version: 66.06
glider: 139
mission: 8
dive: 709
start: 10 19 110 3 23 4
data:
$ID,139
$MISSION,8
$DIVE,709
$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,-2166089
$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
$GPS1,031615,2111.938,-15801.905,8,3.6,27,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-73.3
$GPS2,032246,2111.948,-15801.983,13,4.2,32,9.8
$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,99.2,34845,-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,13,begin dive
$GC,15,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.43,0.000,2,0.000,0.000,426,1494,2768,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.8,-4.1,12,110,12.62,2.20,-6.30,0.000,4,0.131,0.059,2784,231,3109,0,0,0,0,0,0
$GC,295,-0.96,-116.8,44.4,-13.9,44,299,0.28,2.15,0.00,0.000,6,0.084,0.018,2842,1589,3112,0,0,0,0,0,0
$GC,563,-0.93,-116.8,69.7,-9.4,65,567,0.00,2.35,0.00,0.000,4,0.000,0.045,2842,231,3112,0,0,0,0,0,0
$GC,619,-0.93,-116.8,76.3,-10.8,69,623,0.00,2.10,0.00,0.000,6,0.000,0.018,2842,1590,3112,0,0,0,0,0,0
$GC,883,-0.93,-116.8,106.5,-11.0,90,888,0.00,2.33,0.00,0.000,4,0.000,0.052,2842,231,3113,0,0,0,0,0,0
$GC,917,-0.93,-116.8,110.1,-10.8,92,923,0.00,2.15,0.00,0.000,6,0.000,0.018,2842,1596,3113,0,0,0,0,0,0
$GC,1177,-0.93,-116.8,134.1,-9.9,113,1181,0.00,2.33,0.00,0.000,4,0.000,0.044,2842,232,3113,0,0,0,0,0,0
$GC,1210,-0.93,-116.8,137.3,-9.9,115,1216,0.00,2.12,0.00,0.000,6,0.000,0.018,2842,1592,3113,0,0,0,0,0,0
$GC,1471,-0.97,-116.8,153.1,-5.2,136,1475,0.00,2.33,0.00,0.000,4,0.000,0.045,2842,232,3114,0,0,0,0,0,0
$GC,1504,-1.01,-116.8,155.1,-5.8,138,1511,0.00,2.12,0.00,0.000,6,0.000,0.019,2842,1585,3114,0,0,0,0,0,0
$GC,1768,-1.06,-116.8,172.8,-7.9,159,1773,0.10,2.33,0.00,0.000,4,0.073,0.046,2802,232,3114,0,0,0,0,0,0
$GC,1783,-1.06,-116.8,174.5,-7.7,160,1787,0.00,2.10,0.00,0.000,6,0.000,0.019,2802,1589,3114,0,0,0,0,0,0
$GC,2045,-1.02,-116.8,198.6,-9.3,180,2050,0.10,2.35,0.00,0.000,4,0.104,0.047,2825,230,3114,0,0,0,0,0,0
$GC,2090,-1.02,-116.8,203.0,-9.3,183,2094,0.00,2.12,0.00,0.000,6,0.000,0.019,2825,1582,3114,0,0,0,0,0,0
$GC,2423,-1.02,-116.8,233.0,-9.2,199,2424,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1587,3114,0,0,0,0,0,0
$GC,2729,-1.05,-116.8,258.6,-6.6,214,2733,0.00,2.33,0.00,0.000,4,0.000,0.048,2825,230,3113,0,0,0,0,0,0
$GC,2804,-1.05,-116.8,262.9,-4.8,217,2808,0.00,2.15,0.00,0.000,6,0.000,0.021,2825,1590,3113,0,0,0,0,0,0
$GC,3126,-1.10,-116.8,279.0,-6.5,233,3130,0.00,2.35,0.00,0.000,4,0.000,0.048,2825,235,3112,0,0,0,0,0,0
$GC,3183,-1.14,-116.8,284.2,-9.5,235,3187,0.12,2.12,0.00,0.000,6,0.062,0.021,2781,1584,3112,0,0,0,0,0,0
$GC,3497,-1.14,-116.8,319.8,-12.2,246,3502,0.00,2.33,0.00,0.000,4,0.000,0.048,2781,231,3112,0,0,0,0,0,0
$GC,3507,-1.14,-116.8,321.3,-12.5,246,3511,0.00,2.12,0.00,0.000,6,0.000,0.022,2781,1587,3111,0,0,0,0,0,0
$GC,3826,-1.14,-116.8,356.2,-10.6,254,3830,0.00,2.25,0.00,0.000,4,0.000,0.026,2781,2950,3110,0,0,0,0,0,0
$GC,3856,-1.19,-116.8,359.1,-9.2,254,3860,0.00,2.42,0.00,0.000,6,0.000,0.036,2781,1530,3109,0,0,0,0,0,0
$GC,4196,-1.19,-116.8,386.1,-7.6,263,4197,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1528,3107,0,0,0,0,0,0
$GC,4522,-1.19,-116.8,408.8,-6.7,271,4526,0.00,2.35,0.00,0.000,4,0.000,0.028,2781,2946,3105,0,0,0,0,0,0
$GC,4583,-1.24,-116.8,413.4,-6.9,272,4588,0.00,2.42,0.00,0.000,6,0.000,0.041,2781,1530,3104,0,0,0,0,0,0
$STATE,4651,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4651,begin apogee
$GC,4657,-0.31,0.0,419.4,8.9,274,4757,0.88,0.00,96.72,0.797,6,0.030,0.000,2997,1527,2631,0,0,0,0,0,0
$STATE,4758,end apogee,CONTROL_FINISHED_OK
$STATE,4758,begin climb
$GC,4762,1.18,116.8,419.4,0.0,276,4874,1.33,2.33,100.60,0.781,4,0.028,0.058,3316,235,2151,0,0,0,0,0,0
$GC,4975,0.93,183.3,417.1,4.9,280,5043,0.32,2.12,58.28,0.772,6,0.097,0.025,3252,1550,1881,0,0,0,0,0,0
$GC,5358,0.85,183.3,385.0,8.8,290,5362,0.00,2.25,0.00,0.000,4,0.000,0.028,3252,2884,1873,0,0,0,0,0,0
$GC,5391,0.81,183.3,382.0,9.2,290,5396,0.12,2.40,0.00,0.000,6,0.102,0.041,3227,1499,1872,0,0,0,0,0,0
$GC,5728,0.88,238.3,361.2,5.4,299,5777,0.00,0.00,47.70,0.764,6,0.000,0.000,3228,1499,1658,0,0,0,0,0,0
$GC,6094,0.88,238.3,333.4,8.1,308,6098,0.00,2.30,0.00,0.000,4,0.000,0.029,3228,2874,1652,0,0,0,0,0,0
$GC,6117,0.96,238.3,331.3,8.5,308,6122,0.15,2.40,0.00,0.000,6,0.059,0.043,3271,1499,1651,0,0,0,0,0,0
$GC,6459,0.92,252.9,303.8,7.2,317,6479,0.00,2.28,12.82,0.684,4,0.000,0.057,3271,228,1597,0,0,0,0,0,0
$GC,6605,0.80,252.9,289.2,10.6,322,6610,0.22,2.05,0.00,0.000,6,0.093,0.028,3226,1491,1592,0,0,0,0,0,0
$GC,6929,0.86,252.9,263.0,8.8,338,6933,0.00,2.22,0.00,0.000,4,0.000,0.057,3226,227,1592,0,0,0,0,0,0
$GC,7007,0.86,252.9,255.4,9.4,341,7011,0.00,2.08,0.00,0.000,6,0.000,0.027,3226,1500,1590,0,0,0,0,0,0
$GC,7328,1.02,330.4,236.7,4.4,357,7406,0.20,2.35,66.70,0.695,4,0.052,0.055,3282,234,1281,0,0,0,0,0,0
$GC,7458,0.95,330.4,226.0,9.7,362,7465,0.10,2.10,0.00,0.000,6,0.077,0.026,3258,1499,1277,0,0,0,0,0,0
$GC,7775,0.95,330.4,201.5,8.1,378,7776,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1499,1275,0,0,0,0,0,0
$GC,8098,0.98,330.4,172.5,8.5,403,8102,0.00,2.22,0.00,0.000,4,0.000,0.054,3258,225,1274,0,0,0,0,0,0
$GC,8164,0.98,330.4,165.7,9.5,408,8169,0.00,2.08,0.00,0.000,6,0.000,0.025,3258,1506,1271,0,0,0,0,0,0
$GC,8437,1.02,333.8,143.6,7.7,429,8442,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1511,1271,0,0,0,0,0,0
$GC,8696,1.12,369.2,124.9,6.3,450,8738,0.15,2.33,32.17,0.584,4,0.059,0.051,3303,234,1124,0,0,0,0,0,0
$GC,8776,1.04,369.2,117.3,11.0,455,8781,0.12,2.03,0.00,0.000,6,0.097,0.022,3279,1505,1121,0,0,0,0,0,0
$GC,9039,1.09,369.2,92.2,9.3,475,9043,0.00,2.22,0.00,0.000,4,0.000,0.050,3278,228,1120,0,0,0,0,0,0
$GC,9071,1.09,369.2,88.6,9.8,477,9076,0.00,2.00,0.00,0.000,6,0.000,0.022,3279,1506,1119,0,0,0,0,0,0
$GC,9333,1.23,433.0,71.6,5.0,498,9393,0.17,2.28,53.40,0.540,4,0.051,0.051,3332,228,864,0,0,0,0,0,0
$GC,9445,1.17,433.0,62.1,10.3,506,9449,0.12,2.03,0.00,0.000,6,0.094,0.021,3307,1509,860,0,0,0,0,0,0
$GC,9715,1.22,433.0,38.2,10.7,527,9719,0.00,2.22,0.00,0.000,4,0.000,0.048,3306,228,859,0,0,0,0,0,0
$GC,9746,1.22,433.0,33.6,13.0,529,9753,0.00,2.03,0.00,0.000,6,0.000,0.021,3307,1499,858,0,0,0,0,0,0
$GC,10010,1.27,433.0,7.1,8.8,584,10017,0.00,2.28,0.00,0.000,4,0.000,0.023,3307,2866,858,0,0,0,0,0,0
$GC,10026,1.32,433.0,5.7,8.8,586,10033,0.10,2.38,0.00,0.000,6,0.032,0.033,3353,1492,858,0,0,0,0,0,0
$STATE,10055,end climb,SURFACE_DEPTH_REACHED
$STATE,10055,begin surface coast
$FINISH,0.9,1.023238
$STATE,10095,end surface coast,CONTROL_FINISHED_OK
$STATE,10095,begin surface
$SM_CCo,10178,0.00,0.000,0,0,855,435.41
$SM_GC,1.80,12.60,0.00,0.00,0.025,0.000,0.000,426,1490,855,-12.00,-1.13,435.41
$IRIDIUM_FIX,2101.76,-15800.33,130100,000029
$TT8_MAMPS,0.028379
$HUMID,61.02
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,21.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,383.1,65.8
$24V_AH,23.3,66.808
$10V_AH,10.0,54.127
$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,29.825,106.875,468.400,0.000,0.000,29.050,34.067,171.729,4.250,0.000,33.628,1145.187,6612.486,478.257,1793.567,529.584,0.000,1292.765,0.000,1755.424,0.000,27.587,0.000
$DEVICE_MAMPS,131.157,59.059,796.913,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,403.277,392.938,887.300,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355744
$DATA_FILE_SIZE,34909,600
$CAP_FILE_SIZE,112157,0
$CFSIZE,260165632,174415872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191010,061400,2111.973,-15801.345,37,1.1,43,9.8