version: 66.06
glider: 139
mission: 8
dive: 745
start: 10 23 110 21 55 40
data:
$ID,139
$MISSION,8
$DIVE,745
$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,-2167018.5
$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
$GPS1,214436,2109.098,-15748.976,14,1.0,30,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-72.8
$GPS2,215519,2109.039,-15749.012,16,1.6,16,9.8
$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,109.8,12105,-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,-64.28,0.000,2,0.000,0.000,424,1449,2754,0,0,0,0,0,0
$GC,87,-1.18,-116.8,3.6,-3.9,12,111,12.65,0.00,-6.70,0.000,6,0.132,0.000,2784,1450,3107,0,0,0,0,0,0
$GC,314,-0.97,-116.8,41.0,-14.3,51,319,0.25,2.08,0.00,0.000,4,0.091,0.045,2839,237,3111,0,0,0,0,0,0
$GC,348,-0.82,-116.8,45.9,-13.5,53,355,0.10,2.10,0.00,0.000,6,0.072,0.020,2866,1566,3111,0,0,0,0,0,0
$GC,608,-0.82,-116.8,75.0,-11.7,74,612,0.00,2.28,0.00,0.000,4,0.000,0.044,2866,237,3111,0,0,0,0,0,0
$GC,639,-0.82,-116.8,78.6,-12.3,76,643,0.00,2.08,0.00,0.000,6,0.000,0.019,2866,1567,3111,0,0,0,0,0,0
$GC,908,-0.87,-116.8,100.3,-6.1,97,912,0.00,2.28,0.00,0.000,4,0.000,0.044,2866,237,3111,0,0,0,0,0,0
$GC,950,-0.94,-116.8,103.3,-6.0,100,954,0.00,2.05,0.00,0.000,6,0.000,0.018,2866,1569,3112,0,0,0,0,0,0
$GC,1218,-1.01,-116.8,118.5,-6.6,121,1223,0.15,2.30,0.00,0.000,4,0.054,0.044,2813,232,3112,0,0,0,0,0,0
$GC,1321,-1.01,-116.8,129.6,-11.1,128,1327,0.00,2.08,0.00,0.000,6,0.000,0.018,2814,1560,3112,0,0,0,0,0,0
$GC,1584,-0.98,-116.8,152.2,-7.7,149,1589,0.10,2.30,0.00,0.000,4,0.100,0.045,2836,232,3112,0,0,0,0,0,0
$GC,1617,-0.98,-116.8,154.9,-8.1,151,1621,0.00,2.05,0.00,0.000,6,0.000,0.019,2836,1560,3113,0,0,0,0,0,0
$GC,1883,-1.01,-116.8,174.6,-7.2,172,1887,0.00,2.20,0.00,0.000,4,0.000,0.021,2835,2930,3112,0,0,0,0,0,0
$GC,1903,-1.08,-116.8,176.2,-6.8,173,1908,0.00,2.42,0.00,0.000,6,0.000,0.031,2836,1495,3112,0,0,0,0,0,0
$GC,2165,-1.12,-116.8,195.3,-7.2,194,2170,0.12,2.15,0.00,0.000,4,0.061,0.046,2791,233,3112,0,0,0,0,0,0
$GC,2226,-1.03,-116.8,201.4,-10.0,198,2232,0.12,2.10,0.00,0.000,6,0.064,0.019,2823,1555,3113,0,0,0,0,0,0
$GC,2543,-1.03,-116.8,225.6,-7.4,214,2547,0.00,2.25,0.00,0.000,4,0.000,0.046,2824,238,3113,0,0,0,0,0,0
$GC,2613,-1.03,-116.8,231.6,-8.2,217,2616,0.00,2.08,0.00,0.000,6,0.000,0.020,2824,1560,3113,0,0,0,0,0,0
$GC,2939,-1.07,-116.8,257.2,-8.1,233,2943,0.00,2.28,0.00,0.000,4,0.000,0.047,2823,231,3112,0,0,0,0,0,0
$GC,2977,-1.10,-116.8,260.5,-8.2,234,2984,0.00,2.10,0.00,0.000,6,0.000,0.021,2824,1560,3112,0,0,0,0,0,0
$GC,3296,-1.15,-116.8,281.0,-5.8,250,3301,0.10,2.30,0.00,0.000,4,0.074,0.048,2784,231,3111,0,0,0,0,0,0
$GC,3345,-1.09,-116.8,285.0,-8.8,252,3349,0.12,2.10,0.00,0.000,6,0.093,0.021,2811,1559,3111,0,0,0,0,0,0
$GC,3669,-1.09,-116.8,306.5,-7.0,266,3670,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1563,3109,0,0,0,0,0,0
$GC,3996,-1.13,-116.8,330.8,-7.6,274,4000,0.00,2.28,0.00,0.000,4,0.000,0.050,2811,238,3108,0,0,0,0,0,0
$GC,4065,-1.13,-116.8,336.9,-9.0,275,4069,0.00,2.10,0.00,0.000,6,0.000,0.023,2811,1555,3107,0,0,0,0,0,0
$GC,4405,-1.17,-116.8,365.3,-8.2,284,4409,0.00,2.28,0.00,0.000,4,0.000,0.051,2812,238,3105,0,0,0,0,0,0
$GC,4469,-1.17,-116.8,370.5,-8.5,285,4473,0.00,2.10,0.00,0.000,6,0.000,0.023,2812,1550,3105,0,0,0,0,0,0
$GC,4819,-1.22,-116.8,395.0,-6.8,294,4823,0.12,2.30,0.00,0.000,4,0.064,0.053,2770,235,3103,0,0,0,0,0,0
$GC,4868,-1.16,-116.8,399.5,-9.7,295,4875,0.12,2.03,0.00,0.000,6,0.094,0.025,2796,1503,3102,0,0,0,0,0,0
$GC,5201,-1.16,-116.8,424.7,-7.3,303,5205,0.00,2.25,0.00,0.000,4,0.000,0.028,2796,2874,3100,0,0,0,0,0,0
$GC,5229,-1.24,-116.8,426.9,-7.3,303,5234,0.00,2.35,0.00,0.000,6,0.000,0.040,2796,1505,3099,0,0,0,0,0,0
$STATE,5562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5563,begin apogee
$GC,5571,-0.31,0.0,453.0,8.0,312,5669,0.85,0.00,95.43,0.841,6,0.067,0.000,2979,1436,2630,0,0,0,0,0,0
$STATE,5670,end apogee,CONTROL_FINISHED_OK
$STATE,5670,begin climb
$GC,5673,1.18,116.8,456.6,0.0,314,5786,1.42,2.42,101.50,0.819,4,0.037,0.029,3310,2818,2152,0,0,0,0,0,0
$GC,5942,1.03,148.0,450.4,6.5,320,5976,0.17,2.40,27.67,0.788,6,0.101,0.041,3276,1454,2027,0,0,0,0,0,0
$GC,6308,0.89,148.0,422.8,7.9,329,6313,0.17,2.30,0.00,0.000,4,0.100,0.029,3242,2824,2018,0,0,0,0,0,0
$GC,6389,0.91,167.4,417.0,7.0,330,6413,0.00,2.42,17.27,0.763,6,0.000,0.042,3241,1448,1947,0,0,0,0,0,0
$GC,6730,0.95,238.9,398.0,4.7,339,6799,0.00,2.40,63.67,0.802,4,0.000,0.029,3242,2828,1656,0,0,0,0,0,0
$GC,6841,1.05,281.4,392.2,6.0,341,6886,0.15,2.42,38.12,0.779,6,0.061,0.044,3284,1451,1482,0,0,0,0,0,0
$GC,7228,0.94,281.4,360.6,8.3,351,7233,0.15,2.17,0.00,0.000,4,0.098,0.059,3254,231,1473,0,0,0,0,0,0
$GC,7328,0.84,281.4,350.4,11.0,353,7332,0.00,2.00,0.00,0.000,6,0.000,0.029,3254,1427,1469,0,0,0,0,0,0
$GC,7655,0.84,281.4,321.6,8.4,361,7659,0.00,2.38,0.00,0.000,4,0.000,0.029,3254,2851,1469,0,0,0,0,0,0
$GC,7695,0.91,281.4,318.3,8.7,361,7700,0.00,2.47,0.00,0.000,6,0.000,0.044,3254,1446,1469,0,0,0,0,0,0
$GC,8008,0.91,281.4,293.0,8.0,371,8011,0.00,2.12,0.00,0.000,4,0.000,0.058,3254,234,1468,0,0,0,0,0,0
$GC,8064,0.86,281.4,287.7,9.3,373,8068,0.00,1.98,0.00,0.000,6,0.000,0.028,3254,1459,1465,0,0,0,0,0,0
$GC,8388,0.89,309.9,265.3,6.6,389,8417,0.00,2.35,23.35,0.701,4,0.000,0.028,3254,2844,1366,0,0,0,0,0,0
$GC,8470,1.01,312.2,258.9,7.8,392,8474,0.00,2.45,0.00,0.000,6,0.000,0.041,3254,1450,1365,0,0,0,0,0,0
$GC,8789,1.02,320.9,231.8,7.5,407,8805,0.00,2.20,10.68,0.620,4,0.000,0.055,3254,241,1320,0,0,0,0,0,0
$GC,8842,1.02,320.9,227.1,8.8,409,8846,0.00,2.00,0.00,0.000,6,0.000,0.026,3255,1458,1318,0,0,0,0,0,0
$GC,9170,1.05,320.9,199.0,9.4,425,9174,0.12,2.17,0.00,0.000,4,0.067,0.054,3292,227,1318,0,0,0,0,0,0
$GC,9189,0.99,320.9,196.4,10.8,426,9196,0.10,2.03,0.00,0.000,6,0.075,0.026,3268,1458,1316,0,0,0,0,0,0
$GC,9453,1.01,331.0,174.8,7.4,447,9467,0.00,2.38,9.57,0.566,4,0.000,0.026,3267,2835,1280,0,0,0,0,0,0
$GC,9512,1.14,346.9,170.1,7.2,451,9533,0.12,2.42,15.52,0.596,6,0.064,0.039,3308,1446,1215,0,0,0,0,0,0
$GC,9787,1.08,346.9,145.3,9.7,472,9789,0.12,0.00,0.00,0.000,6,0.097,0.000,3282,1446,1212,0,0,0,0,0,0
$GC,10039,1.08,346.9,122.4,9.2,492,10040,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1446,1212,0,0,0,0,0,0
$GC,10293,1.09,351.7,101.3,7.7,512,10308,0.00,2.12,5.12,0.426,4,0.000,0.050,3282,225,1195,0,0,0,0,0,0
$GC,10348,1.05,351.7,96.0,9.7,515,10353,0.00,2.00,0.00,0.000,6,0.000,0.023,3282,1469,1194,0,0,0,0,0,0
$GC,10611,1.15,383.3,75.7,6.5,536,10646,0.00,2.30,27.95,0.536,4,0.000,0.021,3282,2837,1066,0,0,0,0,0,0
$GC,10658,1.31,428.6,72.3,5.9,539,10704,0.22,2.42,39.17,0.537,6,0.043,0.036,3350,1445,881,0,0,0,0,0,0
$GC,10964,1.25,428.6,40.7,11.1,563,10969,0.12,2.12,0.00,0.000,4,0.094,0.050,3322,235,877,0,0,0,0,0,0
$GC,10991,1.19,428.6,37.6,12.1,565,10994,0.00,1.95,0.00,0.000,6,0.000,0.022,3323,1455,876,0,0,0,0,0,0
$GC,11256,1.19,428.6,10.5,10.1,614,11262,0.00,2.17,0.00,0.000,4,0.000,0.051,3322,234,876,0,0,0,0,0,0
$STATE,11322,end climb,SURFACE_DEPTH_REACHED
$STATE,11322,begin surface coast
$FINISH,2.2,1.023184
$STATE,11328,end surface coast,CONTROL_FINISHED_OK
$STATE,11328,begin surface
$SM_CCo,11415,0.00,0.000,0,0,871,431.48
$SM_GC,1.73,12.52,0.00,0.00,0.027,0.000,0.000,429,1508,871,-11.99,0.23,431.48
$IRIDIUM_FIX,2059.45,-15750.89,170100,212129
$TT8_MAMPS,0.029146
$HUMID,63.90
$INTERNAL_PRESSURE,9.21564
$TCM_TEMP,20.50
$XPDR_PINGS,0
$24V_AH,23.3,70.743
$10V_AH,10.0,57.162
$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,30.250,123.975,475.050,0.000,0.000,82.646,142.312,161.037,4.500,0.000,16.209,1241.125,7691.508,474.742,1921.066,724.432,0.000,1380.544,0.000,1900.928,0.000,29.251,0.000
$DEVICE_MAMPS,131.924,92.040,841.399,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,424.260,401.145,879.747,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355760
$DATA_FILE_SIZE,34919,630
$CAP_FILE_SIZE,128262,0
$CFSIZE,260165632,172244992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,241010,010706,2108.733,-15749.288,36,1.0,36,9.8