version: 66.06
glider: 139
mission: 8
dive: 716
start: 10 19 110 22 39 46
data:
$ID,139
$MISSION,8
$DIVE,716
$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,-2166253.5
$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
$GPS1,223331,2112.354,-15759.731,41,1.4,41,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-74.2
$GPS2,223926,2112.394,-15759.729,12,1.4,12,9.8
$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,103.0,31498,-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,-59.10,0.000,2,0.000,0.000,425,1503,2603,0,0,0,0,0,0
$GC,80,-1.18,-116.8,3.0,-3.1,11,110,12.65,2.40,-10.07,0.000,4,0.131,0.033,2787,2950,3108,0,0,0,0,0,0
$GC,181,-1.11,-116.8,20.3,-12.7,31,188,0.00,2.45,0.00,0.000,6,0.000,0.034,2787,1536,3109,0,0,0,0,0,0
$GC,387,-0.90,-116.8,52.3,-15.6,56,392,0.28,2.22,0.00,0.000,4,0.087,0.044,2848,234,3110,0,0,0,0,0,0
$GC,408,-0.75,-116.8,55.6,-13.8,57,415,0.15,2.15,0.00,0.000,6,0.067,0.019,2885,1595,3110,0,0,0,0,0,0
$GC,670,-0.83,-116.8,74.5,-5.6,78,674,0.00,2.35,0.00,0.000,4,0.000,0.045,2885,233,3111,0,0,0,0,0,0
$GC,763,-0.91,-116.8,81.1,-7.5,84,769,0.12,2.12,0.00,0.000,6,0.029,0.018,2834,1592,3111,0,0,0,0,0,0
$GC,1024,-0.91,-116.8,107.5,-10.4,105,1028,0.00,2.25,0.00,0.000,4,0.000,0.020,2833,2962,3112,0,0,0,0,0,0
$GC,1079,-0.98,-116.8,113.7,-11.7,109,1083,0.00,2.42,0.00,0.000,6,0.000,0.031,2833,1527,3111,0,0,0,0,0,0
$GC,1344,-0.98,-116.8,136.6,-6.7,130,1348,0.00,2.17,0.00,0.000,4,0.000,0.044,2833,237,3113,0,0,0,0,0,0
$GC,1405,-0.98,-116.8,141.2,-7.2,134,1409,0.00,2.12,0.00,0.000,6,0.000,0.018,2833,1596,3113,0,0,0,0,0,0
$GC,1663,-0.98,-116.8,158.8,-8.4,154,1667,0.00,2.33,0.00,0.000,4,0.000,0.045,2833,237,3113,0,0,0,0,0,0
$GC,1729,-0.98,-116.8,164.8,-9.6,159,1733,0.00,2.12,0.00,0.000,6,0.000,0.018,2833,1594,3113,0,0,0,0,0,0
$GC,1996,-1.02,-116.8,186.7,-7.9,180,2000,0.00,2.35,0.00,0.000,4,0.000,0.045,2833,234,3113,0,0,0,0,0,0
$GC,2037,-1.05,-116.8,190.2,-7.6,183,2041,0.00,2.12,0.00,0.000,6,0.000,0.019,2833,1596,3113,0,0,0,0,0,0
$GC,2308,-1.09,-116.8,206.8,-6.1,201,2313,0.00,2.33,0.00,0.000,4,0.000,0.046,2833,237,3113,0,0,0,0,0,0
$GC,2353,-1.13,-116.8,210.4,-7.4,203,2358,0.12,2.12,0.00,0.000,6,0.061,0.020,2788,1592,3113,0,0,0,0,0,0
$GC,2689,-1.08,-116.8,241.8,-10.2,219,2694,0.12,2.38,0.00,0.000,4,0.092,0.048,2816,233,3113,0,0,0,0,0,0
$GC,2727,-1.08,-116.8,246.0,-8.9,220,2734,0.00,2.15,0.00,0.000,6,0.000,0.020,2816,1585,3113,0,0,0,0,0,0
$GC,3044,-1.08,-116.8,269.3,-6.9,236,3048,0.00,2.33,0.00,0.000,4,0.000,0.048,2815,238,3112,0,0,0,0,0,0
$GC,3081,-1.11,-116.8,272.8,-9.6,237,3085,0.00,2.12,0.00,0.000,6,0.000,0.021,2815,1580,3112,0,0,0,0,0,0
$GC,3399,-1.16,-116.8,300.6,-9.1,252,3403,0.00,2.17,0.00,0.000,4,0.000,0.024,2816,2909,3112,0,0,0,0,0,0
$GC,3429,-1.27,-116.8,303.4,-9.0,252,3434,0.17,2.33,0.00,0.000,6,0.048,0.034,2757,1532,3111,0,0,0,0,0,0
$GC,3767,-1.18,-116.8,339.6,-10.8,261,3772,0.17,2.25,0.00,0.000,4,0.084,0.051,2794,229,3110,0,0,0,0,0,0
$GC,3802,-1.14,-116.8,343.7,-10.8,261,3806,0.00,2.05,0.00,0.000,6,0.000,0.023,2794,1532,3110,0,0,0,0,0,0
$GC,4138,-1.14,-116.8,375.4,-9.4,270,4142,0.00,2.25,0.00,0.000,4,0.000,0.026,2794,2902,3108,0,0,0,0,0,0
$GC,4157,-1.17,-116.8,377.0,-8.5,270,4161,0.00,2.33,0.00,0.000,6,0.000,0.037,2794,1529,3108,0,0,0,0,0,0
$GC,4505,-1.17,-116.8,405.2,-7.8,279,4509,0.00,2.28,0.00,0.000,4,0.000,0.027,2794,2909,3105,0,0,0,0,0,0
$GC,4552,-1.29,-116.8,409.1,-7.7,280,4557,0.12,2.35,0.00,0.000,6,0.064,0.038,2752,1529,3105,0,0,0,0,0,0
$GC,4877,-1.21,-116.8,439.8,-9.3,288,4879,0.15,0.00,0.00,0.000,6,0.090,0.000,2784,1528,3103,0,0,0,0,0,0
$STATE,5035,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5035,begin apogee
$GC,5041,-0.31,0.0,453.4,8.3,292,5141,0.90,0.00,96.80,0.829,6,0.065,0.000,2979,1529,2629,0,0,0,0,0,0
$STATE,5142,end apogee,CONTROL_FINISHED_OK
$STATE,5142,begin climb
$GC,5145,1.18,116.8,455.9,0.0,294,5258,1.42,2.35,101.32,0.815,4,0.035,0.029,3313,2869,2152,0,0,0,0,0,0
$GC,5310,1.02,148.0,454.6,6.5,297,5344,0.20,2.40,28.25,0.781,6,0.095,0.040,3274,1500,2025,0,0,0,0,0,0
$GC,5685,0.88,148.0,424.4,8.6,307,5690,0.17,2.22,0.00,0.000,4,0.103,0.057,3239,232,2016,0,0,0,0,0,0
$GC,5730,0.76,160.0,421.0,7.4,308,5747,0.12,2.05,10.32,0.708,6,0.112,0.027,3216,1502,1976,0,0,0,0,0,0
$GC,6065,0.79,183.5,397.6,6.8,316,6094,0.00,2.40,21.85,0.772,4,0.000,0.031,3216,2873,1881,0,0,0,0,0,0
$GC,6148,0.90,209.6,391.9,6.7,317,6180,0.12,2.40,24.73,0.770,6,0.067,0.041,3253,1500,1775,0,0,0,0,0,0
$GC,6528,0.87,224.9,362.2,7.2,327,6548,0.00,2.33,13.85,0.727,4,0.000,0.058,3254,234,1713,0,0,0,0,0,0
$GC,6563,0.79,239.5,359.3,7.2,327,6585,0.15,2.10,14.85,0.725,6,0.104,0.028,3225,1501,1652,0,0,0,0,0,0
$GC,6909,0.90,291.9,339.8,5.5,336,6962,0.00,2.35,46.15,0.766,4,0.000,0.059,3224,239,1440,0,0,0,0,0,0
$GC,7010,0.90,291.9,331.3,9.3,338,7014,0.00,2.08,0.00,0.000,6,0.000,0.028,3224,1506,1435,0,0,0,0,0,0
$GC,7328,0.95,291.9,302.1,9.8,346,7333,0.15,2.28,0.00,0.000,4,0.062,0.058,3265,232,1433,0,0,0,0,0,0
$GC,7389,0.87,291.9,294.6,11.5,347,7396,0.12,2.08,0.00,0.000,6,0.105,0.028,3241,1509,1430,0,0,0,0,0,0
$GC,7708,0.95,320.1,268.9,6.6,363,7735,0.00,0.00,24.73,0.705,6,0.000,0.000,3242,1510,1324,0,0,0,0,0,0
$GC,8036,1.05,359.4,249.3,6.1,379,8080,0.17,2.35,34.85,0.697,4,0.056,0.058,3290,239,1163,0,0,0,0,0,0
$GC,8151,0.96,359.4,237.4,11.0,384,8156,0.15,2.08,0.00,0.000,6,0.094,0.026,3259,1502,1158,0,0,0,0,0,0
$GC,8485,1.01,376.3,213.0,7.1,400,8508,0.00,2.33,14.77,0.627,4,0.000,0.055,3259,238,1095,0,0,0,0,0,0
$GC,8559,1.01,376.3,205.9,10.2,403,8563,0.00,2.05,0.00,0.000,6,0.000,0.025,3260,1508,1092,0,0,0,0,0,0
$GC,8893,1.05,376.3,173.6,10.4,427,8897,0.00,2.22,0.00,0.000,4,0.000,0.052,3260,234,1091,0,0,0,0,0,0
$GC,8946,1.05,376.3,167.0,12.9,431,8950,0.00,2.08,0.00,0.000,6,0.000,0.025,3260,1515,1090,0,0,0,0,0,0
$GC,9211,1.12,376.3,135.7,12.2,452,9215,0.15,2.28,0.00,0.000,4,0.058,0.052,3305,232,1090,0,0,0,0,0,0
$GC,9241,1.03,376.3,131.1,17.0,454,9246,0.15,2.03,0.00,0.000,6,0.092,0.023,3275,1505,1089,0,0,0,0,0,0
$GC,9502,1.07,376.3,98.9,11.0,474,9505,0.00,2.22,0.00,0.000,4,0.000,0.050,3274,229,1089,0,0,0,0,0,0
$GC,9553,1.07,376.3,92.8,11.2,477,9558,0.00,2.03,0.00,0.000,6,0.000,0.022,3274,1509,1089,0,0,0,0,0,0
$GC,9815,1.27,441.2,74.9,5.0,498,9877,0.22,2.28,54.55,0.545,4,0.044,0.048,3342,226,830,0,0,0,0,0,0
$GC,9922,1.20,441.2,65.4,10.0,505,9929,0.12,2.05,0.00,0.000,6,0.067,0.021,3311,1496,826,0,0,0,0,0,0
$GC,10184,1.25,441.2,44.4,8.1,526,10188,0.00,2.20,0.00,0.000,4,0.000,0.049,3311,225,826,0,0,0,0,0,0
$GC,10224,1.25,441.2,40.6,9.8,529,10228,0.00,2.00,0.00,0.000,6,0.000,0.021,3310,1489,824,0,0,0,0,0,0
$GC,10488,1.30,441.2,17.2,9.3,570,10495,0.10,2.28,0.00,0.000,4,0.071,0.048,3348,229,824,0,0,0,0,0,0
$GC,10533,1.20,441.2,11.5,13.2,579,10540,0.15,2.05,0.00,0.000,6,0.064,0.020,3312,1524,824,0,0,0,0,0,0
$STATE,10618,end climb,SURFACE_DEPTH_REACHED
$STATE,10618,begin surface coast
$FINISH,0.8,1.012053
$STATE,10655,end surface coast,CONTROL_FINISHED_OK
$STATE,10655,begin surface
$SM_CCo,10739,0.00,0.000,0,0,821,443.75
$SM_GC,1.75,12.43,0.00,0.00,0.025,0.000,0.000,426,1523,821,-12.00,-0.20,443.75
$IRIDIUM_FIX,2104.07,-15802.47,130100,191948
$TT8_MAMPS,0.028379
$HUMID,61.26
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,21.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,443.1,73.7
$24V_AH,23.3,67.518
$10V_AH,10.0,54.689
$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,31.100,124.550,487.025,0.000,0.000,24.781,32.422,163.582,5.000,0.000,12.902,1197.060,7013.804,493.224,1841.149,541.464,0.000,1362.167,0.000,1817.139,0.000,32.315,0.000
$DEVICE_MAMPS,131.157,59.059,829.127,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,407.564,387.066,887.279,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355712
$DATA_FILE_SIZE,34914,606
$CAP_FILE_SIZE,124369,0
$CFSIZE,260165632,174006272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201010,013951,2112.021,-15759.800,11,2.6,30,9.8