version: 66.06
glider: 139
mission: 8
dive: 706
start: 10 18 110 18 19 2
data:
$ID,139
$MISSION,8
$DIVE,706
$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,-2166004.5
$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,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
$GPS1,181224,2111.555,-15801.664,41,0.9,41,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-74.5
$GPS2,181843,2111.584,-15801.719,11,1.3,16,9.8
$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,98.4,34197,-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,-116.8,0.0,0.0,0,82,0.00,0.00,-64.18,0.000,2,0.000,0.000,426,1510,2743,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.4,-3.5,12,110,12.62,0.00,-6.82,0.000,6,0.131,0.000,2783,1511,3110,0,0,0,0,0,0
$GC,305,-0.94,-116.8,45.2,-17.6,47,310,0.25,2.38,0.00,0.000,4,0.090,0.020,2839,2956,3112,0,0,0,0,0,0
$GC,347,-0.98,-116.8,51.4,-12.3,50,351,0.00,2.42,0.00,0.000,6,0.000,0.032,2839,1531,3113,0,0,0,0,0,0
$GC,607,-0.94,-116.8,83.3,-11.1,70,611,0.00,2.20,0.00,0.000,4,0.000,0.045,2839,237,3113,0,0,0,0,0,0
$GC,675,-0.94,-116.8,90.7,-11.0,75,679,0.00,2.12,0.00,0.000,6,0.000,0.018,2839,1580,3113,0,0,0,0,0,0
$GC,944,-0.94,-116.8,113.0,-10.0,96,948,0.00,2.15,0.00,0.000,4,0.000,0.021,2839,2915,3114,0,0,0,0,0,0
$GC,960,-0.94,-116.8,114.8,-10.2,97,964,0.00,2.33,0.00,0.000,6,0.000,0.031,2839,1526,3114,0,0,0,0,0,0
$GC,1226,-0.94,-116.8,142.6,-10.0,118,1230,0.00,2.20,0.00,0.000,4,0.000,0.045,2839,237,3114,0,0,0,0,0,0
$GC,1273,-0.98,-116.8,147.8,-10.4,121,1279,0.00,2.05,0.00,0.000,6,0.000,0.018,2839,1556,3115,0,0,0,0,0,0
$GC,1534,-1.02,-116.8,164.8,-5.4,142,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1555,3115,0,0,0,0,0,0
$GC,1787,-1.05,-116.8,180.9,-6.6,162,1791,0.00,2.25,0.00,0.000,4,0.000,0.046,2839,235,3115,0,0,0,0,0,0
$GC,1841,-1.09,-116.8,184.7,-7.7,166,1846,0.12,2.03,0.00,0.000,6,0.061,0.020,2794,1533,3115,0,0,0,0,0,0
$GC,2102,-1.03,-116.8,208.9,-10.2,184,2107,0.15,2.22,0.00,0.000,4,0.087,0.023,2827,2899,3115,0,0,0,0,0,0
$GC,2140,-1.15,-116.8,213.4,-10.5,185,2146,0.12,2.30,0.00,0.000,6,0.060,0.033,2777,1526,3115,0,0,0,0,0,0
$GC,2461,-1.06,-116.8,248.8,-10.3,201,2465,0.20,2.20,0.00,0.000,4,0.081,0.047,2821,236,3115,0,0,0,0,0,0
$GC,2506,-1.06,-116.8,252.7,-7.1,203,2509,0.00,2.03,0.00,0.000,6,0.000,0.021,2821,1515,3115,0,0,0,0,0,0
$GC,2842,-1.06,-116.8,271.6,-6.0,219,2846,0.00,2.22,0.00,0.000,4,0.000,0.048,2821,238,3114,0,0,0,0,0,0
$GC,2876,-1.06,-116.8,274.3,-7.4,220,2879,0.00,2.03,0.00,0.000,6,0.000,0.021,2821,1527,3114,0,0,0,0,0,0
$GC,3198,-1.09,-116.8,301.1,-9.3,236,3202,0.00,2.22,0.00,0.000,4,0.000,0.048,2821,238,3113,0,0,0,0,0,0
$GC,3237,-1.13,-116.8,305.5,-10.1,236,3243,0.00,2.05,0.00,0.000,6,0.000,0.021,2821,1553,3113,0,0,0,0,0,0
$GC,3569,-1.17,-116.8,333.2,-8.0,245,3573,0.12,2.30,0.00,0.000,4,0.064,0.051,2778,228,3112,0,0,0,0,0,0
$GC,3622,-1.11,-116.8,338.3,-10.2,246,3627,0.15,2.05,0.00,0.000,6,0.085,0.022,2811,1524,3112,0,0,0,0,0,0
$GC,3944,-1.14,-116.8,363.1,-7.9,254,3948,0.00,2.22,0.00,0.000,4,0.000,0.051,2811,237,3110,0,0,0,0,0,0
$GC,3981,-1.14,-116.8,366.4,-7.9,254,3985,0.00,2.03,0.00,0.000,6,0.000,0.023,2811,1526,3110,0,0,0,0,0,0
$GC,4313,-1.14,-116.8,392.1,-8.5,262,4317,0.00,2.28,0.00,0.000,4,0.000,0.027,2811,2904,3108,0,0,0,0,0,0
$GC,4360,-1.26,-116.8,396.2,-8.3,263,4365,0.15,2.33,0.00,0.000,6,0.055,0.037,2761,1532,3108,0,0,0,0,0,0
$STATE,4640,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4640,begin apogee
$GC,4649,-0.31,0.0,426.3,11.3,270,4749,1.02,0.00,96.90,0.802,6,0.068,0.000,2982,1486,2630,0,0,0,0,0,0
$STATE,4750,end apogee,CONTROL_FINISHED_OK
$STATE,4750,begin climb
$GC,4752,1.18,116.8,430.5,0.0,272,4866,1.40,2.42,100.62,0.787,4,0.034,0.027,3311,2875,2153,0,0,0,0,0,0
$GC,4983,1.00,124.5,428.9,7.6,277,4996,0.20,2.40,7.47,0.636,6,0.094,0.039,3272,1505,2122,0,0,0,0,0,0
$GC,5345,0.93,162.8,400.5,6.2,286,5387,0.00,2.40,33.97,0.764,4,0.000,0.028,3272,2878,1966,0,0,0,0,0,0
$GC,5422,0.87,162.8,394.3,8.8,287,5427,0.15,2.40,0.00,0.000,6,0.100,0.041,3241,1501,1966,0,0,0,0,0,0
$GC,5761,0.85,173.2,370.1,7.4,296,5777,0.00,2.40,9.55,0.673,4,0.000,0.028,3241,2874,1923,0,0,0,0,0,0
$GC,5867,0.85,173.2,360.8,9.0,298,5871,0.00,2.40,0.00,0.000,6,0.000,0.041,3241,1501,1924,0,0,0,0,0,0
$GC,6182,0.87,191.8,335.4,7.1,306,6206,0.00,2.35,17.45,0.719,4,0.000,0.058,3241,232,1847,0,0,0,0,0,0
$GC,6300,0.83,224.5,327.9,6.4,308,6337,0.00,2.08,30.23,0.735,6,0.000,0.026,3241,1505,1713,0,0,0,0,0,0
$GC,6646,0.84,228.7,304.4,7.7,317,6655,0.00,2.28,4.18,0.479,4,0.000,0.055,3241,235,1697,0,0,0,0,0,0
$GC,6693,0.76,228.7,299.4,10.9,318,6698,0.12,2.05,0.00,0.000,6,0.108,0.027,3218,1502,1695,0,0,0,0,0,0
$GC,7022,0.90,270.4,276.2,6.0,334,7065,0.12,2.33,37.42,0.712,4,0.069,0.058,3255,235,1527,0,0,0,0,0,0
$GC,7084,0.85,270.4,271.4,8.0,337,7088,0.00,2.08,0.00,0.000,6,0.000,0.028,3255,1503,1523,0,0,0,0,0,0
$GC,7411,0.85,270.4,243.5,8.8,353,7415,0.00,2.35,0.00,0.000,4,0.000,0.028,3255,2889,1521,0,0,0,0,0,0
$GC,7439,0.95,270.4,240.9,8.4,354,7444,0.00,2.42,0.00,0.000,6,0.000,0.042,3255,1501,1520,0,0,0,0,0,0
$GC,7760,1.02,302.2,220.3,6.5,370,7794,0.00,2.33,27.67,0.661,4,0.000,0.056,3255,234,1396,0,0,0,0,0,0
$GC,7839,1.02,302.2,213.6,9.8,373,7843,0.00,2.08,0.00,0.000,6,0.000,0.025,3255,1503,1392,0,0,0,0,0,0
$GC,8164,1.07,319.0,189.6,7.1,393,8185,0.12,2.33,15.02,0.604,4,0.067,0.054,3293,235,1328,0,0,0,0,0,0
$GC,8231,0.98,319.0,183.1,10.9,397,8237,0.15,2.08,0.00,0.000,6,0.093,0.024,3263,1513,1325,0,0,0,0,0,0
$GC,8492,0.98,319.0,159.9,9.4,418,8496,0.00,2.25,0.00,0.000,4,0.000,0.052,3262,232,1325,0,0,0,0,0,0
$GC,8548,0.98,319.0,154.1,9.7,422,8552,0.00,2.05,0.00,0.000,6,0.000,0.024,3262,1507,1323,0,0,0,0,0,0
$GC,8817,1.03,362.6,134.7,5.9,443,8860,0.00,2.30,37.80,0.589,4,0.000,0.022,3262,2885,1150,0,0,0,0,0,0
$GC,8883,1.18,391.1,130.2,6.6,448,8914,0.20,2.40,25.30,0.569,6,0.048,0.038,3322,1498,1035,0,0,0,0,0,0
$GC,9176,1.12,391.1,102.3,9.7,471,9181,0.12,2.22,0.00,0.000,4,0.095,0.052,3296,235,1031,0,0,0,0,0,0
$GC,9293,1.12,391.1,88.8,11.9,479,9299,0.00,2.05,0.00,0.000,6,0.000,0.021,3296,1518,1027,0,0,0,0,0,0
$GC,9556,1.19,404.8,66.8,7.3,500,9574,0.00,2.30,11.68,0.484,4,0.000,0.049,3296,239,978,0,0,0,0,0,0
$GC,9613,1.23,404.8,61.9,9.6,504,9618,0.10,1.98,0.00,0.000,6,0.072,0.021,3335,1502,976,0,0,0,0,0,0
$GC,9882,1.23,404.8,37.1,9.8,525,9886,0.00,2.22,0.00,0.000,4,0.000,0.021,3334,2875,976,0,0,0,0,0,0
$GC,9900,1.23,404.8,34.7,10.3,526,9906,0.00,2.38,0.00,0.000,6,0.000,0.035,3334,1502,976,0,0,0,0,0,0
$GC,10164,1.23,404.8,8.7,10.4,579,10171,0.00,2.22,0.00,0.000,4,0.000,0.048,3334,230,976,0,0,0,0,0,0
$STATE,10210,end climb,SURFACE_DEPTH_REACHED
$STATE,10210,begin surface coast
$FINISH,1.1,1.023042
$STATE,10239,end surface coast,CONTROL_FINISHED_OK
$STATE,10239,begin surface
$SM_CCo,10263,4.88,0.352,0,0,958,410.14
$SM_GC,1.93,0.00,0.00,4.88,0.000,0.000,0.352,428,1532,958,-12.07,0.06,410.14
$IRIDIUM_FIX,2101.76,-15803.33,120100,151532
$TT8_MAMPS,0.029146
$HUMID,61.06
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,21.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,381.7,71.8
$24V_AH,23.3,66.481
$10V_AH,10.0,53.881
$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,30.100,120.275,455.275,4.875,0.000,30.617,33.270,174.182,4.000,0.000,16.777,1167.098,6627.200,472.695,1818.912,558.075,0.000,1316.038,0.000,1793.681,0.000,27.584,0.000
$DEVICE_MAMPS,131.157,151.099,802.282,352.053,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,400.210,387.257,862.794,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,34886,595
$CAP_FILE_SIZE,119260,0
$CFSIZE,260165632,174587904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,181010,211122,2111.509,-15801.423,12,5.1,31,9.8