version: 66.06
glider: 139
mission: 8
dive: 714
start: 10 19 110 16 7 40
data:
$ID,139
$MISSION,8
$DIVE,714
$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,-2166203.8
$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
$GPS1,160124,2112.458,-15800.666,39,1.5,39,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-72.9
$GPS2,160720,2112.413,-15800.741,14,1.2,14,9.8
$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,101.8,33133,-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,-116.8,0.0,0.0,0,76,0.00,0.00,-58.85,0.000,2,0.000,0.000,427,1506,2578,0,0,0,0,0,0
$GC,80,-1.18,-116.8,3.0,-2.9,11,110,12.62,2.20,-10.82,0.000,4,0.131,0.058,2787,237,3107,0,0,0,0,0,0
$GC,236,-0.94,-116.8,31.8,-15.9,44,241,0.28,2.10,0.00,0.000,6,0.084,0.019,2844,1582,3109,0,0,0,0,0,0
$GC,499,-0.88,-116.8,59.1,-9.1,64,503,0.00,2.33,0.00,0.000,4,0.000,0.045,2844,232,3110,0,0,0,0,0,0
$GC,542,-0.79,-116.8,63.8,-10.4,67,547,0.15,2.12,0.00,0.000,6,0.090,0.018,2875,1586,3110,0,0,0,0,0,0
$GC,811,-0.87,-116.8,79.6,-5.3,88,815,0.00,2.33,0.00,0.000,4,0.000,0.044,2875,229,3111,0,0,0,0,0,0
$GC,852,-0.95,-116.8,82.1,-6.3,91,857,0.15,2.12,0.00,0.000,6,0.052,0.018,2823,1593,3111,0,0,0,0,0,0
$GC,1122,-0.91,-116.8,107.3,-11.0,112,1127,0.12,2.38,0.00,0.000,4,0.091,0.045,2851,230,3111,0,0,0,0,0,0
$GC,1162,-0.91,-116.8,111.8,-10.8,115,1166,0.00,2.12,0.00,0.000,6,0.000,0.018,2851,1599,3111,0,0,0,0,0,0
$GC,1432,-0.97,-116.8,135.9,-8.1,136,1436,0.00,2.35,0.00,0.000,4,0.000,0.044,2851,235,3112,0,0,0,0,0,0
$GC,1528,-1.03,-116.8,143.8,-7.5,142,1535,0.10,2.12,0.00,0.000,6,0.031,0.019,2805,1592,3112,0,0,0,0,0,0
$GC,1790,-0.99,-116.8,164.3,-7.8,163,1795,0.12,2.33,0.00,0.000,4,0.092,0.046,2833,237,3112,0,0,0,0,0,0
$GC,1825,-0.99,-116.8,167.1,-7.6,165,1830,0.00,2.10,0.00,0.000,6,0.000,0.019,2833,1598,3112,0,0,0,0,0,0
$GC,2086,-1.02,-116.8,185.9,-7.6,186,2090,0.00,2.35,0.00,0.000,4,0.000,0.046,2833,231,3112,0,0,0,0,0,0
$GC,2129,-1.05,-116.8,189.6,-8.5,189,2133,0.00,2.12,0.00,0.000,6,0.000,0.020,2833,1588,3112,0,0,0,0,0,0
$GC,2392,-1.09,-116.8,209.8,-8.0,206,2396,0.00,2.33,0.00,0.000,4,0.000,0.047,2833,237,3112,0,0,0,0,0,0
$GC,2452,-1.12,-116.8,215.4,-9.5,208,2456,0.12,2.12,0.00,0.000,6,0.061,0.020,2789,1595,3112,0,0,0,0,0,0
$GC,2772,-1.07,-116.8,244.9,-9.3,223,2777,0.12,2.38,0.00,0.000,4,0.091,0.048,2816,234,3112,0,0,0,0,0,0
$GC,2828,-1.07,-116.8,250.8,-8.5,225,2831,0.00,2.10,0.00,0.000,6,0.000,0.020,2816,1582,3112,0,0,0,0,0,0
$GC,3145,-1.07,-116.8,273.2,-6.3,240,3149,0.00,2.33,0.00,0.000,4,0.000,0.048,2816,229,3111,0,0,0,0,0,0
$GC,3166,-1.07,-116.8,274.4,-5.8,241,3170,0.00,2.15,0.00,0.000,6,0.000,0.021,2816,1592,3111,0,0,0,0,0,0
$GC,3497,-1.07,-116.8,295.5,-9.1,257,3501,0.00,2.33,0.00,0.000,4,0.000,0.048,2816,238,3109,0,0,0,0,0,0
$GC,3534,-1.07,-116.8,298.9,-8.4,258,3541,0.00,2.15,0.00,0.000,6,0.000,0.021,2816,1584,3109,0,0,0,0,0,0
$GC,3846,-1.11,-116.8,319.5,-8.1,267,3851,0.00,2.33,0.00,0.000,4,0.000,0.049,2816,234,3108,0,0,0,0,0,0
$GC,3896,-1.14,-116.8,325.4,-12.6,268,3900,0.00,2.12,0.00,0.000,6,0.000,0.021,2816,1575,3108,0,0,0,0,0,0
$GC,4224,-1.20,-116.8,351.5,-6.1,276,4226,0.12,0.00,0.00,0.000,6,0.064,0.000,2774,1580,3106,0,0,0,0,0,0
$GC,4550,-1.15,-116.8,380.5,-6.5,284,4554,0.12,2.38,0.00,0.000,4,0.091,0.061,2801,240,3104,0,0,0,0,0,0
$GC,4566,-1.15,-116.8,381.4,-5.5,284,4570,0.00,2.05,0.00,0.000,6,0.000,0.025,2801,1529,3105,0,0,0,0,0,0
$GC,4915,-1.15,-116.8,411.8,-11.3,293,4919,0.00,2.25,0.00,0.000,4,0.000,0.054,2801,230,3103,0,0,0,0,0,0
$GC,4968,-1.12,-116.8,415.3,-7.2,294,4972,0.00,2.08,0.00,0.000,6,0.000,0.024,2801,1531,3102,0,0,0,0,0,0
$GC,5291,-1.15,-116.8,436.0,-8.1,302,5295,0.00,2.25,0.00,0.000,4,0.000,0.054,2801,235,3100,0,0,0,0,0,0
$GC,5420,-1.22,-116.8,447.0,-10.1,304,5424,0.00,2.08,0.00,0.000,6,0.000,0.025,2801,1530,3100,0,0,0,0,0,0
$STATE,5464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5464,begin apogee
$GC,5471,-0.31,0.0,450.9,8.3,305,5570,0.82,0.00,95.65,0.822,6,0.065,0.000,2980,1495,2630,0,0,0,0,0,0
$STATE,5570,end apogee,CONTROL_FINISHED_OK
$STATE,5570,begin climb
$GC,5573,1.18,116.8,452.1,0.0,307,5686,1.42,2.42,100.95,0.806,4,0.036,0.028,3312,2885,2152,0,0,0,0,0,0
$GC,5930,1.06,168.2,432.6,5.6,314,5983,0.15,2.40,45.30,0.785,6,0.105,0.039,3283,1507,1943,0,0,0,0,0,0
$GC,6306,0.98,213.6,405.7,5.8,324,6352,0.00,2.30,40.28,0.778,4,0.000,0.055,3283,236,1759,0,0,0,0,0,0
$GC,6379,0.79,213.6,401.2,8.6,325,6384,0.30,2.08,0.00,0.000,6,0.092,0.027,3223,1500,1755,0,0,0,0,0,0
$GC,6716,0.82,213.6,367.3,9.6,334,6720,0.00,2.22,0.00,0.000,4,0.000,0.057,3223,236,1751,0,0,0,0,0,0
$GC,6807,0.79,213.6,359.3,9.2,336,6811,0.00,2.08,0.00,0.000,6,0.000,0.027,3223,1500,1747,0,0,0,0,0,0
$GC,7134,0.81,229.6,334.1,7.2,344,7154,0.00,2.40,13.52,0.699,4,0.000,0.028,3223,2885,1694,0,0,0,0,0,0
$GC,7175,0.92,263.4,331.4,6.4,344,7212,0.12,2.45,31.20,0.737,6,0.066,0.042,3261,1494,1556,0,0,0,0,0,0
$GC,7549,0.88,263.4,302.0,8.2,354,7553,0.00,2.22,0.00,0.000,4,0.000,0.057,3261,228,1550,0,0,0,0,0,0
$GC,7593,0.78,263.4,298.1,10.0,355,7598,0.20,2.05,0.00,0.000,6,0.093,0.027,3222,1502,1548,0,0,0,0,0,0
$GC,7929,0.93,315.6,280.3,5.5,371,7980,0.12,2.33,45.65,0.716,4,0.068,0.057,3259,234,1343,0,0,0,0,0,0
$GC,8020,0.88,315.6,271.9,11.6,375,8024,0.00,2.08,0.00,0.000,6,0.000,0.027,3259,1500,1339,0,0,0,0,0,0
$GC,8346,0.88,315.6,237.3,10.7,391,8350,0.00,2.22,0.00,0.000,4,0.000,0.055,3259,236,1336,0,0,0,0,0,0
$GC,8421,0.84,315.6,228.6,12.4,394,8426,0.12,2.05,0.00,0.000,6,0.100,0.026,3235,1503,1334,0,0,0,0,0,0
$GC,8744,0.95,344.0,205.3,6.6,410,8774,0.10,2.30,24.42,0.644,4,0.077,0.055,3266,237,1226,0,0,0,0,0,0
$GC,8837,0.92,344.0,195.9,10.8,414,8844,0.00,2.10,0.00,0.000,6,0.000,0.025,3266,1512,1222,0,0,0,0,0,0
$GC,9098,0.92,344.0,168.7,10.6,435,9102,0.00,2.25,0.00,0.000,4,0.000,0.053,3266,236,1221,0,0,0,0,0,0
$GC,9152,0.88,344.0,162.1,11.9,439,9157,0.12,2.05,0.00,0.000,6,0.100,0.025,3241,1507,1220,0,0,0,0,0,0
$GC,9418,1.01,378.6,140.1,6.3,460,9454,0.12,2.28,30.02,0.597,4,0.066,0.051,3281,233,1085,0,0,0,0,0,0
$GC,9487,0.95,378.6,134.5,9.4,464,9492,0.12,2.05,0.00,0.000,6,0.097,0.024,3256,1504,1082,0,0,0,0,0,0
$GC,9760,1.03,379.8,115.3,7.8,485,9764,0.00,2.22,0.00,0.000,4,0.000,0.051,3256,228,1081,0,0,0,0,0,0
$GC,9792,1.03,379.8,111.7,10.1,487,9798,0.00,2.05,0.00,0.000,6,0.000,0.023,3256,1509,1081,0,0,0,0,0,0
$GC,10051,1.14,379.8,88.1,9.4,508,10056,0.17,2.22,0.00,0.000,4,0.051,0.051,3310,233,1080,0,0,0,0,0,0
$GC,10081,1.05,379.8,84.4,13.6,510,10085,0.15,2.00,0.00,0.000,6,0.091,0.021,3278,1503,1079,0,0,0,0,0,0
$GC,10343,1.15,381.7,60.3,7.8,530,10348,0.10,2.25,0.00,0.000,4,0.073,0.023,3315,2882,1079,0,0,0,0,0,0
$GC,10372,1.23,381.7,57.9,8.7,532,10376,0.00,2.38,0.00,0.000,6,0.000,0.037,3315,1499,1079,0,0,0,0,0,0
$GC,10636,1.23,381.7,34.7,8.2,553,10640,0.00,2.17,0.00,0.000,4,0.000,0.049,3315,233,1080,0,0,0,0,0,0
$GC,10743,1.19,381.7,24.5,10.0,568,10750,0.00,2.03,0.00,0.000,6,0.000,0.021,3315,1513,1079,0,0,0,0,0,0
$GC,10946,1.19,381.7,6.7,8.8,614,10952,0.00,2.22,0.00,0.000,4,0.000,0.048,3315,239,1079,0,0,0,0,0,0
$STATE,10983,end climb,SURFACE_DEPTH_REACHED
$STATE,10983,begin surface coast
$FINISH,2.2,1.023306
$STATE,10989,end surface coast,CONTROL_FINISHED_OK
$STATE,10989,begin surface
$SM_CCo,11015,23.95,0.468,0,0,957,410.14
$SM_GC,1.66,0.00,0.00,23.95,0.000,0.000,0.468,431,1532,957,-12.05,0.03,410.14
$IRIDIUM_FIX,2104.07,-15802.47,130100,131359
$TT8_MAMPS,0.029146
$HUMID,61.93
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,21.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,420.1,67.3
$24V_AH,23.3,67.293
$10V_AH,10.0,54.519
$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,30.625,132.450,427.000,23.950,0.000,26.031,32.547,165.285,4.750,0.000,14.491,1248.992,7159.189,468.198,1964.043,553.513,0.000,1372.331,0.000,1934.612,0.000,30.732,0.000
$DEVICE_MAMPS,131.157,148.798,822.224,467.870,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,419.661,401.968,907.798,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,35002,623
$CAP_FILE_SIZE,129996,0
$CFSIZE,260165632,174129152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191010,191252,2112.508,-15759.890,14,3.3,33,9.8