version: 66.06
glider: 139
mission: 8
dive: 730
start: 10 21 110 20 44 9
data:
$ID,139
$MISSION,8
$DIVE,730
$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,-2166601.5
$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,1450
$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
$GPS1,203736,2110.477,-15752.810,38,0.8,38,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-73.9
$GPS2,204350,2110.452,-15752.858,15,1.4,15,9.8
$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,106.8,19203,-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,-64.55,0.000,2,0.000,0.000,427,1480,2730,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.2,-2.9,12,110,12.62,0.00,-7.57,0.000,6,0.130,0.000,2787,1480,3109,0,0,0,0,0,0
$GC,315,-0.97,-116.8,38.7,-13.5,53,317,0.25,0.00,0.00,0.000,6,0.087,0.000,2839,1480,3112,0,0,0,0,0,0
$GC,569,-0.91,-116.8,66.6,-10.2,73,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1481,3113,0,0,0,0,0,0
$GC,820,-0.91,-116.8,90.5,-9.4,93,824,0.00,2.38,0.00,0.000,4,0.000,0.021,2839,2929,3114,0,0,0,0,0,0
$GC,847,-0.97,-116.8,93.0,-9.3,95,852,0.00,2.42,0.00,0.000,6,0.000,0.032,2839,1492,3114,0,0,0,0,0,0
$GC,1110,-0.97,-116.8,116.7,-8.4,116,1114,0.00,2.12,0.00,0.000,4,0.000,0.045,2839,235,3114,0,0,0,0,0,0
$GC,1188,-0.97,-116.8,122.2,-6.5,122,1192,0.00,2.08,0.00,0.000,6,0.000,0.018,2839,1566,3115,0,0,0,0,0,0
$GC,1457,-1.01,-116.8,139.1,-6.8,143,1461,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1571,3115,0,0,0,0,0,0
$GC,1716,-1.04,-116.8,159.1,-8.1,164,1720,0.00,2.30,0.00,0.000,4,0.000,0.045,2839,232,3115,0,0,0,0,0,0
$GC,1749,-1.08,-116.8,162.1,-9.2,166,1754,0.12,2.08,0.00,0.000,6,0.061,0.019,2793,1567,3115,0,0,0,0,0,0
$GC,2010,-1.02,-116.8,186.9,-9.3,186,2015,0.15,2.30,0.00,0.000,4,0.087,0.047,2826,233,3115,0,0,0,0,0,0
$GC,2035,-1.02,-116.8,189.1,-7.9,188,2039,0.00,2.08,0.00,0.000,6,0.000,0.020,2826,1559,3115,0,0,0,0,0,0
$GC,2302,-1.02,-116.8,207.3,-7.1,206,2303,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1564,3115,0,0,0,0,0,0
$GC,2612,-1.06,-116.8,231.2,-7.7,221,2616,0.00,2.30,0.00,0.000,4,0.000,0.047,2826,232,3115,0,0,0,0,0,0
$GC,2659,-1.06,-116.8,235.5,-8.4,223,2663,0.00,2.08,0.00,0.000,6,0.000,0.021,2826,1557,3115,0,0,0,0,0,0
$GC,2987,-1.10,-116.8,258.3,-6.7,239,2991,0.00,2.28,0.00,0.000,4,0.000,0.048,2826,232,3114,0,0,0,0,0,0
$GC,3058,-1.10,-116.8,263.4,-6.8,242,3062,0.00,2.08,0.00,0.000,6,0.000,0.021,2826,1553,3114,0,0,0,0,0,0
$GC,3385,-1.16,-116.8,284.9,-7.2,258,3386,0.12,0.00,0.00,0.000,6,0.063,0.000,2783,1558,3114,0,0,0,0,0,0
$GC,3691,-1.12,-116.8,311.8,-8.7,270,3696,0.10,2.30,0.00,0.000,4,0.101,0.051,2805,231,3113,0,0,0,0,0,0
$GC,3748,-1.12,-116.8,317.4,-8.8,271,3752,0.00,2.10,0.00,0.000,6,0.000,0.022,2805,1551,3112,0,0,0,0,0,0
$GC,4065,-1.12,-116.8,344.8,-8.1,279,4069,0.00,2.22,0.00,0.000,4,0.000,0.025,2805,2919,3111,0,0,0,0,0,0
$GC,4104,-1.22,-116.8,347.5,-7.5,279,4110,0.00,2.40,0.00,0.000,6,0.000,0.036,2805,1496,3110,0,0,0,0,0,0
$GC,4436,-1.22,-116.8,369.4,-6.6,288,4440,0.00,2.17,0.00,0.000,4,0.000,0.052,2805,229,3108,0,0,0,0,0,0
$GC,4464,-1.22,-116.8,371.6,-7.6,288,4468,0.00,2.10,0.00,0.000,6,0.000,0.024,2805,1551,3109,0,0,0,0,0,0
$GC,4807,-1.22,-116.8,395.7,-7.2,297,4811,0.00,2.25,0.00,0.000,4,0.000,0.028,2805,2924,3106,0,0,0,0,0,0
$GC,4845,-1.33,-116.8,398.9,-8.2,297,4851,0.20,2.45,0.00,0.000,6,0.048,0.038,2746,1496,3106,0,0,0,0,0,0
$GC,5178,-1.22,-116.8,434.2,-10.4,306,5180,0.17,0.00,0.00,0.000,6,0.087,0.000,2782,1496,3104,0,0,0,0,0,0
$STATE,5417,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5417,begin apogee
$GC,5424,-0.31,0.0,452.0,6.8,312,5524,0.93,0.00,96.62,0.830,6,0.066,0.000,2982,1443,2630,0,0,0,0,0,0
$STATE,5525,end apogee,CONTROL_FINISHED_OK
$STATE,5525,begin climb
$GC,5527,1.18,116.8,453.4,0.0,314,5640,1.40,2.50,100.80,0.811,4,0.035,0.029,3310,2864,2152,0,0,0,0,0,0
$GC,5688,0.99,116.8,448.7,9.1,317,5693,0.22,2.47,0.00,0.000,6,0.094,0.041,3265,1455,2151,0,0,0,0,0,0
$GC,6027,0.87,119.3,421.6,7.8,326,6031,0.12,2.17,0.00,0.000,4,0.108,0.056,3241,235,2142,0,0,0,0,0,0
$GC,6127,0.74,126.7,414.2,7.6,328,6140,0.15,2.03,7.55,0.660,6,0.106,0.026,3213,1491,2113,0,0,0,0,0,0
$GC,6456,0.82,196.3,397.3,4.7,336,6521,0.00,0.00,63.50,0.797,6,0.000,0.000,3213,1491,1829,0,0,0,0,0,0
$GC,6819,0.89,250.5,377.0,5.4,345,6873,0.12,2.33,47.75,0.779,4,0.071,0.030,3248,2840,1607,0,0,0,0,0,0
$GC,6891,0.91,269.2,372.1,7.1,346,6915,0.00,2.47,17.62,0.728,6,0.000,0.044,3248,1449,1531,0,0,0,0,0,0
$GC,7236,0.91,269.2,342.2,8.7,355,7240,0.00,2.15,0.00,0.000,4,0.000,0.058,3248,232,1524,0,0,0,0,0,0
$GC,7279,0.83,269.2,337.7,10.4,355,7284,0.00,1.98,0.00,0.000,6,0.000,0.028,3247,1448,1521,0,0,0,0,0,0
$GC,7610,0.83,269.2,305.9,9.7,364,7614,0.00,2.17,0.00,0.000,4,0.000,0.058,3248,229,1520,0,0,0,0,0,0
$GC,7689,0.78,269.2,297.6,10.3,365,7693,0.15,2.00,0.00,0.000,6,0.100,0.028,3219,1458,1518,0,0,0,0,0,0
$GC,8006,0.87,285.8,275.0,7.1,380,8029,0.00,2.22,13.48,0.675,4,0.000,0.055,3218,228,1464,0,0,0,0,0,0
$GC,8040,0.93,298.8,272.4,7.3,381,8061,0.15,2.00,13.23,0.667,6,0.062,0.028,3261,1456,1411,0,0,0,0,0,0
$GC,8385,0.93,298.8,242.5,8.5,398,8389,0.00,2.33,0.00,0.000,4,0.000,0.028,3261,2837,1406,0,0,0,0,0,0
$GC,8414,0.99,298.8,240.0,8.1,399,8419,0.00,2.42,0.00,0.000,6,0.000,0.043,3261,1449,1407,0,0,0,0,0,0
$GC,8741,0.99,298.8,212.5,8.0,415,8745,0.00,2.12,0.00,0.000,4,0.000,0.055,3261,231,1406,0,0,0,0,0,0
$GC,8801,0.99,298.8,207.1,8.5,417,8807,0.00,1.98,0.00,0.000,6,0.000,0.026,3261,1466,1404,0,0,0,0,0,0
$GC,9127,1.04,338.3,184.2,6.1,440,9163,0.00,0.00,34.40,0.648,6,0.000,0.000,3261,1467,1250,0,0,0,0,0,0
$GC,9419,1.09,355.6,164.8,7.1,463,9440,0.12,2.22,15.70,0.595,4,0.067,0.054,3299,228,1180,0,0,0,0,0,0
$GC,9460,0.99,355.6,160.2,10.5,466,9465,0.17,1.98,0.00,0.000,6,0.090,0.025,3263,1453,1177,0,0,0,0,0,0
$GC,9729,1.02,355.6,135.0,9.6,487,9732,0.00,2.15,0.00,0.000,4,0.000,0.052,3263,232,1176,0,0,0,0,0,0
$GC,9754,1.02,355.6,132.0,11.4,489,9758,0.00,1.95,0.00,0.000,6,0.000,0.025,3263,1449,1175,0,0,0,0,0,0
$GC,10025,1.10,368.6,110.7,7.3,510,10044,0.12,2.35,11.77,0.535,4,0.065,0.024,3303,2833,1127,0,0,0,0,0,0
$GC,10064,1.15,375.8,107.5,7.6,512,10077,0.00,2.45,8.27,0.498,6,0.000,0.038,3303,1443,1096,0,0,0,0,0,0
$GC,10336,1.15,375.8,84.6,9.1,534,10337,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,1443,1094,0,0,0,0,0,0
$GC,10590,1.20,375.8,63.7,8.2,554,10591,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,1444,1093,0,0,0,0,0,0
$GC,10844,1.24,375.8,41.7,9.1,574,10848,0.00,2.08,0.00,0.000,4,0.000,0.050,3302,233,1093,0,0,0,0,0,0
$GC,10882,1.24,375.8,37.8,9.9,577,10886,0.00,1.92,0.00,0.000,6,0.000,0.021,3302,1462,1091,0,0,0,0,0,0
$GC,11147,1.27,375.8,15.0,8.5,624,11154,0.10,0.00,0.00,0.000,6,0.073,0.000,3339,1471,1091,0,0,0,0,0,0
$STATE,11266,end climb,SURFACE_DEPTH_REACHED
$STATE,11266,begin surface coast
$FINISH,0.9,1.023078
$STATE,11297,end surface coast,CONTROL_FINISHED_OK
$STATE,11297,begin surface
$SM_CCo,11321,28.15,0.474,0,0,958,410.14
$SM_GC,1.63,0.00,0.00,28.15,0.000,0.000,0.474,427,1471,958,-12.07,-0.82,410.14
$IRIDIUM_FIX,2104.07,-15753.03,150100,171704
$TT8_MAMPS,0.029146
$HUMID,63.15
$INTERNAL_PRESSURE,9.23518
$TCM_TEMP,21.30
$XPDR_PINGS,0
$24V_AH,23.3,69.065
$10V_AH,10.0,55.884
$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,30.050,97.000,430.700,28.150,0.000,28.094,32.268,170.455,4.750,0.000,15.947,1238.747,7614.159,492.351,1832.947,538.695,0.000,1296.477,0.000,1814.772,0.000,32.067,0.000
$DEVICE_MAMPS,130.390,109.681,829.894,474.006,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,443.541,425.943,955.305,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355760
$DATA_FILE_SIZE,34922,658
$CAP_FILE_SIZE,116588,0
$CFSIZE,260165632,173154304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211010,235428,2110.166,-15753.041,11,3.0,30,9.8