version: 66.06
glider: 139
mission: 8
dive: 849
start: 11 7 110 10 9 51
data:
$ID,139
$MISSION,8
$DIVE,849
$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,-2169328.2
$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
$GPS1,100231,2106.062,-15752.181,77,1.3,77,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-72.6
$GPS2,100931,2106.000,-15752.125,15,1.9,15,9.8
$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,81.4,15911,-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,-64.25,0.000,2,0.000,0.000,428,1411,2618,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.1,-2.8,12,115,12.60,0.00,-9.88,0.000,6,0.130,0.000,2788,1413,3108,0,0,0,0,0,0
$GC,319,-0.96,-116.8,41.0,-17.8,54,324,0.25,2.40,0.00,0.000,4,0.091,0.018,2842,2880,3109,0,0,0,0,0,0
$GC,334,-0.82,-116.8,44.3,-18.5,55,339,0.12,2.45,0.00,0.000,6,0.094,0.031,2869,1440,3109,0,0,0,0,0,0
$GC,595,-0.82,-116.8,74.8,-10.6,75,599,0.00,2.08,0.00,0.000,4,0.000,0.044,2869,227,3110,0,0,0,0,0,0
$GC,640,-0.82,-116.8,79.5,-10.9,78,644,0.00,1.98,0.00,0.000,6,0.000,0.018,2869,1521,3111,0,0,0,0,0,0
$GC,909,-0.91,-116.8,100.6,-5.6,99,913,0.00,2.22,0.00,0.000,4,0.000,0.021,2869,2882,3111,0,0,0,0,0,0
$GC,1017,-1.13,-116.8,107.7,-6.8,106,1024,0.25,2.42,0.00,0.000,6,0.025,0.028,2786,1449,3111,0,0,0,0,0,0
$GC,1280,-1.04,-116.8,134.7,-10.0,127,1285,0.17,2.08,0.00,0.000,4,0.083,0.044,2824,237,3112,0,0,0,0,0,0
$GC,1300,-0.99,-116.8,137.1,-9.3,128,1304,0.00,1.95,0.00,0.000,6,0.000,0.018,2824,1508,3112,0,0,0,0,0,0
$GC,1568,-0.99,-116.8,159.3,-7.9,149,1573,0.00,2.20,0.00,0.000,4,0.000,0.044,2824,240,3112,0,0,0,0,0,0
$GC,1612,-0.99,-116.8,163.0,-7.9,152,1615,0.00,1.95,0.00,0.000,6,0.000,0.019,2824,1508,3112,0,0,0,0,0,0
$GC,1884,-1.03,-116.8,183.4,-7.2,173,1888,0.00,2.17,0.00,0.000,4,0.000,0.044,2824,235,3113,0,0,0,0,0,0
$GC,1917,-1.07,-116.8,186.1,-7.8,175,1923,0.00,1.98,0.00,0.000,6,0.000,0.019,2824,1527,3113,0,0,0,0,0,0
$GC,2181,-1.07,-116.8,202.2,-5.1,195,2185,0.00,2.20,0.00,0.000,4,0.000,0.044,2824,232,3113,0,0,0,0,0,0
$GC,2220,-1.11,-116.8,204.2,-5.5,196,2227,0.00,2.00,0.00,0.000,6,0.000,0.020,2824,1510,3113,0,0,0,0,0,0
$GC,2539,-1.11,-116.8,220.8,-6.6,212,2543,0.00,2.17,0.00,0.000,4,0.000,0.046,2824,233,3113,0,0,0,0,0,0
$GC,2587,-1.15,-116.8,224.1,-6.3,214,2591,0.12,1.98,0.00,0.000,6,0.062,0.020,2781,1509,3113,0,0,0,0,0,0
$GC,2914,-1.09,-116.8,251.6,-9.9,230,2919,0.15,2.20,0.00,0.000,4,0.087,0.048,2814,236,3112,0,0,0,0,0,0
$GC,3010,-1.09,-116.8,262.0,-10.5,234,3014,0.00,1.98,0.00,0.000,6,0.000,0.021,2814,1502,3111,0,0,0,0,0,0
$GC,3340,-1.23,-116.8,286.2,-6.3,250,3345,0.15,2.25,0.00,0.000,4,0.056,0.024,2764,2884,3110,0,0,0,0,0,0
$GC,3409,-1.23,-116.8,291.2,-7.9,253,3413,0.00,2.40,0.00,0.000,6,0.000,0.033,2764,1454,3110,0,0,0,0,0,0
$GC,3736,-1.16,-116.8,317.2,-7.5,264,3741,0.15,2.12,0.00,0.000,4,0.090,0.050,2796,230,3108,0,0,0,0,0,0
$GC,3760,-1.16,-116.8,319.0,-6.8,264,3764,0.00,2.00,0.00,0.000,6,0.000,0.023,2796,1493,3109,0,0,0,0,0,0
$GC,4114,-1.16,-116.8,342.7,-7.5,273,4118,0.00,2.20,0.00,0.000,4,0.000,0.050,2796,233,3107,0,0,0,0,0,0
$GC,4132,-1.16,-116.8,344.7,-8.3,273,4136,0.00,1.95,0.00,0.000,6,0.000,0.024,2796,1462,3107,0,0,0,0,0,0
$GC,4483,-1.16,-116.8,373.2,-8.6,282,4487,0.00,2.22,0.00,0.000,4,0.000,0.025,2796,2826,3104,0,0,0,0,0,0
$GC,4550,-1.23,-116.8,379.4,-9.1,283,4557,0.00,2.33,0.00,0.000,6,0.000,0.035,2796,1450,3105,0,0,0,0,0,0
$GC,4902,-1.23,-116.8,410.4,-8.8,292,4906,0.00,2.12,0.00,0.000,4,0.000,0.054,2796,231,3102,0,0,0,0,0,0
$GC,4932,-1.23,-116.8,413.3,-10.4,292,4936,0.00,1.95,0.00,0.000,6,0.000,0.025,2796,1442,3102,0,0,0,0,0,0
$GC,5272,-1.23,-116.8,445.7,-9.3,301,5276,0.00,2.10,0.00,0.000,4,0.000,0.054,2796,233,3100,0,0,0,0,0,0
$GC,5291,-1.23,-116.8,447.5,-10.0,301,5295,0.00,1.98,0.00,0.000,6,0.000,0.025,2796,1450,3100,0,0,0,0,0,0
$STATE,5353,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5353,begin apogee
$GC,5361,-0.31,0.0,453.2,8.7,303,5460,0.85,0.00,95.88,0.827,6,0.064,0.000,2981,1451,2630,0,0,0,0,0,0
$STATE,5461,end apogee,CONTROL_FINISHED_OK
$STATE,5461,begin climb
$GC,5464,1.18,116.8,457.7,0.0,305,5576,1.40,2.17,101.35,0.810,4,0.033,0.054,3310,239,2151,0,0,0,0,0,0
$GC,5594,0.95,182.2,460.3,4.9,308,5659,0.25,1.92,57.38,0.795,6,0.099,0.025,3261,1425,1887,0,0,0,0,0,0
$GC,6008,0.85,182.2,426.8,8.9,318,6013,0.12,2.30,0.00,0.000,4,0.109,0.028,3237,2799,1877,0,0,0,0,0,0
$GC,6079,0.85,182.2,420.2,8.9,319,6083,0.00,2.42,0.00,0.000,6,0.000,0.041,3237,1417,1876,0,0,0,0,0,0
$GC,6421,0.81,182.2,390.8,8.5,328,6425,0.00,2.33,0.00,0.000,4,0.000,0.028,3237,2803,1873,0,0,0,0,0,0
$GC,6466,0.81,187.2,387.5,7.7,329,6470,0.00,2.40,0.00,0.000,6,0.000,0.041,3237,1419,1873,0,0,0,0,0,0
$GC,6794,0.81,216.9,365.7,6.6,337,6830,0.00,2.38,29.15,0.767,4,0.000,0.027,3237,2804,1745,0,0,0,0,0,0
$GC,6847,0.84,242.1,362.0,6.8,338,6876,0.00,2.45,23.73,0.746,6,0.000,0.041,3237,1415,1642,0,0,0,0,0,0
$GC,7202,0.86,253.3,335.3,7.4,346,7214,0.00,0.00,10.30,0.674,6,0.000,0.000,3237,1415,1597,0,0,0,0,0,0
$GC,7527,0.94,319.7,318.1,4.9,354,7588,0.00,0.00,58.38,0.751,6,0.000,0.000,3237,1415,1326,0,0,0,0,0,0
$GC,7879,0.99,329.6,293.6,7.4,364,7896,0.12,2.10,9.12,0.638,4,0.069,0.056,3272,234,1285,0,0,0,0,0,0
$GC,7920,0.87,329.6,289.4,10.7,365,7926,0.15,1.95,0.00,0.000,6,0.098,0.028,3242,1419,1282,0,0,0,0,0,0
$GC,8239,0.92,335.3,263.9,7.6,381,8247,0.00,0.00,5.70,0.546,6,0.000,0.000,3242,1420,1263,0,0,0,0,0,0
$GC,8545,1.00,367.3,242.1,6.5,396,8580,0.12,2.38,29.05,0.684,4,0.068,0.028,3278,2806,1131,0,0,0,0,0,0
$GC,8619,1.09,367.3,236.1,10.0,399,8623,0.00,2.45,0.00,0.000,6,0.000,0.041,3279,1416,1131,0,0,0,0,0,0
$GC,8944,1.09,367.3,202.2,10.2,415,8948,0.00,2.10,0.00,0.000,4,0.000,0.055,3278,229,1127,0,0,0,0,0,0
$GC,8983,1.02,367.3,198.1,11.0,416,8990,0.00,1.98,0.00,0.000,6,0.000,0.027,3280,1424,1126,0,0,0,0,0,0
$GC,9307,1.02,367.3,169.7,8.2,442,9311,0.00,2.30,0.00,0.000,4,0.000,0.026,3279,2809,1126,0,0,0,0,0,0
$GC,9346,1.14,369.5,166.5,7.8,444,9352,0.00,2.45,0.00,0.000,6,0.000,0.039,3279,1415,1125,0,0,0,0,0,0
$GC,9606,1.16,383.1,148.9,7.3,465,9623,0.10,0.00,13.75,0.574,6,0.077,0.000,3311,1415,1067,0,0,0,0,0,0
$GC,9877,1.12,383.1,121.2,10.6,486,9878,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,1415,1066,0,0,0,0,0,0
$GC,10125,1.12,383.1,96.0,9.1,506,10129,0.00,2.30,0.00,0.000,4,0.000,0.024,3310,2813,1065,0,0,0,0,0,0
$GC,10149,1.22,392.9,94.3,7.5,507,10168,0.00,2.40,9.50,0.501,6,0.000,0.036,3310,1414,1028,0,0,0,0,0,0
$GC,10421,1.31,423.3,76.1,6.5,529,10454,0.12,2.08,26.62,0.536,4,0.064,0.048,3351,234,903,0,0,0,0,0,0
$GC,10505,1.22,423.3,68.5,10.3,535,10510,0.17,1.92,0.00,0.000,6,0.087,0.022,3315,1440,900,0,0,0,0,0,0
$GC,10774,1.33,474.6,49.6,5.6,556,10823,0.10,2.30,42.50,0.512,4,0.074,0.021,3350,2800,695,0,0,0,0,0,0
$GC,10862,1.42,475.7,42.2,7.8,562,10866,0.00,2.40,0.00,0.000,6,0.000,0.034,3350,1415,694,0,0,0,0,0,0
$GC,11128,1.42,475.7,16.6,8.5,602,11134,0.00,2.08,0.00,0.000,4,0.000,0.048,3350,235,692,0,0,0,0,0,0
$GC,11168,1.33,475.7,11.9,12.1,610,11174,0.00,1.90,0.00,0.000,6,0.000,0.020,3350,1423,691,0,0,0,0,0,0
$STATE,11242,end climb,SURFACE_DEPTH_REACHED
$STATE,11242,begin surface coast
$FINISH,0.9,1.011167
$STATE,11271,end surface coast,CONTROL_FINISHED_OK
$STATE,11271,begin surface
$SM_CCo,11356,0.00,0.000,0,0,688,476.37
$SM_GC,1.73,12.55,0.00,0.00,0.022,0.000,0.000,429,1426,688,-11.98,-0.68,476.37
$IRIDIUM_FIX,2059.45,-15753.90,010200,060642
$TT8_MAMPS,0.028379
$HUMID,64.56
$INTERNAL_PRESSURE,9.22541
$TCM_TEMP,20.10
$XPDR_PINGS,0
$24V_AH,23.3,83.144
$10V_AH,9.9,66.286
$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,30.050,117.475,512.400,0.000,0.000,30.252,43.789,196.632,4.500,0.000,15.231,1219.458,7566.471,510.398,1841.857,625.612,0.000,1385.019,0.000,1824.357,0.000,29.258,0.000
$DEVICE_MAMPS,129.623,55.991,826.826,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,426.073,412.301,897.796,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355740
$DATA_FILE_SIZE,34874,633
$CAP_FILE_SIZE,123589,0
$CFSIZE,260165632,165769216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071110,131956,2106.089,-15751.558,13,1.5,13,9.8