version: 66.06
glider: 139
mission: 8
dive: 790
start: 10 30 110 7 25 7
data:
$ID,139
$MISSION,8
$DIVE,790
$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,-2168079.8
$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,1450
$C_ROLL_CLIMB,1420
$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
$GPS1,071415,2108.356,-15746.731,45,4.7,64,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-73.2
$GPS2,072446,2108.420,-15746.779,15,2.2,34,9.8
$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,116.1,8234,-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,-116.8,0.0,0.0,0,83,0.00,0.00,-64.15,0.000,2,0.000,0.000,422,1425,2773,0,0,0,0,0,0
$GC,87,-1.18,-116.8,3.7,-4.2,12,111,12.68,0.00,-6.28,0.000,6,0.132,0.000,2785,1426,3107,0,0,0,0,0,0
$GC,311,-0.96,-116.8,40.8,-13.8,50,316,0.25,2.40,0.00,0.000,4,0.091,0.020,2841,2879,3109,0,0,0,0,0,0
$GC,343,-0.96,-116.8,44.6,-9.2,52,350,0.00,2.45,0.00,0.000,6,0.000,0.032,2840,1452,3110,0,0,0,0,0,0
$GC,605,-0.91,-116.8,73.1,-10.5,73,609,0.00,2.08,0.00,0.000,4,0.000,0.044,2840,235,3110,0,0,0,0,0,0
$GC,623,-0.86,-116.8,75.1,-10.4,74,627,0.10,1.98,0.00,0.000,6,0.102,0.019,2861,1514,3110,0,0,0,0,0,0
$GC,890,-0.89,-116.8,97.7,-9.4,95,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1514,3111,0,0,0,0,0,0
$GC,1142,-0.95,-116.8,120.7,-9.0,115,1146,0.00,2.17,0.00,0.000,4,0.000,0.044,2861,233,3111,0,0,0,0,0,0
$GC,1168,-0.99,-116.8,123.2,-9.1,117,1173,0.12,1.98,0.00,0.000,6,0.061,0.019,2815,1523,3112,0,0,0,0,0,0
$GC,1435,-0.96,-116.8,145.2,-8.5,138,1440,0.12,2.20,0.00,0.000,4,0.088,0.021,2843,2880,3112,0,0,0,0,0,0
$GC,1461,-1.05,-116.8,147.4,-7.6,140,1465,0.00,2.40,0.00,0.000,6,0.000,0.030,2843,1442,3112,0,0,0,0,0,0
$GC,1730,-1.18,-116.8,167.1,-7.7,161,1734,0.22,2.03,0.00,0.000,4,0.041,0.043,2770,234,3112,0,0,0,0,0,0
$GC,1783,-1.07,-116.8,172.6,-10.5,165,1788,0.20,1.98,0.00,0.000,6,0.081,0.019,2815,1516,3112,0,0,0,0,0,0
$GC,2050,-1.07,-116.8,194.6,-8.2,186,2051,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1519,3112,0,0,0,0,0,0
$GC,2310,-1.07,-116.8,214.4,-6.9,201,2314,0.00,2.17,0.00,0.000,4,0.000,0.046,2815,239,3112,0,0,0,0,0,0
$GC,2377,-1.07,-116.8,219.4,-7.8,204,2381,0.00,2.00,0.00,0.000,6,0.000,0.020,2814,1503,3112,0,0,0,0,0,0
$GC,2714,-1.07,-116.8,246.9,-8.6,220,2715,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1508,3112,0,0,0,0,0,0
$GC,3022,-1.10,-116.8,268.5,-6.9,235,3026,0.00,2.17,0.00,0.000,4,0.000,0.048,2815,235,3111,0,0,0,0,0,0
$GC,3069,-1.10,-116.8,272.3,-8.6,237,3073,0.00,1.98,0.00,0.000,6,0.000,0.021,2815,1500,3111,0,0,0,0,0,0
$GC,3405,-1.10,-116.8,298.4,-7.3,253,3409,0.00,2.17,0.00,0.000,4,0.000,0.049,2815,239,3110,0,0,0,0,0,0
$GC,3449,-1.13,-116.8,302.1,-8.6,255,3453,0.00,1.92,0.00,0.000,6,0.000,0.022,2815,1462,3110,0,0,0,0,0,0
$GC,3783,-1.17,-116.8,329.6,-8.6,263,3787,0.00,2.25,0.00,0.000,4,0.000,0.025,2815,2832,3108,0,0,0,0,0,0
$GC,3811,-1.28,-116.8,332.0,-7.5,263,3816,0.20,2.33,0.00,0.000,6,0.046,0.035,2752,1453,3108,0,0,0,0,0,0
$GC,4151,-1.19,-116.8,361.8,-8.9,272,4152,0.17,0.00,0.00,0.000,6,0.086,0.000,2790,1452,3106,0,0,0,0,0,0
$GC,4473,-1.19,-116.8,386.6,-7.4,280,4477,0.00,2.10,0.00,0.000,4,0.000,0.053,2789,231,3104,0,0,0,0,0,0
$GC,4498,-1.19,-116.8,388.6,-8.2,280,4501,0.00,1.92,0.00,0.000,6,0.000,0.025,2789,1444,3104,0,0,0,0,0,0
$GC,4843,-1.19,-116.8,413.2,-6.9,289,4847,0.00,2.28,0.00,0.000,4,0.000,0.027,2790,2831,3102,0,0,0,0,0,0
$GC,4871,-1.24,-116.8,415.2,-7.5,289,4875,0.00,2.35,0.00,0.000,6,0.000,0.039,2789,1451,3102,0,0,0,0,0,0
$GC,5209,-1.24,-116.8,438.5,-7.0,298,5210,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1451,3099,0,0,0,0,0,0
$STATE,5367,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5367,begin apogee
$GC,5373,-0.31,0.0,450.9,7.7,302,5472,0.88,0.00,95.70,0.831,6,0.065,0.000,2979,1451,2629,0,0,0,0,0,0
$STATE,5473,end apogee,CONTROL_FINISHED_OK
$STATE,5473,begin climb
$GC,5475,1.18,116.8,454.1,0.0,304,5585,1.42,0.00,101.18,0.816,6,0.034,0.000,3313,1451,2153,0,0,0,0,0,0
$GC,5884,0.99,158.2,439.7,6.0,314,5927,0.22,2.33,36.35,0.795,4,0.094,0.027,3269,2797,1983,0,0,0,0,0,0
$GC,5985,0.91,160.9,432.7,7.8,316,5989,0.00,2.42,0.00,0.000,6,0.000,0.043,3269,1420,1982,0,0,0,0,0,0
$GC,6304,0.80,173.1,408.9,7.3,324,6325,0.22,2.42,13.27,0.737,4,0.091,0.029,3223,2797,1923,0,0,0,0,0,0
$GC,6380,0.86,188.6,403.6,7.2,325,6401,0.00,2.42,15.12,0.744,6,0.000,0.044,3223,1416,1861,0,0,0,0,0,0
$GC,6731,0.87,191.2,377.3,7.8,334,6732,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1416,1855,0,0,0,0,0,0
$GC,7055,0.91,227.9,355.6,6.2,342,7093,0.12,0.00,35.45,0.774,6,0.070,0.000,3258,1416,1699,0,0,0,0,0,0
$GC,7419,0.87,227.9,325.9,8.2,351,7420,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1416,1695,0,0,0,0,0,0
$GC,7744,0.87,229.0,299.7,7.8,359,7748,0.00,2.35,0.00,0.000,4,0.000,0.030,3259,2796,1693,0,0,0,0,0,0
$GC,7774,0.92,246.2,297.6,7.1,360,7795,0.00,2.42,16.25,0.709,6,0.000,0.044,3258,1414,1625,0,0,0,0,0,0
$GC,8124,0.92,246.2,269.6,8.2,377,8128,0.00,2.08,0.00,0.000,4,0.000,0.058,3258,230,1620,0,0,0,0,0,0
$GC,8176,0.83,246.2,264.5,9.4,379,8181,0.15,1.90,0.00,0.000,6,0.099,0.028,3229,1413,1618,0,0,0,0,0,0
$GC,8500,0.94,293.1,244.3,5.8,395,8547,0.12,2.38,41.00,0.702,4,0.067,0.028,3265,2808,1435,0,0,0,0,0,0
$GC,8591,1.02,293.1,237.4,8.5,399,8595,0.00,2.45,0.00,0.000,6,0.000,0.041,3265,1417,1434,0,0,0,0,0,0
$GC,8922,1.04,309.4,211.5,7.2,415,8944,0.00,2.15,14.80,0.632,4,0.000,0.056,3265,236,1367,0,0,0,0,0,0
$GC,8972,1.01,323.0,208.0,7.3,417,8993,0.00,1.95,12.93,0.614,6,0.000,0.026,3265,1426,1313,0,0,0,0,0,0
$GC,9311,1.02,331.4,183.6,7.5,440,9327,0.00,2.33,8.45,0.553,4,0.000,0.025,3266,2806,1277,0,0,0,0,0,0
$GC,9338,1.08,331.4,181.4,7.9,441,9344,0.00,2.42,0.00,0.000,6,0.000,0.039,3265,1419,1277,0,0,0,0,0,0
$GC,9598,1.13,343.2,161.3,7.4,462,9616,0.15,2.17,11.32,0.568,4,0.058,0.054,3310,221,1230,0,0,0,0,0,0
$GC,9666,1.04,343.2,154.4,10.7,466,9674,0.12,1.98,0.00,0.000,6,0.074,0.024,3280,1435,1227,0,0,0,0,0,0
$GC,9929,1.09,349.8,134.2,7.6,487,9943,0.00,2.33,7.00,0.492,4,0.000,0.025,3280,2802,1202,0,0,0,0,0,0
$GC,9961,1.18,349.8,131.3,8.1,489,9966,0.12,2.40,0.00,0.000,6,0.064,0.037,3320,1417,1202,0,0,0,0,0,0
$GC,10228,1.14,349.8,106.1,9.0,510,10233,0.10,2.33,0.00,0.000,4,0.104,0.024,3298,2806,1202,0,0,0,0,0,0
$GC,10248,1.18,349.8,104.2,8.0,511,10253,0.00,2.38,0.00,0.000,6,0.000,0.037,3298,1420,1202,0,0,0,0,0,0
$GC,10511,1.22,353.8,85.8,7.7,532,10525,0.00,2.05,5.12,0.410,4,0.000,0.048,3298,235,1186,0,0,0,0,0,0
$GC,10549,1.22,353.8,82.3,8.4,534,10555,0.00,1.92,0.00,0.000,6,0.000,0.023,3298,1422,1184,0,0,0,0,0,0
$GC,10813,1.29,357.1,63.4,7.7,555,10822,0.15,2.28,4.20,0.360,4,0.056,0.021,3347,2802,1173,0,0,0,0,0,0
$GC,10832,1.29,357.1,61.2,8.5,555,10839,0.00,2.40,0.00,0.000,6,0.000,0.035,3346,1422,1173,0,0,0,0,0,0
$GC,11094,1.25,357.1,36.0,9.4,576,11098,0.12,2.30,0.00,0.000,4,0.095,0.021,3321,2805,1173,0,0,0,0,0,0
$GC,11125,1.34,357.1,33.2,8.4,578,11129,0.00,2.38,0.00,0.000,6,0.000,0.035,3320,1414,1173,0,0,0,0,0,0
$GC,11390,1.34,357.1,10.0,9.8,632,11397,0.10,2.08,0.00,0.000,4,0.072,0.050,3357,237,1173,0,0,0,0,0,0
$GC,11410,1.31,357.1,8.0,9.9,635,11417,0.08,1.90,0.00,0.000,6,0.074,0.021,3336,1439,1173,0,0,0,0,0,0
$STATE,11456,end climb,SURFACE_DEPTH_REACHED
$STATE,11456,begin surface coast
$FINISH,0.8,1.023186
$STATE,11490,end surface coast,CONTROL_FINISHED_OK
$STATE,11490,begin surface
$SM_CCo,11513,44.17,0.476,0,0,957,410.14
$SM_GC,1.55,0.00,0.00,44.17,0.000,0.000,0.476,428,1441,957,-12.07,-0.28,410.14
$IRIDIUM_FIX,2059.45,-15748.75,240100,070718
$TT8_MAMPS,0.029146
$HUMID,62.71
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,20.80
$XPDR_PINGS,0
$24V_AH,23.3,76.229
$10V_AH,9.9,61.170
$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,30.600,110.200,418.150,44.175,0.000,52.559,76.045,270.663,4.750,0.000,38.570,1237.709,7887.713,506.693,1808.071,744.533,0.000,1312.610,0.000,1769.602,0.000,32.070,0.000
$DEVICE_MAMPS,131.924,57.525,830.661,476.307,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,439.043,415.539,922.793,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,34951,652
$CAP_FILE_SIZE,125755,0
$CFSIZE,260165632,169414656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,301010,103906,2108.081,-15745.150,38,0.8,43,9.8