version: 66.06
glider: 139
mission: 8
dive: 708
start: 10 19 110 0 9 58
data:
$ID,139
$MISSION,8
$DIVE,708
$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,-2166054.5
$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
$GPS1,000336,2111.589,-15801.871,36,0.9,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-73.2
$GPS2,000938,2111.618,-15801.917,15,1.0,15,9.8
$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,98.3,34543,-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,-64.65,0.000,2,0.000,0.000,426,1517,2711,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.7,-3.6,12,115,12.62,2.42,-7.50,0.000,4,0.131,0.034,2785,2955,3110,0,0,0,0,0,0
$GC,137,-0.56,-116.8,16.2,-21.3,21,144,0.60,2.47,0.00,0.000,6,0.068,0.035,2926,1531,3111,0,0,0,0,0,0
$GC,348,-0.66,-116.8,32.9,-7.5,63,352,0.00,2.25,0.00,0.000,4,0.000,0.046,2926,226,3112,0,0,0,0,0,0
$GC,395,-0.81,-116.8,36.6,-7.5,66,402,0.20,2.17,0.00,0.000,6,0.025,0.018,2848,1598,3112,0,0,0,0,0,0
$GC,657,-0.76,-116.8,62.6,-9.2,87,661,0.17,2.22,0.00,0.000,4,0.081,0.021,2886,2956,3112,0,0,0,0,0,0
$GC,691,-0.89,-116.8,65.4,-6.8,89,696,0.15,2.40,0.00,0.000,6,0.054,0.031,2833,1524,3112,0,0,0,0,0,0
$GC,953,-0.85,-116.8,89.0,-9.9,109,957,0.15,2.20,0.00,0.000,4,0.086,0.045,2866,237,3113,0,0,0,0,0,0
$GC,1037,-0.90,-116.8,98.1,-10.0,115,1041,0.00,2.10,0.00,0.000,6,0.000,0.018,2865,1602,3113,0,0,0,0,0,0
$GC,1301,-0.96,-116.8,120.6,-7.4,135,1306,0.10,2.35,0.00,0.000,4,0.071,0.044,2825,235,3114,0,0,0,0,0,0
$GC,1349,-0.90,-116.8,125.3,-10.0,138,1356,0.10,2.12,0.00,0.000,6,0.064,0.018,2852,1584,3114,0,0,0,0,0,0
$GC,1611,-0.94,-116.8,140.8,-5.2,159,1615,0.00,2.30,0.00,0.000,4,0.000,0.044,2852,233,3114,0,0,0,0,0,0
$GC,1632,-0.94,-116.8,142.0,-5.2,160,1635,0.00,2.10,0.00,0.000,6,0.000,0.018,2852,1596,3114,0,0,0,0,0,0
$GC,1893,-1.01,-116.8,158.1,-7.7,180,1896,0.00,2.35,0.00,0.000,4,0.000,0.045,2852,232,3115,0,0,0,0,0,0
$GC,1978,-1.08,-116.8,166.2,-9.8,186,1983,0.17,2.10,0.00,0.000,6,0.049,0.018,2795,1592,3115,0,0,0,0,0,0
$GC,2245,-1.02,-116.8,194.9,-9.9,207,2250,0.15,2.35,0.00,0.000,4,0.087,0.047,2828,230,3115,0,0,0,0,0,0
$GC,2289,-1.02,-116.8,199.3,-8.7,210,2292,0.00,2.10,0.00,0.000,6,0.000,0.019,2827,1592,3115,0,0,0,0,0,0
$GC,2557,-1.02,-116.8,221.5,-9.2,223,2561,0.00,2.33,0.00,0.000,4,0.000,0.046,2828,233,3115,0,0,0,0,0,0
$GC,2612,-1.02,-116.8,227.0,-9.5,225,2616,0.00,2.10,0.00,0.000,6,0.000,0.019,2828,1584,3115,0,0,0,0,0,0
$GC,2929,-1.06,-116.8,250.2,-6.2,240,2933,0.00,2.30,0.00,0.000,4,0.000,0.047,2828,238,3115,0,0,0,0,0,0
$GC,2952,-1.06,-116.8,251.7,-5.9,241,2956,0.00,2.10,0.00,0.000,6,0.000,0.020,2828,1590,3115,0,0,0,0,0,0
$GC,3279,-1.10,-116.8,273.7,-8.5,257,3281,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1594,3114,0,0,0,0,0,0
$GC,3587,-1.16,-116.8,298.7,-6.0,272,3591,0.15,2.35,0.00,0.000,4,0.055,0.049,2777,238,3114,0,0,0,0,0,0
$GC,3650,-1.08,-116.8,303.3,-7.6,274,3655,0.17,2.12,0.00,0.000,6,0.082,0.021,2815,1582,3113,0,0,0,0,0,0
$GC,3968,-1.12,-116.8,322.2,-5.4,282,3972,0.00,2.33,0.00,0.000,4,0.000,0.050,2815,234,3112,0,0,0,0,0,0
$GC,3991,-1.12,-116.8,323.7,-5.2,282,3996,0.00,2.12,0.00,0.000,6,0.000,0.022,2815,1580,3112,0,0,0,0,0,0
$GC,4340,-1.16,-116.8,346.4,-7.2,291,4344,0.00,2.35,0.00,0.000,4,0.000,0.051,2815,232,3110,0,0,0,0,0,0
$GC,4383,-1.16,-116.8,349.9,-8.1,292,4387,0.00,2.05,0.00,0.000,6,0.000,0.023,2814,1527,3110,0,0,0,0,0,0
$GC,4712,-1.19,-116.8,369.6,-6.1,300,4717,0.12,2.28,0.00,0.000,4,0.064,0.026,2773,2902,3108,0,0,0,0,0,0
$GC,4731,-1.19,-116.8,371.1,-6.5,300,4736,0.00,2.33,0.00,0.000,6,0.000,0.038,2773,1530,3108,0,0,0,0,0,0
$GC,5077,-1.14,-116.8,396.7,-7.2,309,5082,0.12,2.28,0.00,0.000,4,0.097,0.054,2800,228,3105,0,0,0,0,0,0
$GC,5107,-1.14,-116.8,398.9,-6.9,309,5111,0.00,2.05,0.00,0.000,6,0.000,0.024,2799,1529,3105,0,0,0,0,0,0
$STATE,5404,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5405,begin apogee
$GC,5411,-0.31,0.0,414.8,5.9,317,5511,0.82,0.00,96.18,0.791,6,0.063,0.000,2980,1490,2630,0,0,0,0,0,0
$STATE,5511,end apogee,CONTROL_FINISHED_OK
$STATE,5512,begin climb
$GC,5514,1.18,116.8,417.2,0.0,319,5627,1.42,2.25,100.28,0.775,4,0.035,0.051,3313,251,2151,0,0,0,0,0,0
$GC,5857,0.87,116.8,397.2,10.0,326,5861,0.35,2.00,0.00,0.000,6,0.094,0.025,3243,1501,2140,0,0,0,0,0,0
$GC,6198,0.85,149.9,374.4,6.4,335,6228,0.00,0.00,28.35,0.743,6,0.000,0.000,3243,1505,2018,0,0,0,0,0,0
$GC,6524,0.82,149.9,348.1,8.1,343,6528,0.00,2.20,0.00,0.000,4,0.000,0.054,3243,246,2012,0,0,0,0,0,0
$GC,6539,0.78,170.5,346.9,7.0,343,6566,0.12,2.03,18.70,0.713,6,0.110,0.026,3219,1506,1934,0,0,0,0,0,0
$GC,6893,0.86,208.5,326.0,6.2,352,6935,0.00,2.33,34.58,0.733,4,0.000,0.056,3219,243,1779,0,0,0,0,0,0
$GC,6971,0.86,208.5,319.7,8.7,353,6975,0.00,2.05,0.00,0.000,6,0.000,0.026,3220,1496,1775,0,0,0,0,0,0
$GC,7289,0.94,232.4,296.0,6.8,363,7318,0.15,2.33,21.50,0.701,4,0.061,0.056,3263,242,1681,0,0,0,0,0,0
$GC,7361,0.83,232.4,290.8,8.1,366,7366,0.15,2.08,0.00,0.000,6,0.100,0.027,3233,1506,1678,0,0,0,0,0,0
$GC,7693,0.95,280.7,274.0,5.7,382,7739,0.10,0.00,42.67,0.706,6,0.078,0.000,3265,1506,1485,0,0,0,0,0,0
$GC,8043,0.95,280.7,245.7,8.4,399,8047,0.00,2.22,0.00,0.000,4,0.000,0.054,3264,238,1479,0,0,0,0,0,0
$GC,8057,0.92,280.7,244.4,7.9,399,8063,0.00,2.08,0.00,0.000,6,0.000,0.026,3264,1508,1477,0,0,0,0,0,0
$GC,8376,0.94,303.4,223.0,6.9,415,8401,0.00,2.35,19.60,0.645,4,0.000,0.027,3264,2882,1393,0,0,0,0,0,0
$GC,8434,1.06,308.9,218.6,7.6,417,8446,0.00,2.40,6.75,0.536,6,0.000,0.040,3264,1510,1370,0,0,0,0,0,0
$GC,8761,1.06,308.9,192.3,8.6,436,8765,0.00,2.25,0.00,0.000,4,0.000,0.054,3264,229,1366,0,0,0,0,0,0
$GC,8832,1.02,308.9,184.9,11.1,441,8836,0.00,2.08,0.00,0.000,6,0.000,0.024,3264,1509,1363,0,0,0,0,0,0
$GC,9096,1.02,309.9,161.7,7.8,462,9100,0.00,2.28,0.00,0.000,4,0.000,0.025,3264,2888,1362,0,0,0,0,0,0
$GC,9119,1.09,309.9,159.8,8.0,463,9125,0.10,2.38,0.00,0.000,6,0.075,0.038,3298,1500,1362,0,0,0,0,0,0
$GC,9380,1.03,309.9,137.6,8.7,484,9385,0.12,2.20,0.00,0.000,4,0.096,0.051,3273,232,1362,0,0,0,0,0,0
$GC,9449,1.03,309.9,131.4,9.3,489,9453,0.00,2.03,0.00,0.000,6,0.000,0.022,3273,1509,1361,0,0,0,0,0,0
$GC,9719,1.07,310.8,111.6,7.9,510,9720,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1514,1361,0,0,0,0,0,0
$GC,9971,1.15,332.1,92.8,6.9,530,9999,0.12,2.30,19.67,0.534,4,0.064,0.048,3314,234,1275,0,0,0,0,0,0
$GC,10071,1.07,332.1,81.8,12.6,537,10076,0.15,2.00,0.00,0.000,6,0.092,0.021,3283,1508,1272,0,0,0,0,0,0
$GC,10341,1.15,351.3,59.2,7.0,558,10364,0.00,2.25,17.55,0.500,4,0.000,0.047,3283,230,1196,0,0,0,0,0,0
$GC,10444,1.22,351.3,50.9,8.0,564,10451,0.10,2.05,0.00,0.000,6,0.032,0.021,3326,1510,1192,0,0,0,0,0,0
$GC,10705,1.22,351.3,28.8,8.1,587,10712,0.00,2.25,0.00,0.000,4,0.000,0.048,3326,230,1193,0,0,0,0,0,0
$GC,10728,1.22,351.3,26.6,8.2,591,10735,0.00,2.03,0.00,0.000,6,0.000,0.021,3326,1505,1192,0,0,0,0,0,0
$GC,10932,1.22,351.3,9.4,8.7,637,10939,0.00,2.25,0.00,0.000,4,0.000,0.021,3326,2872,1192,0,0,0,0,0,0
$GC,10969,1.23,357.8,6.7,7.6,644,10982,0.00,2.38,6.30,0.386,6,0.000,0.035,3326,1499,1171,0,0,0,0,0,0
$STATE,11008,end climb,SURFACE_DEPTH_REACHED
$STATE,11008,begin surface coast
$FINISH,0.9,1.012003
$STATE,11047,end surface coast,CONTROL_FINISHED_OK
$STATE,11047,begin surface
$SM_CCo,11070,39.92,0.471,0,0,958,410.14
$SM_GC,1.67,0.00,0.00,39.92,0.000,0.000,0.471,427,1496,958,-12.07,-0.96,410.14
$IRIDIUM_FIX,2106.38,-15802.47,120100,212142
$TT8_MAMPS,0.028379
$HUMID,60.55
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,21.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,382.0,62.1
$24V_AH,23.3,66.699
$10V_AH,10.0,54.047
$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,31.250,124.150,412.125,39.925,0.000,25.715,37.669,163.789,4.000,0.000,15.587,1283.505,7196.373,505.480,1934.930,549.571,0.000,1365.128,0.000,1913.481,0.000,27.574,0.000
$DEVICE_MAMPS,131.157,147.264,790.777,470.938,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,443.679,429.963,997.159,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,38128,660
$CAP_FILE_SIZE,126809,0
$CFSIZE,260165632,174465024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191010,031615,2111.938,-15801.905,8,3.6,27,9.8