version: 66.06
glider: 139
mission: 8
dive: 752
start: 10 24 110 21 23 35
data:
$ID,139
$MISSION,8
$DIVE,752
$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,-2167150.2
$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
$GPS1,210900,2107.818,-15744.974,41,1.4,41,9.8
$_CALLS,4
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-71.3
$GPS2,212314,2107.920,-15744.924,10,1.6,10,9.8
$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,128.6,5218,-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,-116.8,0.0,0.0,0,88,0.00,0.00,-69.70,0.000,2,0.000,0.000,427,1446,2729,0,0,0,0,0,0
$GC,92,-1.18,-116.8,3.4,-3.4,13,122,12.62,2.15,-7.20,0.000,4,0.130,0.059,2786,237,3110,0,0,0,0,0,0
$GC,156,-0.91,-116.8,18.5,-17.9,25,163,0.28,2.10,0.00,0.000,6,0.076,0.019,2848,1555,3111,0,0,0,0,0,0
$GC,365,-0.84,-116.8,43.2,-11.3,55,366,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1556,3111,0,0,0,0,0,0
$GC,618,-0.81,-116.8,73.4,-10.9,75,620,0.12,0.00,0.00,0.000,6,0.094,0.000,2875,1556,3112,0,0,0,0,0,0
$GC,870,-0.90,-116.8,89.8,-5.5,95,874,0.00,2.25,0.00,0.000,4,0.000,0.044,2875,233,3112,0,0,0,0,0,0
$GC,952,-0.99,-116.8,94.6,-6.2,101,957,0.17,2.08,0.00,0.000,6,0.048,0.018,2816,1579,3112,0,0,0,0,0,0
$GC,1223,-0.95,-116.8,118.4,-9.8,122,1227,0.12,2.35,0.00,0.000,4,0.089,0.045,2844,228,3113,0,0,0,0,0,0
$GC,1309,-0.99,-116.8,127.0,-10.1,128,1312,0.00,2.08,0.00,0.000,6,0.000,0.019,2844,1564,3112,0,0,0,0,0,0
$GC,1580,-1.03,-116.8,149.1,-7.2,149,1584,0.00,2.28,0.00,0.000,4,0.000,0.044,2844,231,3113,0,0,0,0,0,0
$GC,1608,-1.03,-116.8,151.1,-7.5,151,1611,0.00,2.08,0.00,0.000,6,0.000,0.019,2844,1563,3113,0,0,0,0,0,0
$GC,1873,-1.08,-116.8,169.0,-7.4,172,1878,0.12,2.28,0.00,0.000,4,0.061,0.045,2797,237,3113,0,0,0,0,0,0
$GC,1917,-1.01,-116.8,173.3,-10.3,175,1922,0.15,2.08,0.00,0.000,6,0.084,0.019,2831,1561,3113,0,0,0,0,0,0
$GC,2179,-1.01,-116.8,194.1,-7.8,195,2183,0.00,2.28,0.00,0.000,4,0.000,0.045,2831,231,3113,0,0,0,0,0,0
$GC,2226,-1.01,-116.8,198.9,-9.7,198,2232,0.00,2.10,0.00,0.000,6,0.000,0.020,2831,1562,3113,0,0,0,0,0,0
$GC,2496,-1.05,-116.8,220.6,-7.9,212,2500,0.00,2.25,0.00,0.000,4,0.000,0.046,2831,237,3113,0,0,0,0,0,0
$GC,2547,-1.09,-116.8,225.3,-8.4,214,2551,0.00,2.08,0.00,0.000,6,0.000,0.020,2831,1560,3113,0,0,0,0,0,0
$GC,2869,-1.14,-116.8,247.1,-7.4,230,2874,0.12,2.30,0.00,0.000,4,0.062,0.048,2787,229,3112,0,0,0,0,0,0
$GC,2914,-1.09,-116.8,251.3,-10.3,232,2919,0.12,2.10,0.00,0.000,6,0.089,0.021,2814,1557,3112,0,0,0,0,0,0
$GC,3247,-1.09,-116.8,279.0,-7.9,248,3248,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1562,3111,0,0,0,0,0,0
$GC,3555,-1.13,-116.8,299.6,-5.7,263,3562,0.00,2.28,0.00,0.000,4,0.000,0.048,2814,234,3110,0,0,0,0,0,0
$GC,3619,-1.13,-116.8,303.8,-7.2,265,3622,0.00,2.05,0.00,0.000,6,0.000,0.022,2814,1551,3109,0,0,0,0,0,0
$GC,3934,-1.17,-116.8,326.8,-7.7,273,3938,0.00,2.28,0.00,0.000,4,0.000,0.050,2815,234,3107,0,0,0,0,0,0
$GC,3990,-1.20,-116.8,331.8,-8.3,274,3995,0.12,2.08,0.00,0.000,6,0.063,0.023,2772,1546,3107,0,0,0,0,0,0
$GC,4311,-1.14,-116.8,360.2,-8.8,282,4316,0.12,2.20,0.00,0.000,4,0.095,0.028,2799,2884,3104,0,0,0,0,0,0
$GC,4350,-1.21,-116.8,363.3,-6.9,282,4355,0.00,2.35,0.00,0.000,6,0.000,0.036,2799,1501,3105,0,0,0,0,0,0
$GC,4683,-1.21,-116.8,387.2,-7.5,291,4687,0.00,2.17,0.00,0.000,4,0.000,0.052,2799,235,3103,0,0,0,0,0,0
$GC,4733,-1.21,-116.8,391.5,-8.3,292,4737,0.00,2.00,0.00,0.000,6,0.000,0.024,2799,1496,3102,0,0,0,0,0,0
$GC,5056,-1.21,-116.8,418.8,-8.6,300,5060,0.00,2.22,0.00,0.000,4,0.000,0.053,2799,231,3100,0,0,0,0,0,0
$GC,5108,-1.21,-116.8,423.5,-9.4,301,5112,0.00,2.03,0.00,0.000,6,0.000,0.025,2799,1506,3099,0,0,0,0,0,0
$STATE,5428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5428,begin apogee
$GC,5435,-0.31,0.0,451.2,8.2,309,5533,0.82,0.00,95.38,0.825,6,0.064,0.000,2979,1445,2629,0,0,0,0,0,0
$STATE,5534,end apogee,CONTROL_FINISHED_OK
$STATE,5534,begin climb
$GC,5538,1.18,116.8,453.6,0.0,311,5650,1.42,2.12,100.82,0.809,4,0.035,0.053,3312,249,2151,0,0,0,0,0,0
$GC,5695,0.85,116.8,451.3,9.3,314,5699,0.38,1.95,0.00,0.000,6,0.093,0.025,3238,1451,2146,0,0,0,0,0,0
$GC,6036,0.88,190.2,433.4,4.6,323,6105,0.00,2.38,63.12,0.803,4,0.000,0.028,3238,2831,1854,0,0,0,0,0,0
$GC,6225,0.90,207.6,422.6,7.1,327,6246,0.00,2.40,16.35,0.745,6,0.000,0.041,3238,1452,1783,0,0,0,0,0,0
$GC,6582,0.90,207.6,394.4,8.5,336,6586,0.00,2.15,0.00,0.000,4,0.000,0.057,3238,227,1776,0,0,0,0,0,0
$GC,6630,0.82,207.6,390.1,9.1,337,6634,0.00,2.00,0.00,0.000,6,0.000,0.027,3238,1449,1773,0,0,0,0,0,0
$GC,6959,0.82,214.7,364.5,7.6,345,6971,0.00,2.38,6.00,0.607,4,0.000,0.028,3238,2834,1754,0,0,0,0,0,0
$GC,7035,0.89,228.2,359.4,7.3,346,7055,0.00,2.42,13.65,0.720,6,0.000,0.041,3238,1450,1699,0,0,0,0,0,0
$GC,7385,0.91,244.5,334.6,7.2,355,7404,0.00,0.00,15.07,0.716,6,0.000,0.000,3238,1450,1633,0,0,0,0,0,0
$GC,7716,0.92,245.7,308.5,7.8,363,7719,0.00,2.15,0.00,0.000,4,0.000,0.057,3238,235,1629,0,0,0,0,0,0
$GC,7799,0.88,245.7,300.6,9.4,364,7804,0.00,2.00,0.00,0.000,6,0.000,0.028,3238,1458,1626,0,0,0,0,0,0
$GC,8115,0.91,273.4,277.2,6.6,379,8148,0.00,2.42,25.55,0.710,4,0.000,0.028,3238,2844,1514,0,0,0,0,0,0
$GC,8166,1.03,307.3,273.6,6.4,381,8206,0.17,2.45,31.00,0.703,6,0.055,0.041,3287,1443,1376,0,0,0,0,0,0
$GC,8515,0.98,307.3,242.3,9.0,398,8520,0.12,2.17,0.00,0.000,4,0.097,0.057,3261,228,1371,0,0,0,0,0,0
$GC,8544,0.93,307.3,239.4,9.8,399,8547,0.00,2.00,0.00,0.000,6,0.000,0.027,3261,1451,1369,0,0,0,0,0,0
$GC,8869,0.93,307.3,210.6,9.0,415,8870,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,1454,1368,0,0,0,0,0,0
$GC,9191,0.95,328.6,187.2,6.9,436,9214,0.00,2.17,18.10,0.623,4,0.000,0.052,3262,231,1289,0,0,0,0,0,0
$GC,9257,0.95,328.6,181.9,9.1,440,9260,0.00,2.00,0.00,0.000,6,0.000,0.025,3262,1462,1285,0,0,0,0,0,0
$GC,9529,0.98,328.6,161.3,8.0,461,9533,0.00,2.15,0.00,0.000,4,0.000,0.051,3262,232,1285,0,0,0,0,0,0
$GC,9582,0.98,330.0,156.4,7.8,465,9586,0.00,1.98,0.00,0.000,6,0.000,0.025,3262,1446,1283,0,0,0,0,0,0
$GC,9854,1.06,361.6,137.6,6.5,486,9886,0.00,0.00,28.83,0.588,6,0.000,0.000,3262,1446,1154,0,0,0,0,0,0
$GC,10142,1.14,373.9,117.2,7.3,509,10159,0.17,2.15,11.45,0.525,4,0.052,0.051,3314,230,1104,0,0,0,0,0,0
$GC,10194,1.01,373.9,111.4,12.0,512,10201,0.17,2.00,0.00,0.000,6,0.071,0.022,3274,1462,1102,0,0,0,0,0,0
$GC,10456,1.07,373.9,86.5,8.9,533,10460,0.00,2.12,0.00,0.000,4,0.000,0.050,3273,233,1101,0,0,0,0,0,0
$GC,10476,1.07,373.9,84.5,8.9,534,10482,0.00,1.95,0.00,0.000,6,0.000,0.023,3273,1437,1101,0,0,0,0,0,0
$GC,10738,1.21,402.6,65.0,6.6,555,10770,0.17,2.20,24.67,0.518,4,0.051,0.050,3328,231,987,0,0,0,0,0,0
$GC,10784,1.17,402.6,60.8,10.2,558,10789,0.12,1.95,0.00,0.000,6,0.094,0.022,3303,1462,986,0,0,0,0,0,0
$GC,11051,1.24,402.6,38.3,8.9,579,11052,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,1463,985,0,0,0,0,0,0
$GC,11307,1.33,424.6,17.8,6.9,623,11336,0.17,2.33,19.38,0.469,4,0.050,0.021,3358,2834,897,0,0,0,0,0,0
$GC,11376,1.37,424.6,11.3,9.2,636,11383,0.00,2.42,0.00,0.000,6,0.000,0.035,3358,1444,897,0,0,0,0,0,0
$STATE,11451,end climb,SURFACE_DEPTH_REACHED
$STATE,11451,begin surface coast
$FINISH,0.9,1.011041
$STATE,11479,end surface coast,CONTROL_FINISHED_OK
$STATE,11479,begin surface
$SM_CCo,11562,0.00,0.000,0,0,892,426.33
$SM_GC,1.79,12.57,0.00,0.00,0.023,0.000,0.000,429,1441,892,-11.98,-1.67,426.33
$IRIDIUM_FIX,2059.45,-15811.49,180100,212102
$TT8_MAMPS,0.028379
$HUMID,63.86
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,20.80
$XPDR_PINGS,0
$24V_AH,23.3,71.547
$10V_AH,9.9,57.772
$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,30.425,112.975,469.375,0.000,0.000,121.954,132.865,264.386,4.750,0.000,13.736,1262.305,7847.223,478.971,1953.389,866.716,0.000,1382.971,0.000,1935.818,0.000,32.081,0.000
$DEVICE_MAMPS,130.390,89.739,825.292,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,442.383,426.183,947.808,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,38141,658
$CAP_FILE_SIZE,129876,0
$CFSIZE,260165632,171802624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,251010,003754,2107.157,-15744.221,44,1.2,62,9.8