version: 66.06
glider: 139
mission: 8
dive: 743
start: 10 23 110 15 18 28
data:
$ID,139
$MISSION,8
$DIVE,743
$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,-2166985.8
$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
$GPS1,151128,2108.963,-15750.609,13,2.8,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-73.4
$GPS2,151810,2108.995,-15750.714,16,3.0,35,9.8
$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,103.8,14702,-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,-64.18,0.000,2,0.000,0.000,426,1447,2753,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.5,-3.9,12,109,12.62,0.00,-6.82,0.000,6,0.132,0.000,2785,1448,3109,0,0,0,0,0,0
$GC,305,-0.97,-116.8,39.8,-14.8,51,310,0.25,2.08,0.00,0.000,4,0.088,0.044,2841,237,3112,0,0,0,0,0,0
$GC,324,-0.79,-116.8,43.0,-14.4,52,331,0.12,2.10,0.00,0.000,6,0.069,0.020,2873,1565,3112,0,0,0,0,0,0
$GC,585,-0.79,-116.8,69.5,-9.6,73,589,0.00,2.30,0.00,0.000,4,0.000,0.045,2873,231,3113,0,0,0,0,0,0
$GC,645,-0.79,-116.8,75.7,-8.6,77,649,0.00,2.08,0.00,0.000,6,0.000,0.019,2873,1566,3113,0,0,0,0,0,0
$GC,907,-0.83,-116.8,98.6,-8.0,97,911,0.00,2.28,0.00,0.000,4,0.000,0.044,2873,235,3113,0,0,0,0,0,0
$GC,953,-0.89,-116.8,102.6,-8.2,100,959,0.00,2.08,0.00,0.000,6,0.000,0.019,2873,1563,3114,0,0,0,0,0,0
$GC,1216,-0.96,-116.8,125.4,-8.5,121,1221,0.15,2.28,0.00,0.000,4,0.053,0.045,2820,237,3114,0,0,0,0,0,0
$GC,1243,-0.92,-116.8,128.2,-10.6,123,1248,0.15,2.08,0.00,0.000,6,0.082,0.018,2853,1566,3114,0,0,0,0,0,0
$GC,1511,-0.98,-116.8,147.7,-6.4,144,1514,0.00,2.22,0.00,0.000,4,0.000,0.021,2853,2924,3114,0,0,0,0,0,0
$GC,1523,-1.05,-116.8,148.6,-6.2,145,1528,0.15,2.40,0.00,0.000,6,0.051,0.031,2797,1491,3114,0,0,0,0,0,0
$GC,1789,-0.99,-116.8,169.8,-8.2,166,1794,0.17,2.12,0.00,0.000,4,0.081,0.045,2835,237,3115,0,0,0,0,0,0
$GC,1835,-1.03,-116.8,172.9,-7.8,169,1839,0.00,2.05,0.00,0.000,6,0.000,0.018,2835,1570,3115,0,0,0,0,0,0
$GC,2100,-1.07,-116.8,188.8,-6.0,190,2104,0.00,2.30,0.00,0.000,4,0.000,0.045,2835,237,3115,0,0,0,0,0,0
$GC,2154,-1.12,-116.8,192.6,-7.7,194,2158,0.12,2.08,0.00,0.000,6,0.060,0.019,2789,1570,3115,0,0,0,0,0,0
$GC,2428,-1.06,-116.8,219.7,-11.0,210,2433,0.15,2.22,0.00,0.000,4,0.086,0.023,2822,2926,3115,0,0,0,0,0,0
$GC,2450,-1.06,-116.8,222.0,-10.1,210,2457,0.00,2.42,0.00,0.000,6,0.000,0.032,2822,1502,3115,0,0,0,0,0,0
$GC,2766,-1.10,-116.8,246.0,-6.8,226,2770,0.00,2.15,0.00,0.000,4,0.000,0.047,2822,232,3115,0,0,0,0,0,0
$GC,2822,-1.10,-116.8,250.3,-7.7,228,2826,0.00,2.08,0.00,0.000,6,0.000,0.020,2822,1556,3115,0,0,0,0,0,0
$GC,3140,-1.14,-116.8,274.6,-8.1,243,3144,0.00,2.30,0.00,0.000,4,0.000,0.048,2822,230,3114,0,0,0,0,0,0
$GC,3222,-1.14,-116.8,281.6,-7.9,246,3229,0.00,2.10,0.00,0.000,6,0.000,0.021,2822,1553,3114,0,0,0,0,0,0
$GC,3541,-1.19,-116.8,301.1,-5.7,262,3546,0.15,2.30,0.00,0.000,4,0.054,0.049,2772,237,3113,0,0,0,0,0,0
$GC,3575,-1.09,-116.8,303.8,-7.7,262,3580,0.17,2.08,0.00,0.000,6,0.082,0.021,2810,1547,3113,0,0,0,0,0,0
$GC,3908,-1.09,-116.8,322.8,-6.0,270,3912,0.00,2.28,0.00,0.000,4,0.000,0.050,2810,230,3112,0,0,0,0,0,0
$GC,3935,-1.09,-116.8,325.2,-8.1,270,3939,0.00,2.03,0.00,0.000,6,0.000,0.023,2810,1506,3111,0,0,0,0,0,0
$GC,4275,-1.09,-116.8,351.5,-8.1,279,4279,0.00,2.22,0.00,0.000,4,0.000,0.025,2811,2881,3109,0,0,0,0,0,0
$GC,4309,-1.20,-116.8,354.3,-8.4,279,4314,0.10,2.33,0.00,0.000,6,0.072,0.035,2771,1500,3109,0,0,0,0,0,0
$GC,4641,-1.15,-116.8,384.2,-8.8,287,4643,0.12,0.00,0.00,0.000,6,0.092,0.000,2798,1500,3107,0,0,0,0,0,0
$GC,4966,-1.15,-116.8,409.8,-7.8,295,4970,0.00,2.20,0.00,0.000,4,0.000,0.054,2798,236,3105,0,0,0,0,0,0
$GC,4995,-1.15,-116.8,412.4,-9.2,295,4999,0.00,2.03,0.00,0.000,6,0.000,0.025,2798,1491,3105,0,0,0,0,0,0
$GC,5336,-1.15,-116.8,440.4,-7.9,304,5340,0.00,2.17,0.00,0.000,4,0.000,0.054,2798,238,3103,0,0,0,0,0,0
$GC,5373,-1.15,-116.8,443.4,-8.1,304,5378,0.00,2.03,0.00,0.000,6,0.000,0.025,2798,1504,3103,0,0,0,0,0,0
$STATE,5498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5498,begin apogee
$GC,5506,-0.31,0.0,452.3,7.0,308,5606,0.85,0.00,96.97,0.829,6,0.063,0.000,2983,1439,2630,0,0,0,0,0,0
$STATE,5607,end apogee,CONTROL_FINISHED_OK
$STATE,5607,begin climb
$GC,5610,1.18,116.8,454.7,0.0,310,5723,1.40,2.17,101.50,0.815,4,0.031,0.054,3312,246,2151,0,0,0,0,0,0
$GC,5775,0.84,116.8,450.6,9.2,313,5780,0.32,1.98,0.00,0.000,6,0.081,0.025,3236,1446,2145,0,0,0,0,0,0
$GC,6112,0.86,181.0,432.1,5.0,322,6173,0.00,2.38,55.88,0.802,4,0.000,0.029,3236,2828,1891,0,0,0,0,0,0
$GC,6295,0.89,205.2,419.9,6.8,326,6323,0.00,2.42,22.60,0.766,6,0.000,0.042,3236,1454,1791,0,0,0,0,0,0
$GC,6661,0.93,235.8,395.6,6.5,335,6694,0.00,2.40,26.92,0.772,4,0.000,0.028,3236,2823,1668,0,0,0,0,0,0
$GC,6713,0.95,256.1,391.8,7.0,336,6738,0.00,2.45,19.50,0.748,6,0.000,0.044,3236,1445,1585,0,0,0,0,0,0
$GC,7073,0.97,269.7,365.8,7.3,345,7091,0.12,2.17,12.45,0.713,4,0.066,0.058,3274,232,1529,0,0,0,0,0,0
$GC,7164,0.82,269.7,356.3,11.6,347,7169,0.22,2.00,0.00,0.000,6,0.089,0.028,3229,1445,1525,0,0,0,0,0,0
$GC,7494,0.82,269.7,327.0,9.2,355,7495,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1446,1523,0,0,0,0,0,0
$GC,7817,0.85,269.7,297.8,9.0,363,7821,0.00,2.15,0.00,0.000,4,0.000,0.057,3229,228,1521,0,0,0,0,0,0
$GC,7868,0.85,269.7,292.6,10.6,365,7872,0.00,1.98,0.00,0.000,6,0.000,0.028,3229,1451,1519,0,0,0,0,0,0
$GC,8195,0.94,297.3,266.9,6.6,381,8222,0.12,0.00,24.20,0.707,6,0.066,0.000,3267,1453,1417,0,0,0,0,0,0
$GC,8523,1.01,351.8,245.9,5.4,397,8577,0.00,2.25,48.28,0.703,4,0.000,0.057,3267,236,1195,0,0,0,0,0,0
$GC,8629,1.01,351.8,237.6,8.6,401,8634,0.00,2.00,0.00,0.000,6,0.000,0.028,3267,1453,1190,0,0,0,0,0,0
$GC,8945,1.01,351.8,210.1,9.4,417,8949,0.00,2.15,0.00,0.000,4,0.000,0.055,3267,231,1188,0,0,0,0,0,0
$GC,8975,0.96,351.8,207.1,10.1,418,8979,0.00,1.98,0.00,0.000,6,0.000,0.027,3267,1452,1187,0,0,0,0,0,0
$GC,9306,0.96,351.8,176.7,9.3,442,9310,0.00,2.15,0.00,0.000,4,0.000,0.054,3267,228,1187,0,0,0,0,0,0
$GC,9357,0.96,351.8,171.0,10.5,445,9363,0.00,1.98,0.00,0.000,6,0.000,0.025,3267,1463,1185,0,0,0,0,0,0
$GC,9616,1.00,351.8,147.1,9.6,466,9620,0.00,2.15,0.00,0.000,4,0.000,0.052,3267,226,1185,0,0,0,0,0,0
$GC,9663,1.00,351.8,142.2,10.9,469,9668,0.00,1.95,0.00,0.000,6,0.000,0.025,3267,1455,1184,0,0,0,0,0,0
$GC,9923,1.09,351.8,118.4,8.4,490,9927,0.00,2.28,0.00,0.000,4,0.000,0.025,3267,2830,1184,0,0,0,0,0,0
$GC,9952,1.25,351.8,116.0,8.3,492,9957,0.22,2.40,0.00,0.000,6,0.044,0.037,3335,1438,1184,0,0,0,0,0,0
$GC,10221,1.19,351.8,91.8,8.8,513,10227,0.12,0.00,0.00,0.000,6,0.092,0.000,3309,1438,1184,0,0,0,0,0,0
$GC,10482,1.22,351.8,69.6,9.0,534,10486,0.00,2.30,0.00,0.000,4,0.000,0.023,3309,2837,1184,0,0,0,0,0,0
$GC,10506,1.31,351.8,67.4,8.4,535,10513,0.08,2.42,0.00,0.000,6,0.037,0.038,3348,1447,1184,0,0,0,0,0,0
$GC,10768,1.22,351.8,41.5,9.5,556,10773,0.15,2.10,0.00,0.000,4,0.086,0.050,3316,230,1184,0,0,0,0,0,0
$GC,10796,1.16,351.8,38.9,9.7,558,10799,0.00,1.95,0.00,0.000,6,0.000,0.021,3316,1463,1184,0,0,0,0,0,0
$GC,11061,1.16,351.8,16.1,8.5,603,11067,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,1471,1184,0,0,0,0,0,0
$STATE,11217,end climb,SURFACE_DEPTH_REACHED
$STATE,11218,begin surface coast
$FINISH,1.0,1.009810
$STATE,11253,end surface coast,CONTROL_FINISHED_OK
$STATE,11253,begin surface
$SM_CCo,11275,46.78,0.476,0,0,957,410.14
$SM_GC,1.75,0.00,0.00,46.78,0.000,0.000,0.476,427,1471,957,-12.07,-0.82,410.14
$IRIDIUM_FIX,2101.76,-15748.75,170100,121234
$TT8_MAMPS,0.029146
$HUMID,63.15
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,21.20
$XPDR_PINGS,0
$24V_AH,23.3,70.515
$10V_AH,10.0,56.993
$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,30.400,117.600,408.300,46.775,0.000,30.544,43.423,170.134,4.500,0.000,36.185,1245.810,7539.140,485.146,1878.815,568.777,0.000,1329.230,0.000,1844.156,0.000,29.257,0.000
$DEVICE_MAMPS,131.924,90.506,829.127,476.307,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,435.805,418.167,934.558,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,34833,647
$CAP_FILE_SIZE,122727,0
$CFSIZE,260165632,172367872
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,231010,182831,2109.034,-15749.965,42,1.6,42,9.8