version: 66.06
glider: 139
mission: 8
dive: 720
start: 10 20 110 11 30 13
data:
$ID,139
$MISSION,8
$DIVE,720
$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,-2166331
$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
$GPS1,112336,2111.976,-15758.316,28,1.5,28,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-74.7
$GPS2,112955,2112.004,-15758.286,15,1.5,32,9.8
$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,103.6,28923,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.18,-116.8,0.0,0.0,0,83,0.00,0.00,-64.28,0.000,2,0.000,0.000,429,1540,2759,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.6,-4.0,12,111,12.68,2.28,-6.50,0.000,4,0.133,0.057,2787,230,3107,0,0,0,0,0,0
$GC,210,-0.92,-116.8,30.0,-17.3,38,217,0.25,2.17,0.00,0.000,6,0.077,0.019,2843,1582,3109,0,0,0,0,0,0
$GC,470,-0.88,-116.8,60.5,-10.7,59,474,0.00,2.33,0.00,0.000,4,0.000,0.044,2843,238,3111,0,0,0,0,0,0
$GC,486,-0.83,-116.8,62.1,-9.7,60,490,0.12,2.12,0.00,0.000,6,0.096,0.019,2870,1597,3111,0,0,0,0,0,0
$GC,746,-0.87,-116.8,84.7,-8.1,80,750,0.00,2.35,0.00,0.000,4,0.000,0.045,2869,231,3112,0,0,0,0,0,0
$GC,814,-0.93,-116.8,90.4,-8.3,85,818,0.00,2.12,0.00,0.000,6,0.000,0.018,2869,1588,3111,0,0,0,0,0,0
$GC,1079,-0.99,-116.8,111.0,-7.4,106,1081,0.15,0.00,0.00,0.000,6,0.054,0.000,2817,1592,3112,0,0,0,0,0,0
$GC,1331,-0.95,-116.8,135.1,-9.8,126,1335,0.12,2.35,0.00,0.000,4,0.090,0.046,2845,237,3112,0,0,0,0,0,0
$GC,1391,-0.95,-116.8,141.2,-9.8,130,1395,0.00,2.10,0.00,0.000,6,0.000,0.018,2845,1593,3113,0,0,0,0,0,0
$GC,1653,-0.99,-116.8,161.5,-7.9,150,1657,0.00,2.35,0.00,0.000,4,0.000,0.045,2845,231,3113,0,0,0,0,0,0
$GC,1683,-1.02,-116.8,164.3,-9.5,152,1687,0.00,2.12,0.00,0.000,6,0.000,0.019,2845,1584,3113,0,0,0,0,0,0
$GC,1949,-1.07,-116.8,186.0,-8.0,173,1951,0.12,0.00,0.00,0.000,6,0.061,0.000,2799,1589,3113,0,0,0,0,0,0
$GC,2210,-1.03,-116.8,207.0,-7.8,191,2214,0.12,2.33,0.00,0.000,4,0.091,0.047,2827,237,3113,0,0,0,0,0,0
$GC,2261,-1.03,-116.8,211.4,-8.1,193,2265,0.00,2.12,0.00,0.000,6,0.000,0.019,2827,1589,3113,0,0,0,0,0,0
$GC,2584,-1.07,-116.8,235.0,-7.9,209,2588,0.00,2.33,0.00,0.000,4,0.000,0.048,2827,234,3113,0,0,0,0,0,0
$GC,2629,-1.07,-116.8,239.1,-8.8,211,2633,0.00,2.12,0.00,0.000,6,0.000,0.020,2827,1580,3113,0,0,0,0,0,0
$GC,2963,-1.13,-116.8,264.8,-7.4,227,2967,0.00,2.30,0.00,0.000,4,0.000,0.048,2827,238,3113,0,0,0,0,0,0
$GC,2992,-1.16,-116.8,267.2,-7.0,228,2997,0.15,2.05,0.00,0.000,6,0.055,0.021,2777,1540,3112,0,0,0,0,0,0
$GC,3316,-1.12,-116.8,292.5,-8.0,244,3318,0.12,0.00,0.00,0.000,6,0.094,0.000,2804,1544,3112,0,0,0,0,0,0
$GC,3620,-1.12,-116.8,315.9,-7.7,254,3625,0.00,2.25,0.00,0.000,4,0.000,0.051,2804,237,3111,0,0,0,0,0,0
$GC,3659,-1.12,-116.8,319.2,-8.1,254,3665,0.00,2.05,0.00,0.000,6,0.000,0.023,2804,1537,3111,0,0,0,0,0,0
$GC,3992,-1.12,-116.8,343.4,-7.2,263,3993,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1539,3109,0,0,0,0,0,0
$GC,4315,-1.12,-116.8,372.1,-9.4,271,4319,0.00,2.22,0.00,0.000,4,0.000,0.026,2804,2900,3106,0,0,0,0,0,0
$GC,4354,-1.22,-116.8,375.6,-9.5,271,4360,0.00,2.35,0.00,0.000,6,0.000,0.037,2804,1524,3107,0,0,0,0,0,0
$GC,4687,-1.25,-116.8,404.8,-8.2,280,4691,0.12,2.25,0.00,0.000,4,0.065,0.054,2764,231,3104,0,0,0,0,0,0
$GC,4739,-1.17,-116.8,409.9,-9.7,281,4743,0.15,2.05,0.00,0.000,6,0.091,0.025,2795,1519,3103,0,0,0,0,0,0
$GC,5059,-1.17,-116.8,435.5,-8.3,289,5063,0.00,2.25,0.00,0.000,4,0.000,0.054,2796,232,3102,0,0,0,0,0,0
$GC,5077,-1.17,-116.8,437.2,-8.3,289,5081,0.00,2.08,0.00,0.000,6,0.000,0.025,2796,1533,3102,0,0,0,0,0,0
$STATE,5262,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5263,begin apogee
$GC,5269,-0.31,0.0,451.6,7.8,294,5369,0.85,0.00,96.95,0.832,6,0.063,0.000,2981,1487,2630,0,0,0,0,0,0
$STATE,5370,end apogee,CONTROL_FINISHED_OK
$STATE,5370,begin climb
$GC,5374,1.18,116.8,454.6,0.0,296,5486,1.40,2.40,101.57,0.818,4,0.035,0.029,3310,2883,2152,0,0,0,0,0,0
$GC,5506,1.05,171.6,454.9,5.4,299,5563,0.15,2.42,48.70,0.797,6,0.103,0.041,3281,1508,1929,0,0,0,0,0,0
$GC,5876,0.90,171.6,421.9,9.1,308,5881,0.17,2.25,0.00,0.000,4,0.097,0.058,3246,229,1920,0,0,0,0,0,0
$GC,5940,0.76,171.6,416.5,8.3,309,5945,0.15,2.08,0.00,0.000,6,0.105,0.026,3218,1503,1916,0,0,0,0,0,0
$GC,6290,0.83,225.5,396.0,5.5,318,6344,0.00,2.30,46.92,0.796,4,0.000,0.058,3218,237,1708,0,0,0,0,0,0
$GC,6375,0.78,225.5,390.6,8.0,320,6379,0.00,2.10,0.00,0.000,6,0.000,0.028,3217,1504,1705,0,0,0,0,0,0
$GC,6703,0.87,269.5,370.9,5.9,328,6745,0.10,0.00,39.08,0.779,6,0.079,0.000,3248,1505,1530,0,0,0,0,0,0
$GC,7067,0.87,269.5,338.2,9.4,337,7071,0.00,2.28,0.00,0.000,4,0.000,0.059,3249,236,1524,0,0,0,0,0,0
$GC,7092,0.80,269.5,335.7,11.0,337,7097,0.12,2.10,0.00,0.000,6,0.107,0.028,3225,1505,1522,0,0,0,0,0,0
$GC,7434,0.86,290.5,309.7,6.9,346,7458,0.00,2.35,18.20,0.722,4,0.000,0.058,3225,241,1444,0,0,0,0,0,0
$GC,7506,0.86,290.5,304.3,8.2,347,7510,0.00,2.10,0.00,0.000,6,0.000,0.028,3224,1508,1441,0,0,0,0,0,0
$GC,7835,0.94,292.1,281.6,7.8,361,7840,0.12,2.30,0.00,0.000,4,0.067,0.058,3263,232,1440,0,0,0,0,0,0
$GC,7907,0.86,292.1,273.9,11.1,364,7912,0.12,2.10,0.00,0.000,6,0.107,0.028,3240,1511,1438,0,0,0,0,0,0
$GC,8236,0.93,303.9,249.3,7.4,380,8253,0.00,2.30,12.38,0.655,4,0.000,0.056,3239,229,1389,0,0,0,0,0,0
$GC,8297,0.93,306.0,244.5,7.8,381,8302,0.00,2.10,0.00,0.000,6,0.000,0.027,3239,1510,1387,0,0,0,0,0,0
$GC,8614,1.02,320.1,222.9,7.3,397,8637,0.15,2.33,14.90,0.644,4,0.059,0.055,3284,242,1324,0,0,0,0,0,0
$GC,8663,0.92,320.1,218.4,10.0,399,8668,0.17,2.05,0.00,0.000,6,0.092,0.026,3250,1505,1322,0,0,0,0,0,0
$GC,8986,0.98,323.5,194.9,7.7,416,8995,0.00,2.25,4.32,0.441,4,0.000,0.052,3249,233,1310,0,0,0,0,0,0
$GC,9024,0.98,323.5,191.4,9.0,418,9028,0.00,2.05,0.00,0.000,6,0.000,0.025,3250,1504,1309,0,0,0,0,0,0
$GC,9296,1.03,323.5,170.1,7.9,439,9301,0.12,2.25,0.00,0.000,4,0.065,0.053,3290,229,1309,0,0,0,0,0,0
$GC,9329,0.93,323.5,166.3,10.9,441,9335,0.17,2.08,0.00,0.000,6,0.091,0.024,3254,1513,1307,0,0,0,0,0,0
$GC,9591,1.05,363.0,148.3,6.1,462,9634,0.12,2.33,35.08,0.604,4,0.064,0.051,3294,239,1150,0,0,0,0,0,0
$GC,9664,0.96,363.0,142.0,10.7,467,9670,0.17,2.05,0.00,0.000,6,0.087,0.023,3258,1508,1147,0,0,0,0,0,0
$GC,9926,1.04,363.0,120.5,8.4,488,9930,0.00,2.22,0.00,0.000,4,0.000,0.051,3258,232,1147,0,0,0,0,0,0
$GC,9965,1.08,363.0,116.4,9.6,491,9970,0.12,2.03,0.00,0.000,6,0.064,0.023,3301,1504,1145,0,0,0,0,0,0
$GC,10237,1.08,363.0,89.7,8.2,512,10241,0.00,2.20,0.00,0.000,4,0.000,0.049,3301,234,1145,0,0,0,0,0,0
$GC,10292,1.08,363.0,84.2,10.2,516,10296,0.00,2.00,0.00,0.000,6,0.000,0.022,3301,1506,1144,0,0,0,0,0,0
$GC,10565,1.14,381.3,63.8,7.1,537,10588,0.00,2.28,16.40,0.505,4,0.000,0.021,3301,2875,1074,0,0,0,0,0,0
$GC,10603,1.30,427.3,60.9,5.8,539,10651,0.10,2.40,39.45,0.524,6,0.033,0.035,3345,1502,886,0,0,0,0,0,0
$GC,10904,1.26,427.3,32.2,10.8,563,10908,0.00,2.20,0.00,0.000,4,0.000,0.049,3345,233,883,0,0,0,0,0,0
$GC,10972,1.17,427.3,24.2,12.2,575,10979,0.15,2.03,0.00,0.000,6,0.064,0.020,3308,1506,881,0,0,0,0,0,0
$GC,11177,1.22,427.3,6.1,9.9,621,11183,0.00,2.25,0.00,0.000,4,0.000,0.048,3308,228,881,0,0,0,0,0,0
$STATE,11205,end climb,SURFACE_DEPTH_REACHED
$STATE,11205,begin surface coast
$FINISH,1.1,1.023055
$STATE,11236,end surface coast,CONTROL_FINISHED_OK
$STATE,11236,begin surface
$SM_CCo,11322,0.00,0.000,0,0,878,429.77
$SM_GC,1.73,12.30,0.00,0.00,0.021,0.000,0.000,428,1541,878,-11.98,0.28,429.77
$IRIDIUM_FIX,2106.38,-15757.32,140100,080802
$TT8_MAMPS,0.028379
$HUMID,60.82
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,21.80
$XPDR_PINGS,1
$24V_AH,23.3,67.962
$10V_AH,10.0,55.019
$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,30.925,123.375,473.950,0.000,0.000,23.844,39.657,161.763,4.750,0.000,32.688,1236.064,7587.060,500.505,1830.539,537.141,0.000,1334.815,0.000,1788.554,0.000,29.243,0.000
$DEVICE_MAMPS,132.691,106.613,832.195,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,426.878,404.518,905.329,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,34948,634
$CAP_FILE_SIZE,124599,0
$CFSIZE,260165632,173764608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201010,144006,2111.838,-15758.174,36,0.8,36,9.8