version: 66.06
glider: 139
mission: 8
dive: 740
start: 10 23 110 5 37 22
data:
$ID,139
$MISSION,8
$DIVE,740
$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,-2166888.2
$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
$GPS1,053032,2108.861,-15751.568,12,2.0,12,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-73.7
$GPS2,053704,2108.839,-15751.568,14,2.1,33,9.8
$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,100.7,15961,-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,-116.8,0.0,0.0,0,82,0.00,0.00,-64.12,0.000,2,0.000,0.000,423,1459,2744,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.4,-3.3,12,110,12.65,2.20,-7.05,0.000,4,0.132,0.061,2785,230,3110,0,0,0,0,0,0
$GC,128,-0.15,-116.8,14.4,-24.8,19,135,1.05,2.12,0.00,0.000,6,0.075,0.020,3015,1557,3112,0,0,0,0,0,0
$GC,330,-0.73,-116.8,30.3,-9.0,65,336,0.55,2.25,0.00,0.000,4,0.042,0.020,2882,2930,3112,0,0,0,0,0,0
$GC,385,-0.93,-116.8,35.0,-8.1,69,391,0.15,2.40,0.00,0.000,6,0.054,0.028,2829,1496,3112,0,0,0,0,0,0
$GC,654,-0.84,-116.8,65.2,-11.3,90,659,0.17,2.17,0.00,0.000,4,0.084,0.044,2867,231,3113,0,0,0,0,0,0
$GC,713,-0.84,-116.8,71.3,-9.7,94,717,0.00,2.08,0.00,0.000,6,0.000,0.018,2867,1562,3113,0,0,0,0,0,0
$GC,979,-0.88,-116.8,97.5,-9.0,115,983,0.00,2.28,0.00,0.000,4,0.000,0.043,2867,240,3114,0,0,0,0,0,0
$GC,1055,-0.95,-116.8,104.1,-8.9,120,1062,0.08,2.08,0.00,0.000,6,0.035,0.018,2827,1567,3114,0,0,0,0,0,0
$GC,1318,-0.95,-116.8,125.8,-7.5,141,1322,0.00,2.20,0.00,0.000,4,0.000,0.020,2827,2924,3115,0,0,0,0,0,0
$GC,1334,-0.95,-116.8,127.3,-7.6,142,1338,0.00,2.38,0.00,0.000,6,0.000,0.031,2827,1503,3115,0,0,0,0,0,0
$GC,1592,-0.95,-116.8,149.2,-9.7,162,1596,0.00,2.12,0.00,0.000,4,0.000,0.044,2827,235,3116,0,0,0,0,0,0
$GC,1631,-0.95,-116.8,153.0,-10.4,165,1635,0.00,2.08,0.00,0.000,6,0.000,0.018,2827,1571,3116,0,0,0,0,0,0
$GC,1895,-0.95,-116.8,176.7,-9.1,186,1899,0.00,2.28,0.00,0.000,4,0.000,0.044,2827,235,3116,0,0,0,0,0,0
$GC,1953,-0.95,-116.8,182.1,-9.0,190,1957,0.00,2.05,0.00,0.000,6,0.000,0.018,2827,1567,3116,0,0,0,0,0,0
$GC,2224,-0.95,-116.8,201.9,-7.3,210,2229,0.00,2.28,0.00,0.000,4,0.000,0.045,2827,235,3116,0,0,0,0,0,0
$GC,2280,-0.98,-116.8,206.9,-7.9,212,2284,0.00,2.05,0.00,0.000,6,0.000,0.019,2827,1561,3117,0,0,0,0,0,0
$GC,2599,-0.98,-116.8,227.8,-6.5,227,2603,0.00,2.28,0.00,0.000,4,0.000,0.045,2827,228,3116,0,0,0,0,0,0
$GC,2631,-0.98,-116.8,230.8,-8.1,228,2635,0.00,2.08,0.00,0.000,6,0.000,0.019,2827,1564,3116,0,0,0,0,0,0
$GC,2949,-1.04,-116.8,255.3,-7.8,243,2953,0.00,2.28,0.00,0.000,4,0.000,0.046,2827,234,3116,0,0,0,0,0,0
$GC,2979,-1.07,-116.8,257.8,-8.3,244,2983,0.00,2.08,0.00,0.000,6,0.000,0.020,2827,1564,3116,0,0,0,0,0,0
$GC,3304,-1.14,-116.8,279.5,-6.3,260,3306,0.12,0.00,0.00,0.000,6,0.061,0.000,2781,1568,3116,0,0,0,0,0,0
$GC,3616,-1.11,-116.8,299.1,-6.5,275,3621,0.12,2.30,0.00,0.000,4,0.092,0.050,2808,237,3115,0,0,0,0,0,0
$GC,3668,-1.11,-116.8,303.3,-7.5,277,3672,0.00,2.08,0.00,0.000,6,0.000,0.022,2808,1550,3115,0,0,0,0,0,0
$GC,3988,-1.15,-116.8,329.2,-8.9,285,3992,0.00,2.30,0.00,0.000,4,0.000,0.051,2808,230,3114,0,0,0,0,0,0
$GC,4011,-1.15,-116.8,331.5,-9.0,285,4015,0.00,2.00,0.00,0.000,6,0.000,0.023,2809,1497,3113,0,0,0,0,0,0
$GC,4361,-1.19,-116.8,358.1,-7.1,294,4362,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1508,3111,0,0,0,0,0,0
$GC,4688,-1.23,-116.8,380.5,-6.9,302,4693,0.12,2.25,0.00,0.000,4,0.064,0.053,2768,230,3109,0,0,0,0,0,0
$GC,4736,-1.18,-116.8,384.7,-9.3,303,4740,0.12,2.05,0.00,0.000,6,0.094,0.024,2794,1512,3109,0,0,0,0,0,0
$GC,5062,-1.18,-116.8,408.2,-7.4,311,5066,0.00,2.22,0.00,0.000,4,0.000,0.054,2794,231,3107,0,0,0,0,0,0
$GC,5096,-1.18,-116.8,411.2,-8.7,311,5100,0.00,2.03,0.00,0.000,6,0.000,0.025,2795,1508,3106,0,0,0,0,0,0
$GC,5427,-1.18,-116.8,439.9,-9.1,319,5432,0.00,2.22,0.00,0.000,4,0.000,0.055,2794,234,3104,0,0,0,0,0,0
$GC,5451,-1.18,-116.8,442.3,-9.2,319,5455,0.00,2.05,0.00,0.000,6,0.000,0.025,2795,1492,3104,0,0,0,0,0,0
$STATE,5554,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5554,begin apogee
$GC,5562,-0.31,0.0,451.4,8.7,322,5663,0.85,0.00,97.03,0.832,6,0.064,0.000,2979,1445,2629,0,0,0,0,0,0
$STATE,5663,end apogee,CONTROL_FINISHED_OK
$STATE,5664,begin climb
$GC,5666,1.18,116.8,455.4,0.0,324,5780,1.42,2.42,101.22,0.815,4,0.035,0.029,3312,2825,2153,0,0,0,0,0,0
$GC,5786,1.10,220.5,459.2,3.2,326,5887,0.12,2.40,90.15,0.805,6,0.110,0.041,3289,1449,1730,0,0,0,0,0,0
$GC,6211,0.95,220.5,418.8,10.2,337,6213,0.17,0.00,0.00,0.000,6,0.097,0.000,3255,1449,1721,0,0,0,0,0,0
$GC,6536,0.88,220.5,390.5,8.5,345,6540,0.00,2.35,0.00,0.000,4,0.000,0.029,3255,2838,1719,0,0,0,0,0,0
$GC,6570,0.88,220.8,387.7,7.9,345,6574,0.00,2.42,0.00,0.000,6,0.000,0.044,3254,1450,1719,0,0,0,0,0,0
$GC,6906,0.84,231.2,362.3,7.4,354,6916,0.00,0.00,8.38,0.667,6,0.000,0.000,3254,1450,1687,0,0,0,0,0,0
$GC,7231,0.80,231.2,336.4,8.2,362,7236,0.15,2.15,0.00,0.000,4,0.097,0.058,3224,233,1685,0,0,0,0,0,0
$GC,7276,0.76,231.2,332.7,8.4,363,7280,0.00,2.00,0.00,0.000,6,0.000,0.028,3224,1451,1682,0,0,0,0,0,0
$GC,7608,0.84,259.4,309.2,6.6,371,7640,0.00,2.42,25.50,0.736,4,0.000,0.029,3223,2838,1572,0,0,0,0,0,0
$GC,7658,0.98,298.9,305.8,6.1,372,7701,0.17,2.47,36.15,0.737,6,0.054,0.044,3273,1445,1411,0,0,0,0,0,0
$GC,8029,0.94,298.9,272.8,9.5,388,8033,0.00,2.15,0.00,0.000,4,0.000,0.058,3272,232,1404,0,0,0,0,0,0
$GC,8150,0.86,298.9,259.7,9.7,393,8155,0.17,2.00,0.00,0.000,6,0.094,0.028,3238,1458,1401,0,0,0,0,0,0
$GC,8476,0.98,341.4,238.6,6.0,409,8519,0.12,2.38,36.55,0.691,4,0.067,0.028,3274,2827,1238,0,0,0,0,0,0
$GC,8529,0.98,346.4,234.6,7.7,411,8542,0.00,2.45,6.38,0.543,6,0.000,0.043,3274,1446,1215,0,0,0,0,0,0
$GC,8870,0.98,346.4,203.7,9.8,428,8874,0.00,2.12,0.00,0.000,4,0.000,0.055,3274,229,1211,0,0,0,0,0,0
$GC,8907,0.92,346.4,198.7,13.9,429,8913,0.10,2.00,0.00,0.000,6,0.106,0.025,3254,1468,1209,0,0,0,0,0,0
$GC,9230,0.98,346.4,162.7,12.1,455,9234,0.00,2.17,0.00,0.000,4,0.000,0.054,3253,224,1209,0,0,0,0,0,0
$GC,9305,0.98,346.4,152.9,11.8,460,9312,0.00,2.00,0.00,0.000,6,0.000,0.025,3253,1444,1208,0,0,0,0,0,0
$GC,9567,1.10,381.0,131.3,6.3,481,9603,0.15,2.38,29.25,0.591,4,0.058,0.025,3299,2842,1075,0,0,0,0,0,0
$GC,9637,1.18,381.0,125.9,8.8,485,9641,0.00,2.45,0.00,0.000,6,0.000,0.039,3299,1444,1075,0,0,0,0,0,0
$GC,9900,1.18,381.0,98.9,11.2,506,9904,0.00,2.10,0.00,0.000,4,0.000,0.052,3299,232,1074,0,0,0,0,0,0
$GC,9970,1.14,381.0,89.8,13.7,511,9974,0.00,1.98,0.00,0.000,6,0.000,0.023,3299,1463,1070,0,0,0,0,0,0
$GC,10234,1.14,383.8,64.7,7.8,532,10238,0.00,2.17,0.00,0.000,4,0.000,0.051,3299,228,1070,0,0,0,0,0,0
$GC,10266,1.10,383.8,62.2,8.3,534,10269,0.00,1.95,0.00,0.000,6,0.000,0.022,3299,1461,1070,0,0,0,0,0,0
$GC,10537,1.18,389.9,42.3,7.6,555,10552,0.00,2.20,8.27,0.448,4,0.000,0.048,3299,232,1039,0,0,0,0,0,0
$GC,10604,1.18,389.9,36.0,8.7,559,10610,0.00,1.98,0.00,0.000,6,0.000,0.021,3299,1465,1038,0,0,0,0,0,0
$GC,10867,1.23,389.9,13.9,8.4,608,10873,0.00,2.15,0.00,0.000,4,0.000,0.048,3299,238,1038,0,0,0,0,0,0
$GC,10891,1.23,389.9,11.9,8.8,612,10897,0.00,1.92,0.00,0.000,6,0.000,0.021,3299,1448,1037,0,0,0,0,0,0
$STATE,10990,end climb,SURFACE_DEPTH_REACHED
$STATE,10990,begin surface coast
$FINISH,1.0,1.019624
$STATE,11028,end surface coast,CONTROL_FINISHED_OK
$STATE,11028,begin surface
$SM_CCo,11050,17.17,0.461,0,0,958,410.14
$SM_GC,2.12,0.00,0.00,17.17,0.000,0.000,0.461,431,1448,958,-12.05,-1.47,410.14
$IRIDIUM_FIX,2059.45,-15750.89,170100,020228
$TT8_MAMPS,0.029146
$HUMID,63.15
$INTERNAL_PRESSURE,9.22541
$TCM_TEMP,21.20
$XPDR_PINGS,1
$24V_AH,23.3,70.181
$10V_AH,9.9,56.739
$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,30.950,122.475,438.875,17.175,0.000,24.105,39.725,171.459,4.750,0.000,34.791,1245.564,7261.433,478.545,1919.856,550.502,0.000,1341.954,0.000,1881.013,0.000,29.255,0.000
$DEVICE_MAMPS,131.924,108.147,832.195,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,432.904,414.050,965.443,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,34872,643
$CAP_FILE_SIZE,123787,0
$CFSIZE,260165632,172539904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,231010,084306,2108.952,-15750.675,37,1.0,37,9.8