version: 66.06
glider: 139
mission: 8
dive: 719
start: 10 20 110 8 9 16
data:
$ID,139
$MISSION,8
$DIVE,719
$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,-2166297.5
$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
$GPS1,080307,2112.124,-15758.553,37,1.0,37,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-74.4
$GPS2,080856,2112.158,-15758.571,12,1.6,12,9.8
$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,103.7,29488,-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,-64.57,0.000,2,0.000,0.000,424,1515,2771,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.7,-3.9,12,109,12.65,0.00,-6.25,0.000,6,0.132,0.000,2784,1516,3109,0,0,0,0,0,0
$GC,309,-0.95,-116.8,44.3,-15.5,48,314,0.25,2.35,0.00,0.000,4,0.089,0.020,2839,2951,3111,0,0,0,0,0,0
$GC,337,-0.95,-116.8,48.4,-12.2,50,341,0.00,2.40,0.00,0.000,6,0.000,0.032,2839,1531,3111,0,0,0,0,0,0
$GC,598,-0.90,-116.8,78.2,-10.5,70,602,0.00,2.22,0.00,0.000,4,0.000,0.044,2839,234,3112,0,0,0,0,0,0
$GC,640,-0.87,-116.8,83.2,-10.9,73,645,0.10,2.12,0.00,0.000,6,0.104,0.018,2861,1589,3112,0,0,0,0,0,0
$GC,903,-0.92,-116.8,104.0,-7.9,93,907,0.00,2.33,0.00,0.000,4,0.000,0.044,2861,234,3113,0,0,0,0,0,0
$GC,977,-0.97,-116.8,110.6,-8.4,98,984,0.08,2.12,0.00,0.000,6,0.036,0.018,2820,1588,3113,0,0,0,0,0,0
$GC,1240,-0.97,-116.8,131.9,-8.2,119,1244,0.00,2.30,0.00,0.000,4,0.000,0.044,2820,237,3114,0,0,0,0,0,0
$GC,1272,-0.97,-116.8,135.3,-9.5,121,1278,0.00,2.10,0.00,0.000,6,0.000,0.018,2820,1588,3113,0,0,0,0,0,0
$GC,1531,-0.97,-116.8,156.1,-7.7,142,1535,0.00,2.22,0.00,0.000,4,0.000,0.021,2820,2954,3114,0,0,0,0,0,0
$GC,1572,-1.06,-116.8,159.1,-7.7,145,1577,0.00,2.38,0.00,0.000,6,0.000,0.031,2820,1529,3114,0,0,0,0,0,0
$GC,1837,-1.06,-116.8,181.1,-8.0,166,1841,0.00,2.20,0.00,0.000,4,0.000,0.046,2819,231,3114,0,0,0,0,0,0
$GC,1905,-1.06,-116.8,187.1,-9.5,171,1909,0.00,2.12,0.00,0.000,6,0.000,0.019,2820,1585,3115,0,0,0,0,0,0
$GC,2173,-1.06,-116.8,208.5,-7.6,189,2177,0.00,2.30,0.00,0.000,4,0.000,0.045,2820,238,3115,0,0,0,0,0,0
$GC,2207,-1.06,-116.8,211.4,-8.4,190,2211,0.00,2.12,0.00,0.000,6,0.000,0.020,2819,1589,3115,0,0,0,0,0,0
$GC,2526,-1.06,-116.8,234.1,-6.9,205,2530,0.00,2.33,0.00,0.000,4,0.000,0.048,2820,234,3114,0,0,0,0,0,0
$GC,2609,-1.10,-116.8,240.7,-7.3,208,2616,0.00,2.15,0.00,0.000,6,0.000,0.021,2820,1583,3114,0,0,0,0,0,0
$GC,2926,-1.10,-116.8,262.9,-7.3,224,2930,0.00,2.30,0.00,0.000,4,0.000,0.048,2820,238,3113,0,0,0,0,0,0
$GC,2987,-1.13,-116.8,267.8,-8.4,226,2993,0.00,2.15,0.00,0.000,6,0.000,0.021,2820,1582,3113,0,0,0,0,0,0
$GC,3304,-1.18,-116.8,287.9,-6.4,242,3309,0.12,2.35,0.00,0.000,4,0.063,0.050,2775,238,3112,0,0,0,0,0,0
$GC,3370,-1.11,-116.8,293.9,-9.4,244,3377,0.10,2.15,0.00,0.000,6,0.067,0.022,2803,1580,3112,0,0,0,0,0,0
$GC,3684,-1.11,-116.8,311.9,-5.3,255,3688,0.00,2.35,0.00,0.000,4,0.000,0.051,2803,232,3111,0,0,0,0,0,0
$GC,3735,-1.11,-116.8,315.4,-6.9,256,3739,0.00,2.08,0.00,0.000,6,0.000,0.023,2803,1521,3110,0,0,0,0,0,0
$GC,4058,-1.11,-116.8,337.2,-7.3,264,4059,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1525,3108,0,0,0,0,0,0
$GC,4387,-1.11,-116.8,360.5,-7.5,272,4388,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1526,3106,0,0,0,0,0,0
$GC,4710,-1.11,-116.8,385.1,-7.7,280,4714,0.00,2.28,0.00,0.000,4,0.000,0.028,2803,2905,3105,0,0,0,0,0,0
$GC,4749,-1.21,-116.8,388.4,-8.1,280,4754,0.00,2.35,0.00,0.000,6,0.000,0.038,2803,1530,3104,0,0,0,0,0,0
$GC,5081,-1.21,-116.8,417.7,-9.0,289,5085,0.00,2.28,0.00,0.000,4,0.000,0.055,2802,227,3102,0,0,0,0,0,0
$GC,5113,-1.21,-116.8,420.6,-8.5,289,5117,0.00,2.08,0.00,0.000,6,0.000,0.025,2803,1532,3102,0,0,0,0,0,0
$GC,5446,-1.26,-116.8,447.4,-8.7,297,5451,0.12,2.30,0.00,0.000,4,0.067,0.055,2764,234,3100,0,0,0,0,0,0
$STATE,5468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5468,begin apogee
$GC,5477,-0.31,0.0,450.1,10.3,297,5578,0.98,0.00,96.72,0.835,6,0.070,0.000,2976,1496,2630,0,0,0,0,0,0
$STATE,5579,end apogee,CONTROL_FINISHED_OK
$STATE,5579,begin climb
$GC,5581,1.18,116.8,454.8,0.0,300,5695,1.45,2.38,101.82,0.818,4,0.036,0.030,3311,2889,2152,0,0,0,0,0,0
$GC,5816,1.00,132.8,444.8,7.2,305,5837,0.22,2.42,14.90,0.746,6,0.095,0.041,3266,1496,2087,0,0,0,0,0,0
$GC,6177,0.89,146.9,420.1,7.3,314,6197,0.12,2.25,12.68,0.735,4,0.108,0.055,3242,235,2030,0,0,0,0,0,0
$GC,6217,0.76,146.9,416.0,9.4,314,6223,0.15,2.10,0.00,0.000,6,0.106,0.026,3215,1510,2028,0,0,0,0,0,0
$GC,6550,0.79,175.1,392.8,6.6,323,6578,0.00,0.00,26.10,0.778,6,0.000,0.000,3214,1511,1916,0,0,0,0,0,0
$GC,6873,0.82,201.8,370.4,6.7,331,6905,0.00,2.33,24.70,0.766,4,0.000,0.056,3214,235,1806,0,0,0,0,0,0
$GC,6935,0.79,201.8,366.2,8.5,332,6939,0.00,2.10,0.00,0.000,6,0.000,0.027,3214,1503,1802,0,0,0,0,0,0
$GC,7285,0.86,224.3,342.9,6.9,341,7313,0.10,2.35,20.52,0.746,4,0.081,0.028,3245,2887,1715,0,0,0,0,0,0
$GC,7350,0.94,243.6,338.5,7.0,342,7376,0.00,2.45,18.70,0.732,6,0.000,0.044,3244,1501,1636,0,0,0,0,0,0
$GC,7701,0.98,273.1,315.6,6.6,351,7733,0.00,2.35,26.23,0.738,4,0.000,0.060,3244,232,1515,0,0,0,0,0,0
$GC,7827,0.93,273.1,304.3,9.6,353,7831,0.00,2.10,0.00,0.000,6,0.000,0.028,3244,1500,1510,0,0,0,0,0,0
$GC,8141,0.93,273.1,275.4,9.9,366,8145,0.00,2.25,0.00,0.000,4,0.000,0.058,3244,232,1509,0,0,0,0,0,0
$GC,8217,0.88,273.1,267.6,11.2,369,8220,0.00,2.08,0.00,0.000,6,0.000,0.028,3244,1504,1507,0,0,0,0,0,0
$GC,8538,0.94,288.8,242.2,7.2,385,8560,0.00,2.33,13.70,0.660,4,0.000,0.056,3244,238,1451,0,0,0,0,0,0
$GC,8602,0.94,288.8,236.9,8.6,387,8608,0.00,2.05,0.00,0.000,6,0.000,0.027,3244,1504,1448,0,0,0,0,0,0
$GC,8921,1.01,311.5,215.4,6.9,403,8949,0.10,2.28,20.83,0.661,4,0.077,0.054,3275,234,1359,0,0,0,0,0,0
$GC,8979,0.94,311.5,210.0,9.9,405,8983,0.00,2.08,0.00,0.000,6,0.000,0.027,3275,1499,1357,0,0,0,0,0,0
$GC,9306,0.97,336.8,184.5,6.8,427,9333,0.00,2.35,22.83,0.637,4,0.000,0.054,3275,229,1256,0,0,0,0,0,0
$GC,9365,0.93,336.8,179.1,9.8,431,9369,0.12,2.08,0.00,0.000,6,0.102,0.026,3251,1502,1254,0,0,0,0,0,0
$GC,9636,1.00,336.8,158.5,8.5,452,9637,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1504,1252,0,0,0,0,0,0
$GC,9885,1.07,336.8,137.4,8.6,472,9887,0.15,0.00,0.00,0.000,6,0.058,0.000,3298,1504,1252,0,0,0,0,0,0
$GC,10139,1.07,336.8,114.8,7.9,492,10143,0.00,2.20,0.00,0.000,4,0.000,0.051,3297,234,1252,0,0,0,0,0,0
$GC,10171,1.02,336.8,111.9,8.3,494,10176,0.12,2.03,0.00,0.000,6,0.097,0.024,3272,1513,1251,0,0,0,0,0,0
$GC,10434,1.12,364.3,93.4,6.7,514,10464,0.00,2.33,24.08,0.551,4,0.000,0.050,3272,232,1143,0,0,0,0,0,0
$GC,10512,1.17,372.6,87.6,7.5,519,10526,0.15,2.05,8.15,0.477,6,0.055,0.022,3320,1514,1110,0,0,0,0,0,0
$GC,10786,1.13,372.6,62.9,9.2,541,10791,0.12,2.25,0.00,0.000,4,0.097,0.049,3295,233,1109,0,0,0,0,0,0
$GC,10827,1.13,372.6,59.1,9.6,544,10831,0.00,1.98,0.00,0.000,6,0.000,0.021,3295,1489,1107,0,0,0,0,0,0
$GC,11099,1.23,408.9,40.2,6.3,565,11141,0.10,2.28,31.40,0.504,4,0.073,0.020,3332,2885,961,0,0,0,0,0,0
$GC,11147,1.23,408.9,35.7,9.2,568,11151,0.00,2.40,0.00,0.000,6,0.000,0.034,3332,1497,961,0,0,0,0,0,0
$GC,11411,1.23,408.9,10.1,9.8,618,11418,0.00,2.20,0.00,0.000,4,0.000,0.048,3332,241,960,0,0,0,0,0,0
$STATE,11478,end climb,SURFACE_DEPTH_REACHED
$STATE,11478,begin surface coast
$FINISH,1.2,1.023365
$STATE,11512,end surface coast,CONTROL_FINISHED_OK
$STATE,11512,begin surface
$SM_CCo,11597,0.00,0.000,0,0,955,410.88
$SM_GC,1.80,12.50,0.00,0.00,0.025,0.000,0.000,430,1541,955,-11.98,0.31,410.88
$IRIDIUM_FIX,2104.07,-15757.32,140100,040408
$TT8_MAMPS,0.028379
$HUMID,61.81
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.3,67.849
$10V_AH,10.0,54.937
$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,29.825,124.600,463.350,0.000,0.000,28.262,31.178,155.591,4.500,0.000,13.076,1244.373,7799.703,480.298,1885.202,528.390,0.000,1361.307,0.000,1864.418,0.000,29.238,0.000
$DEVICE_MAMPS,131.924,59.826,835.263,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,431.123,407.049,899.829,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355760
$DATA_FILE_SIZE,34938,640
$CAP_FILE_SIZE,125065,0
$CFSIZE,260165632,173826048
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201010,112336,2111.976,-15758.316,28,1.5,28,9.8