version: 66.06
glider: 139
mission: 8
dive: 701
start: 10 18 110 2 8 44
data:
$ID,139
$MISSION,8
$DIVE,701
$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,-2165906.2
$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,1530
$C_ROLL_CLIMB,1500
$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
$GPS1,020154,2111.391,-15803.304,26,0.9,43,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-72.3
$GPS2,020826,2111.399,-15803.423,20,1.1,20,9.8
$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,96.5,36909,-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,15,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.40,0.000,2,0.000,0.000,425,1504,2765,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.6,-3.9,12,111,12.68,2.40,-6.43,0.000,4,0.133,0.031,2784,2956,3109,0,0,0,0,0,0
$GC,168,-1.10,-116.8,20.8,-13.0,28,175,0.08,2.47,0.00,0.000,6,0.083,0.032,2805,1526,3111,0,0,0,0,0,0
$GC,374,-0.92,-116.8,51.4,-14.8,53,376,0.20,0.00,0.00,0.000,6,0.091,0.000,2846,1526,3112,0,0,0,0,0,0
$GC,624,-0.92,-116.8,75.7,-8.8,73,628,0.00,2.20,0.00,0.000,4,0.000,0.045,2846,232,3112,0,0,0,0,0,0
$GC,665,-0.92,-116.8,79.5,-9.5,76,669,0.00,2.12,0.00,0.000,6,0.000,0.018,2846,1589,3113,0,0,0,0,0,0
$GC,931,-0.92,-116.8,101.8,-7.2,97,935,0.00,2.33,0.00,0.000,4,0.000,0.044,2846,232,3113,0,0,0,0,0,0
$GC,986,-0.96,-116.8,106.6,-8.3,101,989,0.00,2.10,0.00,0.000,6,0.000,0.018,2846,1594,3114,0,0,0,0,0,0
$GC,1249,-1.00,-116.8,126.3,-8.0,121,1253,0.00,2.33,0.00,0.000,4,0.000,0.044,2846,235,3114,0,0,0,0,0,0
$GC,1314,-1.05,-116.8,132.0,-8.3,126,1319,0.12,2.12,0.00,0.000,6,0.061,0.018,2800,1599,3114,0,0,0,0,0,0
$GC,1586,-1.00,-116.8,153.2,-7.9,147,1591,0.15,2.20,0.00,0.000,4,0.087,0.022,2834,2953,3114,0,0,0,0,0,0
$GC,1607,-1.00,-116.8,155.1,-7.6,148,1613,0.00,2.42,0.00,0.000,6,0.000,0.032,2833,1531,3114,0,0,0,0,0,0
$GC,1867,-1.00,-116.8,171.3,-6.5,169,1871,0.00,2.20,0.00,0.000,4,0.000,0.046,2833,234,3114,0,0,0,0,0,0
$GC,1928,-1.00,-116.8,175.9,-7.9,173,1934,0.00,2.12,0.00,0.000,6,0.000,0.019,2833,1586,3115,0,0,0,0,0,0
$GC,2189,-1.03,-116.8,193.9,-6.8,194,2193,0.00,2.33,0.00,0.000,4,0.000,0.046,2834,228,3115,0,0,0,0,0,0
$GC,2230,-1.03,-116.8,196.9,-7.9,197,2234,0.00,2.12,0.00,0.000,6,0.000,0.020,2833,1586,3114,0,0,0,0,0,0
$GC,2499,-1.03,-116.8,217.6,-8.1,211,2500,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1590,3114,0,0,0,0,0,0
$GC,2807,-1.08,-116.8,244.8,-9.3,226,2811,0.00,2.35,0.00,0.000,4,0.000,0.048,2833,228,3113,0,0,0,0,0,0
$GC,2850,-1.13,-116.8,248.7,-9.5,227,2856,0.12,2.12,0.00,0.000,6,0.061,0.021,2790,1579,3113,0,0,0,0,0,0
$GC,3167,-1.13,-116.8,278.9,-8.7,243,3171,0.00,2.17,0.00,0.000,4,0.000,0.024,2790,2912,3112,0,0,0,0,0,0
$GC,3197,-1.17,-116.8,281.3,-7.9,244,3201,0.00,2.33,0.00,0.000,6,0.000,0.035,2790,1533,3113,0,0,0,0,0,0
$GC,3516,-1.17,-116.8,307.7,-7.9,258,3520,0.00,2.22,0.00,0.000,4,0.000,0.049,2790,230,3112,0,0,0,0,0,0
$GC,3549,-1.11,-116.8,310.7,-9.3,258,3553,0.00,2.03,0.00,0.000,6,0.000,0.022,2790,1530,3111,0,0,0,0,0,0
$GC,3881,-1.11,-116.8,336.9,-8.1,266,3885,0.00,2.25,0.00,0.000,4,0.000,0.025,2790,2901,3110,0,0,0,0,0,0
$GC,3932,-1.18,-116.8,341.2,-8.3,267,3937,0.00,2.33,0.00,0.000,6,0.000,0.037,2790,1530,3109,0,0,0,0,0,0
$GC,4250,-1.18,-116.8,372.8,-10.7,275,4254,0.00,2.25,0.00,0.000,4,0.000,0.053,2790,234,3107,0,0,0,0,0,0
$GC,4280,-1.14,-116.8,375.9,-11.1,275,4284,0.00,2.08,0.00,0.000,6,0.000,0.023,2790,1534,3107,0,0,0,0,0,0
$GC,4615,-1.14,-116.8,407.0,-8.9,284,4616,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1538,3105,0,0,0,0,0,0
$GC,4940,-1.14,-116.8,438.8,-10.2,292,4944,0.00,2.28,0.00,0.000,4,0.000,0.028,2790,2907,3103,0,0,0,0,0,0
$GC,4975,-1.21,-116.8,442.3,-10.2,292,4979,0.00,2.35,0.00,0.000,6,0.000,0.040,2790,1532,3102,0,0,0,0,0,0
$STATE,5059,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5059,begin apogee
$GC,5066,-0.31,0.0,450.4,9.4,294,5166,0.88,0.00,96.90,0.825,6,0.066,0.000,2979,1486,2630,0,0,0,0,0,0
$STATE,5167,end apogee,CONTROL_FINISHED_OK
$STATE,5167,begin climb
$GC,5171,1.18,116.8,453.1,0.0,296,5283,1.42,2.42,101.22,0.809,4,0.035,0.028,3311,2872,2153,0,0,0,0,0,0
$GC,5307,1.03,150.6,452.0,6.4,299,5345,0.17,2.38,30.52,0.777,6,0.099,0.040,3278,1510,2015,0,0,0,0,0,0
$GC,5673,0.90,150.6,413.5,11.5,308,5678,0.17,2.25,0.00,0.000,4,0.100,0.056,3242,235,2006,0,0,0,0,0,0
$GC,5688,0.76,150.6,411.6,12.0,308,5693,0.15,2.08,0.00,0.000,6,0.105,0.026,3214,1487,2003,0,0,0,0,0,0
$GC,6004,0.76,150.6,381.6,8.8,316,6008,0.00,2.35,0.00,0.000,4,0.000,0.029,3214,2888,2002,0,0,0,0,0,0
$GC,6060,0.87,191.4,377.8,6.1,317,6101,0.12,2.40,35.10,0.769,6,0.068,0.041,3251,1500,1849,0,0,0,0,0,0
$GC,6426,0.84,201.1,351.9,7.5,326,6441,0.00,2.38,9.18,0.667,4,0.000,0.028,3251,2893,1809,0,0,0,0,0,0
$GC,6499,0.84,201.1,345.4,8.9,327,6504,0.00,2.45,0.00,0.000,6,0.000,0.043,3251,1502,1808,0,0,0,0,0,0
$GC,6842,0.81,216.0,318.7,7.2,336,6862,0.12,2.42,14.18,0.705,4,0.100,0.030,3226,2885,1748,0,0,0,0,0,0
$GC,6975,0.97,279.2,311.0,5.0,338,7041,0.15,2.45,56.25,0.746,6,0.061,0.042,3267,1490,1491,0,0,0,0,0,0
$GC,7354,0.97,279.2,275.6,9.6,354,7358,0.00,2.22,0.00,0.000,4,0.000,0.059,3267,236,1484,0,0,0,0,0,0
$GC,7443,0.91,279.2,265.7,11.0,357,7449,0.00,2.08,0.00,0.000,6,0.000,0.027,3268,1506,1480,0,0,0,0,0,0
$GC,7760,0.91,279.2,234.8,8.7,373,7764,0.00,2.28,0.00,0.000,4,0.000,0.057,3268,227,1480,0,0,0,0,0,0
$GC,7817,0.85,279.2,229.6,8.8,375,7822,0.15,2.08,0.00,0.000,6,0.095,0.026,3238,1506,1477,0,0,0,0,0,0
$GC,8139,0.96,326.2,210.4,5.8,391,8185,0.00,2.38,39.12,0.670,4,0.000,0.054,3238,228,1299,0,0,0,0,0,0
$GC,8250,1.00,326.2,203.1,8.0,395,8256,0.12,2.05,0.00,0.000,6,0.067,0.025,3274,1505,1295,0,0,0,0,0,0
$GC,8576,1.00,326.2,172.9,9.7,420,8580,0.00,2.22,0.00,0.000,4,0.000,0.054,3274,235,1294,0,0,0,0,0,0
$GC,8674,0.95,326.2,161.9,12.3,427,8678,0.00,2.08,0.00,0.000,6,0.000,0.024,3274,1523,1292,0,0,0,0,0,0
$GC,8937,0.95,330.1,139.9,7.7,448,8941,0.00,2.25,0.00,0.000,4,0.000,0.052,3274,235,1292,0,0,0,0,0,0
$GC,8985,0.95,330.1,135.4,9.5,451,8990,0.00,2.05,0.00,0.000,6,0.000,0.023,3275,1511,1292,0,0,0,0,0,0
$GC,9246,1.03,361.2,116.5,6.5,472,9286,0.00,2.28,30.17,0.575,4,0.000,0.050,3275,229,1154,0,0,0,0,0,0
$GC,9320,1.03,361.2,110.5,9.8,477,9324,0.00,2.08,0.00,0.000,6,0.000,0.022,3275,1521,1152,0,0,0,0,0,0
$GC,9583,1.10,361.2,88.5,8.3,498,9584,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1526,1151,0,0,0,0,0,0
$GC,9837,1.19,362.7,69.3,7.8,518,9842,0.15,2.28,0.00,0.000,4,0.056,0.050,3323,234,1151,0,0,0,0,0,0
$GC,9972,1.14,362.7,54.9,11.1,528,9977,0.12,2.03,0.00,0.000,6,0.094,0.021,3299,1513,1149,0,0,0,0,0,0
$GC,10241,1.20,362.7,32.4,8.2,549,10247,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,1517,1149,0,0,0,0,0,0
$GC,10506,1.25,362.7,10.6,8.8,606,10512,0.10,0.00,0.00,0.000,6,0.074,0.000,3337,1518,1149,0,0,0,0,0,0
$STATE,10572,end climb,SURFACE_DEPTH_REACHED
$STATE,10572,begin surface coast
$FINISH,0.9,1.005796
$STATE,10601,end surface coast,CONTROL_FINISHED_OK
$STATE,10601,begin surface
$SM_CCo,10623,34.75,0.473,0,0,958,410.14
$SM_GC,1.68,0.00,0.00,34.75,0.000,0.000,0.473,422,1517,958,-12.09,-0.37,410.14
$IRIDIUM_FIX,2101.76,-15803.33,110100,222202
$TT8_MAMPS,0.028379
$HUMID,60.86
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,21.80
$XPDR_PINGS,1
$24V_AH,23.3,65.933
$10V_AH,10.0,53.456
$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,29.650,112.175,412.650,34.750,0.000,30.114,46.319,172.727,4.750,0.000,20.633,1207.531,6916.062,467.556,1887.012,567.613,0.000,1319.342,0.000,1865.521,0.000,29.251,0.000
$DEVICE_MAMPS,132.691,152.633,824.525,473.239,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,421.987,412.331,922.785,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355744
$DATA_FILE_SIZE,34883,627
$CAP_FILE_SIZE,118800,0
$CFSIZE,260165632,174899200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,181010,050734,2111.595,-15803.112,12,7.9,31,9.8