version: 66.06
glider: 139
mission: 8
dive: 852
start: 11 7 110 20 22 39
data:
$ID,139
$MISSION,8
$DIVE,852
$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,-2169380.2
$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
$GPS1,201137,2106.243,-15750.144,100,0.9,100,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-73.5
$GPS2,202219,2106.226,-15750.076,10,0.9,15,9.8
$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,83.7,12392,-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,-64.20,0.000,2,0.000,0.000,424,1417,2696,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.4,-3.4,12,116,12.65,2.45,-8.35,0.000,4,0.131,0.034,2785,2875,3110,0,0,0,0,0,0
$GC,126,-0.09,-116.8,11.8,-20.0,18,133,1.10,2.45,0.00,0.000,6,0.066,0.032,3029,1451,3111,0,0,0,0,0,0
$GC,328,-0.64,-116.8,35.0,-12.3,58,333,0.52,2.08,0.00,0.000,4,0.041,0.042,2901,230,3112,0,0,0,0,0,0
$GC,357,-1.01,-116.8,37.9,-10.3,60,362,0.30,1.98,0.00,0.000,6,0.035,0.018,2812,1517,3113,0,0,0,0,0,0
$GC,626,-0.87,-116.8,71.9,-13.6,81,628,0.22,0.00,0.00,0.000,6,0.082,0.000,2859,1518,3112,0,0,0,0,0,0
$GC,877,-0.87,-116.8,97.1,-10.5,101,881,0.00,2.17,0.00,0.000,4,0.000,0.044,2859,237,3113,0,0,0,0,0,0
$GC,910,-0.87,-116.8,100.8,-10.4,103,915,0.00,1.98,0.00,0.000,6,0.000,0.018,2859,1524,3113,0,0,0,0,0,0
$GC,1173,-0.93,-116.8,122.9,-7.5,124,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1524,3114,0,0,0,0,0,0
$GC,1423,-1.15,-116.8,139.1,-6.5,144,1427,0.25,2.17,0.00,0.000,4,0.040,0.018,2778,2881,3114,0,0,0,0,0,0
$GC,1467,-1.11,-116.8,143.0,-8.8,147,1472,0.15,2.40,0.00,0.000,6,0.089,0.028,2809,1447,3114,0,0,0,0,0,0
$GC,1733,-1.11,-116.8,166.6,-9.5,167,1736,0.00,2.03,0.00,0.000,4,0.000,0.044,2810,240,3114,0,0,0,0,0,0
$GC,1790,-1.11,-116.8,172.6,-9.2,171,1794,0.00,2.00,0.00,0.000,6,0.000,0.019,2810,1517,3115,0,0,0,0,0,0
$GC,2061,-1.11,-116.8,192.4,-7.2,192,2065,0.00,2.17,0.00,0.000,4,0.000,0.044,2810,237,3115,0,0,0,0,0,0
$GC,2117,-1.11,-116.8,197.4,-8.9,196,2121,0.00,2.00,0.00,0.000,6,0.000,0.019,2810,1513,3114,0,0,0,0,0,0
$GC,2386,-1.11,-116.8,219.6,-8.5,210,2387,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1517,3115,0,0,0,0,0,0
$GC,2696,-1.11,-116.8,242.7,-7.2,225,2699,0.00,2.17,0.00,0.000,4,0.000,0.046,2809,240,3114,0,0,0,0,0,0
$GC,2741,-1.11,-116.8,246.6,-8.3,227,2745,0.00,1.95,0.00,0.000,6,0.000,0.021,2810,1501,3114,0,0,0,0,0,0
$GC,3074,-1.14,-116.8,271.0,-7.3,243,3078,0.00,2.25,0.00,0.000,4,0.000,0.023,2810,2882,3114,0,0,0,0,0,0
$GC,3173,-1.24,-116.8,278.4,-7.2,247,3178,0.12,2.40,0.00,0.000,6,0.063,0.031,2764,1448,3113,0,0,0,0,0,0
$GC,3519,-1.17,-116.8,304.2,-7.2,263,3523,0.15,2.10,0.00,0.000,4,0.089,0.049,2796,238,3112,0,0,0,0,0,0
$GC,3603,-1.17,-116.8,310.5,-7.4,264,3608,0.00,1.98,0.00,0.000,6,0.000,0.021,2797,1512,3112,0,0,0,0,0,0
$GC,3936,-1.17,-116.8,333.8,-7.4,273,3940,0.00,2.20,0.00,0.000,4,0.000,0.050,2796,233,3110,0,0,0,0,0,0
$GC,3955,-1.17,-116.8,335.5,-7.3,273,3959,0.00,1.98,0.00,0.000,6,0.000,0.023,2797,1495,3110,0,0,0,0,0,0
$GC,4305,-1.17,-116.8,362.3,-8.4,282,4309,0.00,2.20,0.00,0.000,4,0.000,0.051,2796,240,3108,0,0,0,0,0,0
$GC,4339,-1.17,-116.8,365.4,-9.2,282,4343,0.00,1.90,0.00,0.000,6,0.000,0.024,2796,1450,3108,0,0,0,0,0,0
$GC,4675,-1.17,-116.8,391.0,-7.1,291,4679,0.00,2.28,0.00,0.000,4,0.000,0.026,2797,2828,3105,0,0,0,0,0,0
$GC,4694,-1.22,-116.8,392.4,-6.8,291,4699,0.00,2.35,0.00,0.000,6,0.000,0.038,2796,1449,3105,0,0,0,0,0,0
$GC,5042,-1.22,-116.8,413.3,-5.7,300,5046,0.00,2.30,0.00,0.000,4,0.000,0.027,2796,2828,3103,0,0,0,0,0,0
$GC,5061,-1.28,-116.8,414.3,-4.8,300,5066,0.12,2.35,0.00,0.000,6,0.064,0.039,2755,1446,3102,0,0,0,0,0,0
$GC,5409,-1.21,-116.8,438.4,-7.3,309,5414,0.15,2.15,0.00,0.000,4,0.091,0.057,2787,227,3100,0,0,0,0,0,0
$GC,5457,-1.21,-116.8,442.3,-8.4,310,5461,0.00,1.92,0.00,0.000,6,0.000,0.025,2787,1448,3100,0,0,0,0,0,0
$STATE,5583,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5583,begin apogee
$GC,5590,-0.31,0.0,451.9,7.6,313,5689,0.90,0.00,95.93,0.828,6,0.066,0.000,2981,1451,2629,0,0,0,0,0,0
$STATE,5690,end apogee,CONTROL_FINISHED_OK
$STATE,5690,begin climb
$GC,5694,1.18,116.8,455.2,0.0,315,5807,1.45,2.25,101.78,0.812,4,0.034,0.054,3317,235,2152,0,0,0,0,0,0
$GC,5827,0.89,163.6,456.4,5.8,318,5875,0.38,1.92,41.35,0.790,6,0.093,0.025,3243,1431,1962,0,0,0,0,0,0
$GC,6200,0.82,175.3,429.4,7.4,328,6216,0.00,2.20,10.12,0.705,4,0.000,0.056,3242,235,1915,0,0,0,0,0,0
$GC,6265,0.68,175.3,423.8,9.0,329,6270,0.22,1.95,0.00,0.000,6,0.096,0.026,3198,1415,1910,0,0,0,0,0,0
$GC,6580,0.79,231.7,405.7,5.3,337,6638,0.10,2.45,50.58,0.796,4,0.081,0.028,3226,2812,1684,0,0,0,0,0,0
$GC,6653,0.82,252.0,400.6,7.0,338,6678,0.00,2.45,19.02,0.748,6,0.000,0.043,3226,1419,1602,0,0,0,0,0,0
$GC,6997,0.82,252.0,372.6,8.5,347,6998,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1419,1595,0,0,0,0,0,0
$GC,7317,0.87,289.5,350.3,6.2,355,7355,0.00,0.00,32.47,0.762,6,0.000,0.000,3226,1419,1448,0,0,0,0,0,0
$GC,7683,0.95,332.2,329.0,6.0,364,7726,0.15,2.22,37.62,0.752,4,0.062,0.059,3267,229,1275,0,0,0,0,0,0
$GC,7769,0.84,332.2,320.8,11.6,365,7775,0.17,1.98,0.00,0.000,6,0.097,0.028,3233,1425,1271,0,0,0,0,0,0
$GC,8082,0.88,335.2,297.4,7.8,374,8084,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1426,1269,0,0,0,0,0,0
$GC,8393,0.96,351.7,274.4,7.2,389,8416,0.12,2.15,17.15,0.690,4,0.069,0.056,3268,231,1195,0,0,0,0,0,0
$GC,8457,0.90,351.7,267.9,11.2,391,8462,0.12,1.98,0.00,0.000,6,0.101,0.028,3244,1431,1192,0,0,0,0,0,0
$GC,8773,0.94,351.7,238.1,9.3,406,8777,0.00,2.12,0.00,0.000,4,0.000,0.056,3244,228,1191,0,0,0,0,0,0
$GC,8819,0.94,351.7,233.4,10.2,408,8823,0.00,1.95,0.00,0.000,6,0.000,0.028,3244,1419,1189,0,0,0,0,0,0
$GC,9150,1.04,376.0,207.1,6.8,424,9174,0.15,0.00,21.50,0.651,6,0.060,0.000,3288,1421,1096,0,0,0,0,0,0
$GC,9492,1.04,376.0,178.9,9.0,448,9496,0.00,2.08,0.00,0.000,4,0.000,0.053,3288,234,1093,0,0,0,0,0,0
$GC,9531,0.98,376.0,174.9,11.0,450,9538,0.10,1.95,0.00,0.000,6,0.073,0.026,3263,1420,1091,0,0,0,0,0,0
$GC,9794,1.07,410.0,156.2,6.4,471,9825,0.00,0.00,29.55,0.611,6,0.000,0.000,3263,1420,958,0,0,0,0,0,0
$GC,10074,1.14,410.0,135.4,8.4,493,10078,0.15,2.10,0.00,0.000,4,0.058,0.052,3308,232,955,0,0,0,0,0,0
$GC,10140,1.05,410.0,127.8,12.2,498,10144,0.15,1.92,0.00,0.000,6,0.092,0.024,3277,1428,953,0,0,0,0,0,0
$GC,10409,1.17,428.8,107.1,7.0,519,10436,0.12,2.12,16.90,0.544,4,0.064,0.049,3317,233,879,0,0,0,0,0,0
$GC,10453,1.13,428.8,102.7,9.8,522,10457,0.10,1.92,0.00,0.000,6,0.104,0.024,3297,1424,878,0,0,0,0,0,0
$GC,10726,1.24,441.2,81.5,7.3,543,10743,0.10,2.15,11.27,0.495,4,0.074,0.049,3333,231,830,0,0,0,0,0,0
$GC,10772,1.21,441.2,76.8,10.3,546,10776,0.00,1.90,0.00,0.000,6,0.000,0.023,3333,1423,828,0,0,0,0,0,0
$GC,11037,1.21,441.2,54.4,8.9,567,11041,0.00,2.25,0.00,0.000,4,0.000,0.021,3334,2807,828,0,0,0,0,0,0
$GC,11074,1.34,441.2,50.8,8.8,569,11081,0.00,2.42,0.00,0.000,6,0.000,0.035,3334,1412,828,0,0,0,0,0,0
$GC,11339,1.34,441.2,25.7,9.9,596,11346,0.00,2.05,0.00,0.000,4,0.000,0.048,3334,237,828,0,0,0,0,0,0
$GC,11384,1.26,441.2,20.6,11.1,605,11391,0.00,1.90,0.00,0.000,6,0.000,0.020,3334,1437,828,0,0,0,0,0,0
$STATE,11572,end climb,SURFACE_DEPTH_REACHED
$STATE,11572,begin surface coast
$FINISH,0.9,0.998809
$STATE,11613,end surface coast,CONTROL_FINISHED_OK
$STATE,11613,begin surface
$SM_CCo,11696,0.00,0.000,0,0,826,442.52
$SM_GC,1.74,12.45,0.00,0.00,0.023,0.000,0.000,428,1439,826,-11.98,-0.31,442.52
$IRIDIUM_FIX,2059.45,-15748.75,010200,202049
$TT8_MAMPS,0.028379
$HUMID,64.29
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,20.30
$XPDR_PINGS,0
$24V_AH,23.3,83.522
$10V_AH,9.9,66.554
$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,32.700,110.750,485.250,0.000,0.000,59.787,74.057,290.664,4.500,0.000,15.874,1256.583,7916.742,530.392,1841.122,783.175,0.000,1354.149,0.000,1822.557,0.000,29.253,0.000
$DEVICE_MAMPS,131.157,59.059,828.360,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,441.817,417.586,932.772,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,37958,657
$CAP_FILE_SIZE,126291,0
$CFSIZE,260165632,165576704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071110,233826,2106.133,-15749.143,15,1.7,15,9.8