version: 66.06
glider: 139
mission: 8
dive: 735
start: 10 22 110 13 23 34
data:
$ID,139
$MISSION,8
$DIVE,735
$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,-2166753.8
$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
$GPS1,131644,2109.761,-15752.050,13,1.7,13,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-72.8
$GPS2,132316,2109.776,-15752.103,13,2.8,32,9.8
$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,105.0,17484,-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,-64.55,0.000,2,0.000,0.000,427,1459,2738,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.1,-2.8,12,110,12.68,0.00,-7.15,0.000,6,0.133,0.000,2783,1460,3110,0,0,0,0,0,0
$GC,310,-0.96,-116.8,42.3,-15.6,50,315,0.25,2.10,0.00,0.000,4,0.089,0.045,2838,237,3113,0,0,0,0,0,0
$GC,325,-0.76,-116.8,44.8,-15.3,51,329,0.22,2.08,0.00,0.000,6,0.082,0.021,2886,1556,3113,0,0,0,0,0,0
$GC,588,-0.80,-116.8,73.6,-12.2,71,592,0.00,2.28,0.00,0.000,4,0.000,0.046,2885,232,3114,0,0,0,0,0,0
$GC,633,-0.88,-116.8,79.1,-11.4,74,637,0.12,2.10,0.00,0.000,6,0.061,0.019,2840,1563,3114,0,0,0,0,0,0
$GC,907,-0.88,-116.8,106.2,-9.8,95,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1567,3114,0,0,0,0,0,0
$GC,1165,-0.88,-116.8,129.4,-9.8,116,1169,0.00,2.28,0.00,0.000,4,0.000,0.045,2840,232,3115,0,0,0,0,0,0
$GC,1235,-0.93,-116.8,136.8,-10.9,121,1239,0.00,2.10,0.00,0.000,6,0.000,0.019,2840,1560,3115,0,0,0,0,0,0
$GC,1500,-0.97,-116.8,159.8,-7.7,142,1505,0.00,2.20,0.00,0.000,4,0.000,0.021,2840,2923,3116,0,0,0,0,0,0
$GC,1518,-1.04,-116.8,161.2,-7.3,143,1522,0.00,2.40,0.00,0.000,6,0.000,0.031,2840,1500,3116,0,0,0,0,0,0
$GC,1791,-1.08,-116.8,182.2,-8.0,164,1795,0.12,2.15,0.00,0.000,4,0.062,0.047,2795,237,3116,0,0,0,0,0,0
$GC,1888,-1.02,-116.8,191.4,-9.4,171,1893,0.15,2.08,0.00,0.000,6,0.084,0.019,2829,1558,3116,0,0,0,0,0,0
$GC,2161,-1.02,-116.8,207.3,-4.8,188,2165,0.00,2.28,0.00,0.000,4,0.000,0.045,2828,237,3116,0,0,0,0,0,0
$GC,2189,-1.02,-116.8,208.9,-5.3,189,2193,0.00,2.10,0.00,0.000,6,0.000,0.020,2828,1559,3116,0,0,0,0,0,0
$GC,2521,-1.02,-116.8,224.5,-5.8,205,2525,0.00,2.28,0.00,0.000,4,0.000,0.046,2829,231,3116,0,0,0,0,0,0
$GC,2566,-1.06,-116.8,227.8,-7.7,207,2570,0.00,2.08,0.00,0.000,6,0.000,0.020,2828,1563,3116,0,0,0,0,0,0
$GC,2898,-1.11,-116.8,254.7,-8.3,223,2902,0.00,2.28,0.00,0.000,4,0.000,0.047,2828,233,3116,0,0,0,0,0,0
$GC,2944,-1.15,-116.8,258.8,-8.9,225,2949,0.12,2.08,0.00,0.000,6,0.061,0.021,2784,1555,3116,0,0,0,0,0,0
$GC,3279,-1.11,-116.8,286.7,-7.8,241,3281,0.12,0.00,0.00,0.000,6,0.093,0.000,2812,1559,3114,0,0,0,0,0,0
$GC,3602,-1.14,-116.8,307.2,-5.8,254,3606,0.00,2.28,0.00,0.000,4,0.000,0.048,2811,235,3114,0,0,0,0,0,0
$GC,3650,-1.14,-116.8,310.5,-6.7,255,3654,0.00,2.10,0.00,0.000,6,0.000,0.022,2811,1542,3113,0,0,0,0,0,0
$GC,3984,-1.14,-116.8,332.2,-6.9,263,3988,0.00,2.25,0.00,0.000,4,0.000,0.051,2812,238,3112,0,0,0,0,0,0
$GC,4027,-1.14,-116.8,335.5,-7.2,264,4031,0.00,2.00,0.00,0.000,6,0.000,0.023,2812,1498,3112,0,0,0,0,0,0
$GC,4360,-1.14,-116.8,358.4,-6.9,272,4364,0.00,2.20,0.00,0.000,4,0.000,0.051,2812,238,3110,0,0,0,0,0,0
$GC,4386,-1.14,-116.8,360.2,-7.1,272,4390,0.00,2.03,0.00,0.000,6,0.000,0.024,2812,1504,3109,0,0,0,0,0,0
$GC,4732,-1.14,-116.8,382.2,-6.3,281,4736,0.00,2.28,0.00,0.000,4,0.000,0.027,2811,2886,3107,0,0,0,0,0,0
$GC,4766,-1.24,-116.8,384.4,-6.3,281,4771,0.15,2.35,0.00,0.000,6,0.056,0.038,2762,1504,3107,0,0,0,0,0,0
$GC,5098,-1.16,-116.8,410.3,-7.6,289,5103,0.17,2.20,0.00,0.000,4,0.084,0.054,2799,234,3105,0,0,0,0,0,0
$GC,5143,-1.16,-116.8,413.7,-7.2,290,5147,0.00,2.03,0.00,0.000,6,0.000,0.025,2799,1508,3105,0,0,0,0,0,0
$GC,5471,-1.16,-116.8,435.9,-6.8,298,5475,0.00,2.28,0.00,0.000,4,0.000,0.028,2799,2881,3103,0,0,0,0,0,0
$GC,5499,-1.24,-116.8,437.9,-6.1,298,5503,0.00,2.38,0.00,0.000,6,0.000,0.041,2799,1492,3103,0,0,0,0,0,0
$STATE,5670,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5670,begin apogee
$GC,5678,-0.31,0.0,450.7,7.3,303,5778,0.85,0.00,97.10,0.833,6,0.065,0.000,2983,1438,2629,0,0,0,0,0,0
$STATE,5779,end apogee,CONTROL_FINISHED_OK
$STATE,5779,begin climb
$GC,5782,1.18,116.8,453.5,0.0,305,5895,1.42,2.20,101.68,0.816,4,0.034,0.054,3313,244,2152,0,0,0,0,0,0
$GC,5915,0.95,184.9,455.0,4.8,308,5984,0.28,1.98,59.97,0.802,6,0.096,0.025,3259,1454,1876,0,0,0,0,0,0
$GC,6331,0.87,196.7,426.3,7.4,319,6347,0.00,2.38,10.15,0.703,4,0.000,0.029,3258,2824,1828,0,0,0,0,0,0
$GC,6413,0.87,198.4,419.6,7.8,320,6417,0.00,2.40,0.00,0.000,6,0.000,0.043,3259,1453,1828,0,0,0,0,0,0
$GC,6746,0.79,198.4,390.2,9.3,328,6750,0.17,2.15,0.00,0.000,4,0.095,0.058,3223,233,1824,0,0,0,0,0,0
$GC,6789,0.73,198.4,385.7,10.4,329,6793,0.00,1.98,0.00,0.000,6,0.000,0.028,3224,1448,1822,0,0,0,0,0,0
$GC,7121,0.77,232.5,362.5,6.4,337,7159,0.00,2.38,32.22,0.775,4,0.000,0.028,3224,2838,1681,0,0,0,0,0,0
$GC,7191,0.89,257.9,358.2,6.7,337,7220,0.00,2.47,23.60,0.749,6,0.000,0.043,3224,1442,1578,0,0,0,0,0,0
$GC,7537,0.94,276.3,332.4,7.1,346,7561,0.15,2.17,16.83,0.721,4,0.062,0.057,3264,230,1501,0,0,0,0,0,0
$GC,7617,0.84,276.3,325.1,10.6,347,7622,0.17,2.00,0.00,0.000,6,0.097,0.028,3230,1456,1497,0,0,0,0,0,0
$GC,7956,0.89,287.6,299.7,7.4,356,7973,0.00,2.38,10.07,0.660,4,0.000,0.029,3230,2829,1457,0,0,0,0,0,0
$GC,7992,1.05,327.7,297.2,6.1,357,8035,0.20,2.42,36.85,0.730,6,0.051,0.044,3286,1450,1293,0,0,0,0,0,0
$GC,8357,0.99,327.7,261.5,9.9,375,8361,0.00,2.20,0.00,0.000,4,0.000,0.058,3286,227,1288,0,0,0,0,0,0
$GC,8447,0.89,327.7,250.6,11.4,379,8452,0.20,2.00,0.00,0.000,6,0.089,0.027,3245,1452,1284,0,0,0,0,0,0
$GC,8782,0.94,327.7,219.7,8.5,395,8786,0.00,2.15,0.00,0.000,4,0.000,0.056,3245,231,1284,0,0,0,0,0,0
$GC,8826,0.94,327.7,215.5,8.9,397,8829,0.00,1.98,0.00,0.000,6,0.000,0.027,3245,1450,1283,0,0,0,0,0,0
$GC,9156,1.05,363.5,194.9,6.3,415,9195,0.15,2.17,30.50,0.650,4,0.060,0.053,3289,232,1147,0,0,0,0,0,0
$GC,9232,0.96,363.5,188.2,10.9,420,9236,0.15,2.00,0.00,0.000,6,0.091,0.025,3259,1456,1144,0,0,0,0,0,0
$GC,9494,1.01,363.5,165.1,9.6,440,9495,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1458,1143,0,0,0,0,0,0
$GC,9743,1.09,363.5,141.8,8.1,460,9748,0.12,2.15,0.00,0.000,4,0.065,0.053,3299,232,1143,0,0,0,0,0,0
$GC,9797,1.04,363.5,136.4,11.1,464,9801,0.10,1.98,0.00,0.000,6,0.104,0.025,3279,1458,1140,0,0,0,0,0,0
$GC,10064,1.12,375.8,115.9,7.3,485,10080,0.00,2.20,10.88,0.529,4,0.000,0.051,3278,235,1097,0,0,0,0,0,0
$GC,10105,1.12,375.8,112.3,8.8,488,10109,0.00,1.98,0.00,0.000,6,0.000,0.024,3278,1456,1096,0,0,0,0,0,0
$GC,10377,1.21,392.5,93.3,7.1,509,10398,0.15,2.20,15.60,0.525,4,0.056,0.051,3326,226,1028,0,0,0,0,0,0
$GC,10413,1.12,392.5,89.1,11.8,511,10419,0.17,1.98,0.00,0.000,6,0.086,0.023,3291,1470,1027,0,0,0,0,0,0
$GC,10676,1.17,392.5,68.2,8.2,532,10682,0.00,0.00,0.00,0.000,6,0.000,0.000,3291,1470,1026,0,0,0,0,0,0
$GC,10938,1.25,405.0,51.8,7.3,553,10957,0.15,2.22,11.82,0.472,4,0.055,0.050,3340,234,977,0,0,0,0,0,0
$GC,11029,1.17,405.0,41.2,9.9,559,11035,0.15,1.95,0.00,0.000,6,0.066,0.021,3304,1456,974,0,0,0,0,0,0
$GC,11293,1.17,405.0,16.8,9.6,600,11300,0.00,2.15,0.00,0.000,4,0.000,0.048,3304,234,974,0,0,0,0,0,0
$GC,11337,1.17,405.0,11.9,11.3,609,11344,0.00,1.92,0.00,0.000,6,0.000,0.021,3304,1440,974,0,0,0,0,0,0
$STATE,11433,end climb,SURFACE_DEPTH_REACHED
$STATE,11433,begin surface coast
$FINISH,1.0,0.998830
$STATE,11471,end surface coast,CONTROL_FINISHED_OK
$STATE,11471,begin surface
$SM_CCo,11494,4.70,0.344,0,0,958,410.14
$SM_GC,2.23,0.00,0.00,4.70,0.000,0.000,0.344,423,1441,958,-12.08,-1.67,410.14
$IRIDIUM_FIX,2101.76,-15750.89,160100,101050
$TT8_MAMPS,0.029146
$HUMID,61.49
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.3,69.617
$10V_AH,10.0,56.317
$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,31.000,121.375,457.275,4.700,0.000,25.794,44.118,164.297,4.500,0.000,33.478,1263.518,7644.240,467.878,1940.253,567.390,0.000,1361.698,0.000,1895.288,0.000,29.245,0.000
$DEVICE_MAMPS,133.458,109.681,832.962,343.616,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,430.261,404.971,909.620,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,34928,639
$CAP_FILE_SIZE,129910,0
$CFSIZE,260165632,172830720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221010,163631,2109.635,-15752.064,40,1.4,40,9.8