version: 66.06
glider: 139
mission: 8
dive: 727
start: 10 21 110 10 47 54
data:
$ID,139
$MISSION,8
$DIVE,727
$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,-2166533
$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
$GPS1,104127,2111.279,-15754.017,34,2.4,53,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-74.2
$GPS2,104736,2111.283,-15754.056,14,1.4,30,9.8
$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,108.0,21747,-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,-64.22,0.000,2,0.000,0.000,425,1493,2723,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.1,-2.8,12,116,12.62,2.22,-7.57,0.000,4,0.131,0.058,2782,231,3110,0,0,0,0,0,0
$GC,151,-0.89,-116.8,17.0,-16.4,24,157,0.28,2.12,0.00,0.000,6,0.077,0.020,2852,1554,3112,0,0,0,0,0,0
$GC,359,-0.83,-116.8,42.6,-11.9,56,363,0.00,2.28,0.00,0.000,4,0.000,0.045,2852,232,3112,0,0,0,0,0,0
$GC,392,-0.74,-116.8,46.8,-12.5,58,400,0.12,2.10,0.00,0.000,6,0.067,0.019,2884,1560,3113,0,0,0,0,0,0
$GC,652,-0.80,-116.8,74.1,-9.9,79,656,0.00,2.28,0.00,0.000,4,0.000,0.045,2884,230,3114,0,0,0,0,0,0
$GC,693,-0.88,-116.8,77.8,-9.2,82,698,0.12,2.10,0.00,0.000,6,0.061,0.019,2837,1570,3114,0,0,0,0,0,0
$GC,960,-0.88,-116.8,98.9,-5.4,103,964,0.00,2.17,0.00,0.000,4,0.000,0.021,2837,2924,3114,0,0,0,0,0,0
$GC,1015,-0.96,-116.8,101.9,-5.9,107,1019,0.00,2.40,0.00,0.000,6,0.000,0.031,2837,1500,3115,0,0,0,0,0,0
$GC,1284,-0.96,-116.8,124.0,-10.4,128,1288,0.00,2.17,0.00,0.000,4,0.000,0.045,2837,228,3115,0,0,0,0,0,0
$GC,1343,-0.96,-116.8,130.5,-10.2,132,1349,0.00,2.10,0.00,0.000,6,0.000,0.018,2837,1562,3116,0,0,0,0,0,0
$GC,1604,-0.96,-116.8,148.9,-5.2,153,1608,0.00,2.28,0.00,0.000,4,0.000,0.044,2837,237,3116,0,0,0,0,0,0
$GC,1619,-0.96,-116.8,149.9,-5.1,154,1623,0.00,2.08,0.00,0.000,6,0.000,0.019,2837,1565,3116,0,0,0,0,0,0
$GC,1881,-1.00,-116.8,164.6,-6.7,174,1885,0.00,2.20,0.00,0.000,4,0.000,0.021,2837,2923,3117,0,0,0,0,0,0
$GC,1896,-1.06,-116.8,165.9,-6.9,175,1900,0.00,2.40,0.00,0.000,6,0.000,0.031,2837,1500,3116,0,0,0,0,0,0
$GC,2160,-1.10,-116.8,186.1,-8.1,195,2165,0.12,2.15,0.00,0.000,4,0.062,0.046,2791,236,3116,0,0,0,0,0,0
$GC,2252,-1.02,-116.8,196.7,-12.5,201,2258,0.17,2.08,0.00,0.000,6,0.081,0.019,2829,1560,3116,0,0,0,0,0,0
$GC,2514,-1.05,-116.8,221.3,-9.1,215,2515,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1564,3116,0,0,0,0,0,0
$GC,2819,-1.09,-116.8,249.2,-8.5,230,2824,0.00,2.28,0.00,0.000,4,0.000,0.048,2829,232,3116,0,0,0,0,0,0
$GC,2887,-1.13,-116.8,254.8,-8.5,233,2892,0.12,2.08,0.00,0.000,6,0.062,0.021,2785,1556,3116,0,0,0,0,0,0
$GC,3222,-1.09,-116.8,289.1,-11.2,249,3223,0.12,0.00,0.00,0.000,6,0.093,0.000,2813,1560,3115,0,0,0,0,0,0
$GC,3525,-1.09,-116.8,320.0,-9.7,259,3529,0.00,2.30,0.00,0.000,4,0.000,0.049,2812,232,3115,0,0,0,0,0,0
$GC,3596,-1.09,-116.8,327.3,-9.9,260,3600,0.00,2.10,0.00,0.000,6,0.000,0.021,2812,1549,3114,0,0,0,0,0,0
$GC,3941,-1.12,-116.8,354.2,-7.2,269,3945,0.00,2.28,0.00,0.000,4,0.000,0.051,2812,239,3113,0,0,0,0,0,0
$GC,3983,-1.12,-116.8,357.6,-7.9,269,3989,0.00,2.03,0.00,0.000,6,0.000,0.023,2812,1518,3113,0,0,0,0,0,0
$GC,4316,-1.16,-116.8,377.5,-6.4,278,4320,0.00,2.22,0.00,0.000,4,0.000,0.051,2812,238,3111,0,0,0,0,0,0
$GC,4354,-1.20,-116.8,380.5,-7.7,278,4359,0.10,2.03,0.00,0.000,6,0.074,0.024,2777,1516,3111,0,0,0,0,0,0
$GC,4693,-1.16,-116.8,408.7,-8.8,287,4697,0.00,2.25,0.00,0.000,4,0.000,0.027,2777,2881,3109,0,0,0,0,0,0
$GC,4737,-1.20,-116.8,412.6,-8.0,288,4741,0.00,2.35,0.00,0.000,6,0.000,0.038,2777,1500,3108,0,0,0,0,0,0
$GC,5066,-1.15,-116.8,437.2,-7.4,296,5071,0.10,2.33,0.00,0.000,4,0.105,0.028,2798,2882,3106,0,0,0,0,0,0
$GC,5091,-1.19,-116.8,439.2,-6.7,296,5095,0.00,2.35,0.00,0.000,6,0.000,0.040,2798,1502,3105,0,0,0,0,0,0
$STATE,5266,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5266,begin apogee
$GC,5272,-0.31,0.0,451.8,7.2,301,5373,0.85,0.00,97.32,0.828,6,0.064,0.000,2983,1501,2630,0,0,0,0,0,0
$STATE,5373,end apogee,CONTROL_FINISHED_OK
$STATE,5374,begin climb
$GC,5378,1.18,116.8,453.9,0.0,303,5489,1.40,2.28,101.15,0.811,4,0.034,0.054,3311,232,2152,0,0,0,0,0,0
$GC,5549,0.85,122.1,451.1,7.7,306,5562,0.38,2.00,5.03,0.553,6,0.094,0.025,3237,1478,2132,0,0,0,0,0,0
$GC,5889,0.91,215.6,436.5,3.7,315,5981,0.00,2.40,82.80,0.809,4,0.000,0.028,3237,2854,1750,0,0,0,0,0,0
$GC,5996,0.96,261.5,430.8,5.8,317,6045,0.10,2.45,40.72,0.784,6,0.077,0.042,3267,1473,1563,0,0,0,0,0,0
$GC,6387,0.88,261.5,393.9,9.3,327,6392,0.12,2.20,0.00,0.000,4,0.100,0.058,3242,233,1554,0,0,0,0,0,0
$GC,6453,0.80,261.5,386.7,11.1,328,6457,0.00,2.03,0.00,0.000,6,0.000,0.028,3242,1480,1550,0,0,0,0,0,0
$GC,6802,0.80,264.3,357.9,7.8,337,6806,0.00,2.22,0.00,0.000,4,0.000,0.058,3242,233,1550,0,0,0,0,0,0
$GC,6887,0.74,264.3,349.8,10.0,338,6894,0.15,2.05,0.00,0.000,6,0.103,0.028,3213,1487,1548,0,0,0,0,0,0
$GC,7219,0.81,264.3,324.1,8.0,347,7223,0.00,2.20,0.00,0.000,4,0.000,0.058,3213,233,1548,0,0,0,0,0,0
$GC,7280,0.81,264.3,318.4,8.8,348,7284,0.00,2.05,0.00,0.000,6,0.000,0.028,3213,1486,1546,0,0,0,0,0,0
$GC,7612,0.96,314.5,297.1,5.6,357,7662,0.20,2.28,44.38,0.741,4,0.054,0.058,3266,233,1346,0,0,0,0,0,0
$GC,7763,0.92,314.5,280.7,12.7,363,7767,0.00,2.05,0.00,0.000,6,0.000,0.027,3266,1479,1341,0,0,0,0,0,0
$GC,8079,0.92,314.5,247.4,9.5,378,8083,0.00,2.20,0.00,0.000,4,0.000,0.057,3267,233,1340,0,0,0,0,0,0
$GC,8131,0.87,314.5,242.0,10.7,380,8136,0.12,2.03,0.00,0.000,6,0.101,0.027,3242,1486,1337,0,0,0,0,0,0
$GC,8454,0.97,342.3,219.9,6.6,396,8484,0.00,2.30,23.77,0.660,4,0.000,0.054,3242,239,1234,0,0,0,0,0,0
$GC,8531,0.97,342.3,214.0,8.4,399,8535,0.00,2.03,0.00,0.000,6,0.000,0.026,3242,1491,1230,0,0,0,0,0,0
$GC,8860,1.04,342.3,187.3,8.5,420,8865,0.15,2.22,0.00,0.000,4,0.060,0.054,3286,232,1229,0,0,0,0,0,0
$GC,8918,0.97,342.3,181.1,11.1,424,8923,0.12,2.03,0.00,0.000,6,0.098,0.025,3261,1495,1227,0,0,0,0,0,0
$GC,9190,1.00,342.3,159.5,8.4,445,9194,0.00,2.20,0.00,0.000,4,0.000,0.051,3261,234,1228,0,0,0,0,0,0
$GC,9215,1.00,342.3,156.7,11.1,447,9219,0.00,2.00,0.00,0.000,6,0.000,0.024,3261,1483,1227,0,0,0,0,0,0
$GC,9486,1.10,369.4,134.4,6.7,468,9513,0.12,0.00,23.98,0.579,6,0.066,0.000,3301,1495,1123,0,0,0,0,0,0
$GC,9761,1.10,369.4,113.0,8.4,490,9765,0.00,2.20,0.00,0.000,4,0.000,0.051,3301,229,1121,0,0,0,0,0,0
$GC,9804,1.05,369.4,108.4,11.3,493,9809,0.10,2.03,0.00,0.000,6,0.106,0.022,3280,1497,1118,0,0,0,0,0,0
$GC,10066,1.13,369.4,86.6,8.0,513,10070,0.00,2.20,0.00,0.000,4,0.000,0.049,3280,225,1118,0,0,0,0,0,0
$GC,10114,1.18,369.4,81.9,9.2,516,10121,0.08,2.03,0.00,0.000,6,0.038,0.022,3316,1487,1117,0,0,0,0,0,0
$GC,10375,1.18,369.4,58.5,8.5,537,10379,0.00,2.17,0.00,0.000,4,0.000,0.048,3316,223,1117,0,0,0,0,0,0
$GC,10410,1.12,369.4,54.9,10.2,539,10417,0.08,2.00,0.00,0.000,6,0.072,0.021,3296,1479,1117,0,0,0,0,0,0
$GC,10672,1.17,369.4,33.4,8.4,560,10673,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,1479,1117,0,0,0,0,0,0
$GC,10928,1.23,375.8,11.9,7.6,612,10941,0.10,2.17,6.62,0.397,4,0.073,0.046,3333,227,1096,0,0,0,0,0,0
$STATE,11011,end climb,SURFACE_DEPTH_REACHED
$STATE,11011,begin surface coast
$FINISH,1.7,1.023372
$STATE,11022,end surface coast,CONTROL_FINISHED_OK
$STATE,11022,begin surface
$SM_CCo,11048,27.40,0.467,0,0,958,410.14
$SM_GC,1.70,0.00,0.00,27.40,0.000,0.000,0.467,428,1503,958,-12.06,0.08,410.14
$IRIDIUM_FIX,2101.76,-15753.03,150100,070723
$TT8_MAMPS,0.029146
$HUMID,60.63
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.3,68.736
$10V_AH,10.0,55.626
$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,30.500,121.750,425.775,27.400,0.000,24.172,31.177,161.507,4.500,0.000,30.970,1239.381,7284.880,477.583,1894.995,541.182,0.000,1340.233,0.000,1861.030,0.000,29.248,0.000
$DEVICE_MAMPS,131.157,58.292,828.360,467.103,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,425.121,407.391,909.816,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355760
$DATA_FILE_SIZE,34916,632
$CAP_FILE_SIZE,125192,0
$CFSIZE,260165632,173330432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211010,135340,2110.938,-15754.035,12,3.5,31,9.8