90,64.65,0.792,6,0.100,0.025,3269,1414,1852,0,0,0,0,0,0
$GC,6109,0.87,190.6,420.6,8.6,321,6114,0.15,2.33,0.00,0.000,4,0.100,0.028,3240,2806,1842,0,0,0,0,0,0
$GC,6143,0.89,205.3,417.9,7.2,321,6163,0.00,2.42,12.57,0.714,6,0.000,0.041,3240,1422,1793,0,0,0,0,0,0
$GC,6485,0.87,216.9,392.2,7.4,330,6501,0.00,2.15,11.45,0.702,4,0.000,0.057,3239,229,1744,0,0,0,0,0,0
$GC,6555,0.78,216.9,386.0,9.6,331,6559,0.00,1.95,0.00,0.000,6,0.000,0.027,3239,1442,1741,0,0,0,0,0,0
$GC,6904,0.78,216.9,359.2,7.9,340,6908,0.00,2.28,0.00,0.000,4,0.000,0.028,3239,2802,1740,0,0,0,0,0,0
$GC,6928,0.82,216.9,357.2,8.5,340,6932,0.00,2.42,0.00,0.000,6,0.000,0.042,3239,1411,1740,0,0,0,0,0,0
$GC,7269,0.82,216.9,328.5,9.0,349,7273,0.00,2.08,0.00,0.000,4,0.000,0.056,3239,231,1738,0,0,0,0,0,0
$GC,7288,0.79,216.9,326.7,8.5,349,7292,0.00,1.92,0.00,0.000,6,0.000,0.028,3239,1415,1736,0,0,0,0,0,0
$GC,7637,0.86,278.4,305.6,5.1,358,7698,0.00,2.45,53.38,0.743,4,0.000,0.028,3239,2813,1494,0,0,0,0,0,0
$GC,7728,1.02,313.0,300.5,6.3,360,7767,0.15,2.45,31.48,0.716,6,0.061,0.040,3282,1419,1352,0,0,0,0,0,0
$GC,8076,0.97,313.0,268.5,8.4,376,8080,0.00,2.10,0.00,0.000,4,0.000,0.057,3282,233,1347,0,0,0,0,0,0
$GC,8128,0.87,313.0,263.7,9.8,378,8133,0.22,1.95,0.00,0.000,6,0.090,0.027,3237,1426,1343,0,0,0,0,0,0
$GC,8451,0.97,337.2,243.2,6.8,394,8475,0.12,0.00,20.48,0.665,6,0.067,0.000,3275,1428,1255,0,0,0,0,0,0
$GC,8788,0.97,337.2,214.3,8.3,410,8792,0.00,2.12,0.00,0.000,4,0.000,0.055,3275,227,1251,0,0,0,0,0,0
$GC,8815,0.91,337.2,211.3,9.3,411,8820,0.12,1.95,0.00,0.000,6,0.097,0.026,3250,1430,1249,0,0,0,0,0,0
$GC,9140,0.97,337.2,185.3,8.1,432,9144,0.00,2.30,0.00,0.000,4,0.000,0.026,3250,2811,1249,0,0,0,0,0,0
$GC,9165,1.09,337.2,182.8,8.3,434,9170,0.17,2.42,0.00,0.000,6,0.054,0.038,3302,1411,1249,0,0,0,0,0,0
$GC,9434,1.06,350.0,159.1,7.3,455,9451,0.00,2.10,11.52,0.567,4,0.000,0.054,3302,242,1203,0,0,0,0,0,0
$GC,9491,0.99,363.2,154.6,7.3,459,9509,0.17,1.92,12.62,0.568,6,0.088,0.025,3265,1428,1149,0,0,0,0,0,0
$GC,9771,1.06,363.2,135.5,8.2,481,9775,0.00,2.10,0.00,0.000,4,0.000,0.051,3265,235,1146,0,0,0,0,0,0
$GC,9812,1.06,363.2,131.5,8.9,484,9816,0.00,1.92,0.00,0.000,6,0.000,0.024,3265,1428,1145,0,0,0,0,0,0
$GC,10080,1.16,363.2,110.5,8.4,505,10085,0.17,2.08,0.00,0.000,4,0.052,0.051,3319,234,1145,0,0,0,0,0,0
$GC,10147,1.13,363.2,103.8,9.4,510,10151,0.12,1.90,0.00,0.000,6,0.095,0.023,3293,1427,1144,0,0,0,0,0,0
$GC,10420,1.22,380.0,86.0,7.1,531,10442,0.10,2.33,15.35,0.521,4,0.074,0.023,3329,2799,1079,0,0,0,0,0,0
$GC,10462,1.29,388.5,82.2,7.5,534,10478,0.00,2.38,8.62,0.473,6,0.000,0.035,3329,1419,1045,0,0,0,0,0,0
$GC,10735,1.29,388.5,62.2,8.0,555,10739,0.00,2.03,0.00,0.000,4,0.000,0.048,3329,234,1043,0,0,0,0,0,0
$GC,10820,1.25,388.5,54.0,8.8,561,10823,0.00,1.88,0.00,0.000,6,0.000,0.021,3329,1424,1041,0,0,0,0,0,0
$GC,11089,1.25,388.5,31.6,8.2,582,11091,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1427,1042,0,0,0,0,0,0
$GC,11346,1.25,388.5,10.0,9.5,638,11352,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1427,1042,0,0,0,0,0,0
$STATE,11420,end climb,SURFACE_DEPTH_REACHED
$STATE,11420,begin surface coast
$FINISH,0.8,1.023226
$STATE,11459,end surface coast,CONTROL_FINISHED_OK
$STATE,11459,begin surface
$SM_CCo,11482,18.10,0.457,0,0,957,410.14
$SM_GC,1.98,0.00,0.00,18.10,0.000,0.000,0.457,430,1426,957,-12.05,-0.68,410.14
$IRIDIUM_FIX,2054.83,-15751.76,250100,202021
$TT8_MAMPS,0.029146
$HUMID,62.48
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,21.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,420.7,59.3
$24V_AH,23.3,77.617
$10V_AH,10.0,62.208
$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,30.650,115.300,439.575,18.100,0.000,27.163,30.300,158.616,4.500,0.000,13.890,1286.276,7629.677,464.253,1907.710,561.473,0.000,1330.737,0.000,1888.431,0.000,30.689,0.000
$DEVICE_MAMPS,130.390,108.147,822.224,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,446.570,428.524,960.327,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355772
$DATA_FILE_SIZE,38135,663
$CAP_FILE_SIZE,126847,0
$CFSIZE,260165632,168685568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011110,030225,2057.914,-15749.191,44,1.0,44,9.8