version: 66.06
glider: 139
mission: 8
dive: 717
start: 10 20 110 1 46 10
data:
$ID,139
$MISSION,8
$DIVE,717
$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,-2166268
$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
$GPS1,013951,2112.021,-15759.800,11,2.6,30,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-73.8
$GPS2,014550,2112.023,-15759.800,13,1.6,13,9.8
$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,101.7,31354,-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,-64.70,0.000,2,0.000,0.000,426,1523,2627,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.2,-2.9,12,115,12.62,2.40,-9.60,0.000,4,0.130,0.032,2786,2953,3107,0,0,0,0,0,0
$GC,227,-1.11,-116.8,25.6,-12.0,42,234,0.00,2.45,0.00,0.000,6,0.000,0.034,2786,1536,3109,0,0,0,0,0,0
$GC,427,-0.89,-116.8,55.7,-16.4,62,429,0.32,0.00,0.00,0.000,6,0.085,0.000,2853,1536,3110,0,0,0,0,0,0
$GC,679,-0.85,-116.8,86.1,-11.0,82,683,0.00,2.22,0.00,0.000,4,0.000,0.045,2853,229,3111,0,0,0,0,0,0
$GC,754,-0.89,-116.8,94.4,-10.4,87,759,0.00,2.12,0.00,0.000,6,0.000,0.018,2854,1595,3111,0,0,0,0,0,0
$GC,1016,-0.94,-116.8,112.0,-5.8,108,1020,0.00,2.35,0.00,0.000,4,0.000,0.044,2853,231,3111,0,0,0,0,0,0
$GC,1048,-0.97,-116.8,114.8,-8.1,110,1052,0.00,2.10,0.00,0.000,6,0.000,0.018,2853,1592,3111,0,0,0,0,0,0
$GC,1312,-1.03,-116.8,141.7,-12.3,130,1317,0.12,2.35,0.00,0.000,4,0.061,0.046,2803,229,3112,0,0,0,0,0,0
$GC,1364,-0.99,-116.8,150.8,-16.2,134,1369,0.15,2.12,0.00,0.000,6,0.086,0.018,2836,1587,3113,0,0,0,0,0,0
$GC,1629,-1.03,-116.8,189.9,-13.9,155,1633,0.00,2.30,0.00,0.000,4,0.000,0.044,2835,235,3112,0,0,0,0,0,0
$GC,1676,-1.06,-116.8,196.2,-12.8,158,1682,0.00,2.12,0.00,0.000,6,0.000,0.019,2836,1592,3113,0,0,0,0,0,0
$GC,1951,-1.11,-116.8,217.8,-5.7,173,1956,0.12,2.35,0.00,0.000,4,0.061,0.047,2788,235,3113,0,0,0,0,0,0
$GC,2013,-0.97,-116.8,221.4,-6.1,175,2019,0.22,2.12,0.00,0.000,6,0.075,0.019,2837,1589,3113,0,0,0,0,0,0
$GC,2332,-1.02,-116.8,234.0,-5.5,191,2336,0.00,2.35,0.00,0.000,4,0.000,0.048,2837,232,3113,0,0,0,0,0,0
$GC,2392,-1.08,-116.8,238.5,-7.3,193,2398,0.00,2.12,0.00,0.000,6,0.000,0.020,2837,1586,3113,0,0,0,0,0,0
$GC,2709,-1.14,-116.8,262.7,-8.9,209,2714,0.15,2.35,0.00,0.000,4,0.055,0.048,2787,228,3112,0,0,0,0,0,0
$GC,2732,-1.09,-116.8,265.1,-10.7,210,2736,0.12,2.15,0.00,0.000,6,0.094,0.021,2813,1584,3112,0,0,0,0,0,0
$GC,3064,-1.09,-116.8,301.2,-11.0,226,3065,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1588,3111,0,0,0,0,0,0
$GC,3388,-1.09,-116.8,335.5,-10.7,234,3392,0.00,2.35,0.00,0.000,4,0.000,0.049,2813,233,3110,0,0,0,0,0,0
$GC,3433,-1.09,-116.8,340.3,-10.3,235,3437,0.00,2.15,0.00,0.000,6,0.000,0.022,2814,1583,3109,0,0,0,0,0,0
$GC,3757,-1.14,-116.8,366.1,-7.6,243,3761,0.00,2.35,0.00,0.000,4,0.000,0.051,2813,235,3108,0,0,0,0,0,0
$GC,3807,-1.14,-116.8,370.5,-8.9,244,3811,0.00,2.15,0.00,0.000,6,0.000,0.023,2813,1581,3108,0,0,0,0,0,0
$GC,4134,-1.14,-116.8,393.2,-6.5,252,4138,0.00,2.33,0.00,0.000,4,0.000,0.051,2813,238,3105,0,0,0,0,0,0
$GC,4182,-1.14,-116.8,396.6,-7.3,253,4186,0.00,2.12,0.00,0.000,6,0.000,0.023,2813,1581,3105,0,0,0,0,0,0
$GC,4506,-1.18,-116.8,415.9,-6.0,261,4507,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1586,3104,0,0,0,0,0,0
$GC,4831,-1.22,-116.8,437.6,-7.1,269,4832,0.15,0.00,0.00,0.000,6,0.058,0.000,2766,1586,3101,0,0,0,0,0,0
$STATE,4990,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4990,begin apogee
$GC,4998,-0.31,0.0,453.1,9.6,273,5098,1.00,0.00,96.65,0.821,6,0.067,0.000,2981,1491,2630,0,0,0,0,0,0
$STATE,5099,end apogee,CONTROL_FINISHED_OK
$STATE,5099,begin climb
$GC,5101,1.18,116.8,457.3,0.0,275,5215,1.40,2.45,101.57,0.808,4,0.034,0.029,3312,2918,2152,0,0,0,0,0,0
$GC,5253,1.03,159.1,459.8,6.0,278,5298,0.17,2.47,37.85,0.787,6,0.097,0.039,3277,1507,1981,0,0,0,0,0,0
$GC,5646,0.90,159.1,427.4,9.3,288,5648,0.15,0.00,0.00,0.000,6,0.101,0.000,3248,1507,1971,0,0,0,0,0,0
$GC,5969,0.91,204.8,406.8,5.8,296,6014,0.00,2.42,39.60,0.785,4,0.000,0.029,3247,2920,1795,0,0,0,0,0,0
$GC,6063,0.95,213.4,400.5,7.5,298,6080,0.00,2.50,9.25,0.676,6,0.000,0.042,3248,1501,1759,0,0,0,0,0,0
$GC,6427,0.98,266.2,378.1,5.5,307,6480,0.00,2.33,46.60,0.775,4,0.000,0.058,3248,240,1544,0,0,0,0,0,0
$GC,6574,0.94,292.8,369.3,6.7,310,6605,0.00,2.12,23.95,0.745,6,0.000,0.027,3248,1541,1435,0,0,0,0,0,0
$GC,6930,0.95,301.3,346.2,7.5,319,6943,0.00,2.35,8.25,0.644,4,0.000,0.057,3247,232,1400,0,0,0,0,0,0
$GC,7041,0.87,301.3,335.3,10.0,321,7046,0.00,2.08,0.00,0.000,6,0.000,0.027,3248,1505,1396,0,0,0,0,0,0
$GC,7391,0.87,301.3,300.7,10.4,330,7395,0.00,2.28,0.00,0.000,4,0.000,0.057,3248,231,1396,0,0,0,0,0,0
$GC,7420,0.81,301.3,297.2,12.4,330,7425,0.12,2.10,0.00,0.000,6,0.107,0.028,3224,1532,1394,0,0,0,0,0,0
$GC,7746,0.89,301.3,264.7,9.3,346,7750,0.00,2.30,0.00,0.000,4,0.000,0.056,3224,229,1393,0,0,0,0,0,0
$GC,7851,0.97,335.4,257.0,6.4,350,7887,0.17,2.08,29.70,0.694,6,0.058,0.026,3274,1508,1262,0,0,0,0,0,0
$GC,8212,0.97,335.4,227.7,9.0,368,8216,0.00,2.28,0.00,0.000,4,0.000,0.055,3274,225,1258,0,0,0,0,0,0
$GC,8285,0.91,335.4,220.2,10.7,371,8290,0.12,2.08,0.00,0.000,6,0.100,0.025,3249,1500,1255,0,0,0,0,0,0
$GC,8615,1.01,370.0,197.3,6.3,388,8656,0.00,2.28,30.35,0.643,4,0.000,0.054,3249,232,1120,0,0,0,0,0,0
$GC,8681,1.01,370.0,192.4,8.6,392,8688,0.00,2.08,0.00,0.000,6,0.000,0.025,3250,1498,1117,0,0,0,0,0,0
$GC,8944,1.09,388.9,173.3,7.0,413,8971,0.15,2.25,16.92,0.596,4,0.059,0.052,3294,232,1042,0,0,0,0,0,0
$GC,9033,0.99,388.9,163.6,12.4,419,9038,0.15,2.08,0.00,0.000,6,0.092,0.024,3263,1517,1040,0,0,0,0,0,0
$GC,9305,1.04,388.9,137.3,9.4,440,9309,0.00,2.28,0.00,0.000,4,0.000,0.052,3263,226,1040,0,0,0,0,0,0
$GC,9337,1.04,388.9,133.6,11.2,442,9341,0.00,2.03,0.00,0.000,6,0.000,0.024,3263,1501,1038,0,0,0,0,0,0
$GC,9596,1.13,388.9,111.8,8.1,462,9600,0.15,2.25,0.00,0.000,4,0.057,0.051,3310,225,1038,0,0,0,0,0,0
$GC,9654,1.07,388.9,105.8,11.3,466,9659,0.12,2.08,0.00,0.000,6,0.097,0.023,3284,1520,1038,0,0,0,0,0,0
$GC,9926,1.12,388.9,82.6,8.8,487,9929,0.00,2.25,0.00,0.000,4,0.000,0.049,3284,228,1038,0,0,0,0,0,0
$GC,9963,1.12,388.9,78.6,10.8,489,9970,0.00,2.03,0.00,0.000,6,0.000,0.022,3284,1499,1037,0,0,0,0,0,0
$GC,10223,1.22,388.9,54.6,9.6,510,10228,0.15,2.22,0.00,0.000,4,0.056,0.049,3334,225,1037,0,0,0,0,0,0
$GC,10241,1.26,388.9,52.9,9.8,511,10245,0.00,2.00,0.00,0.000,6,0.000,0.021,3334,1489,1037,0,0,0,0,0,0
$GC,10504,1.26,388.9,23.3,10.6,540,10510,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,1509,1037,0,0,0,0,0,0
$GC,10706,1.26,388.9,4.5,9.0,586,10713,0.00,2.22,0.00,0.000,4,0.000,0.048,3334,235,1038,0,0,0,0,0,0
$STATE,10718,end climb,SURFACE_DEPTH_REACHED
$STATE,10718,begin surface coast
$FINISH,0.9,1.019491
$STATE,10740,end surface coast,CONTROL_FINISHED_OK
$STATE,10741,begin surface
$SM_CCo,10765,17.60,0.460,0,0,957,410.14
$SM_GC,2.03,0.00,0.00,17.60,0.000,0.000,0.460,430,1536,957,-12.05,0.14,410.14
$IRIDIUM_FIX,2101.76,-15800.33,130100,222223
$TT8_MAMPS,0.029146
$HUMID,62.64
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,21.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,441.2,55.9
$24V_AH,23.3,67.629
$10V_AH,10.0,54.768
$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,30.325,111.550,440.700,17.600,0.000,29.985,30.365,166.384,4.750,0.000,13.690,1163.105,7171.180,470.490,1795.340,539.151,0.000,1316.739,0.000,1771.660,0.000,32.259,0.000
$DEVICE_MAMPS,130.390,72.098,820.690,460.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,398.471,372.496,837.775,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,31808,593
$CAP_FILE_SIZE,118661,0
$CFSIZE,260165632,173957120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201010,044707,2112.204,-15759.218,35,1.1,35,9.8