version: 66.06
glider: 139
mission: 8
dive: 726
start: 10 21 110 7 31 10
data:
$ID,139
$MISSION,8
$DIVE,726
$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,-2166501.2
$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,1500
$C_ROLL_CLIMB,1480
$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
$GPS1,072428,2111.581,-15754.635,12,2.4,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-73.3
$GPS2,073052,2111.564,-15754.703,16,2.5,35,9.8
$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,107.8,22979,-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,-64.25,0.000,2,0.000,0.000,425,1498,2742,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.3,-3.3,12,116,12.68,2.42,-7.00,0.000,4,0.133,0.034,2785,2930,3111,0,0,0,0,0,0
$GC,125,0.01,-116.8,13.5,-23.8,18,132,1.20,2.47,0.00,0.000,6,0.070,0.035,3050,1507,3112,0,0,0,0,0,0
$GC,329,-0.56,-116.8,29.6,-10.1,64,335,0.52,0.00,0.00,0.000,6,0.044,0.000,2923,1507,3113,0,0,0,0,0,0
$GC,526,-0.87,-116.8,46.3,-8.2,80,531,0.25,2.17,0.00,0.000,4,0.039,0.043,2841,230,3113,0,0,0,0,0,0
$GC,540,-1.11,-116.8,47.5,-8.0,81,544,0.15,2.10,0.00,0.000,6,0.056,0.019,2792,1571,3113,0,0,0,0,0,0
$GC,808,-1.00,-116.8,80.8,-11.4,102,813,0.20,2.33,0.00,0.000,4,0.083,0.045,2835,233,3114,0,0,0,0,0,0
$GC,891,-1.00,-116.8,89.5,-8.5,108,895,0.00,2.08,0.00,0.000,6,0.000,0.018,2835,1564,3114,0,0,0,0,0,0
$GC,1153,-1.00,-116.8,107.7,-7.8,128,1154,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1568,3115,0,0,0,0,0,0
$GC,1402,-1.00,-116.8,126.6,-7.3,148,1407,0.00,2.30,0.00,0.000,4,0.000,0.045,2835,231,3115,0,0,0,0,0,0
$GC,1470,-1.00,-116.8,132.3,-9.4,153,1474,0.00,2.08,0.00,0.000,6,0.000,0.018,2835,1564,3116,0,0,0,0,0,0
$GC,1735,-1.03,-116.8,155.9,-8.9,174,1739,0.00,2.30,0.00,0.000,4,0.000,0.045,2834,227,3115,0,0,0,0,0,0
$GC,1771,-1.03,-116.8,159.8,-9.7,176,1778,0.00,2.10,0.00,0.000,6,0.000,0.019,2835,1559,3116,0,0,0,0,0,0
$GC,2035,-1.08,-116.8,177.5,-5.7,197,2039,0.00,2.25,0.00,0.000,4,0.000,0.045,2835,234,3116,0,0,0,0,0,0
$GC,2054,-1.11,-116.8,178.9,-5.6,198,2061,0.08,2.10,0.00,0.000,6,0.036,0.020,2796,1561,3115,0,0,0,0,0,0
$GC,2320,-1.07,-116.8,200.3,-9.8,219,2324,0.00,2.25,0.00,0.000,4,0.000,0.047,2796,234,3116,0,0,0,0,0,0
$GC,2340,-1.01,-116.8,203.1,-10.5,220,2344,0.15,2.08,0.00,0.000,6,0.087,0.020,2829,1559,3116,0,0,0,0,0,0
$GC,2673,-1.07,-116.8,230.0,-7.7,236,2677,0.00,2.30,0.00,0.000,4,0.000,0.047,2829,228,3116,0,0,0,0,0,0
$GC,2738,-1.12,-116.8,235.7,-8.1,238,2745,0.08,2.10,0.00,0.000,6,0.037,0.021,2792,1553,3116,0,0,0,0,0,0
$GC,3058,-1.12,-116.8,261.0,-7.6,254,3062,0.00,2.28,0.00,0.000,4,0.000,0.049,2792,226,3115,0,0,0,0,0,0
$GC,3108,-1.12,-116.8,265.5,-8.0,256,3112,0.00,2.10,0.00,0.000,6,0.000,0.021,2792,1551,3115,0,0,0,0,0,0
$GC,3428,-1.12,-116.8,287.6,-7.1,272,3432,0.00,2.28,0.00,0.000,4,0.000,0.049,2792,228,3114,0,0,0,0,0,0
$GC,3490,-1.12,-116.8,292.2,-7.4,274,3496,0.00,2.12,0.00,0.000,6,0.000,0.022,2792,1551,3114,0,0,0,0,0,0
$GC,3804,-1.12,-116.8,315.5,-7.6,285,3808,0.00,2.22,0.00,0.000,4,0.000,0.025,2792,2919,3113,0,0,0,0,0,0
$GC,3861,-1.18,-116.8,320.6,-9.1,286,3865,0.00,2.42,0.00,0.000,6,0.000,0.035,2792,1488,3112,0,0,0,0,0,0
$GC,4174,-1.18,-116.8,349.0,-8.9,294,4175,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1488,3111,0,0,0,0,0,0
$GC,4500,-1.18,-116.8,375.1,-7.8,302,4501,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1488,3109,0,0,0,0,0,0
$GC,4826,-1.18,-116.8,402.3,-8.6,310,4830,0.00,2.15,0.00,0.000,4,0.000,0.054,2792,236,3106,0,0,0,0,0,0
$GC,4859,-1.14,-116.8,405.6,-9.4,310,4863,0.00,2.10,0.00,0.000,6,0.000,0.024,2792,1541,3106,0,0,0,0,0,0
$GC,5191,-1.14,-116.8,434.2,-8.6,318,5195,0.00,2.20,0.00,0.000,4,0.000,0.028,2792,2887,3104,0,0,0,0,0,0
$GC,5236,-1.21,-116.8,437.7,-9.0,319,5240,0.00,2.38,0.00,0.000,6,0.000,0.041,2792,1500,3104,0,0,0,0,0,0
$STATE,5398,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5398,begin apogee
$GC,5404,-0.31,0.0,450.9,8.0,323,5504,0.88,0.00,96.80,0.830,6,0.066,0.000,2981,1499,2630,0,0,0,0,0,0
$STATE,5505,end apogee,CONTROL_FINISHED_OK
$STATE,5505,begin climb
$GC,5507,1.18,116.8,453.4,0.0,325,5614,1.42,0.00,102.28,0.812,6,0.037,0.000,3312,1499,2153,0,0,0,0,0,0
$GC,5917,1.02,154.4,438.3,6.2,335,5960,0.20,2.40,33.15,0.788,4,0.097,0.028,3273,2861,1998,0,0,0,0,0,0
$GC,6013,0.94,154.4,431.2,8.8,337,6017,0.00,2.42,0.00,0.000,6,0.000,0.043,3273,1476,1998,0,0,0,0,0,0
$GC,6336,0.82,154.4,405.4,8.2,345,6341,0.22,2.33,0.00,0.000,4,0.093,0.028,3227,2861,1992,0,0,0,0,0,0
$GC,6408,0.83,170.1,400.4,7.2,346,6428,0.00,2.40,13.98,0.736,6,0.000,0.041,3228,1475,1935,0,0,0,0,0,0
$GC,6758,0.88,204.7,378.8,6.3,355,6794,0.00,2.25,31.65,0.775,4,0.000,0.058,3227,231,1794,0,0,0,0,0,0
$GC,6848,0.82,207.4,373.2,7.8,356,6852,0.00,2.03,0.00,0.000,6,0.000,0.028,3227,1475,1790,0,0,0,0,0,0
$GC,7175,0.86,235.9,351.4,6.6,364,7208,0.00,2.40,27.98,0.760,4,0.000,0.028,3227,2874,1668,0,0,0,0,0,0
$GC,7236,0.96,258.4,347.4,6.9,365,7265,0.15,2.47,21.40,0.736,6,0.060,0.043,3270,1477,1575,0,0,0,0,0,0
$GC,7593,0.90,258.4,315.2,9.1,374,7598,0.12,2.22,0.00,0.000,4,0.100,0.058,3245,234,1570,0,0,0,0,0,0
$GC,7619,0.83,258.4,312.7,10.3,374,7622,0.00,2.03,0.00,0.000,6,0.000,0.028,3245,1479,1568,0,0,0,0,0,0
$GC,7948,0.83,262.3,284.5,7.7,387,7952,0.00,2.22,0.00,0.000,4,0.000,0.058,3244,233,1567,0,0,0,0,0,0
$GC,8031,0.79,262.3,277.3,9.0,390,8039,0.10,2.08,0.00,0.000,6,0.084,0.028,3221,1484,1565,0,0,0,0,0,0
$GC,8349,0.87,272.1,254.1,7.4,406,8365,0.00,2.28,11.40,0.650,4,0.000,0.057,3221,229,1520,0,0,0,0,0,0
$GC,8402,0.87,272.1,249.8,8.7,408,8406,0.00,2.03,0.00,0.000,6,0.000,0.028,3221,1478,1517,0,0,0,0,0,0
$GC,8724,0.99,311.4,229.8,6.1,424,8768,0.20,2.30,35.40,0.687,4,0.053,0.056,3275,237,1359,0,0,0,0,0,0
$GC,8816,0.89,311.4,221.1,10.8,428,8821,0.15,2.03,0.00,0.000,6,0.097,0.027,3246,1484,1356,0,0,0,0,0,0
$GC,9150,1.01,370.1,199.7,5.2,444,9207,0.12,2.28,50.90,0.663,4,0.067,0.056,3282,232,1120,0,0,0,0,0,0
$GC,9254,0.95,370.1,190.6,10.3,451,9260,0.12,2.05,0.00,0.000,6,0.097,0.025,3258,1482,1116,0,0,0,0,0,0
$GC,9514,0.99,370.1,169.1,10.2,472,9518,0.00,2.20,0.00,0.000,4,0.000,0.054,3258,232,1115,0,0,0,0,0,0
$GC,9555,0.99,370.1,164.8,12.0,475,9558,0.00,2.05,0.00,0.000,6,0.000,0.026,3258,1490,1113,0,0,0,0,0,0
$GC,9822,1.06,370.1,138.4,10.4,496,9826,0.00,2.28,0.00,0.000,4,0.000,0.025,3258,2865,1113,0,0,0,0,0,0
$GC,9841,1.16,370.1,136.5,10.2,497,9847,0.20,2.42,0.00,0.000,6,0.050,0.039,3316,1471,1113,0,0,0,0,0,0
$GC,10103,1.11,370.1,109.8,9.3,518,10107,0.10,2.15,0.00,0.000,4,0.105,0.052,3294,232,1113,0,0,0,0,0,0
$GC,10155,1.11,370.1,104.0,10.6,522,10159,0.00,2.03,0.00,0.000,6,0.000,0.023,3294,1482,1111,0,0,0,0,0,0
$GC,10427,1.15,396.5,82.9,6.7,543,10451,0.00,0.00,21.95,0.547,6,0.000,0.000,3294,1493,1013,0,0,0,0,0,0
$GC,10702,1.21,396.5,61.4,8.8,565,10706,0.00,2.20,0.00,0.000,4,0.000,0.049,3294,235,1011,0,0,0,0,0,0
$GC,10753,1.26,396.5,55.3,12.0,568,10760,0.10,2.03,0.00,0.000,6,0.035,0.023,3336,1488,1009,0,0,0,0,0,0
$GC,11015,1.23,396.5,26.0,10.7,593,11022,0.00,2.20,0.00,0.000,4,0.000,0.049,3336,241,1008,0,0,0,0,0,0
$GC,11066,1.13,396.5,20.0,12.3,603,11074,0.17,2.00,0.00,0.000,6,0.066,0.021,3294,1493,1008,0,0,0,0,0,0
$STATE,11253,end climb,SURFACE_DEPTH_REACHED
$STATE,11253,begin surface coast
$FINISH,0.9,1.023065
$STATE,11288,end surface coast,CONTROL_FINISHED_OK
$STATE,11289,begin surface
$SM_CCo,11312,11.75,0.446,0,0,957,410.14
$SM_GC,1.60,0.00,0.00,11.75,0.000,0.000,0.446,425,1492,957,-12.07,-0.23,410.14
$IRIDIUM_FIX,2104.07,-15753.03,150100,040459
$TT8_MAMPS,0.029146
$HUMID,64.01
$INTERNAL_PRESSURE,9.21564
$TCM_TEMP,20.80
$XPDR_PINGS,0
$24V_AH,23.3,68.626
$10V_AH,10.0,55.542
$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,31.925,119.425,446.875,11.750,0.000,28.326,33.701,163.762,4.500,0.000,36.212,1263.203,7457.773,505.215,1934.231,540.397,0.000,1367.615,0.000,1889.260,0.000,32.341,0.000
$DEVICE_MAMPS,132.691,58.292,829.894,446.394,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,440.108,421.422,957.236,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,34997,654
$CAP_FILE_SIZE,125082,0
$CFSIZE,260165632,173391872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,211010,104127,2111.279,-15754.017,34,2.4,53,9.8