version: 66.06
glider: 139
mission: 8
dive: 738
start: 10 22 110 23 12 22
data:
$ID,139
$MISSION,8
$DIVE,738
$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,-2166833.5
$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
$GPS1,230606,2109.006,-15751.104,32,1.3,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-73.9
$GPS2,231202,2109.011,-15751.156,15,1.3,15,9.8
$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,102.8,15416,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.18,-116.8,0.0,0.0,0,81,0.00,0.00,-64.28,0.000,2,0.000,0.000,426,1457,2620,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.0,-2.9,12,115,12.60,2.42,-10.10,0.000,4,0.130,0.033,2784,2922,3108,0,0,0,0,0,0
$GC,145,-0.93,-116.8,14.2,-15.4,23,152,0.25,2.47,0.00,0.000,6,0.071,0.035,2841,1498,3109,0,0,0,0,0,0
$GC,351,-0.84,-116.8,39.5,-12.2,58,356,0.12,2.17,0.00,0.000,4,0.098,0.047,2867,234,3110,0,0,0,0,0,0
$GC,385,-0.79,-116.8,43.8,-12.4,60,392,0.00,2.10,0.00,0.000,6,0.000,0.020,2867,1565,3110,0,0,0,0,0,0
$GC,645,-0.84,-116.8,75.5,-12.7,81,649,0.00,2.30,0.00,0.000,4,0.000,0.045,2867,231,3111,0,0,0,0,0,0
$GC,690,-0.89,-116.8,80.8,-11.4,84,694,0.00,2.05,0.00,0.000,6,0.000,0.019,2867,1561,3112,0,0,0,0,0,0
$GC,957,-0.96,-116.8,104.0,-8.6,105,961,0.12,2.33,0.00,0.000,4,0.061,0.046,2822,229,3111,0,0,0,0,0,0
$GC,1041,-0.90,-116.8,113.9,-10.9,111,1046,0.15,2.10,0.00,0.000,6,0.084,0.019,2853,1562,3112,0,0,0,0,0,0
$GC,1308,-0.96,-116.8,135.6,-7.1,132,1312,0.00,2.28,0.00,0.000,4,0.000,0.044,2854,236,3112,0,0,0,0,0,0
$GC,1359,-1.05,-116.8,139.8,-8.1,135,1369,0.15,2.08,0.00,0.000,6,0.053,0.018,2802,1568,3113,0,0,0,0,0,0
$GC,1620,-1.01,-116.8,163.3,-10.7,156,1625,0.12,2.22,0.00,0.000,4,0.094,0.021,2829,2923,3113,0,0,0,0,0,0
$GC,1662,-1.13,-116.8,167.4,-9.4,159,1667,0.12,2.40,0.00,0.000,6,0.060,0.031,2781,1489,3113,0,0,0,0,0,0
$GC,1928,-1.04,-116.8,198.1,-11.5,180,1930,0.20,0.00,0.00,0.000,6,0.081,0.000,2824,1489,3113,0,0,0,0,0,0
$GC,2181,-1.04,-116.8,220.2,-8.0,193,2185,0.00,2.12,0.00,0.000,4,0.000,0.047,2824,239,3113,0,0,0,0,0,0
$GC,2241,-1.04,-116.8,226.3,-10.2,195,2245,0.00,2.08,0.00,0.000,6,0.000,0.019,2825,1560,3113,0,0,0,0,0,0
$GC,2557,-1.04,-116.8,248.5,-5.8,210,2561,0.00,2.28,0.00,0.000,4,0.000,0.047,2824,240,3113,0,0,0,0,0,0
$GC,2591,-1.04,-116.8,250.4,-5.6,211,2595,0.00,2.05,0.00,0.000,6,0.000,0.021,2824,1558,3113,0,0,0,0,0,0
$GC,2913,-1.07,-116.8,266.9,-6.1,227,2914,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1563,3113,0,0,0,0,0,0
$GC,3221,-1.12,-116.8,289.7,-8.5,242,3225,0.00,2.30,0.00,0.000,4,0.000,0.048,2824,232,3113,0,0,0,0,0,0
$GC,3258,-1.16,-116.8,293.3,-9.4,243,3264,0.12,2.10,0.00,0.000,6,0.063,0.021,2781,1562,3112,0,0,0,0,0,0
$GC,3571,-1.11,-116.8,321.8,-8.4,253,3576,0.12,2.22,0.00,0.000,4,0.094,0.025,2808,2920,3111,0,0,0,0,0,0
$GC,3625,-1.20,-116.8,326.1,-7.8,254,3629,0.00,2.40,0.00,0.000,6,0.000,0.032,2808,1503,3111,0,0,0,0,0,0
$GC,3945,-1.20,-116.8,352.2,-8.1,262,3949,0.00,2.17,0.00,0.000,4,0.000,0.050,2808,231,3109,0,0,0,0,0,0
$GC,4021,-1.20,-116.8,357.8,-6.7,263,4024,0.00,2.10,0.00,0.000,6,0.000,0.022,2808,1551,3109,0,0,0,0,0,0
$GC,4357,-1.24,-116.8,377.4,-5.3,272,4361,0.12,2.30,0.00,0.000,4,0.064,0.051,2766,234,3107,0,0,0,0,0,0
$GC,4391,-1.15,-116.8,380.0,-7.9,272,4396,0.15,2.10,0.00,0.000,6,0.088,0.023,2798,1546,3107,0,0,0,0,0,0
$GC,4730,-1.15,-116.8,401.8,-6.7,281,4731,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1550,3105,0,0,0,0,0,0
$GC,5053,-1.15,-116.8,424.3,-6.8,289,5054,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,1550,3103,0,0,0,0,0,0
$GC,5378,-1.15,-116.8,447.0,-7.3,297,5379,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1551,3101,0,0,0,0,0,0
$STATE,5457,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5458,begin apogee
$GC,5466,-0.31,0.0,452.9,7.4,299,5566,0.85,0.00,96.82,0.831,6,0.063,0.000,2983,1444,2630,0,0,0,0,0,0
$STATE,5566,end apogee,CONTROL_FINISHED_OK
$STATE,5567,begin climb
$GC,5569,1.18,116.8,455.8,0.0,301,5683,1.40,2.42,101.75,0.815,4,0.033,0.029,3312,2838,2152,0,0,0,0,0,0
$GC,5716,1.05,172.9,456.3,5.4,304,5774,0.17,2.42,49.65,0.798,6,0.099,0.041,3278,1451,1924,0,0,0,0,0,0
$GC,6114,0.91,172.9,420.8,9.5,314,6118,0.15,2.30,0.00,0.000,4,0.100,0.028,3248,2829,1915,0,0,0,0,0,0
$GC,6161,0.91,172.9,416.6,8.1,315,6165,0.00,2.42,0.00,0.000,6,0.000,0.042,3248,1451,1914,0,0,0,0,0,0
$GC,6485,0.85,172.9,388.2,8.9,323,6489,0.00,2.33,0.00,0.000,4,0.000,0.028,3248,2829,1911,0,0,0,0,0,0
$GC,6508,0.88,196.2,386.4,6.8,323,6533,0.00,2.40,19.70,0.759,6,0.000,0.042,3248,1450,1829,0,0,0,0,0,0
$GC,6859,0.90,242.2,365.7,5.8,332,6907,0.00,2.38,41.40,0.777,4,0.000,0.028,3248,2836,1641,0,0,0,0,0,0
$GC,6953,0.97,262.3,358.9,7.0,334,6978,0.00,2.45,19.00,0.734,6,0.000,0.044,3248,1452,1559,0,0,0,0,0,0
$GC,7318,0.97,262.3,325.3,10.0,343,7322,0.00,2.15,0.00,0.000,4,0.000,0.058,3248,232,1553,0,0,0,0,0,0
$GC,7417,0.90,262.3,315.8,8.5,345,7421,0.00,2.00,0.00,0.000,6,0.000,0.028,3248,1449,1549,0,0,0,0,0,0
$GC,7742,0.90,264.7,292.8,7.8,355,7746,0.00,2.33,0.00,0.000,4,0.000,0.028,3248,2839,1548,0,0,0,0,0,0
$GC,7781,1.00,276.6,289.9,7.4,356,7799,0.00,2.45,12.07,0.673,6,0.000,0.043,3248,1456,1501,0,0,0,0,0,0
$GC,8125,1.01,283.0,263.0,7.6,373,8137,0.10,2.22,6.45,0.574,4,0.077,0.058,3279,233,1476,0,0,0,0,0,0
$GC,8249,0.91,283.0,249.4,11.2,378,8254,0.15,2.00,0.00,0.000,6,0.095,0.027,3249,1459,1472,0,0,0,0,0,0
$GC,8572,0.98,310.8,226.7,6.6,394,8600,0.00,0.00,25.62,0.671,6,0.000,0.000,3250,1463,1363,0,0,0,0,0,0
$GC,8901,1.02,310.8,199.4,8.6,410,8906,0.10,2.17,0.00,0.000,4,0.077,0.054,3282,232,1358,0,0,0,0,0,0
$GC,8952,0.94,310.8,193.9,10.3,413,8958,0.12,1.98,0.00,0.000,6,0.100,0.025,3256,1458,1356,0,0,0,0,0,0
$GC,9214,1.02,340.9,175.4,6.5,434,9248,0.00,2.33,26.58,0.624,4,0.000,0.025,3256,2838,1238,0,0,0,0,0,0
$GC,9264,1.15,374.9,171.8,6.4,437,9302,0.20,2.45,30.40,0.617,6,0.048,0.039,3315,1443,1100,0,0,0,0,0,0
$GC,9563,1.08,374.9,139.0,11.9,461,9568,0.15,2.12,0.00,0.000,4,0.092,0.054,3284,232,1096,0,0,0,0,0,0
$GC,9654,1.08,374.9,128.0,11.4,467,9659,0.00,1.92,0.00,0.000,6,0.000,0.024,3284,1452,1093,0,0,0,0,0,0
$GC,9912,1.12,374.9,104.4,8.1,488,9914,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1453,1093,0,0,0,0,0,0
$GC,10167,1.20,380.7,84.2,7.6,508,10183,0.12,2.20,5.43,0.421,4,0.063,0.049,3325,231,1076,0,0,0,0,0,0
$GC,10193,1.16,380.7,81.8,8.4,509,10199,0.12,1.95,0.00,0.000,6,0.094,0.022,3300,1467,1075,0,0,0,0,0,0
$GC,10457,1.27,417.7,63.2,6.2,530,10491,0.12,0.00,31.92,0.525,6,0.063,0.000,3343,1468,927,0,0,0,0,0,0
$GC,10743,1.21,417.7,35.2,10.4,553,10748,0.15,2.17,0.00,0.000,4,0.087,0.049,3311,231,924,0,0,0,0,0,0
$GC,10771,1.16,417.7,31.8,10.3,555,10775,0.00,1.92,0.00,0.000,6,0.000,0.022,3311,1451,923,0,0,0,0,0,0
$GC,11035,1.16,417.7,8.5,9.3,613,11042,0.00,2.28,0.00,0.000,4,0.000,0.021,3311,2836,923,0,0,0,0,0,0
$GC,11051,1.19,417.7,7.2,9.3,615,11058,0.00,2.40,0.00,0.000,6,0.000,0.035,3311,1448,922,0,0,0,0,0,0
$STATE,11097,end climb,SURFACE_DEPTH_REACHED
$STATE,11097,begin surface coast
$FINISH,0.9,1.009766
$STATE,11134,end surface coast,CONTROL_FINISHED_OK
$STATE,11134,begin surface
$SM_CCo,11216,0.00,0.000,0,0,919,419.46
$SM_GC,1.80,12.38,0.00,0.00,0.024,0.000,0.000,430,1446,919,-11.98,-1.53,419.46
$IRIDIUM_FIX,2101.76,-15750.89,160100,202028
$TT8_MAMPS,0.029146
$HUMID,62.36
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.3,69.958
$10V_AH,10.0,56.569
$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,30.675,111.500,466.800,0.000,0.000,30.592,30.569,159.573,4.500,0.000,15.914,1225.943,7471.355,482.193,1851.279,535.432,0.000,1338.864,0.000,1833.039,0.000,29.259,0.000
$DEVICE_MAMPS,130.390,69.030,831.428,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,425.436,403.924,917.798,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,34889,633
$CAP_FILE_SIZE,122721,0
$CFSIZE,260165632,172658688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,231010,022036,2108.796,-15751.800,43,1.0,43,9.8