version: 66.06
glider: 139
mission: 8
dive: 734
start: 10 22 110 10 5 48
data:
$ID,139
$MISSION,8
$DIVE,734
$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,-2166719.5
$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
$GPS1,095855,2110.177,-15751.825,13,1.8,13,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-73.5
$GPS2,100530,2110.120,-15751.887,52,1.3,52,9.8
$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,107.4,17428,-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,-116.8,0.0,0.0,0,82,0.00,0.00,-64.25,0.000,2,0.000,0.000,427,1460,2765,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.6,-4.0,12,110,12.65,2.12,-6.53,0.000,4,0.133,0.059,2785,237,3107,0,0,0,0,0,0
$GC,149,-0.88,-116.8,18.1,-16.9,24,156,0.28,2.12,0.00,0.000,6,0.073,0.020,2855,1557,3109,0,0,0,0,0,0
$GC,349,-0.83,-116.8,39.3,-10.3,56,353,0.00,2.28,0.00,0.000,4,0.000,0.045,2855,235,3110,0,0,0,0,0,0
$GC,376,-0.75,-116.8,42.1,-11.1,58,381,0.15,2.08,0.00,0.000,6,0.089,0.019,2887,1556,3110,0,0,0,0,0,0
$GC,645,-0.84,-116.8,61.8,-6.5,79,649,0.00,2.28,0.00,0.000,4,0.000,0.044,2887,228,3111,0,0,0,0,0,0
$GC,687,-0.95,-116.8,65.2,-8.0,82,692,0.20,2.08,0.00,0.000,6,0.045,0.019,2824,1561,3111,0,0,0,0,0,0
$GC,948,-0.91,-116.8,89.0,-9.5,102,953,0.12,2.30,0.00,0.000,4,0.092,0.045,2851,230,3111,0,0,0,0,0,0
$GC,1044,-0.91,-116.8,99.0,-10.4,109,1048,0.00,2.08,0.00,0.000,6,0.000,0.018,2851,1560,3112,0,0,0,0,0,0
$GC,1316,-0.96,-116.8,120.8,-7.1,130,1322,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1566,3113,0,0,0,0,0,0
$GC,1578,-1.02,-116.8,139.6,-8.1,151,1582,0.00,2.28,0.00,0.000,4,0.000,0.044,2850,237,3113,0,0,0,0,0,0
$GC,1615,-1.07,-116.8,143.3,-9.2,153,1621,0.15,2.08,0.00,0.000,6,0.054,0.019,2797,1570,3113,0,0,0,0,0,0
$GC,1877,-1.02,-116.8,169.3,-8.8,174,1882,0.12,2.22,0.00,0.000,4,0.093,0.022,2825,2923,3113,0,0,0,0,0,0
$GC,1896,-1.02,-116.8,171.2,-8.0,175,1900,0.00,2.42,0.00,0.000,6,0.000,0.033,2825,1492,3113,0,0,0,0,0,0
$GC,2156,-1.02,-116.8,192.4,-8.1,195,2160,0.00,2.12,0.00,0.000,4,0.000,0.046,2825,237,3113,0,0,0,0,0,0
$GC,2198,-1.02,-116.8,196.1,-8.8,198,2202,0.00,2.08,0.00,0.000,6,0.000,0.019,2825,1561,3113,0,0,0,0,0,0
$GC,2462,-1.06,-116.8,214.3,-5.4,212,2466,0.00,2.28,0.00,0.000,4,0.000,0.046,2825,232,3113,0,0,0,0,0,0
$GC,2531,-1.10,-116.8,218.3,-5.8,215,2535,0.00,2.08,0.00,0.000,6,0.000,0.020,2825,1556,3113,0,0,0,0,0,0
$GC,2863,-1.13,-116.8,242.2,-7.9,231,2867,0.00,2.28,0.00,0.000,4,0.000,0.047,2825,231,3113,0,0,0,0,0,0
$GC,2887,-1.13,-116.8,244.4,-8.1,232,2891,0.10,2.10,0.00,0.000,6,0.073,0.021,2788,1559,3113,0,0,0,0,0,0
$GC,3215,-1.09,-116.8,272.1,-7.7,248,3220,0.12,2.30,0.00,0.000,4,0.093,0.049,2815,233,3113,0,0,0,0,0,0
$GC,3253,-1.09,-116.8,275.5,-8.0,249,3259,0.00,2.10,0.00,0.000,6,0.000,0.021,2815,1559,3112,0,0,0,0,0,0
$GC,3572,-1.09,-116.8,299.3,-7.7,265,3576,0.00,2.28,0.00,0.000,4,0.000,0.049,2815,237,3111,0,0,0,0,0,0
$GC,3620,-1.13,-116.8,303.4,-8.3,267,3624,0.00,2.10,0.00,0.000,6,0.000,0.022,2814,1559,3111,0,0,0,0,0,0
$GC,3950,-1.16,-116.8,326.3,-7.2,275,3954,0.00,2.28,0.00,0.000,4,0.000,0.050,2815,238,3109,0,0,0,0,0,0
$GC,3973,-1.16,-116.8,328.6,-8.7,275,3977,0.00,2.08,0.00,0.000,6,0.000,0.023,2814,1558,3109,0,0,0,0,0,0
$GC,4319,-1.20,-116.8,362.1,-10.2,284,4324,0.12,2.30,0.00,0.000,4,0.064,0.051,2773,238,3107,0,0,0,0,0,0
$GC,4372,-1.16,-116.8,368.4,-11.5,285,4377,0.12,2.10,0.00,0.000,6,0.094,0.023,2800,1549,3107,0,0,0,0,0,0
$GC,4691,-1.16,-116.8,396.0,-8.0,293,4695,0.00,2.30,0.00,0.000,4,0.000,0.052,2799,230,3105,0,0,0,0,0,0
$GC,4714,-1.16,-116.8,398.0,-8.6,293,4718,0.00,2.05,0.00,0.000,6,0.000,0.025,2800,1501,3105,0,0,0,0,0,0
$GC,5066,-1.16,-116.8,423.8,-7.2,302,5067,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1514,3103,0,0,0,0,0,0
$STATE,5386,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5386,begin apogee
$GC,5392,-0.31,0.0,450.1,8.7,310,5492,0.82,0.00,96.55,0.828,6,0.063,0.000,2980,1444,2630,0,0,0,0,0,0
$STATE,5493,end apogee,CONTROL_FINISHED_OK
$STATE,5493,begin climb
$GC,5497,1.18,116.8,454.4,0.0,312,5609,1.40,2.15,101.57,0.815,4,0.035,0.053,3308,242,2152,0,0,0,0,0,0
$GC,5732,0.91,158.1,453.5,6.0,317,5774,0.30,1.98,36.28,0.792,6,0.094,0.025,3249,1458,1985,0,0,0,0,0,0
$GC,6089,0.88,201.9,435.1,5.9,326,6134,0.00,2.38,39.10,0.798,4,0.000,0.029,3249,2819,1805,0,0,0,0,0,0
$GC,6196,0.88,201.9,426.7,8.0,328,6200,0.00,2.40,0.00,0.000,6,0.000,0.043,3249,1459,1805,0,0,0,0,0,0
$GC,6546,0.82,201.9,396.3,8.7,337,6550,0.00,2.17,0.00,0.000,4,0.000,0.058,3249,234,1800,0,0,0,0,0,0
$GC,6631,0.70,201.9,387.1,12.1,338,6637,0.22,1.98,0.00,0.000,6,0.093,0.028,3204,1451,1796,0,0,0,0,0,0
$GC,6963,0.79,222.4,361.0,7.0,347,6987,0.00,2.40,17.80,0.749,4,0.000,0.029,3205,2830,1722,0,0,0,0,0,0
$GC,7004,0.96,267.0,358.3,5.9,347,7051,0.25,2.42,40.67,0.771,6,0.047,0.042,3270,1450,1540,0,0,0,0,0,0
$GC,7376,0.88,267.0,327.6,8.4,357,7380,0.12,2.17,0.00,0.000,4,0.100,0.059,3245,228,1534,0,0,0,0,0,0
$GC,7452,0.81,267.0,320.0,10.5,358,7456,0.00,1.98,0.00,0.000,6,0.000,0.028,3245,1445,1531,0,0,0,0,0,0
$GC,7772,0.81,267.0,290.2,9.7,368,7776,0.00,2.33,0.00,0.000,4,0.000,0.029,3245,2843,1530,0,0,0,0,0,0
$GC,7796,0.86,267.0,288.3,9.0,369,7801,0.00,2.45,0.00,0.000,6,0.000,0.044,3245,1450,1530,0,0,0,0,0,0
$GC,8129,0.86,269.2,262.5,7.8,385,8133,0.00,2.17,0.00,0.000,4,0.000,0.058,3245,233,1529,0,0,0,0,0,0
$GC,8219,0.86,269.2,254.9,8.3,389,8222,0.00,1.98,0.00,0.000,6,0.000,0.028,3245,1454,1526,0,0,0,0,0,0
$GC,8555,0.90,274.4,228.1,7.7,405,8562,0.00,0.00,5.22,0.515,6,0.000,0.000,3245,1459,1511,0,0,0,0,0,0
$GC,8862,0.98,303.0,207.6,6.6,420,8895,0.00,2.28,26.75,0.662,4,0.000,0.054,3245,229,1393,0,0,0,0,0,0
$GC,8912,0.99,309.5,204.2,7.6,422,8924,0.00,2.03,7.03,0.544,6,0.000,0.027,3245,1462,1366,0,0,0,0,0,0
$GC,9245,1.10,353.1,184.5,5.9,446,9290,0.20,2.35,38.60,0.642,4,0.051,0.027,3301,2841,1189,0,0,0,0,0,0
$GC,9325,1.16,353.1,177.4,10.2,452,9329,0.00,2.45,0.00,0.000,6,0.000,0.041,3301,1449,1189,0,0,0,0,0,0
$GC,9593,1.09,353.1,150.0,10.1,473,9597,0.00,2.12,0.00,0.000,4,0.000,0.054,3301,230,1187,0,0,0,0,0,0
$GC,9658,0.99,353.1,141.3,12.5,478,9663,0.17,1.98,0.00,0.000,6,0.093,0.025,3266,1462,1184,0,0,0,0,0,0
$GC,9927,1.03,353.1,117.9,8.2,499,9932,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,1467,1184,0,0,0,0,0,0
$GC,10186,1.13,374.4,98.4,6.9,520,10214,0.12,2.17,18.58,0.546,4,0.064,0.050,3306,233,1101,0,0,0,0,0,0
$GC,10232,1.08,374.4,94.5,9.9,523,10235,0.00,1.98,0.00,0.000,6,0.000,0.024,3306,1449,1100,0,0,0,0,0,0
$GC,10501,1.08,374.4,68.9,9.4,544,10505,0.00,2.28,0.00,0.000,4,0.000,0.023,3306,2836,1099,0,0,0,0,0,0
$GC,10517,1.08,374.4,67.2,9.2,545,10522,0.00,2.40,0.00,0.000,6,0.000,0.036,3306,1446,1100,0,0,0,0,0,0
$GC,10786,1.14,386.4,47.3,7.4,566,10801,0.00,2.17,10.82,0.473,4,0.000,0.048,3306,235,1054,0,0,0,0,0,0
$GC,10825,1.14,386.4,43.7,9.2,568,10832,0.00,1.98,0.00,0.000,6,0.000,0.022,3306,1456,1052,0,0,0,0,0,0
$GC,11090,1.14,386.4,23.4,8.1,601,11096,0.00,2.12,0.00,0.000,4,0.000,0.046,3306,241,1052,0,0,0,0,0,0
$GC,11116,1.14,386.4,20.8,9.2,606,11123,0.00,1.95,0.00,0.000,6,0.000,0.021,3306,1459,1051,0,0,0,0,0,0
$STATE,11312,end climb,SURFACE_DEPTH_REACHED
$STATE,11312,begin surface coast
$FINISH,0.9,1.011056
$STATE,11362,end surface coast,CONTROL_FINISHED_OK
$STATE,11362,begin surface
$SM_CCo,11384,20.08,0.463,0,0,956,410.14
$SM_GC,1.96,0.00,0.00,20.08,0.000,0.000,0.463,428,1460,956,-12.07,-1.13,410.14
$IRIDIUM_FIX,2104.07,-15750.89,160100,060650
$TT8_MAMPS,0.029146
$HUMID,64.01
$INTERNAL_PRESSURE,9.23518
$TCM_TEMP,20.70
$XPDR_PINGS,1
$24V_AH,23.3,69.505
$10V_AH,10.0,56.232
$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,30.100,122.425,438.975,20.075,0.000,27.969,33.952,158.696,4.750,0.000,53.051,1270.645,7509.282,476.467,1994.647,541.766,0.000,1362.827,0.000,1933.047,0.000,29.260,0.000
$DEVICE_MAMPS,132.691,89.739,828.360,463.268,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,446.102,429.670,979.768,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,37987,662
$CAP_FILE_SIZE,126421,0
$CFSIZE,260165632,172896256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,4
$GPS,221010,131644,2109.761,-15752.050,13,1.7,13,9.8