version: 66.06
glider: 139
mission: 8
dive: 742
start: 10 23 110 12 6 25
data:
$ID,139
$MISSION,8
$DIVE,742
$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,-2166948.8
$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
$GPS1,115938,2109.006,-15750.314,13,1.9,13,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-72.0
$GPS2,120607,2108.979,-15750.371,43,0.9,43,9.8
$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,104.7,14149,-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,-64.80,0.000,2,0.000,0.000,429,1493,2771,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.7,-4.1,12,111,12.62,2.38,-6.32,0.000,4,0.133,0.032,2784,2927,3108,0,0,0,0,0,0
$GC,129,-0.20,-116.8,15.2,-25.9,19,136,0.98,2.47,0.00,0.000,6,0.065,0.035,3004,1505,3109,0,0,0,0,0,0
$GC,340,-0.77,-116.8,32.5,-9.0,63,342,0.55,0.00,0.00,0.000,6,0.041,0.000,2874,1505,3112,0,0,0,0,0,0
$GC,593,-0.77,-116.8,57.4,-12.2,83,597,0.00,2.33,0.00,0.000,4,0.000,0.021,2874,2924,3112,0,0,0,0,0,0
$GC,634,-0.90,-116.8,62.8,-12.3,86,639,0.00,2.42,0.00,0.000,6,0.000,0.031,2874,1492,3112,0,0,0,0,0,0
$GC,903,-0.97,-116.8,89.6,-7.3,107,907,0.17,2.15,0.00,0.000,4,0.049,0.046,2816,234,3113,0,0,0,0,0,0
$GC,985,-0.97,-116.8,98.3,-9.9,113,990,0.10,2.08,0.00,0.000,6,0.100,0.018,2837,1567,3113,0,0,0,0,0,0
$GC,1249,-1.01,-116.8,116.9,-7.2,133,1253,0.00,2.28,0.00,0.000,4,0.000,0.044,2838,233,3113,0,0,0,0,0,0
$GC,1283,-1.05,-116.8,120.0,-8.5,135,1288,0.00,2.08,0.00,0.000,6,0.000,0.018,2838,1567,3114,0,0,0,0,0,0
$GC,1547,-1.09,-116.8,140.9,-8.2,156,1552,0.12,2.30,0.00,0.000,4,0.061,0.045,2791,240,3114,0,0,0,0,0,0
$GC,1589,-1.02,-116.8,145.8,-10.9,159,1594,0.17,2.05,0.00,0.000,6,0.084,0.019,2828,1557,3114,0,0,0,0,0,0
$GC,1856,-1.02,-116.8,169.3,-8.8,180,1857,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1562,3115,0,0,0,0,0,0
$GC,2105,-1.02,-116.8,189.2,-7.4,200,2109,0.00,2.25,0.00,0.000,4,0.000,0.045,2828,239,3115,0,0,0,0,0,0
$GC,2189,-1.06,-116.8,196.0,-8.0,206,2193,0.00,2.08,0.00,0.000,6,0.000,0.019,2829,1563,3115,0,0,0,0,0,0
$GC,2453,-1.06,-116.8,213.9,-6.4,220,2454,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1567,3115,0,0,0,0,0,0
$GC,2763,-1.12,-116.8,239.4,-9.3,235,2771,0.10,2.30,0.00,0.000,4,0.072,0.047,2789,239,3115,0,0,0,0,0,0
$GC,2867,-1.07,-116.8,251.0,-11.4,239,2871,0.12,2.08,0.00,0.000,6,0.093,0.021,2816,1562,3115,0,0,0,0,0,0
$GC,3201,-1.11,-116.8,277.4,-7.1,255,3205,0.00,2.28,0.00,0.000,4,0.000,0.048,2816,237,3114,0,0,0,0,0,0
$GC,3236,-1.14,-116.8,280.2,-8.1,256,3240,0.00,2.08,0.00,0.000,6,0.000,0.021,2816,1553,3114,0,0,0,0,0,0
$GC,3571,-1.18,-116.8,307.9,-8.9,270,3576,0.10,2.28,0.00,0.000,4,0.073,0.049,2778,238,3114,0,0,0,0,0,0
$GC,3611,-1.10,-116.8,312.2,-12.0,270,3617,0.15,2.08,0.00,0.000,6,0.087,0.022,2812,1552,3114,0,0,0,0,0,0
$GC,3942,-1.14,-116.8,346.3,-10.2,279,3946,0.00,2.28,0.00,0.000,4,0.000,0.050,2812,232,3112,0,0,0,0,0,0
$GC,3998,-1.17,-116.8,352.4,-10.5,280,4003,0.00,2.10,0.00,0.000,6,0.000,0.023,2811,1539,3112,0,0,0,0,0,0
$GC,4319,-1.21,-116.8,376.6,-7.1,288,4323,0.12,2.28,0.00,0.000,4,0.064,0.051,2770,234,3110,0,0,0,0,0,0
$GC,4343,-1.14,-116.8,378.7,-8.4,288,4348,0.10,2.05,0.00,0.000,6,0.068,0.024,2803,1504,3110,0,0,0,0,0,0
$GC,4691,-1.14,-116.8,402.4,-7.3,297,4695,0.00,2.22,0.00,0.000,4,0.000,0.053,2803,233,3107,0,0,0,0,0,0
$GC,4742,-1.14,-116.8,406.7,-7.8,298,4746,0.00,2.03,0.00,0.000,6,0.000,0.024,2803,1497,3107,0,0,0,0,0,0
$GC,5068,-1.14,-116.8,430.8,-7.4,306,5072,0.00,2.22,0.00,0.000,4,0.000,0.054,2803,233,3105,0,0,0,0,0,0
$GC,5096,-1.14,-116.8,433.1,-7.4,306,5100,0.00,2.05,0.00,0.000,6,0.000,0.025,2803,1500,3105,0,0,0,0,0,0
$STATE,5352,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5352,begin apogee
$GC,5359,-0.31,0.0,450.8,6.8,313,5459,0.82,0.00,97.10,0.825,6,0.064,0.000,2982,1438,2630,0,0,0,0,0,0
$STATE,5460,end apogee,CONTROL_FINISHED_OK
$STATE,5460,begin climb
$GC,5464,1.18,116.8,453.2,0.0,315,5576,1.40,2.12,101.05,0.811,4,0.035,0.054,3310,244,2152,0,0,0,0,0,0
$GC,5583,1.06,224.5,455.0,3.0,317,5688,0.15,1.98,93.62,0.801,6,0.107,0.025,3283,1455,1714,0,0,0,0,0,0
$GC,6007,0.93,224.5,414.4,10.4,328,6012,0.15,2.30,0.00,0.000,4,0.101,0.028,3253,2827,1704,0,0,0,0,0,0
$GC,6052,0.93,224.5,410.4,9.0,329,6056,0.00,2.40,0.00,0.000,6,0.000,0.043,3253,1460,1704,0,0,0,0,0,0
$GC,6384,0.89,232.1,383.2,7.6,337,6396,0.00,2.22,5.97,0.599,4,0.000,0.058,3253,238,1683,0,0,0,0,0,0
$GC,6475,0.79,232.1,375.9,8.8,338,6481,0.15,1.98,0.00,0.000,6,0.101,0.027,3224,1446,1680,0,0,0,0,0,0
$GC,6806,0.81,247.3,352.0,7.2,347,6826,0.00,2.40,14.43,0.719,4,0.000,0.028,3224,2835,1621,0,0,0,0,0,0
$GC,6853,0.94,275.9,348.9,6.6,348,6886,0.15,2.45,26.65,0.746,6,0.059,0.042,3267,1445,1504,0,0,0,0,0,0
$GC,7223,0.90,282.6,319.1,7.6,357,7235,0.00,2.22,6.60,0.598,4,0.000,0.058,3267,230,1476,0,0,0,0,0,0
$GC,7327,0.81,282.6,309.9,10.1,359,7332,0.20,1.98,0.00,0.000,6,0.091,0.027,3227,1450,1473,0,0,0,0,0,0
$GC,7652,0.88,296.2,287.1,7.3,371,7674,0.00,2.33,13.02,0.674,4,0.000,0.027,3227,2834,1421,0,0,0,0,0,0
$GC,7690,1.02,320.1,284.1,6.8,372,7722,0.20,2.45,22.52,0.698,6,0.050,0.041,3284,1443,1324,0,0,0,0,0,0
$GC,8033,0.96,320.1,250.7,9.3,389,8037,0.12,2.15,0.00,0.000,4,0.099,0.058,3258,231,1320,0,0,0,0,0,0
$GC,8095,0.92,320.1,244.6,9.4,391,8100,0.00,2.00,0.00,0.000,6,0.000,0.027,3258,1453,1317,0,0,0,0,0,0
$GC,8411,0.92,320.1,218.1,8.0,407,8413,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1454,1317,0,0,0,0,0,0
$GC,8732,0.96,320.1,189.9,9.2,426,8736,0.00,2.30,0.00,0.000,4,0.000,0.027,3258,2838,1317,0,0,0,0,0,0
$GC,8750,1.03,320.1,188.0,9.2,427,8754,0.00,2.42,0.00,0.000,6,0.000,0.040,3258,1443,1316,0,0,0,0,0,0
$GC,9012,1.06,324.1,165.6,7.7,447,9017,0.10,2.12,0.00,0.000,4,0.076,0.055,3291,232,1316,0,0,0,0,0,0
$GC,9080,0.99,324.1,158.6,10.3,452,9085,0.12,1.98,0.00,0.000,6,0.097,0.025,3266,1463,1314,0,0,0,0,0,0
$GC,9347,1.05,334.3,139.2,7.4,473,9361,0.00,0.00,12.18,0.558,6,0.000,0.000,3266,1467,1267,0,0,0,0,0,0
$GC,9611,1.16,373.6,120.5,6.1,494,9652,0.17,2.33,34.90,0.579,4,0.052,0.024,3319,2839,1105,0,0,0,0,0,0
$GC,9675,1.16,373.6,114.8,9.5,499,9680,0.00,2.42,0.00,0.000,6,0.000,0.038,3318,1449,1105,0,0,0,0,0,0
$GC,9937,1.16,373.6,89.7,9.7,519,9941,0.00,2.10,0.00,0.000,4,0.000,0.051,3318,234,1104,0,0,0,0,0,0
$GC,9992,1.11,373.6,84.0,10.1,523,9997,0.12,1.95,0.00,0.000,6,0.096,0.023,3293,1456,1100,0,0,0,0,0,0
$GC,10256,1.17,377.0,65.4,7.7,543,10262,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,1456,1101,0,0,0,0,0,0
$GC,10516,1.25,377.0,43.5,8.3,564,10518,0.12,0.00,0.00,0.000,6,0.062,0.000,3336,1456,1101,0,0,0,0,0,0
$GC,10774,1.21,377.0,18.4,9.8,602,10781,0.12,2.28,0.00,0.000,4,0.091,0.021,3309,2824,1101,0,0,0,0,0,0
$GC,10793,1.21,377.0,16.5,9.8,605,10806,0.00,2.38,3.80,0.314,6,0.000,0.035,3309,1451,1092,0,0,0,0,0,0
$STATE,10944,end climb,SURFACE_DEPTH_REACHED
$STATE,10944,begin surface coast
$FINISH,1.0,1.023296
$STATE,10980,end surface coast,CONTROL_FINISHED_OK
$STATE,10980,begin surface
$SM_CCo,11002,27.05,0.469,0,0,957,410.14
$SM_GC,1.65,0.00,0.00,27.05,0.000,0.000,0.469,427,1449,957,-12.07,-1.44,410.14
$IRIDIUM_FIX,2101.76,-15753.03,170100,080801
$TT8_MAMPS,0.029146
$HUMID,62.24
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,21.20
$XPDR_PINGS,0
$24V_AH,23.3,70.404
$10V_AH,10.0,56.908
$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,31.925,110.500,431.850,27.050,0.000,29.521,32.438,163.335,4.500,0.000,43.940,1243.433,7218.792,482.744,1925.685,544.403,0.000,1338.157,0.000,1877.436,0.000,29.251,0.000
$DEVICE_MAMPS,132.691,90.506,824.525,468.637,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,435.359,421.419,962.641,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355760
$DATA_FILE_SIZE,34956,647
$CAP_FILE_SIZE,123275,0
$CFSIZE,260165632,172425216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,231010,151128,2108.963,-15750.609,13,2.8,32,9.8