version: 66.06
glider: 139
mission: 8
dive: 721
start: 10 20 110 14 46 16
data:
$ID,139
$MISSION,8
$DIVE,721
$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,-2166344.2
$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
$GPS1,144006,2111.838,-15758.174,36,0.8,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-73.8
$GPS2,144556,2111.821,-15758.158,12,1.6,12,9.8
$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,103.1,28586,-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,-116.8,0.0,0.0,0,81,0.00,0.00,-64.20,0.000,2,0.000,0.000,428,1540,2652,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.0,-2.9,12,115,12.62,2.33,-9.05,0.000,4,0.131,0.061,2785,234,3108,0,0,0,0,0,0
$GC,158,-0.90,-116.8,18.4,-16.8,26,164,0.28,2.17,0.00,0.000,6,0.078,0.019,2854,1590,3110,0,0,0,0,0,0
$GC,361,-0.83,-116.8,43.6,-11.8,55,366,0.00,2.33,0.00,0.000,4,0.000,0.045,2854,237,3111,0,0,0,0,0,0
$GC,431,-0.76,-116.8,52.5,-11.9,60,436,0.15,2.12,0.00,0.000,6,0.092,0.019,2885,1593,3111,0,0,0,0,0,0
$GC,693,-0.81,-116.8,77.8,-9.1,80,697,0.00,2.35,0.00,0.000,4,0.000,0.045,2885,237,3111,0,0,0,0,0,0
$GC,781,-0.89,-116.8,86.4,-9.1,86,788,0.10,2.12,0.00,0.000,6,0.031,0.018,2839,1593,3112,0,0,0,0,0,0
$GC,1041,-0.89,-116.8,111.8,-9.7,107,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1594,3112,0,0,0,0,0,0
$GC,1294,-0.89,-116.8,132.3,-8.2,127,1299,0.00,2.33,0.00,0.000,4,0.000,0.045,2839,232,3113,0,0,0,0,0,0
$GC,1382,-0.89,-116.8,140.3,-8.8,133,1387,0.00,2.12,0.00,0.000,6,0.000,0.018,2839,1591,3113,0,0,0,0,0,0
$GC,1645,-0.92,-116.8,160.6,-8.0,154,1649,0.00,2.33,0.00,0.000,4,0.000,0.047,2839,237,3113,0,0,0,0,0,0
$GC,1684,-0.97,-116.8,164.0,-8.4,157,1688,0.00,2.10,0.00,0.000,6,0.000,0.019,2839,1590,3114,0,0,0,0,0,0
$GC,1955,-1.01,-116.8,186.4,-8.1,178,1959,0.00,2.33,0.00,0.000,4,0.000,0.046,2839,232,3114,0,0,0,0,0,0
$GC,2015,-1.05,-116.8,191.8,-8.2,182,2021,0.00,2.15,0.00,0.000,6,0.000,0.018,2839,1590,3114,0,0,0,0,0,0
$GC,2289,-1.10,-116.8,211.8,-6.6,199,2294,0.12,2.33,0.00,0.000,4,0.061,0.046,2793,237,3114,0,0,0,0,0,0
$GC,2315,-1.02,-116.8,214.0,-9.0,200,2319,0.15,2.12,0.00,0.000,6,0.087,0.019,2826,1589,3114,0,0,0,0,0,0
$GC,2642,-1.02,-116.8,235.8,-6.9,216,2646,0.00,2.33,0.00,0.000,4,0.000,0.047,2826,235,3114,0,0,0,0,0,0
$GC,2713,-1.02,-116.8,241.9,-8.4,219,2717,0.00,2.12,0.00,0.000,6,0.000,0.020,2826,1581,3114,0,0,0,0,0,0
$GC,3041,-1.06,-116.8,266.3,-6.9,235,3042,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1585,3113,0,0,0,0,0,0
$GC,3348,-1.10,-116.8,286.7,-6.4,250,3353,0.00,2.35,0.00,0.000,4,0.000,0.048,2826,230,3113,0,0,0,0,0,0
$GC,3404,-1.14,-116.8,291.4,-8.6,252,3409,0.10,2.12,0.00,0.000,6,0.072,0.021,2787,1580,3112,0,0,0,0,0,0
$GC,3719,-1.10,-116.8,321.2,-9.6,262,3721,0.10,0.00,0.00,0.000,6,0.100,0.000,2810,1585,3111,0,0,0,0,0,0
$GC,4041,-1.10,-116.8,348.3,-8.2,270,4046,0.00,2.33,0.00,0.000,4,0.000,0.051,2809,234,3110,0,0,0,0,0,0
$GC,4088,-1.10,-116.8,352.4,-8.7,271,4092,0.00,2.05,0.00,0.000,6,0.000,0.022,2810,1537,3110,0,0,0,0,0,0
$GC,4412,-1.10,-116.8,377.0,-7.7,279,4417,0.00,2.25,0.00,0.000,4,0.000,0.025,2809,2911,3108,0,0,0,0,0,0
$GC,4437,-1.18,-116.8,378.9,-7.1,279,4441,0.00,2.33,0.00,0.000,6,0.000,0.036,2810,1534,3108,0,0,0,0,0,0
$GC,4779,-1.22,-116.8,405.9,-8.1,288,4783,0.12,2.28,0.00,0.000,4,0.064,0.027,2767,2904,3106,0,0,0,0,0,0
$GC,4804,-1.22,-116.8,408.6,-10.0,288,4808,0.00,2.35,0.00,0.000,6,0.000,0.038,2767,1520,3106,0,0,0,0,0,0
$GC,5145,-1.15,-116.8,438.3,-8.2,297,5149,0.15,2.30,0.00,0.000,4,0.091,0.027,2799,2903,3103,0,0,0,0,0,0
$GC,5176,-1.23,-116.8,440.2,-6.1,297,5180,0.00,2.38,0.00,0.000,6,0.000,0.039,2799,1523,3103,0,0,0,0,0,0
$STATE,5356,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5356,begin apogee
$GC,5362,-0.31,0.0,451.6,6.3,302,5462,0.85,0.00,96.93,0.820,6,0.064,0.000,2984,1523,2630,0,0,0,0,0,0
$STATE,5463,end apogee,CONTROL_FINISHED_OK
$STATE,5463,begin climb
$GC,5465,1.18,116.8,453.5,0.0,304,5575,1.40,0.00,101.00,0.805,6,0.033,0.000,3312,1523,2153,0,0,0,0,0,0
$GC,5916,1.00,143.8,431.7,6.7,315,5942,0.22,0.00,23.48,0.768,6,0.093,0.000,3268,1523,2043,0,0,0,0,0,0
$GC,6243,0.90,152.3,408.4,7.5,323,6255,0.00,2.30,7.93,0.661,4,0.000,0.029,3268,2875,2009,0,0,0,0,0,0
$GC,6290,0.86,160.4,404.8,7.5,324,6307,0.15,2.42,9.38,0.686,6,0.099,0.040,3238,1492,1975,0,0,0,0,0,0
$GC,6623,0.90,195.8,383.4,6.3,332,6660,0.00,2.40,32.35,0.770,4,0.000,0.027,3238,2883,1830,0,0,0,0,0,0
$GC,6717,0.96,212.8,376.8,7.1,333,6739,0.00,2.45,16.25,0.729,6,0.000,0.041,3238,1492,1762,0,0,0,0,0,0
$GC,7081,1.00,250.3,352.2,6.2,342,7124,0.12,2.28,33.47,0.754,4,0.067,0.058,3275,232,1608,0,0,0,0,0,0
$GC,7185,0.88,250.3,342.8,10.5,344,7190,0.17,2.08,0.00,0.000,6,0.095,0.027,3240,1494,1603,0,0,0,0,0,0
$GC,7500,0.88,250.3,318.6,8.0,352,7504,0.00,2.22,0.00,0.000,4,0.000,0.058,3239,234,1601,0,0,0,0,0,0
$GC,7569,0.88,250.3,311.5,9.6,353,7573,0.00,2.05,0.00,0.000,6,0.000,0.027,3240,1502,1598,0,0,0,0,0,0
$GC,7898,0.93,267.8,287.1,7.1,365,7920,0.00,2.33,14.82,0.681,4,0.000,0.056,3240,241,1537,0,0,0,0,0,0
$GC,7960,0.93,267.8,282.1,8.6,367,7964,0.00,2.05,0.00,0.000,6,0.000,0.026,3240,1499,1534,0,0,0,0,0,0
$GC,8276,0.98,273.6,258.2,7.6,382,8285,0.10,0.00,5.95,0.547,6,0.077,0.000,3272,1503,1514,0,0,0,0,0,0
$GC,8588,0.99,282.4,232.4,7.5,397,8599,0.00,0.00,9.32,0.602,6,0.000,0.000,3272,1503,1477,0,0,0,0,0,0
$GC,8894,0.99,282.4,207.5,8.9,412,8898,0.00,2.22,0.00,0.000,4,0.000,0.054,3272,234,1476,0,0,0,0,0,0
$GC,8932,0.92,282.4,203.6,11.3,413,8937,0.12,2.05,0.00,0.000,6,0.100,0.025,3248,1507,1473,0,0,0,0,0,0
$GC,9259,0.97,282.4,174.5,8.1,437,9263,0.00,2.22,0.00,0.000,4,0.000,0.052,3247,232,1473,0,0,0,0,0,0
$GC,9277,0.97,282.4,172.8,8.4,438,9284,0.00,2.08,0.00,0.000,6,0.000,0.025,3248,1503,1472,0,0,0,0,0,0
$GC,9541,1.07,317.3,155.5,6.3,459,9581,0.15,2.33,30.85,0.607,4,0.059,0.051,3293,234,1335,0,0,0,0,0,0
$GC,9633,0.98,317.3,147.2,9.3,465,9639,0.15,2.03,0.00,0.000,6,0.091,0.024,3262,1512,1332,0,0,0,0,0,0
$GC,9894,1.07,342.4,129.9,6.8,486,9922,0.00,2.30,22.45,0.571,4,0.000,0.050,3262,228,1231,0,0,0,0,0,0
$GC,9968,1.10,342.4,123.3,10.3,491,9973,0.12,2.03,0.00,0.000,6,0.064,0.023,3306,1501,1228,0,0,0,0,0,0
$GC,10234,1.10,342.4,97.0,9.3,512,10238,0.00,2.20,0.00,0.000,4,0.000,0.050,3306,233,1228,0,0,0,0,0,0
$GC,10290,1.04,342.4,91.3,10.7,516,10295,0.15,2.00,0.00,0.000,6,0.089,0.022,3275,1505,1226,0,0,0,0,0,0
$GC,10554,1.17,366.6,72.6,6.8,536,10585,0.12,2.30,20.75,0.519,4,0.062,0.023,3318,2869,1135,0,0,0,0,0,0
$GC,10597,1.20,366.6,68.9,8.1,538,10603,0.00,2.40,0.00,0.000,6,0.000,0.035,3318,1500,1134,0,0,0,0,0,0
$GC,10857,1.21,369.4,47.9,7.8,559,10866,0.00,2.20,4.20,0.349,4,0.000,0.048,3318,227,1122,0,0,0,0,0,0
$GC,10889,1.14,369.4,44.8,10.0,560,10896,0.00,2.05,0.00,0.000,6,0.000,0.021,3319,1507,1121,0,0,0,0,0,0
$GC,11152,1.14,369.4,23.4,7.9,593,11159,0.00,2.22,0.00,0.000,4,0.000,0.048,3318,239,1121,0,0,0,0,0,0
$GC,11198,1.11,369.4,19.2,9.3,602,11205,0.10,2.00,0.00,0.000,6,0.071,0.021,3293,1504,1119,0,0,0,0,0,0
$GC,11402,1.21,383.2,4.6,7.3,648,11420,0.00,2.22,12.48,0.440,4,0.000,0.046,3293,230,1067,0,0,0,0,0,0
$STATE,11425,end climb,SURFACE_DEPTH_REACHED
$STATE,11425,begin surface coast
$FINISH,0.9,1.021457
$STATE,11454,end surface coast,CONTROL_FINISHED_OK
$STATE,11454,begin surface
$SM_CCo,11480,21.92,0.460,0,0,957,410.14
$SM_GC,1.72,0.00,0.00,21.92,0.000,0.000,0.460,430,1527,957,-12.05,-0.08,410.14
$IRIDIUM_FIX,2104.07,-15747.88,140100,111134
$TT8_MAMPS,0.029146
$HUMID,61.65
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,21.70
$XPDR_PINGS,1
$24V_AH,23.3,68.068
$10V_AH,10.0,55.105
$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,30.225,119.925,441.600,21.925,0.000,23.486,33.626,160.179,4.750,0.000,12.486,1262.118,7653.007,499.836,1892.892,539.734,0.000,1364.158,0.000,1878.537,0.000,29.250,0.000
$DEVICE_MAMPS,131.157,61.360,819.923,460.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,442.198,425.008,961.696,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,38124,658
$CAP_FILE_SIZE,125810,0
$CFSIZE,260165632,173703168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201010,175850,2112.026,-15757.302,14,2.0,14,9.8