version: 66.06
glider: 139
mission: 8
dive: 736
start: 10 22 110 16 43 19
data:
$ID,139
$MISSION,8
$DIVE,736
$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,-2166773.5
$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
$GPS1,163631,2109.635,-15752.064,40,1.4,40,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-74.5
$GPS2,164301,2109.628,-15752.126,13,1.1,18,9.8
$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,104.1,17407,-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,-64.18,0.000,2,0.000,0.000,423,1441,2738,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.3,-3.5,12,111,12.68,2.15,-7.10,0.000,4,0.132,0.061,2784,235,3108,0,0,0,0,0,0
$GC,124,0.06,-116.8,14.3,-25.2,18,131,1.27,2.12,0.00,0.000,6,0.076,0.020,3061,1564,3110,0,0,0,0,0,0
$GC,330,-0.52,-116.8,40.3,-13.2,53,335,0.52,2.22,0.00,0.000,4,0.043,0.018,2932,2935,3112,0,0,0,0,0,0
$GC,378,-1.02,-116.8,45.9,-9.7,56,386,0.40,2.45,0.00,0.000,6,0.023,0.028,2808,1495,3112,0,0,0,0,0,0
$GC,640,-0.88,-116.8,78.4,-13.2,77,645,0.22,2.17,0.00,0.000,4,0.080,0.044,2856,231,3111,0,0,0,0,0,0
$GC,693,-0.88,-116.8,85.2,-11.4,80,699,0.00,2.10,0.00,0.000,6,0.000,0.019,2856,1570,3112,0,0,0,0,0,0
$GC,953,-0.88,-116.8,110.0,-9.1,101,957,0.00,2.28,0.00,0.000,4,0.000,0.044,2856,237,3112,0,0,0,0,0,0
$GC,971,-0.88,-116.8,112.2,-10.1,102,978,0.00,2.08,0.00,0.000,6,0.000,0.019,2856,1566,3113,0,0,0,0,0,0
$GC,1235,-0.91,-116.8,134.4,-7.4,123,1239,0.00,2.25,0.00,0.000,4,0.000,0.044,2856,239,3113,0,0,0,0,0,0
$GC,1263,-0.91,-116.8,137.1,-8.5,125,1267,0.00,2.05,0.00,0.000,6,0.000,0.018,2856,1565,3113,0,0,0,0,0,0
$GC,1526,-0.98,-116.8,154.1,-5.7,145,1530,0.00,2.28,0.00,0.000,4,0.000,0.044,2857,233,3113,0,0,0,0,0,0
$GC,1607,-1.05,-116.8,159.5,-6.2,151,1612,0.15,2.08,0.00,0.000,6,0.054,0.018,2805,1568,3114,0,0,0,0,0,0
$GC,1876,-1.01,-116.8,184.0,-10.2,172,1881,0.10,2.28,0.00,0.000,4,0.100,0.045,2827,240,3114,0,0,0,0,0,0
$GC,1909,-1.01,-116.8,187.5,-10.8,174,1915,0.00,2.08,0.00,0.000,6,0.000,0.019,2827,1560,3114,0,0,0,0,0,0
$GC,2179,-1.04,-116.8,212.1,-9.0,192,2183,0.00,2.25,0.00,0.000,4,0.000,0.046,2828,239,3114,0,0,0,0,0,0
$GC,2258,-1.04,-116.8,220.0,-8.9,195,2262,0.00,2.08,0.00,0.000,6,0.000,0.019,2827,1567,3114,0,0,0,0,0,0
$GC,2578,-1.09,-116.8,241.7,-5.7,210,2582,0.00,2.28,0.00,0.000,4,0.000,0.047,2827,238,3114,0,0,0,0,0,0
$GC,2621,-1.13,-116.8,244.3,-5.8,212,2626,0.10,2.08,0.00,0.000,6,0.071,0.020,2789,1566,3114,0,0,0,0,0,0
$GC,2954,-1.13,-116.8,266.1,-6.9,228,2958,0.00,2.28,0.00,0.000,4,0.000,0.047,2789,239,3114,0,0,0,0,0,0
$GC,2983,-1.07,-116.8,268.5,-7.5,229,2987,0.12,2.08,0.00,0.000,6,0.092,0.021,2816,1559,3114,0,0,0,0,0,0
$GC,3308,-1.07,-116.8,290.7,-7.9,245,3309,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1563,3113,0,0,0,0,0,0
$GC,3632,-1.12,-116.8,317.9,-8.1,256,3636,0.00,2.28,0.00,0.000,4,0.000,0.050,2816,240,3112,0,0,0,0,0,0
$GC,3664,-1.15,-116.8,320.9,-9.5,256,3668,0.00,2.05,0.00,0.000,6,0.000,0.022,2816,1549,3112,0,0,0,0,0,0
$GC,3996,-1.20,-116.8,347.7,-7.5,264,4000,0.12,2.30,0.00,0.000,4,0.064,0.051,2774,241,3110,0,0,0,0,0,0
$GC,4036,-1.15,-116.8,351.0,-8.9,264,4042,0.12,2.00,0.00,0.000,6,0.093,0.023,2801,1500,3110,0,0,0,0,0,0
$GC,4367,-1.15,-116.8,371.3,-5.4,273,4371,0.00,2.30,0.00,0.000,4,0.000,0.026,2801,2875,3108,0,0,0,0,0,0
$GC,4392,-1.21,-116.8,372.6,-5.5,273,4397,0.00,2.33,0.00,0.000,6,0.000,0.037,2801,1504,3107,0,0,0,0,0,0
$GC,4733,-1.21,-116.8,392.2,-5.9,282,4737,0.00,2.20,0.00,0.000,4,0.000,0.053,2801,232,3105,0,0,0,0,0,0
$GC,4770,-1.21,-116.8,394.6,-5.9,282,4774,0.00,2.03,0.00,0.000,6,0.000,0.025,2801,1491,3105,0,0,0,0,0,0
$GC,5107,-1.21,-116.8,415.9,-6.6,291,5108,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1500,3103,0,0,0,0,0,0
$GC,5431,-1.21,-116.8,436.7,-6.3,299,5435,0.00,2.33,0.00,0.000,4,0.000,0.030,2801,2890,3100,0,0,0,0,0,0
$GC,5459,-1.28,-116.8,438.4,-6.2,299,5464,0.15,2.40,0.00,0.000,6,0.057,0.041,2755,1492,3100,0,0,0,0,0,0
$STATE,5631,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5631,begin apogee
$GC,5639,-0.31,0.0,451.5,7.6,304,5739,1.05,0.00,96.47,0.836,6,0.071,0.000,2979,1439,2630,0,0,0,0,0,0
$STATE,5740,end apogee,CONTROL_FINISHED_OK
$STATE,5740,begin climb
$GC,5742,1.18,116.8,453.5,0.0,306,5856,1.45,2.20,101.85,0.817,4,0.038,0.055,3310,245,2152,0,0,0,0,0,0
$GC,5867,1.01,189.8,454.0,4.6,309,5940,0.20,1.98,64.00,0.801,6,0.103,0.025,3273,1454,1856,0,0,0,0,0,0
$GC,6250,0.89,189.8,420.4,9.3,319,6255,0.15,2.33,0.00,0.000,4,0.105,0.028,3244,2833,1847,0,0,0,0,0,0
$GC,6297,0.89,189.8,416.3,7.9,320,6302,0.00,2.42,0.00,0.000,6,0.000,0.041,3244,1456,1846,0,0,0,0,0,0
$GC,6622,0.86,206.7,392.7,7.1,328,6642,0.00,2.40,14.20,0.734,4,0.000,0.028,3244,2828,1787,0,0,0,0,0,0
$GC,6668,0.89,238.9,389.8,6.4,329,6704,0.00,2.42,30.12,0.772,6,0.000,0.044,3244,1448,1655,0,0,0,0,0,0
$GC,7039,0.96,323.3,372.1,4.1,338,7124,0.00,2.28,73.43,0.786,4,0.000,0.059,3244,231,1311,0,0,0,0,0,0
$GC,7199,0.88,323.3,360.6,9.5,341,7202,0.00,1.98,0.00,0.000,6,0.000,0.028,3244,1438,1306,0,0,0,0,0,0
$GC,7544,0.88,323.3,325.3,11.0,350,7548,0.00,2.15,0.00,0.000,4,0.000,0.058,3244,235,1303,0,0,0,0,0,0
$GC,7597,0.81,323.3,318.5,12.1,351,7601,0.00,2.00,0.00,0.000,6,0.000,0.028,3244,1462,1301,0,0,0,0,0,0
$GC,7923,0.81,323.3,288.1,8.2,362,7927,0.00,2.20,0.00,0.000,4,0.000,0.058,3244,231,1301,0,0,0,0,0,0
$GC,7955,0.77,323.3,284.9,9.5,363,7960,0.12,2.00,0.00,0.000,6,0.106,0.029,3220,1448,1299,0,0,0,0,0,0
$GC,8273,0.88,334.4,262.8,7.4,378,8289,0.10,2.17,9.23,0.630,4,0.080,0.056,3251,230,1265,0,0,0,0,0,0
$GC,8320,0.88,334.4,258.4,10.6,380,8324,0.00,2.03,0.00,0.000,6,0.000,0.028,3250,1463,1263,0,0,0,0,0,0
$GC,8654,0.94,334.4,230.2,8.6,396,8658,0.00,2.28,0.00,0.000,4,0.000,0.028,3251,2837,1262,0,0,0,0,0,0
$GC,8674,1.02,334.4,228.5,8.4,396,8680,0.00,2.45,0.00,0.000,6,0.000,0.042,3251,1451,1262,0,0,0,0,0,0
$GC,8990,1.07,334.4,199.7,9.6,412,8994,0.15,2.17,0.00,0.000,4,0.060,0.054,3295,228,1262,0,0,0,0,0,0
$GC,9075,0.98,334.4,189.8,12.2,418,9080,0.15,2.00,0.00,0.000,6,0.094,0.025,3264,1464,1259,0,0,0,0,0,0
$GC,9341,0.98,334.4,166.5,8.4,439,9346,0.00,2.28,0.00,0.000,4,0.000,0.025,3264,2836,1259,0,0,0,0,0,0
$GC,9360,1.04,334.4,164.6,8.7,440,9367,0.00,2.42,0.00,0.000,6,0.000,0.039,3264,1448,1259,0,0,0,0,0,0
$GC,9622,1.09,346.3,145.5,7.4,461,9639,0.10,2.17,10.70,0.551,4,0.076,0.052,3297,234,1218,0,0,0,0,0,0
$GC,9697,1.01,346.3,138.5,10.1,466,9702,0.15,1.98,0.00,0.000,6,0.089,0.024,3266,1471,1215,0,0,0,0,0,0
$GC,9965,1.10,374.6,121.4,6.6,487,9997,0.10,2.22,25.65,0.571,4,0.074,0.051,3300,226,1101,0,0,0,0,0,0
$GC,10036,1.04,374.6,114.6,11.6,492,10040,0.12,1.95,0.00,0.000,6,0.096,0.024,3275,1451,1099,0,0,0,0,0,0
$GC,10303,1.15,374.6,90.1,8.3,513,10308,0.12,2.30,0.00,0.000,4,0.064,0.023,3316,2833,1098,0,0,0,0,0,0
$GC,10342,1.26,374.6,86.2,9.6,516,10346,0.00,2.38,0.00,0.000,6,0.000,0.035,3316,1442,1098,0,0,0,0,0,0
$GC,10608,1.26,374.6,62.9,8.9,537,10612,0.00,2.08,0.00,0.000,4,0.000,0.049,3316,232,1098,0,0,0,0,0,0
$GC,10667,1.22,374.6,57.1,9.1,541,10674,0.00,1.98,0.00,0.000,6,0.000,0.021,3316,1464,1097,0,0,0,0,0,0
$GC,10928,1.22,374.6,35.9,8.0,562,10929,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,1464,1097,0,0,0,0,0,0
$GC,11184,1.22,374.6,14.5,8.5,610,11190,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,1464,1097,0,0,0,0,0,0
$STATE,11308,end climb,SURFACE_DEPTH_REACHED
$STATE,11310,begin surface coast
$FINISH,0.9,1.003327
$STATE,11346,end surface coast,CONTROL_FINISHED_OK
$STATE,11346,begin surface
$SM_CCo,11368,29.45,0.468,0,0,958,410.14
$SM_GC,1.77,0.00,0.00,29.45,0.000,0.000,0.468,424,1464,958,-12.08,-1.02,410.14
$IRIDIUM_FIX,2104.07,-15753.03,160100,131350
$TT8_MAMPS,0.029146
$HUMID,62.52
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,21.30
$XPDR_PINGS,0
$24V_AH,23.3,69.730
$10V_AH,9.9,56.402
$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,32.375,127.075,425.650,29.450,0.000,27.437,34.427,185.513,4.500,0.000,18.999,1255.898,7584.943,483.533,1887.373,570.576,0.000,1355.479,0.000,1866.711,0.000,29.255,0.000
$DEVICE_MAMPS,131.924,109.681,836.030,467.870,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,435.513,415.358,932.842,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355760
$DATA_FILE_SIZE,34861,647
$CAP_FILE_SIZE,127843,0
$CFSIZE,260165632,172769280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,221010,195428,2109.501,-15751.225,11,2.6,30,9.8