version: 66.06
glider: 139
mission: 8
dive: 744
start: 10 23 110 18 35 3
data:
$ID,139
$MISSION,8
$DIVE,744
$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,-2167001.5
$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
$GPS1,182831,2109.034,-15749.965,42,1.6,42,9.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-74.5
$GPS2,183444,2109.043,-15749.970,14,1.5,14,9.8
$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,106.3,13573,-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,-64.28,0.000,2,0.000,0.000,426,1471,2752,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.5,-3.3,12,110,12.65,0.00,-6.90,0.000,6,0.132,0.000,2786,1472,3108,0,0,0,0,0,0
$GC,310,-0.98,-116.8,40.0,-15.0,52,312,0.22,0.00,0.00,0.000,6,0.089,0.000,2833,1473,3110,0,0,0,0,0,0
$GC,564,-0.88,-116.8,71.1,-11.4,72,568,0.12,2.15,0.00,0.000,4,0.099,0.046,2859,232,3111,0,0,0,0,0,0
$GC,581,-0.80,-116.8,73.2,-11.9,73,585,0.00,2.08,0.00,0.000,6,0.000,0.019,2859,1569,3111,0,0,0,0,0,0
$GC,845,-0.80,-116.8,99.6,-8.6,94,849,0.00,2.30,0.00,0.000,4,0.000,0.045,2859,237,3112,0,0,0,0,0,0
$GC,892,-0.80,-116.8,104.0,-8.5,97,896,0.00,2.08,0.00,0.000,6,0.000,0.018,2859,1571,3112,0,0,0,0,0,0
$GC,1155,-0.84,-116.8,122.4,-7.0,117,1159,0.00,2.22,0.00,0.000,4,0.000,0.021,2859,2931,3112,0,0,0,0,0,0
$GC,1172,-0.91,-116.8,124.0,-7.9,118,1176,0.00,2.40,0.00,0.000,6,0.000,0.032,2859,1501,3112,0,0,0,0,0,0
$GC,1438,-0.98,-116.8,148.8,-8.8,139,1443,0.10,2.15,0.00,0.000,4,0.073,0.044,2820,234,3113,0,0,0,0,0,0
$GC,1522,-0.98,-116.8,157.0,-9.4,145,1526,0.00,2.05,0.00,0.000,6,0.000,0.019,2821,1569,3113,0,0,0,0,0,0
$GC,1782,-0.98,-116.8,179.2,-8.9,165,1786,0.00,2.28,0.00,0.000,4,0.000,0.045,2821,237,3114,0,0,0,0,0,0
$GC,1864,-0.98,-116.8,187.6,-10.4,171,1868,0.00,2.08,0.00,0.000,6,0.000,0.018,2820,1565,3114,0,0,0,0,0,0
$GC,2122,-0.98,-116.8,208.7,-7.9,188,2126,0.00,2.28,0.00,0.000,4,0.000,0.046,2820,234,3114,0,0,0,0,0,0
$GC,2178,-0.98,-116.8,213.9,-8.7,190,2182,0.00,2.08,0.00,0.000,6,0.000,0.019,2821,1564,3114,0,0,0,0,0,0
$GC,2496,-0.98,-116.8,237.7,-6.8,205,2500,0.00,2.28,0.00,0.000,4,0.000,0.046,2821,234,3114,0,0,0,0,0,0
$GC,2552,-0.98,-116.8,241.8,-6.4,207,2556,0.00,2.08,0.00,0.000,6,0.000,0.019,2821,1561,3114,0,0,0,0,0,0
$GC,2870,-1.02,-116.8,260.6,-6.8,222,2874,0.00,2.28,0.00,0.000,4,0.000,0.047,2821,235,3114,0,0,0,0,0,0
$GC,2943,-1.02,-116.8,267.1,-7.9,225,2947,0.00,2.08,0.00,0.000,6,0.000,0.021,2821,1561,3114,0,0,0,0,0,0
$GC,3270,-1.06,-116.8,292.9,-8.4,241,3274,0.00,2.28,0.00,0.000,4,0.000,0.048,2820,237,3113,0,0,0,0,0,0
$GC,3331,-1.11,-116.8,298.9,-9.3,243,3336,0.00,2.08,0.00,0.000,6,0.000,0.021,2820,1552,3113,0,0,0,0,0,0
$GC,3644,-1.15,-116.8,322.2,-6.8,252,3648,0.10,2.28,0.00,0.000,4,0.074,0.025,2783,2926,3112,0,0,0,0,0,0
$GC,3662,-1.15,-116.8,323.4,-6.8,252,3666,0.00,2.40,0.00,0.000,6,0.000,0.035,2783,1502,3112,0,0,0,0,0,0
$GC,4011,-1.15,-116.8,351.2,-8.0,261,4015,0.00,2.15,0.00,0.000,4,0.000,0.051,2783,235,3110,0,0,0,0,0,0
$GC,4117,-1.11,-116.8,361.1,-9.4,263,4121,0.10,2.10,0.00,0.000,6,0.102,0.022,2805,1551,3109,0,0,0,0,0,0
$GC,4431,-1.11,-116.8,383.6,-6.5,271,4435,0.00,2.30,0.00,0.000,4,0.000,0.052,2805,230,3107,0,0,0,0,0,0
$GC,4496,-1.11,-116.8,387.3,-5.5,272,4500,0.00,2.10,0.00,0.000,6,0.000,0.023,2805,1547,3107,0,0,0,0,0,0
$GC,4847,-1.11,-116.8,403.7,-5.2,281,4851,0.00,2.28,0.00,0.000,4,0.000,0.053,2805,235,3104,0,0,0,0,0,0
$GC,4893,-1.11,-116.8,407.3,-7.7,282,4897,0.00,2.03,0.00,0.000,6,0.000,0.025,2805,1497,3104,0,0,0,0,0,0
$GC,5222,-1.11,-116.8,433.9,-8.5,290,5226,0.00,2.22,0.00,0.000,4,0.000,0.054,2805,235,3102,0,0,0,0,0,0
$GC,5254,-1.11,-116.8,436.7,-8.1,290,5258,0.00,2.05,0.00,0.000,6,0.000,0.025,2805,1509,3102,0,0,0,0,0,0
$STATE,5420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5420,begin apogee
$GC,5427,-0.31,0.0,450.1,7.9,294,5527,0.80,0.00,96.40,0.831,6,0.064,0.000,2979,1437,2630,0,0,0,0,0,0
$STATE,5528,end apogee,CONTROL_FINISHED_OK
$STATE,5528,begin climb
$GC,5532,1.18,116.8,452.6,0.0,296,5638,1.42,0.00,102.03,0.813,6,0.035,0.000,3312,1436,2152,0,0,0,0,0,0
$GC,5941,0.95,116.8,429.3,8.7,306,5946,0.25,2.35,0.00,0.000,4,0.092,0.028,3259,2832,2142,0,0,0,0,0,0
$GC,6059,0.91,149.2,421.2,6.4,308,6092,0.00,2.42,27.98,0.780,6,0.000,0.041,3259,1450,2021,0,0,0,0,0,0
$GC,6407,0.84,163.4,395.6,7.3,317,6427,0.12,2.38,13.30,0.731,4,0.105,0.027,3234,2832,1962,0,0,0,0,0,0
$GC,6496,0.87,189.5,389.5,6.7,318,6526,0.00,2.42,24.30,0.769,6,0.000,0.042,3234,1452,1857,0,0,0,0,0,0
$GC,6870,0.90,212.3,363.8,6.9,328,6898,0.00,2.20,21.02,0.753,4,0.000,0.057,3234,228,1763,0,0,0,0,0,0
$GC,6942,0.82,212.3,357.9,8.6,329,6946,0.00,1.98,0.00,0.000,6,0.000,0.028,3234,1441,1759,0,0,0,0,0,0
$GC,7287,0.85,233.0,332.0,7.0,338,7311,0.00,2.45,18.52,0.732,4,0.000,0.029,3234,2844,1680,0,0,0,0,0,0
$GC,7342,0.95,256.5,328.3,6.8,339,7371,0.10,2.47,22.40,0.733,6,0.076,0.044,3265,1448,1583,0,0,0,0,0,0
$GC,7684,0.90,256.5,297.4,9.3,348,7688,0.00,2.38,0.00,0.000,4,0.000,0.029,3264,2847,1578,0,0,0,0,0,0
$GC,7737,0.93,256.5,292.5,8.0,350,7741,0.00,2.47,0.00,0.000,6,0.000,0.043,3265,1443,1577,0,0,0,0,0,0
$GC,8058,0.93,256.5,263.4,8.7,366,8062,0.00,2.35,0.00,0.000,4,0.000,0.029,3265,2844,1575,0,0,0,0,0,0
$GC,8072,0.93,256.5,262.1,8.9,366,8076,0.00,2.45,0.00,0.000,6,0.000,0.042,3265,1449,1575,0,0,0,0,0,0
$GC,8390,0.97,286.3,238.2,6.6,381,8422,0.00,2.17,25.45,0.687,4,0.000,0.057,3265,235,1461,0,0,0,0,0,0
$GC,8443,0.93,286.3,233.9,8.1,383,8447,0.00,2.00,0.00,0.000,6,0.000,0.027,3264,1453,1459,0,0,0,0,0,0
$GC,8770,0.93,286.3,205.1,10.1,399,8774,0.00,2.35,0.00,0.000,4,0.000,0.028,3265,2845,1457,0,0,0,0,0,0
$GC,8815,1.03,286.3,200.5,10.5,401,8819,0.00,2.45,0.00,0.000,6,0.000,0.040,3265,1441,1456,0,0,0,0,0,0
$GC,9141,1.05,304.7,173.2,7.1,426,9163,0.00,2.20,16.38,0.611,4,0.000,0.054,3265,232,1387,0,0,0,0,0,0
$GC,9224,1.05,304.7,165.9,9.1,432,9228,0.00,2.00,0.00,0.000,6,0.000,0.025,3265,1453,1383,0,0,0,0,0,0
$GC,9495,1.06,310.1,146.4,7.7,453,9502,0.00,0.00,5.88,0.480,6,0.000,0.000,3264,1454,1364,0,0,0,0,0,0
$GC,9764,1.15,353.6,127.2,5.9,474,9808,0.15,2.20,38.30,0.588,4,0.058,0.051,3310,231,1187,0,0,0,0,0,0
$GC,9838,1.03,353.6,121.9,9.8,479,9843,0.12,2.00,0.00,0.000,6,0.073,0.024,3274,1454,1184,0,0,0,0,0,0
$GC,10108,1.10,353.6,97.9,9.3,500,10110,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1455,1183,0,0,0,0,0,0
$GC,10362,1.19,353.6,75.6,8.6,520,10364,0.15,0.00,0.00,0.000,6,0.056,0.000,3322,1455,1183,0,0,0,0,0,0
$GC,10614,1.19,353.6,52.9,9.0,540,10618,0.00,2.12,0.00,0.000,4,0.000,0.049,3322,232,1183,0,0,0,0,0,0
$GC,10647,1.10,353.6,49.5,10.7,542,10654,0.12,1.98,0.00,0.000,6,0.070,0.022,3291,1466,1182,0,0,0,0,0,0
$GC,10909,1.18,360.5,30.4,7.6,563,10925,0.00,2.20,6.43,0.409,4,0.000,0.049,3290,232,1159,0,0,0,0,0,0
$GC,10943,1.23,360.5,27.7,8.1,567,10950,0.08,1.95,0.00,0.000,6,0.037,0.022,3327,1449,1159,0,0,0,0,0,0
$GC,11147,1.23,360.5,8.2,9.5,613,11153,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,1449,1158,0,0,0,0,0,0
$STATE,11204,end climb,SURFACE_DEPTH_REACHED
$STATE,11204,begin surface coast
$FINISH,0.9,1.023205
$STATE,11239,end surface coast,CONTROL_FINISHED_OK
$STATE,11239,begin surface
$SM_CCo,11263,41.05,0.479,0,0,958,410.14
$SM_GC,1.76,0.00,0.00,41.05,0.000,0.000,0.479,425,1448,958,-12.07,-1.44,410.14
$IRIDIUM_FIX,2059.45,-15758.18,170100,151536
$TT8_MAMPS,0.029146
$HUMID,62.16
$INTERNAL_PRESSURE,9.23518
$TCM_TEMP,21.00
$XPDR_PINGS,0
$24V_AH,23.3,70.623
$10V_AH,10.0,57.077
$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,29.050,115.150,418.375,41.050,0.000,27.922,32.789,176.738,4.500,0.000,14.896,1234.808,7503.761,493.239,1882.554,558.098,0.000,1340.750,0.000,1866.888,0.000,29.255,0.000
$DEVICE_MAMPS,131.924,79.768,830.661,478.608,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,427.676,407.523,909.619,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,34870,634
$CAP_FILE_SIZE,121868,0
$CFSIZE,260165632,172310528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,231010,214436,2109.098,-15748.976,14,1.0,30,9.8