version: 66.06
glider: 139
mission: 8
dive: 847
start: 11 7 110 3 6 26
data:
$ID,139
$MISSION,8
$DIVE,847
$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,-2169271.5
$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
$GPS1,025936,2105.880,-15754.400,97,1.1,97,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-70.5
$GPS2,030607,2105.875,-15754.470,11,1.4,16,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$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,80.5,19959,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.18,-116.8,0.0,0.0,0,83,0.00,0.00,-64.28,0.000,2,0.000,0.000,423,1471,2608,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.3,-3.4,12,116,12.62,2.33,-10.12,0.000,4,0.130,0.032,2786,2887,3108,0,0,0,0,0,0
$GC,143,-0.82,-116.8,14.9,-19.4,22,150,0.35,2.50,0.00,0.000,6,0.065,0.034,2875,1445,3109,0,0,0,0,0,0
$GC,348,-0.82,-116.8,35.6,-11.0,61,352,0.00,2.08,0.00,0.000,4,0.000,0.043,2875,226,3110,0,0,0,0,0,0
$GC,393,-0.82,-116.8,40.0,-10.6,64,396,0.00,1.98,0.00,0.000,6,0.000,0.018,2875,1501,3110,0,0,0,0,0,0
$GC,663,-0.82,-116.8,68.2,-10.6,85,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1519,3110,0,0,0,0,0,0
$GC,917,-0.85,-116.8,98.9,-10.5,105,921,0.00,2.22,0.00,0.000,4,0.000,0.044,2875,226,3111,0,0,0,0,0,0
$GC,949,-0.90,-116.8,102.5,-10.2,107,955,0.00,1.98,0.00,0.000,6,0.000,0.018,2875,1521,3111,0,0,0,0,0,0
$GC,1211,-0.98,-116.8,120.3,-5.7,128,1216,0.17,2.20,0.00,0.000,4,0.049,0.044,2818,234,3112,0,0,0,0,0,0
$GC,1253,-0.94,-116.8,123.5,-8.9,131,1258,0.12,2.00,0.00,0.000,6,0.091,0.019,2844,1534,3112,0,0,0,0,0,0
$GC,1526,-1.02,-116.8,143.4,-7.2,152,1530,0.00,2.20,0.00,0.000,4,0.000,0.042,2844,233,3112,0,0,0,0,0,0
$GC,1615,-1.02,-116.8,150.7,-8.6,158,1622,0.00,2.00,0.00,0.000,6,0.000,0.019,2844,1514,3113,0,0,0,0,0,0
$GC,1878,-1.18,-116.8,169.7,-7.1,179,1883,0.22,2.20,0.00,0.000,4,0.041,0.019,2770,2878,3113,0,0,0,0,0,0
$GC,1949,-1.18,-116.8,176.4,-9.7,184,1954,0.12,2.42,0.00,0.000,6,0.093,0.031,2796,1438,3113,0,0,0,0,0,0
$GC,2210,-1.13,-116.8,198.3,-8.1,204,2211,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1438,3113,0,0,0,0,0,0
$GC,2463,-1.09,-116.8,218.3,-8.1,217,2467,0.00,2.35,0.00,0.000,4,0.000,0.021,2796,2884,3113,0,0,0,0,0,0
$GC,2491,-1.12,-116.8,220.8,-7.9,218,2495,0.00,2.42,0.00,0.000,6,0.000,0.031,2796,1439,3113,0,0,0,0,0,0
$GC,2812,-1.12,-116.8,246.8,-8.0,234,2816,0.00,2.05,0.00,0.000,4,0.000,0.046,2796,228,3113,0,0,0,0,0,0
$GC,2873,-1.09,-116.8,251.8,-8.6,236,2879,0.00,2.03,0.00,0.000,6,0.000,0.020,2796,1510,3112,0,0,0,0,0,0
$GC,3188,-1.09,-116.8,274.8,-8.2,252,3189,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1511,3112,0,0,0,0,0,0
$GC,3501,-1.09,-116.8,301.3,-8.6,267,3505,0.00,2.17,0.00,0.000,4,0.000,0.048,2797,238,3111,0,0,0,0,0,0
$GC,3557,-1.09,-116.8,306.4,-8.9,268,3560,0.00,1.98,0.00,0.000,6,0.000,0.021,2797,1506,3111,0,0,0,0,0,0
$GC,3881,-1.16,-116.8,332.6,-8.4,276,3885,0.00,2.25,0.00,0.000,4,0.000,0.025,2797,2882,3110,0,0,0,0,0,0
$GC,3971,-1.23,-116.8,339.8,-7.7,278,3975,0.00,2.45,0.00,0.000,6,0.000,0.033,2797,1440,3109,0,0,0,0,0,0
$GC,4306,-1.23,-116.8,362.1,-6.6,286,4310,0.00,2.05,0.00,0.000,4,0.000,0.051,2797,237,3108,0,0,0,0,0,0
$GC,4343,-1.23,-116.8,364.9,-7.8,286,4349,0.00,1.98,0.00,0.000,6,0.000,0.022,2797,1502,3108,0,0,0,0,0,0
$GC,4675,-1.23,-116.8,387.5,-7.2,295,4679,0.00,2.25,0.00,0.000,4,0.000,0.026,2797,2881,3105,0,0,0,0,0,0
$GC,4696,-1.29,-116.8,389.2,-7.9,295,4701,0.12,2.45,0.00,0.000,6,0.061,0.037,2753,1449,3106,0,0,0,0,0,0
$GC,5043,-1.21,-116.8,421.2,-9.1,304,5048,0.15,2.38,0.00,0.000,4,0.090,0.027,2785,2871,3103,0,0,0,0,0,0
$GC,5082,-1.27,-116.8,424.3,-7.8,304,5088,0.00,2.42,0.00,0.000,6,0.000,0.038,2785,1448,3103,0,0,0,0,0,0
$GC,5415,-1.27,-116.8,446.4,-6.9,313,5419,0.00,2.10,0.00,0.000,4,0.000,0.055,2785,231,3101,0,0,0,0,0,0
$GC,5443,-1.27,-116.8,448.6,-7.8,313,5447,0.00,2.03,0.00,0.000,6,0.000,0.025,2785,1486,3101,0,0,0,0,0,0
$STATE,5498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5498,begin apogee
$GC,5505,-0.31,0.0,452.0,6.2,315,5604,0.90,0.00,96.07,0.820,6,0.064,0.000,2980,1414,2630,0,0,0,0,0,0
$STATE,5605,end apogee,CONTROL_FINISHED_OK
$STATE,5605,begin climb
$GC,5610,1.18,116.8,454.2,0.0,317,5722,1.40,2.08,101.05,0.805,4,0.031,0.052,3312,242,2151,0,0,0,0,0,0
$GC,5798,0.84,116.8,449.0,8.0,321,5803,0.40,1.90,0.00,0.000,6,0.093,0.025,3233,1432,2144,0,0,0,0,0,0
$GC,6113,0.84,167.7,431.5,5.6,329,6161,0.00,0.00,43.83,0.793,6,0.000,0.000,3233,1435,1947,0,0,0,0,0,0
$GC,6485,0.86,219.6,410.6,5.6,338,6534,0.00,0.00,45.80,0.790,6,0.000,0.000,3234,1435,1734,0,0,0,0,0,0
$GC,6855,0.90,255.7,387.8,6.3,347,6892,0.00,2.35,31.65,0.772,4,0.000,0.028,3234,2800,1587,0,0,0,0,0,0
$GC,6908,0.91,260.2,383.6,7.7,347,6921,0.00,2.42,5.78,0.585,6,0.000,0.043,3233,1430,1568,0,0,0,0,0,0
$GC,7266,0.91,260.2,352.9,8.4,356,7270,0.00,2.12,0.00,0.000,4,0.000,0.056,3233,232,1562,0,0,0,0,0,0
$GC,7317,0.87,260.2,348.9,9.3,357,7321,0.00,1.92,0.00,0.000,6,0.000,0.028,3233,1411,1559,0,0,0,0,0,0
$GC,7649,0.87,261.8,324.1,7.8,365,7653,0.00,2.35,0.00,0.000,4,0.000,0.028,3233,2815,1559,0,0,0,0,0,0
$GC,7682,0.97,261.8,321.3,8.9,365,7687,0.12,2.45,0.00,0.000,6,0.067,0.041,3270,1416,1559,0,0,0,0,0,0
$GC,7996,0.92,261.8,292.1,9.2,374,7999,0.00,2.10,0.00,0.000,4,0.000,0.057,3270,226,1558,0,0,0,0,0,0
$GC,8056,0.82,261.8,285.8,10.2,376,8062,0.17,1.98,0.00,0.000,6,0.078,0.028,3230,1424,1555,0,0,0,0,0,0
$GC,8373,0.91,279.7,263.0,7.1,392,8397,0.00,2.38,16.15,0.680,4,0.000,0.028,3230,2803,1488,0,0,0,0,0,0
$GC,8403,1.01,285.7,260.6,7.6,393,8416,0.17,2.42,6.78,0.574,6,0.055,0.040,3279,1412,1465,0,0,0,0,0,0
$GC,8737,0.97,285.7,232.6,8.2,409,8741,0.00,2.08,0.00,0.000,4,0.000,0.054,3279,233,1461,0,0,0,0,0,0
$GC,8766,0.90,295.4,230.0,7.5,410,8782,0.15,1.95,9.52,0.609,6,0.096,0.026,3249,1432,1424,0,0,0,0,0,0
$GC,9095,0.99,319.5,210.0,6.8,426,9124,0.00,2.33,22.12,0.649,4,0.000,0.025,3249,2809,1325,0,0,0,0,0,0
$GC,9149,1.15,329.1,205.7,7.5,428,9165,0.22,2.42,9.73,0.582,6,0.048,0.038,3311,1412,1288,0,0,0,0,0,0
$GC,9478,1.09,329.1,176.4,8.0,452,9480,0.12,0.00,0.00,0.000,6,0.097,0.000,3285,1412,1284,0,0,0,0,0,0
$GC,9730,1.09,329.1,158.1,8.5,472,9733,0.00,2.03,0.00,0.000,4,0.000,0.050,3285,234,1284,0,0,0,0,0,0
$GC,9796,1.04,329.1,151.3,10.7,476,9802,0.00,1.92,0.00,0.000,6,0.000,0.024,3285,1425,1281,0,0,0,0,0,0
$GC,10056,1.04,329.1,126.3,8.5,497,10060,0.00,2.25,0.00,0.000,4,0.000,0.024,3285,2803,1281,0,0,0,0,0,0
$GC,10095,1.15,329.1,123.1,8.9,500,10099,0.00,2.38,0.00,0.000,6,0.000,0.037,3285,1415,1281,0,0,0,0,0,0
$GC,10364,1.29,389.7,107.2,5.2,521,10421,0.20,2.08,51.30,0.568,4,0.048,0.048,3345,234,1040,0,0,0,0,0,0
$GC,10463,1.19,389.7,97.7,11.2,528,10467,0.17,1.92,0.00,0.000,6,0.084,0.022,3309,1439,1037,0,0,0,0,0,0
$GC,10725,1.38,413.9,76.7,6.8,548,10749,0.17,0.00,20.88,0.518,6,0.050,0.000,3365,1441,942,0,0,0,0,0,0
$GC,11005,1.36,437.2,52.9,6.8,570,11033,0.00,2.17,20.33,0.495,4,0.000,0.047,3365,235,846,0,0,0,0,0,0
$GC,11051,1.31,494.0,49.3,5.3,573,11108,0.15,1.88,46.75,0.505,6,0.088,0.021,3334,1421,615,0,0,0,0,0,0
$GC,11362,1.31,494.0,17.9,11.2,613,11368,0.00,2.10,0.00,0.000,4,0.000,0.046,3334,229,611,0,0,0,0,0,0
$GC,11376,1.31,494.0,16.1,11.5,615,11383,0.00,1.90,0.00,0.000,6,0.000,0.021,3334,1418,610,0,0,0,0,0,0
$STATE,11488,end climb,SURFACE_DEPTH_REACHED
$STATE,11492,begin surface coast
$FINISH,1.0,1.015142
$STATE,11519,end surface coast,CONTROL_FINISHED_OK
$STATE,11519,begin surface
$SM_CCo,11602,0.00,0.000,0,0,608,495.75
$SM_GC,1.76,12.50,0.00,0.00,0.023,0.000,0.000,426,1418,608,-11.99,-0.90,495.75
$IRIDIUM_FIX,2059.45,-15756.04,310100,232333
$TT8_MAMPS,0.028379
$HUMID,63.23
$INTERNAL_PRESSURE,9.23518
$TCM_TEMP,20.60
$XPDR_PINGS,0
$24V_AH,23.3,82.885
$10V_AH,9.9,66.101
$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,30.775,117.450,527.725,0.000,0.000,28.125,36.331,177.426,4.500,0.000,16.761,1243.923,7726.044,515.610,1906.402,591.637,0.000,1423.256,0.000,1884.584,0.000,29.258,0.000
$DEVICE_MAMPS,129.623,79.001,819.923,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,434.182,418.733,922.207,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355712
$DATA_FILE_SIZE,34901,647
$CAP_FILE_SIZE,126621,0
$CFSIZE,260165632,165900288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071110,062107,2105.905,-15753.894,43,1.9,43,9.8