version: 66.06
glider: 139
mission: 8
dive: 746
start: 10 24 110 1 13 28
data:
$ID,139
$MISSION,8
$DIVE,746
$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,-2167035.5
$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
$GPS1,010706,2108.733,-15749.288,36,1.0,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-71.6
$GPS2,011308,2108.705,-15749.414,16,1.1,16,9.8
$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,105.7,12435,-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,-64.50,0.000,2,0.000,0.000,428,1508,2656,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.2,-3.0,12,114,12.62,0.00,-9.20,0.000,6,0.132,0.000,2787,1509,3110,0,0,0,0,0,0
$GC,318,-0.97,-116.8,37.0,-13.0,56,323,0.22,2.20,0.00,0.000,4,0.088,0.044,2834,237,3112,0,0,0,0,0,0
$GC,365,-0.85,-116.8,42.8,-11.3,59,371,0.10,2.10,0.00,0.000,6,0.072,0.019,2860,1558,3111,0,0,0,0,0,0
$GC,628,-0.85,-116.8,64.4,-7.6,80,632,0.00,2.22,0.00,0.000,4,0.000,0.021,2860,2932,3112,0,0,0,0,0,0
$GC,675,-0.97,-116.8,68.5,-7.7,83,682,0.00,2.45,0.00,0.000,6,0.000,0.031,2860,1497,3112,0,0,0,0,0,0
$GC,935,-0.97,-116.8,86.8,-7.4,104,939,0.00,2.15,0.00,0.000,4,0.000,0.045,2860,228,3113,0,0,0,0,0,0
$GC,989,-0.97,-116.8,91.5,-8.5,108,993,0.00,2.08,0.00,0.000,6,0.000,0.018,2860,1567,3113,0,0,0,0,0,0
$GC,1252,-1.04,-116.8,113.6,-8.0,128,1256,0.17,2.30,0.00,0.000,4,0.050,0.044,2803,231,3114,0,0,0,0,0,0
$GC,1308,-0.97,-116.8,119.9,-10.8,132,1313,0.15,2.08,0.00,0.000,6,0.087,0.018,2835,1561,3113,0,0,0,0,0,0
$GC,1577,-0.97,-116.8,142.6,-7.4,153,1581,0.00,2.28,0.00,0.000,4,0.000,0.044,2835,228,3114,0,0,0,0,0,0
$GC,1608,-0.97,-116.8,145.5,-7.9,155,1614,0.00,2.08,0.00,0.000,6,0.000,0.019,2836,1571,3115,0,0,0,0,0,0
$GC,1870,-1.01,-116.8,163.8,-6.5,176,1874,0.00,2.30,0.00,0.000,4,0.000,0.045,2835,234,3115,0,0,0,0,0,0
$GC,1922,-1.01,-116.8,167.4,-6.1,180,1926,0.00,2.08,0.00,0.000,6,0.000,0.019,2835,1563,3115,0,0,0,0,0,0
$GC,2189,-1.05,-116.8,185.2,-7.3,201,2190,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1568,3115,0,0,0,0,0,0
$GC,2453,-1.09,-116.8,205.2,-7.3,220,2457,0.10,2.30,0.00,0.000,4,0.072,0.046,2796,230,3115,0,0,0,0,0,0
$GC,2523,-1.05,-116.8,212.0,-10.1,223,2527,0.12,2.08,0.00,0.000,6,0.091,0.020,2823,1554,3115,0,0,0,0,0,0
$GC,2850,-1.05,-116.8,238.5,-8.4,239,2854,0.00,2.28,0.00,0.000,4,0.000,0.048,2823,229,3115,0,0,0,0,0,0
$GC,2882,-1.05,-116.8,241.3,-8.4,240,2886,0.00,2.08,0.00,0.000,6,0.000,0.021,2823,1557,3115,0,0,0,0,0,0
$GC,3200,-1.05,-116.8,262.6,-7.0,255,3205,0.00,2.28,0.00,0.000,4,0.000,0.048,2823,231,3115,0,0,0,0,0,0
$GC,3229,-1.05,-116.8,264.9,-7.9,256,3233,0.00,2.10,0.00,0.000,6,0.000,0.021,2823,1557,3115,0,0,0,0,0,0
$GC,3550,-1.09,-116.8,285.0,-6.9,272,3554,0.00,2.28,0.00,0.000,4,0.000,0.048,2823,235,3113,0,0,0,0,0,0
$GC,3619,-1.13,-116.8,289.9,-8.3,275,3623,0.00,2.08,0.00,0.000,6,0.000,0.022,2824,1553,3113,0,0,0,0,0,0
$GC,3966,-1.16,-116.8,314.4,-6.0,287,3971,0.12,2.28,0.00,0.000,4,0.064,0.048,2781,237,3111,0,0,0,0,0,0
$GC,4048,-1.10,-116.8,321.0,-9.0,288,4053,0.15,2.08,0.00,0.000,6,0.087,0.021,2813,1554,3112,0,0,0,0,0,0
$GC,4380,-1.13,-116.8,344.2,-7.3,296,4384,0.00,2.28,0.00,0.000,4,0.000,0.050,2812,235,3110,0,0,0,0,0,0
$GC,4425,-1.13,-116.8,347.3,-7.2,297,4429,0.00,2.10,0.00,0.000,6,0.000,0.022,2813,1552,3110,0,0,0,0,0,0
$GC,4754,-1.17,-116.8,368.8,-6.7,305,4758,0.00,2.28,0.00,0.000,4,0.000,0.050,2813,236,3108,0,0,0,0,0,0
$GC,4773,-1.17,-116.8,370.1,-5.8,305,4777,0.00,2.10,0.00,0.000,6,0.000,0.023,2813,1550,3108,0,0,0,0,0,0
$GC,5120,-1.21,-116.8,389.5,-5.5,314,5122,0.12,0.00,0.00,0.000,6,0.064,0.000,2772,1554,3106,0,0,0,0,0,0
$GC,5443,-1.16,-116.8,418.9,-9.8,322,5445,0.12,0.00,0.00,0.000,6,0.094,0.000,2799,1555,3104,0,0,0,0,0,0
$GC,5770,-1.16,-116.8,445.2,-7.4,330,5774,0.00,2.33,0.00,0.000,4,0.000,0.054,2799,231,3102,0,0,0,0,0,0
$GC,5825,-1.16,-116.8,449.7,-8.1,331,5829,0.00,2.05,0.00,0.000,6,0.000,0.025,2799,1511,3102,0,0,0,0,0,0
$STATE,5832,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5832,begin apogee
$GC,5839,-0.31,0.0,450.3,7.3,331,5941,0.82,0.00,96.55,0.825,6,0.064,0.000,2980,1433,2629,0,0,0,0,0,0
$STATE,5942,end apogee,CONTROL_FINISHED_OK
$STATE,5942,begin climb
$GC,5946,1.18,116.8,453.3,0.0,334,6058,1.40,2.12,101.05,0.809,4,0.034,0.053,3309,249,2151,0,0,0,0,0,0
$GC,6088,0.86,130.9,451.5,7.3,337,6109,0.35,1.95,13.15,0.724,6,0.091,0.025,3241,1460,2096,0,0,0,0,0,0
$GC,6447,0.85,181.8,430.1,5.6,346,6500,0.00,2.33,45.20,0.795,4,0.000,0.027,3241,2829,1887,0,0,0,0,0,0
$GC,6580,0.87,198.2,420.9,7.2,349,6601,0.00,2.42,15.55,0.741,6,0.000,0.042,3241,1454,1820,0,0,0,0,0,0
$GC,6949,0.86,213.7,395.2,7.2,358,6969,0.00,2.40,14.27,0.733,4,0.000,0.028,3241,2824,1758,0,0,0,0,0,0
$GC,7023,0.90,213.7,389.5,7.9,359,7027,0.00,2.42,0.00,0.000,6,0.000,0.043,3241,1449,1757,0,0,0,0,0,0
$GC,7363,0.90,213.7,361.6,8.6,368,7367,0.00,2.12,0.00,0.000,4,0.000,0.058,3241,235,1754,0,0,0,0,0,0
$GC,7429,0.81,213.7,355.4,9.7,369,7433,0.00,1.98,0.00,0.000,6,0.000,0.027,3241,1443,1750,0,0,0,0,0,0
$GC,7742,0.85,240.1,332.8,6.7,377,7771,0.00,2.40,23.30,0.743,4,0.000,0.029,3241,2836,1651,0,0,0,0,0,0
$GC,7814,0.94,265.6,328.1,6.7,378,7843,0.00,2.45,23.70,0.734,6,0.000,0.041,3241,1446,1547,0,0,0,0,0,0
$GC,8163,0.95,271.3,302.6,7.6,387,8175,0.00,2.22,5.70,0.562,4,0.000,0.058,3241,235,1522,0,0,0,0,0,0
$GC,8229,0.92,271.3,296.0,10.5,388,8237,0.00,2.03,0.00,0.000,6,0.000,0.028,3241,1453,1520,0,0,0,0,0,0
$GC,8545,0.98,294.9,270.6,6.8,404,8574,0.10,2.22,21.90,0.697,4,0.079,0.054,3272,227,1426,0,0,0,0,0,0
$GC,8631,0.91,294.9,262.5,10.0,407,8637,0.12,2.03,0.00,0.000,6,0.103,0.027,3248,1466,1422,0,0,0,0,0,0
$GC,8948,0.95,294.9,236.4,8.8,423,8949,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1467,1421,0,0,0,0,0,0
$GC,9256,0.99,294.9,209.3,8.2,438,9260,0.00,2.15,0.00,0.000,4,0.000,0.054,3248,234,1420,0,0,0,0,0,0
$GC,9300,0.99,294.9,205.1,9.5,439,9306,0.00,1.95,0.00,0.000,6,0.000,0.026,3248,1449,1418,0,0,0,0,0,0
$GC,9624,1.10,341.5,182.0,5.8,463,9671,0.17,2.40,40.22,0.641,4,0.055,0.027,3299,2837,1236,0,0,0,0,0,0
$GC,9701,1.15,341.5,175.4,8.4,468,9708,0.00,2.45,0.00,0.000,6,0.000,0.040,3298,1456,1236,0,0,0,0,0,0
$GC,9962,1.11,341.5,154.5,8.0,489,9965,0.00,2.12,0.00,0.000,4,0.000,0.053,3298,234,1234,0,0,0,0,0,0
$GC,10016,1.04,341.5,148.3,12.1,493,10021,0.05,2.00,0.00,0.000,6,0.059,0.024,3277,1459,1231,0,0,0,0,0,0
$GC,10287,1.11,341.5,120.6,9.1,514,10291,0.00,2.15,0.00,0.000,4,0.000,0.051,3277,228,1231,0,0,0,0,0,0
$GC,10318,1.11,341.5,117.7,10.1,516,10321,0.00,1.95,0.00,0.000,6,0.000,0.024,3277,1459,1230,0,0,0,0,0,0
$GC,10589,1.29,435.5,102.3,3.7,537,10671,0.25,0.00,78.97,0.570,6,0.043,0.000,3347,1464,853,0,0,0,0,0,0
$GC,10923,1.25,435.5,72.0,10.4,564,10925,0.12,0.00,0.00,0.000,6,0.094,0.000,3321,1463,850,0,0,0,0,0,0
$GC,11175,1.25,435.5,47.8,9.8,584,11179,0.00,2.15,0.00,0.000,4,0.000,0.049,3321,232,849,0,0,0,0,0,0
$GC,11250,1.22,435.5,39.8,10.4,589,11256,0.00,1.98,0.00,0.000,6,0.000,0.021,3321,1472,846,0,0,0,0,0,0
$GC,11513,1.22,435.5,14.4,10.3,634,11519,0.00,2.17,0.00,0.000,4,0.000,0.048,3321,236,847,0,0,0,0,0,0
$GC,11565,1.18,435.5,8.2,11.6,645,11572,0.00,1.92,0.00,0.000,6,0.000,0.020,3321,1458,846,0,0,0,0,0,0
$STATE,11620,end climb,SURFACE_DEPTH_REACHED
$STATE,11621,begin surface coast
$FINISH,0.9,1.010497
$STATE,11664,end surface coast,CONTROL_FINISHED_OK
$STATE,11664,begin surface
$SM_CCo,11747,0.00,0.000,0,0,843,438.60
$SM_GC,1.65,12.43,0.00,0.00,0.024,0.000,0.000,424,1458,843,-12.00,-1.19,438.60
$IRIDIUM_FIX,2101.76,-15750.89,170100,222217
$TT8_MAMPS,0.028379
$HUMID,61.34
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,21.70
$XPDR_PINGS,1
$24V_AH,23.3,70.855
$10V_AH,10.0,57.249
$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,29.850,117.850,479.575,0.000,0.000,28.501,38.221,159.108,5.000,0.000,16.204,1285.833,7794.130,485.384,1976.909,559.979,0.000,1399.617,0.000,1952.669,0.000,32.080,0.000
$DEVICE_MAMPS,131.924,77.467,824.525,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,447.966,423.974,954.827,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,38062,666
$CAP_FILE_SIZE,127851,0
$CFSIZE,260165632,172179456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,241010,043030,2108.598,-15749.761,40,2.0,40,9.8