version: 66.06
glider: 139
mission: 8
dive: 728
start: 10 21 110 14 0 10
data:
$ID,139
$MISSION,8
$DIVE,728
$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,-2166571.2
$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
$GPS1,135340,2110.938,-15754.035,12,3.5,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-74.1
$GPS2,135952,2110.937,-15754.115,17,3.1,36,9.8
$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,106.3,21548,-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,13,begin dive
$GC,15,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.20,0.000,2,0.000,0.000,428,1503,2748,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.4,-3.8,12,109,12.60,0.00,-6.95,0.000,6,0.130,0.000,2786,1504,3109,0,0,0,0,0,0
$GC,314,-0.98,-116.8,39.9,-12.6,51,319,0.22,2.20,0.00,0.000,4,0.090,0.045,2832,237,3111,0,0,0,0,0,0
$GC,340,-0.81,-116.8,43.1,-11.6,53,345,0.17,2.08,0.00,0.000,6,0.086,0.019,2869,1557,3112,0,0,0,0,0,0
$GC,606,-0.81,-116.8,66.9,-8.2,74,610,0.00,2.28,0.00,0.000,4,0.000,0.045,2869,232,3112,0,0,0,0,0,0
$GC,646,-0.81,-116.8,70.3,-8.4,77,650,0.00,2.10,0.00,0.000,6,0.000,0.018,2869,1569,3112,0,0,0,0,0,0
$GC,910,-0.81,-116.8,93.1,-9.9,98,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1573,3113,0,0,0,0,0,0
$GC,1162,-0.86,-116.8,112.0,-5.5,118,1166,0.00,2.28,0.00,0.000,4,0.000,0.044,2869,237,3114,0,0,0,0,0,0
$GC,1237,-0.93,-116.8,116.5,-6.5,123,1242,0.00,2.08,0.00,0.000,6,0.000,0.018,2869,1575,3113,0,0,0,0,0,0
$GC,1498,-1.02,-116.8,135.7,-9.4,144,1499,0.17,0.00,0.00,0.000,6,0.049,0.000,2811,1576,3114,0,0,0,0,0,0
$GC,1749,-1.02,-116.8,166.7,-11.3,164,1750,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1576,3114,0,0,0,0,0,0
$GC,2001,-1.02,-116.8,186.8,-5.9,184,2005,0.00,2.28,0.00,0.000,4,0.000,0.046,2812,237,3115,0,0,0,0,0,0
$GC,2042,-0.98,-116.8,189.5,-6.4,187,2047,0.12,2.05,0.00,0.000,6,0.091,0.019,2839,1564,3115,0,0,0,0,0,0
$GC,2310,-1.02,-116.8,205.0,-7.6,206,2311,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1568,3115,0,0,0,0,0,0
$GC,2618,-1.06,-116.8,232.0,-8.3,221,2622,0.00,2.28,0.00,0.000,4,0.000,0.047,2839,235,3115,0,0,0,0,0,0
$GC,2702,-1.10,-116.8,239.9,-8.4,224,2712,0.10,2.10,0.00,0.000,6,0.032,0.020,2794,1563,3115,0,0,0,0,0,0
$GC,3020,-1.07,-116.8,266.7,-8.6,240,3025,0.10,2.30,0.00,0.000,4,0.103,0.048,2816,230,3115,0,0,0,0,0,0
$GC,3059,-1.07,-116.8,270.4,-9.6,241,3064,0.00,2.10,0.00,0.000,6,0.000,0.021,2816,1563,3114,0,0,0,0,0,0
$GC,3375,-1.07,-116.8,297.7,-8.6,257,3376,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1567,3114,0,0,0,0,0,0
$GC,3700,-1.10,-116.8,319.0,-5.5,266,3704,0.00,2.30,0.00,0.000,4,0.000,0.049,2816,238,3113,0,0,0,0,0,0
$GC,3730,-1.10,-116.8,320.5,-5.8,266,3734,0.00,2.08,0.00,0.000,6,0.000,0.021,2816,1553,3113,0,0,0,0,0,0
$GC,4076,-1.15,-116.8,339.2,-4.9,275,4080,0.00,2.28,0.00,0.000,4,0.000,0.050,2816,238,3112,0,0,0,0,0,0
$GC,4129,-1.18,-116.8,342.3,-5.5,276,4133,0.10,2.08,0.00,0.000,6,0.073,0.022,2779,1548,3112,0,0,0,0,0,0
$GC,4455,-1.15,-116.8,365.2,-7.4,284,4459,0.10,2.20,0.00,0.000,4,0.102,0.026,2801,2878,3110,0,0,0,0,0,0
$GC,4479,-1.19,-116.8,367.5,-8.2,284,4483,0.00,2.33,0.00,0.000,6,0.000,0.036,2801,1501,3110,0,0,0,0,0,0
$GC,4821,-1.19,-116.8,392.8,-7.0,293,4825,0.00,2.28,0.00,0.000,4,0.000,0.025,2801,2874,3107,0,0,0,0,0,0
$GC,4840,-1.24,-116.8,394.3,-7.4,293,4844,0.00,2.35,0.00,0.000,6,0.000,0.038,2801,1492,3107,0,0,0,0,0,0
$GC,5187,-1.24,-116.8,418.6,-7.3,302,5191,0.00,2.17,0.00,0.000,4,0.000,0.054,2801,232,3105,0,0,0,0,0,0
$GC,5232,-1.24,-116.8,422.5,-8.0,303,5236,0.00,2.00,0.00,0.000,6,0.000,0.025,2801,1491,3105,0,0,0,0,0,0
$GC,5561,-1.24,-116.8,446.5,-7.1,311,5562,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1498,3103,0,0,0,0,0,0
$STATE,5638,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5638,begin apogee
$GC,5646,-0.31,0.0,452.6,7.2,313,5745,0.82,0.00,96.65,0.832,6,0.064,0.000,2980,1498,2629,0,0,0,0,0,0
$STATE,5746,end apogee,CONTROL_FINISHED_OK
$STATE,5746,begin climb
$GC,5749,1.18,116.8,455.3,0.0,315,5861,1.42,2.28,101.15,0.815,4,0.035,0.054,3312,235,2152,0,0,0,0,0,0
$GC,5921,0.85,116.8,452.5,9.0,318,5927,0.38,2.03,0.00,0.000,6,0.093,0.025,3239,1492,2145,0,0,0,0,0,0
$GC,6252,0.82,145.9,431.0,6.6,327,6284,0.00,2.33,24.90,0.782,4,0.000,0.028,3239,2859,2034,0,0,0,0,0,0
$GC,6301,0.81,166.7,427.4,7.0,328,6326,0.00,2.42,19.92,0.762,6,0.000,0.041,3239,1482,1950,0,0,0,0,0,0
$GC,6664,0.77,166.7,394.6,9.0,337,6668,0.00,2.22,0.00,0.000,4,0.000,0.058,3238,229,1943,0,0,0,0,0,0
$GC,6763,0.66,166.7,385.1,9.6,339,6768,0.22,2.03,0.00,0.000,6,0.094,0.028,3194,1476,1939,0,0,0,0,0,0
$GC,7082,0.83,247.4,368.6,4.3,347,7163,0.17,2.30,70.35,0.788,4,0.060,0.058,3241,236,1621,0,0,0,0,0,0
$GC,7170,0.86,303.8,364.5,5.3,349,7227,0.00,2.08,49.40,0.765,6,0.000,0.029,3241,1482,1390,0,0,0,0,0,0
$GC,7541,0.86,310.9,339.2,7.6,358,7553,0.00,2.30,6.50,0.601,4,0.000,0.059,3241,232,1362,0,0,0,0,0,0
$GC,7573,0.81,310.9,336.1,9.9,358,7577,0.00,2.05,0.00,0.000,6,0.000,0.029,3241,1478,1359,0,0,0,0,0,0
$GC,7908,0.81,310.9,302.7,9.8,367,7912,0.00,2.22,0.00,0.000,4,0.000,0.059,3241,235,1357,0,0,0,0,0,0
$GC,8016,0.81,310.9,292.9,8.4,370,8022,0.00,2.08,0.00,0.000,6,0.000,0.028,3241,1481,1355,0,0,0,0,0,0
$GC,8332,0.91,355.4,273.9,5.9,386,8376,0.00,2.25,38.95,0.721,4,0.000,0.057,3241,235,1180,0,0,0,0,0,0
$GC,8397,0.91,355.4,268.9,8.3,388,8403,0.00,2.10,0.00,0.000,6,0.000,0.028,3241,1482,1177,0,0,0,0,0,0
$GC,8713,0.97,355.4,241.2,9.7,404,8717,0.00,2.22,0.00,0.000,4,0.000,0.057,3241,234,1174,0,0,0,0,0,0
$GC,8788,1.01,355.4,232.5,12.5,407,8793,0.12,2.05,0.00,0.000,6,0.067,0.027,3279,1497,1172,0,0,0,0,0,0
$GC,9114,1.01,355.4,198.9,10.3,423,9118,0.00,2.25,0.00,0.000,4,0.000,0.055,3278,235,1172,0,0,0,0,0,0
$GC,9181,0.95,355.4,191.3,12.4,428,9185,0.10,2.05,0.00,0.000,6,0.107,0.026,3259,1479,1171,0,0,0,0,0,0
$GC,9452,0.99,355.4,166.1,8.1,449,9456,0.00,2.20,0.00,0.000,4,0.000,0.054,3258,233,1171,0,0,0,0,0,0
$GC,9505,0.99,355.4,161.2,9.1,453,9509,0.00,2.03,0.00,0.000,6,0.000,0.025,3258,1480,1170,0,0,0,0,0,0
$GC,9774,1.06,355.4,139.1,9.5,474,9779,0.10,2.25,0.00,0.000,4,0.075,0.025,3292,2868,1170,0,0,0,0,0,0
$GC,9799,1.14,355.4,136.4,10.8,476,9803,0.00,2.40,0.00,0.000,6,0.000,0.039,3293,1479,1170,0,0,0,0,0,0
$GC,10067,1.17,355.4,110.8,8.4,497,10071,0.00,2.15,0.00,0.000,4,0.000,0.051,3292,229,1170,0,0,0,0,0,0
$GC,10105,1.17,355.4,106.9,8.6,500,10109,0.00,2.03,0.00,0.000,6,0.000,0.023,3293,1492,1169,0,0,0,0,0,0
$GC,10378,1.27,378.9,88.0,6.8,521,10406,0.15,2.30,19.45,0.532,4,0.056,0.051,3341,231,1084,0,0,0,0,0,0
$GC,10459,1.18,378.9,79.7,12.0,526,10467,0.12,2.03,0.00,0.000,6,0.069,0.021,3309,1490,1081,0,0,0,0,0,0
$GC,10724,1.18,378.9,57.2,8.4,547,10728,0.00,2.17,0.00,0.000,4,0.000,0.049,3309,230,1082,0,0,0,0,0,0
$GC,10763,1.18,378.9,53.1,10.8,550,10767,0.00,1.95,0.00,0.000,6,0.000,0.021,3310,1470,1081,0,0,0,0,0,0
$GC,11035,1.22,408.3,31.1,6.6,571,11067,0.00,2.20,25.62,0.487,4,0.000,0.047,3309,232,963,0,0,0,0,0,0
$GC,11092,1.22,408.3,25.6,8.8,580,11099,0.00,2.03,0.00,0.000,6,0.000,0.021,3310,1494,962,0,0,0,0,0,0
$GC,11296,1.22,408.3,6.8,8.7,626,11302,0.00,2.22,0.00,0.000,4,0.000,0.048,3309,232,962,0,0,0,0,0,0
$GC,11327,1.22,408.3,3.4,10.6,632,11334,0.00,1.98,0.00,0.000,6,0.000,0.020,3309,1485,960,0,0,0,0,0,0
$STATE,11339,end climb,SURFACE_DEPTH_REACHED
$STATE,11339,begin surface coast
$FINISH,0.9,1.014642
$STATE,11366,end surface coast,CONTROL_FINISHED_OK
$STATE,11366,begin surface
$SM_CCo,11450,0.00,0.000,0,0,959,410.14
$SM_GC,1.75,12.38,0.00,0.00,0.024,0.000,0.000,430,1485,959,-11.98,-0.42,410.14
$IRIDIUM_FIX,2104.07,-15755.17,150100,101017
$TT8_MAMPS,0.029913
$HUMID,61.65
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.3,68.846
$10V_AH,10.0,55.710
$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,29.700,117.325,452.900,0.000,0.000,22.973,31.562,159.544,4.750,0.000,37.409,1238.031,7669.205,466.094,1898.080,542.343,0.000,1338.776,0.000,1858.106,0.000,32.078,0.000
$DEVICE_MAMPS,130.390,59.059,832.195,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,430.424,408.054,914.803,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,34909,640
$CAP_FILE_SIZE,123743,0
$CFSIZE,260165632,173268992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,211010,171206,2110.649,-15753.541,31,1.6,31,9.8