version: 66.06
glider: 139
mission: 8
dive: 741
start: 10 23 110 8 49 34
data:
$ID,139
$MISSION,8
$DIVE,741
$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,-2166904
$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
$GPS1,084306,2108.952,-15750.675,37,1.0,37,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-73.4
$GPS2,084914,2108.892,-15750.695,14,1.6,14,9.8
$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,103.2,14598,-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,-64.15,0.000,2,0.000,0.000,430,1447,2740,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.4,-3.5,12,111,12.60,2.17,-7.15,0.000,4,0.130,0.061,2786,232,3110,0,0,0,0,0,0
$GC,145,-0.80,-116.8,17.0,-18.1,23,152,0.38,2.12,0.00,0.000,6,0.074,0.020,2870,1561,3112,0,0,0,0,0,0
$GC,353,-0.80,-116.8,38.7,-9.5,57,357,0.00,2.28,0.00,0.000,4,0.000,0.044,2870,237,3113,0,0,0,0,0,0
$GC,391,-0.80,-116.8,42.6,-10.4,59,397,0.00,2.10,0.00,0.000,6,0.000,0.019,2870,1565,3114,0,0,0,0,0,0
$GC,651,-0.85,-116.8,64.8,-7.2,80,655,0.00,2.28,0.00,0.000,4,0.000,0.044,2870,237,3114,0,0,0,0,0,0
$GC,729,-0.92,-116.8,71.0,-8.1,85,736,0.00,2.08,0.00,0.000,6,0.000,0.019,2870,1562,3114,0,0,0,0,0,0
$GC,989,-0.99,-116.8,89.2,-7.4,106,993,0.15,2.28,0.00,0.000,4,0.054,0.045,2818,237,3115,0,0,0,0,0,0
$GC,1007,-0.99,-116.8,91.2,-9.7,107,1013,0.00,2.08,0.00,0.000,6,0.000,0.019,2818,1565,3115,0,0,0,0,0,0
$GC,1269,-0.95,-116.8,119.6,-11.0,128,1275,0.12,2.30,0.00,0.000,4,0.091,0.045,2845,232,3115,0,0,0,0,0,0
$GC,1335,-0.99,-116.8,126.4,-8.5,132,1342,0.00,2.10,0.00,0.000,6,0.000,0.018,2846,1565,3115,0,0,0,0,0,0
$GC,1599,-1.02,-116.8,142.8,-5.3,153,1603,0.00,2.20,0.00,0.000,4,0.000,0.021,2846,2931,3116,0,0,0,0,0,0
$GC,1614,-1.08,-116.8,143.8,-5.5,154,1619,0.15,2.40,0.00,0.000,6,0.053,0.031,2792,1497,3116,0,0,0,0,0,0
$GC,1876,-1.01,-116.8,165.2,-9.5,174,1881,0.17,2.15,0.00,0.000,4,0.082,0.045,2830,235,3116,0,0,0,0,0,0
$GC,1901,-1.01,-116.8,167.7,-8.6,176,1905,0.00,2.05,0.00,0.000,6,0.000,0.019,2829,1560,3116,0,0,0,0,0,0
$GC,2169,-1.01,-116.8,187.9,-7.1,197,2173,0.00,2.28,0.00,0.000,4,0.000,0.044,2830,227,3116,0,0,0,0,0,0
$GC,2265,-1.05,-116.8,197.2,-9.3,204,2269,0.00,2.10,0.00,0.000,6,0.000,0.019,2829,1568,3116,0,0,0,0,0,0
$GC,2536,-1.10,-116.8,218.9,-8.0,218,2540,0.00,2.28,0.00,0.000,4,0.000,0.046,2829,238,3116,0,0,0,0,0,0
$GC,2616,-1.10,-116.8,225.4,-7.7,221,2620,0.00,2.08,0.00,0.000,6,0.000,0.020,2830,1556,3116,0,0,0,0,0,0
$GC,2938,-1.16,-116.8,247.4,-6.3,237,2942,0.15,2.28,0.00,0.000,4,0.054,0.048,2779,238,3116,0,0,0,0,0,0
$GC,2995,-1.08,-116.8,252.4,-8.9,239,3000,0.15,2.08,0.00,0.000,6,0.084,0.021,2812,1552,3116,0,0,0,0,0,0
$GC,3311,-1.08,-116.8,275.0,-7.8,254,3315,0.00,2.22,0.00,0.000,4,0.000,0.025,2812,2919,3115,0,0,0,0,0,0
$GC,3339,-1.15,-116.8,277.0,-7.6,255,3343,0.00,2.42,0.00,0.000,6,0.000,0.035,2812,1493,3115,0,0,0,0,0,0
$GC,3692,-1.15,-116.8,306.1,-7.6,270,3696,0.00,2.15,0.00,0.000,4,0.000,0.050,2811,234,3114,0,0,0,0,0,0
$GC,3765,-1.18,-116.8,312.1,-9.2,271,3769,0.00,2.10,0.00,0.000,6,0.000,0.021,2812,1554,3113,0,0,0,0,0,0
$GC,4105,-1.21,-116.8,338.9,-8.0,280,4110,0.12,2.30,0.00,0.000,4,0.064,0.051,2769,234,3112,0,0,0,0,0,0
$GC,4135,-1.12,-116.8,341.8,-10.6,280,4139,0.17,2.10,0.00,0.000,6,0.083,0.023,2806,1547,3112,0,0,0,0,0,0
$GC,4473,-1.12,-116.8,366.7,-7.3,289,4477,0.00,2.30,0.00,0.000,4,0.000,0.051,2806,233,3110,0,0,0,0,0,0
$GC,4506,-1.12,-116.8,369.3,-7.5,289,4510,0.00,2.00,0.00,0.000,6,0.000,0.023,2806,1507,3110,0,0,0,0,0,0
$GC,4840,-1.12,-116.8,392.2,-6.7,297,4841,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1512,3108,0,0,0,0,0,0
$GC,5162,-1.12,-116.8,412.9,-6.5,305,5166,0.00,2.22,0.00,0.000,4,0.000,0.054,2806,238,3106,0,0,0,0,0,0
$GC,5186,-1.12,-116.8,414.5,-7.7,305,5189,0.00,2.03,0.00,0.000,6,0.000,0.025,2806,1495,3105,0,0,0,0,0,0
$GC,5537,-1.15,-116.8,439.5,-7.1,314,5542,0.00,2.30,0.00,0.000,4,0.000,0.029,2806,2884,3104,0,0,0,0,0,0
$GC,5557,-1.22,-116.8,441.2,-7.2,314,5562,0.10,2.38,0.00,0.000,6,0.073,0.040,2769,1495,3104,0,0,0,0,0,0
$STATE,5661,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5661,begin apogee
$GC,5668,-0.31,0.0,450.8,9.3,317,5768,0.98,0.00,96.97,0.835,6,0.067,0.000,2978,1442,2629,0,0,0,0,0,0
$STATE,5769,end apogee,CONTROL_FINISHED_OK
$STATE,5769,begin climb
$GC,5773,1.18,116.8,454.4,0.0,319,5881,1.45,0.00,101.93,0.821,6,0.032,0.000,3315,1442,2152,0,0,0,0,0,0
$GC,6193,0.98,143.1,438.5,6.7,330,6222,0.25,2.45,22.65,0.782,4,0.093,0.030,3262,2834,2046,0,0,0,0,0,0
$GC,6333,0.94,173.8,429.6,6.5,333,6366,0.00,2.42,28.30,0.788,6,0.000,0.041,3261,1457,1921,0,0,0,0,0,0
$GC,6702,0.88,193.2,403.5,7.0,342,6726,0.00,2.42,17.50,0.762,4,0.000,0.029,3262,2832,1842,0,0,0,0,0,0
$GC,6764,0.90,210.2,398.8,7.1,343,6789,0.00,2.42,16.62,0.750,6,0.000,0.044,3261,1451,1772,0,0,0,0,0,0
$GC,7118,0.88,248.0,375.4,6.2,352,7158,0.00,2.40,34.25,0.780,4,0.000,0.028,3262,2835,1617,0,0,0,0,0,0
$GC,7182,0.90,264.5,370.8,7.2,353,7203,0.00,2.47,15.88,0.730,6,0.000,0.044,3262,1445,1551,0,0,0,0,0,0
$GC,7523,0.85,264.5,339.8,9.7,362,7528,0.12,2.17,0.00,0.000,4,0.104,0.059,3237,234,1545,0,0,0,0,0,0
$GC,7571,0.81,264.5,334.6,10.6,362,7576,0.00,1.98,0.00,0.000,6,0.000,0.028,3237,1448,1541,0,0,0,0,0,0
$GC,7902,0.85,296.6,309.5,6.4,371,7935,0.00,2.38,27.70,0.739,4,0.000,0.029,3237,2841,1420,0,0,0,0,0,0
$GC,7956,0.97,324.8,305.9,6.6,372,7989,0.10,2.47,26.12,0.723,6,0.075,0.044,3268,1451,1304,0,0,0,0,0,0
$GC,8321,0.97,324.8,276.2,8.7,388,8325,0.00,2.17,0.00,0.000,4,0.000,0.059,3268,233,1299,0,0,0,0,0,0
$GC,8443,0.90,324.8,263.0,11.1,393,8447,0.12,1.98,0.00,0.000,6,0.100,0.027,3244,1451,1295,0,0,0,0,0,0
$GC,8776,0.99,372.2,238.4,5.8,409,8823,0.10,2.25,40.53,0.693,4,0.077,0.058,3275,239,1112,0,0,0,0,0,0
$GC,8857,0.91,372.2,232.3,8.5,412,8861,0.12,1.98,0.00,0.000,6,0.100,0.027,3251,1451,1108,0,0,0,0,0,0
$GC,9176,0.99,390.3,212.8,7.1,427,9194,0.00,0.00,16.02,0.633,6,0.000,0.000,3251,1452,1039,0,0,0,0,0,0
$GC,9509,1.04,390.3,183.1,8.6,449,9513,0.12,2.17,0.00,0.000,4,0.066,0.054,3289,232,1035,0,0,0,0,0,0
$GC,9564,0.95,390.3,177.0,11.3,453,9569,0.15,1.98,0.00,0.000,6,0.091,0.025,3258,1467,1033,0,0,0,0,0,0
$GC,9830,1.00,390.3,152.4,10.1,474,9834,0.00,2.25,0.00,0.000,4,0.000,0.025,3258,2839,1034,0,0,0,0,0,0
$GC,9869,1.16,390.3,148.4,10.0,477,9874,0.20,2.42,0.00,0.000,6,0.049,0.039,3317,1439,1033,0,0,0,0,0,0
$GC,10138,1.08,390.3,110.7,14.0,498,10143,0.15,2.12,0.00,0.000,4,0.091,0.053,3286,231,1033,0,0,0,0,0,0
$GC,10178,1.03,390.3,105.2,12.2,501,10182,0.00,1.95,0.00,0.000,6,0.000,0.023,3286,1457,1032,0,0,0,0,0,0
$GC,10449,1.06,391.7,81.5,7.8,522,10451,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,1467,1032,0,0,0,0,0,0
$GC,10700,1.16,403.6,61.8,7.4,542,10718,0.00,2.20,11.80,0.495,4,0.000,0.049,3286,239,984,0,0,0,0,0,0
$GC,10773,1.21,403.6,55.2,10.0,547,10777,0.12,1.92,0.00,0.000,6,0.062,0.023,3328,1456,982,0,0,0,0,0,0
$GC,11041,1.21,403.6,30.5,9.3,568,11042,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,1457,982,0,0,0,0,0,0
$GC,11294,1.21,403.6,5.1,11.7,626,11301,0.00,2.15,0.00,0.000,4,0.000,0.048,3327,232,982,0,0,0,0,0,0
$STATE,11310,end climb,SURFACE_DEPTH_REACHED
$STATE,11310,begin surface coast
$FINISH,1.8,1.023399
$STATE,11320,end surface coast,CONTROL_FINISHED_OK
$STATE,11320,begin surface
$SM_CCo,11346,6.20,0.392,0,0,957,410.14
$SM_GC,1.51,0.00,0.00,6.20,0.000,0.000,0.392,429,1493,957,-12.06,-0.17,410.14
$IRIDIUM_FIX,2101.76,-15756.04,170100,050527
$TT8_MAMPS,0.029146
$HUMID,64.21
$INTERNAL_PRESSURE,9.20588
$TCM_TEMP,20.70
$XPDR_PINGS,0
$24V_AH,23.3,70.295
$10V_AH,10.0,56.823
$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,30.750,123.450,456.275,6.200,0.000,22.131,39.561,162.028,4.500,0.000,14.972,1250.098,7538.670,511.564,1847.966,567.980,0.000,1346.017,0.000,1837.176,0.000,29.261,0.000
$DEVICE_MAMPS,130.390,109.681,835.263,391.937,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,425.502,403.788,910.332,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,34876,631
$CAP_FILE_SIZE,125153,0
$CFSIZE,260165632,172482560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,231010,115938,2109.006,-15750.314,13,1.9,13,9.8