version: 66.06
glider: 139
mission: 8
dive: 737
start: 10 22 110 20 1 18
data:
$ID,139
$MISSION,8
$DIVE,737
$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,-2166816.8
$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
$GPS1,195428,2109.501,-15751.225,11,2.6,30,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-73.8
$GPS2,200100,2109.493,-15751.268,42,1.5,42,9.8
$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,105.5,15955,-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,-64.57,0.000,2,0.000,0.000,425,1465,2762,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.5,-3.6,12,111,12.62,2.12,-6.65,0.000,4,0.130,0.058,2786,237,3108,0,0,0,0,0,0
$GC,133,-0.33,-116.8,15.2,-24.0,20,140,0.85,2.10,0.00,0.000,6,0.073,0.020,2976,1550,3109,0,0,0,0,0,0
$GC,337,-0.82,-116.8,28.5,-5.8,66,344,0.45,2.30,0.00,0.000,4,0.038,0.042,2858,236,3110,0,0,0,0,0,0
$GC,369,-0.89,-116.8,31.0,-8.2,71,373,0.00,2.00,0.00,0.000,6,0.000,0.020,2858,1502,3110,0,0,0,0,0,0
$GC,640,-0.86,-116.8,56.1,-10.5,92,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1515,3111,0,0,0,0,0,0
$GC,892,-0.86,-116.8,83.0,-11.0,112,896,0.00,2.20,0.00,0.000,4,0.000,0.044,2858,234,3111,0,0,0,0,0,0
$GC,932,-0.86,-116.8,87.9,-11.1,115,936,0.00,2.00,0.00,0.000,6,0.000,0.018,2858,1507,3111,0,0,0,0,0,0
$GC,1198,-0.91,-116.8,111.7,-8.7,136,1202,0.00,2.20,0.00,0.000,4,0.000,0.021,2858,2882,3112,0,0,0,0,0,0
$GC,1223,-1.01,-116.8,114.1,-8.6,138,1228,0.12,2.35,0.00,0.000,6,0.061,0.031,2809,1492,3112,0,0,0,0,0,0
$GC,1492,-0.97,-116.8,137.1,-8.5,159,1496,0.12,2.12,0.00,0.000,4,0.091,0.044,2836,238,3112,0,0,0,0,0,0
$GC,1557,-0.97,-116.8,143.5,-8.5,164,1561,0.00,1.98,0.00,0.000,6,0.000,0.018,2836,1512,3113,0,0,0,0,0,0
$GC,1831,-1.01,-116.8,160.5,-5.6,185,1835,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1525,3113,0,0,0,0,0,0
$GC,2090,-1.05,-116.8,176.8,-7.0,206,2091,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1525,3114,0,0,0,0,0,0
$GC,2342,-1.09,-116.8,195.7,-8.0,226,2347,0.10,2.20,0.00,0.000,4,0.071,0.045,2797,238,3113,0,0,0,0,0,0
$GC,2387,-1.03,-116.8,200.1,-10.6,229,2391,0.12,1.98,0.00,0.000,6,0.090,0.020,2825,1508,3113,0,0,0,0,0,0
$GC,2641,-1.03,-116.8,223.1,-8.1,241,2642,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1512,3113,0,0,0,0,0,0
$GC,2954,-1.08,-116.8,241.1,-5.2,256,2958,0.00,2.20,0.00,0.000,4,0.000,0.047,2825,234,3113,0,0,0,0,0,0
$GC,3022,-1.12,-116.8,245.7,-6.8,259,3026,0.00,1.98,0.00,0.000,6,0.000,0.021,2825,1495,3113,0,0,0,0,0,0
$GC,3360,-1.18,-116.8,272.0,-9.0,275,3365,0.15,2.20,0.00,0.000,4,0.056,0.048,2775,236,3113,0,0,0,0,0,0
$GC,3381,-1.15,-116.8,274.8,-10.8,276,3385,0.12,2.00,0.00,0.000,6,0.093,0.021,2802,1508,3113,0,0,0,0,0,0
$GC,3733,-1.15,-116.8,308.6,-9.6,291,3737,0.00,2.20,0.00,0.000,4,0.000,0.050,2802,240,3111,0,0,0,0,0,0
$GC,3751,-1.15,-116.8,310.7,-9.1,291,3755,0.00,1.98,0.00,0.000,6,0.000,0.023,2801,1501,3111,0,0,0,0,0,0
$GC,4100,-1.15,-116.8,339.5,-7.4,300,4105,0.00,2.17,0.00,0.000,4,0.000,0.051,2802,240,3109,0,0,0,0,0,0
$GC,4126,-1.15,-116.8,341.2,-6.5,300,4130,0.00,2.00,0.00,0.000,6,0.000,0.024,2802,1497,3109,0,0,0,0,0,0
$GC,4476,-1.15,-116.8,362.5,-6.1,309,4480,0.00,2.25,0.00,0.000,4,0.000,0.026,2802,2881,3107,0,0,0,0,0,0
$GC,4495,-1.19,-116.8,363.8,-6.3,309,4500,0.00,2.35,0.00,0.000,6,0.000,0.037,2802,1506,3106,0,0,0,0,0,0
$GC,4842,-1.19,-116.8,390.1,-7.9,318,4843,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1506,3104,0,0,0,0,0,0
$GC,5165,-1.19,-116.8,419.5,-8.8,326,5166,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1506,3102,0,0,0,0,0,0
$GC,5491,-1.19,-116.8,443.0,-6.5,334,5492,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1506,3100,0,0,0,0,0,0
$STATE,5650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5650,begin apogee
$GC,5657,-0.31,0.0,452.3,5.7,338,5757,0.82,0.00,96.40,0.831,6,0.065,0.000,2981,1438,2629,0,0,0,0,0,0
$STATE,5757,end apogee,CONTROL_FINISHED_OK
$STATE,5757,begin climb
$GC,5760,1.18,116.8,453.6,0.0,340,5872,1.40,2.42,101.43,0.813,4,0.032,0.028,3311,2823,2153,0,0,0,0,0,0
$GC,5893,1.01,142.8,451.4,6.7,343,5923,0.20,2.42,23.92,0.768,6,0.099,0.040,3273,1450,2047,0,0,0,0,0,0
$GC,6257,0.88,142.8,419.9,8.4,352,6262,0.15,2.15,0.00,0.000,4,0.105,0.056,3243,235,2037,0,0,0,0,0,0
$GC,6306,0.80,187.3,416.8,5.9,353,6351,0.00,1.95,38.70,0.785,6,0.000,0.026,3243,1447,1865,0,0,0,0,0,0
$GC,6676,0.87,289.3,402.7,3.3,362,6774,0.00,2.35,88.72,0.799,4,0.000,0.027,3243,2830,1449,0,0,0,0,0,0
$GC,6822,1.03,354.8,395.8,4.9,365,6892,0.12,2.45,57.05,0.781,6,0.067,0.044,3281,1446,1182,0,0,0,0,0,0
$GC,7214,0.94,354.8,350.0,13.7,375,7218,0.12,2.17,0.00,0.000,4,0.100,0.061,3256,229,1175,0,0,0,0,0,0
$GC,7324,0.85,354.8,336.4,11.7,377,7329,0.10,2.00,0.00,0.000,6,0.116,0.029,3237,1440,1172,0,0,0,0,0,0
$GC,7638,0.85,354.8,309.4,8.5,385,7642,0.00,2.15,0.00,0.000,4,0.000,0.060,3237,231,1171,0,0,0,0,0,0
$GC,7743,0.81,354.8,297.4,11.8,387,7747,0.00,2.00,0.00,0.000,6,0.000,0.028,3237,1455,1170,0,0,0,0,0,0
$GC,8069,0.89,379.6,272.4,6.8,403,8095,0.00,2.22,20.62,0.700,4,0.000,0.058,3237,232,1081,0,0,0,0,0,0
$GC,8169,0.89,379.6,263.7,9.7,407,8173,0.00,2.00,0.00,0.000,6,0.000,0.028,3237,1451,1077,0,0,0,0,0,0
$GC,8496,0.96,379.6,235.3,8.7,423,8501,0.10,2.17,0.00,0.000,4,0.077,0.058,3269,232,1076,0,0,0,0,0,0
$GC,8547,0.87,379.6,229.1,13.0,425,8552,0.15,2.00,0.00,0.000,6,0.096,0.028,3239,1463,1075,0,0,0,0,0,0
$GC,8873,1.00,413.7,204.9,6.4,441,8911,0.12,2.22,29.65,0.659,4,0.066,0.053,3277,232,942,0,0,0,0,0,0
$GC,8968,0.96,413.7,194.1,13.4,446,8972,0.00,2.03,0.00,0.000,6,0.000,0.026,3278,1455,939,0,0,0,0,0,0
$GC,9237,0.96,413.7,163.2,11.0,467,9240,0.00,2.17,0.00,0.000,4,0.000,0.054,3278,230,938,0,0,0,0,0,0
$GC,9276,0.89,413.7,158.2,13.5,470,9281,0.17,1.98,0.00,0.000,6,0.089,0.026,3242,1457,937,0,0,0,0,0,0
$GC,9545,0.99,413.7,132.5,9.0,491,9549,0.10,2.17,0.00,0.000,4,0.076,0.054,3276,225,937,0,0,0,0,0,0
$GC,9605,0.99,413.7,124.7,13.1,495,9610,0.00,1.98,0.00,0.000,6,0.000,0.025,3276,1454,936,0,0,0,0,0,0
$GC,9865,1.04,413.7,95.9,9.9,516,9869,0.00,2.12,0.00,0.000,4,0.000,0.052,3275,232,936,0,0,0,0,0,0
$GC,9921,1.08,413.7,89.2,11.3,520,9925,0.00,1.98,0.00,0.000,6,0.000,0.025,3276,1473,935,0,0,0,0,0,0
$GC,10194,1.19,434.0,68.2,7.0,541,10217,0.15,2.20,17.73,0.522,4,0.056,0.050,3323,227,859,0,0,0,0,0,0
$GC,10238,1.14,434.0,64.0,9.5,543,10242,0.12,1.95,0.00,0.000,6,0.092,0.023,3297,1455,857,0,0,0,0,0,0
$GC,10503,1.22,434.9,44.8,7.9,563,10507,0.00,2.12,0.00,0.000,4,0.000,0.051,3298,229,857,0,0,0,0,0,0
$GC,10548,1.26,434.9,40.3,9.7,566,10555,0.08,1.98,0.00,0.000,6,0.039,0.022,3337,1456,856,0,0,0,0,0,0
$GC,10813,1.22,434.9,14.0,11.0,609,10819,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,1456,856,0,0,0,0,0,0
$STATE,10908,end climb,SURFACE_DEPTH_REACHED
$STATE,10908,begin surface coast
$FINISH,0.9,1.010521
$STATE,10938,end surface coast,CONTROL_FINISHED_OK
$STATE,10938,begin surface
$SM_CCo,11021,0.00,0.000,0,0,854,435.65
$SM_GC,1.84,12.45,0.00,0.00,0.022,0.000,0.000,426,1456,854,-12.00,-1.24,435.65
$IRIDIUM_FIX,2101.76,-15753.03,160100,161627
$TT8_MAMPS,0.028379
$HUMID,64.96
$INTERNAL_PRESSURE,9.21564
$TCM_TEMP,20.70
$XPDR_PINGS,0
$24V_AH,23.3,69.847
$10V_AH,10.0,56.486
$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,31.050,102.350,474.225,0.000,0.000,29.195,33.890,163.863,4.500,0.000,42.394,1225.707,7271.668,463.533,1907.049,534.984,0.000,1317.052,0.000,1859.276,0.000,29.252,0.000
$DEVICE_MAMPS,130.390,92.040,830.661,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,429.375,408.898,946.548,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,34852,637
$CAP_FILE_SIZE,120469,0
$CFSIZE,260165632,172716032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221010,230606,2109.006,-15751.104,32,1.3,32,9.8