version: 66.06
glider: 139
mission: 8
dive: 702
start: 10 18 110 5 13 57
data:
$ID,139
$MISSION,8
$DIVE,702
$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,-2165922.2
$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,1530
$C_ROLL_CLIMB,1500
$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
$GPS1,050734,2111.595,-15803.112,12,7.9,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-72.4
$GPS2,051337,2111.624,-15803.196,10,1.2,15,9.8
$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,97.3,36653,-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,-116.8,0.0,0.0,0,81,0.00,0.00,-64.20,0.000,2,0.000,0.000,422,1517,2762,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.7,-4.1,12,109,12.68,2.22,-6.45,0.000,4,0.132,0.057,2786,234,3107,0,0,0,0,0,0
$GC,152,-0.87,-116.8,20.6,-19.2,25,160,0.30,2.17,0.00,0.000,6,0.077,0.019,2853,1588,3109,0,0,0,0,0,0
$GC,359,-0.80,-116.8,44.8,-11.5,52,363,0.10,2.25,0.00,0.000,4,0.104,0.021,2875,2951,3110,0,0,0,0,0,0
$GC,399,-0.89,-116.8,49.3,-10.3,55,403,0.00,2.40,0.00,0.000,6,0.000,0.031,2875,1529,3110,0,0,0,0,0,0
$GC,665,-0.92,-116.8,76.3,-8.8,76,670,0.12,2.22,0.00,0.000,4,0.062,0.045,2830,229,3111,0,0,0,0,0,0
$GC,746,-0.88,-116.8,84.8,-10.4,82,751,0.12,2.15,0.00,0.000,6,0.091,0.018,2857,1598,3111,0,0,0,0,0,0
$GC,1013,-0.91,-116.8,105.6,-7.0,103,1017,0.00,2.17,0.00,0.000,4,0.000,0.021,2857,2952,3112,0,0,0,0,0,0
$GC,1047,-1.02,-116.8,108.1,-6.2,105,1053,0.15,2.38,0.00,0.000,6,0.053,0.031,2805,1530,3112,0,0,0,0,0,0
$GC,1308,-0.95,-116.8,126.8,-7.0,126,1313,0.17,2.22,0.00,0.000,4,0.081,0.046,2843,237,3112,0,0,0,0,0,0
$GC,1350,-0.99,-116.8,129.2,-5.5,129,1354,0.00,2.12,0.00,0.000,6,0.000,0.018,2843,1599,3112,0,0,0,0,0,0
$GC,1616,-1.03,-116.8,146.5,-7.8,150,1617,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1604,3113,0,0,0,0,0,0
$GC,1867,-1.08,-116.8,168.8,-8.5,170,1872,0.12,2.35,0.00,0.000,4,0.063,0.046,2797,237,3113,0,0,0,0,0,0
$GC,1935,-1.01,-116.8,175.3,-9.2,175,1939,0.15,2.10,0.00,0.000,6,0.084,0.019,2830,1589,3113,0,0,0,0,0,0
$GC,2206,-1.01,-116.8,193.1,-5.5,196,2210,0.00,2.33,0.00,0.000,4,0.000,0.046,2830,231,3113,0,0,0,0,0,0
$GC,2262,-1.01,-116.8,196.4,-5.8,200,2266,0.00,2.12,0.00,0.000,6,0.000,0.020,2830,1585,3113,0,0,0,0,0,0
$GC,2529,-1.05,-116.8,211.5,-6.2,215,2533,0.00,2.30,0.00,0.000,4,0.000,0.046,2830,238,3113,0,0,0,0,0,0
$GC,2576,-1.08,-116.8,215.1,-7.0,217,2580,0.00,2.10,0.00,0.000,6,0.000,0.020,2830,1584,3113,0,0,0,0,0,0
$GC,2904,-1.11,-116.8,237.8,-6.8,233,2909,0.10,2.33,0.00,0.000,4,0.073,0.048,2791,238,3112,0,0,0,0,0,0
$GC,2934,-1.02,-116.8,240.5,-9.5,234,2939,0.17,2.10,0.00,0.000,6,0.084,0.021,2829,1584,3112,0,0,0,0,0,0
$GC,3257,-1.07,-116.8,259.3,-5.7,250,3261,0.00,2.33,0.00,0.000,4,0.000,0.048,2829,234,3112,0,0,0,0,0,0
$GC,3309,-1.13,-116.8,263.0,-7.4,252,3314,0.10,2.15,0.00,0.000,6,0.071,0.021,2791,1591,3112,0,0,0,0,0,0
$GC,3637,-1.09,-116.8,289.8,-8.6,268,3641,0.00,2.33,0.00,0.000,4,0.000,0.048,2791,238,3111,0,0,0,0,0,0
$GC,3689,-1.06,-116.8,294.6,-8.7,270,3694,0.12,2.10,0.00,0.000,6,0.091,0.021,2819,1582,3111,0,0,0,0,0,0
$GC,4007,-1.09,-116.8,318.2,-7.7,280,4011,0.00,2.33,0.00,0.000,4,0.000,0.050,2819,234,3109,0,0,0,0,0,0
$GC,4062,-1.13,-116.8,323.1,-8.2,281,4066,0.00,2.10,0.00,0.000,6,0.000,0.022,2819,1577,3109,0,0,0,0,0,0
$GC,4378,-1.18,-116.8,346.7,-7.8,289,4382,0.12,2.35,0.00,0.000,4,0.064,0.051,2776,230,3107,0,0,0,0,0,0
$GC,4416,-1.11,-116.8,350.6,-10.4,289,4420,0.15,2.05,0.00,0.000,6,0.087,0.023,2809,1533,3107,0,0,0,0,0,0
$GC,4749,-1.15,-116.8,376.8,-7.7,297,4753,0.00,2.25,0.00,0.000,4,0.000,0.052,2809,233,3105,0,0,0,0,0,0
$GC,4800,-1.15,-116.8,381.6,-8.6,298,4804,0.00,2.08,0.00,0.000,6,0.000,0.024,2809,1525,3105,0,0,0,0,0,0
$GC,5124,-1.19,-116.8,408.1,-8.6,306,5128,0.00,2.25,0.00,0.000,4,0.000,0.028,2809,2902,3103,0,0,0,0,0,0
$GC,5171,-1.29,-116.8,412.2,-7.8,307,5176,0.17,2.35,0.00,0.000,6,0.051,0.038,2754,1527,3103,0,0,0,0,0,0
$GC,5499,-1.21,-116.8,447.7,-10.9,315,5503,0.15,2.28,0.00,0.000,4,0.091,0.056,2785,236,3102,0,0,0,0,0,0
$STATE,5515,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5516,begin apogee
$GC,5524,-0.31,0.0,450.2,10.6,315,5624,0.88,0.00,96.35,0.825,6,0.067,0.000,2978,1508,2630,0,0,0,0,0,0
$STATE,5625,end apogee,CONTROL_FINISHED_OK
$STATE,5625,begin climb
$GC,5627,1.18,116.8,453.3,0.0,317,5734,1.42,0.00,101.90,0.810,6,0.035,0.000,3310,1508,2153,0,0,0,0,0,0
$GC,6039,0.97,123.7,434.6,7.6,327,6052,0.22,2.38,5.62,0.596,4,0.096,0.028,3265,2880,2125,0,0,0,0,0,0
$GC,6076,0.95,167.2,431.9,5.9,327,6122,0.00,2.40,40.05,0.790,6,0.000,0.041,3265,1502,1948,0,0,0,0,0,0
$GC,6448,0.85,176.3,404.2,7.5,336,6464,0.15,2.38,8.35,0.673,4,0.104,0.029,3235,2882,1910,0,0,0,0,0,0
$GC,6513,0.91,220.1,400.1,5.9,337,6558,0.00,2.42,40.30,0.784,6,0.000,0.042,3236,1495,1732,0,0,0,0,0,0
$GC,6904,0.91,220.1,368.6,8.3,347,6905,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1495,1725,0,0,0,0,0,0
$GC,7229,0.95,257.3,347.3,6.2,355,7268,0.10,0.00,32.78,0.762,6,0.077,0.000,3265,1495,1580,0,0,0,0,0,0
$GC,7595,0.91,258.4,318.8,7.8,364,7599,0.00,2.22,0.00,0.000,4,0.000,0.059,3265,234,1574,0,0,0,0,0,0
$GC,7628,0.79,258.4,315.6,9.5,364,7633,0.20,2.08,0.00,0.000,6,0.094,0.028,3226,1499,1572,0,0,0,0,0,0
$GC,7941,0.91,316.5,298.1,5.3,372,7999,0.10,2.35,51.50,0.739,4,0.077,0.059,3256,236,1338,0,0,0,0,0,0
$GC,8076,0.84,316.5,285.6,9.6,378,8081,0.12,2.08,0.00,0.000,6,0.106,0.028,3233,1508,1332,0,0,0,0,0,0
$GC,8410,0.89,316.5,260.1,8.2,394,8414,0.00,2.28,0.00,0.000,4,0.000,0.058,3232,234,1331,0,0,0,0,0,0
$GC,8456,0.89,316.5,255.6,8.4,396,8459,0.00,2.05,0.00,0.000,6,0.000,0.027,3232,1501,1329,0,0,0,0,0,0
$GC,8786,0.96,316.5,227.3,9.5,412,8790,0.12,2.22,0.00,0.000,4,0.066,0.057,3271,234,1328,0,0,0,0,0,0
$GC,8828,0.88,316.5,221.9,12.9,413,8834,0.15,2.05,0.00,0.000,6,0.097,0.026,3241,1510,1327,0,0,0,0,0,0
$GC,9153,0.95,316.5,191.3,8.9,432,9157,0.00,2.25,0.00,0.000,4,0.000,0.055,3241,234,1327,0,0,0,0,0,0
$GC,9212,0.95,316.5,185.2,9.7,436,9219,0.00,2.08,0.00,0.000,6,0.000,0.025,3241,1496,1326,0,0,0,0,0,0
$GC,9475,1.05,338.5,165.8,6.9,457,9503,0.15,2.30,18.05,0.611,4,0.060,0.053,3286,235,1248,0,0,0,0,0,0
$GC,9557,0.98,338.5,157.5,12.0,462,9565,0.08,2.08,0.00,0.000,6,0.077,0.024,3266,1500,1246,0,0,0,0,0,0
$GC,9819,0.98,338.5,135.6,8.5,483,9823,0.00,2.20,0.00,0.000,4,0.000,0.051,3266,234,1246,0,0,0,0,0,0
$GC,9834,0.98,338.5,134.0,9.2,484,9838,0.00,2.03,0.00,0.000,6,0.000,0.025,3266,1499,1244,0,0,0,0,0,0
$GC,10095,1.04,338.5,112.4,9.0,504,10096,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,1499,1244,0,0,0,0,0,0
$GC,10347,1.16,365.0,92.8,6.7,524,10377,0.15,2.35,23.45,0.553,4,0.057,0.024,3313,2889,1140,0,0,0,0,0,0
$GC,10396,1.16,365.0,88.8,8.4,528,10401,0.00,2.42,0.00,0.000,6,0.000,0.037,3313,1498,1140,0,0,0,0,0,0
$GC,10662,1.16,365.0,66.2,10.1,549,10666,0.00,2.17,0.00,0.000,4,0.000,0.050,3313,235,1139,0,0,0,0,0,0
$GC,10822,1.16,365.0,51.7,8.2,561,10826,0.00,2.03,0.00,0.000,6,0.000,0.021,3313,1499,1136,0,0,0,0,0,0
$GC,11094,1.17,380.4,35.5,7.2,582,11114,0.00,0.00,13.98,0.476,6,0.000,0.000,3313,1518,1078,0,0,0,0,0,0
$GC,11372,1.17,380.4,12.9,8.0,636,11378,0.00,2.25,0.00,0.000,4,0.000,0.047,3313,235,1076,0,0,0,0,0,0
$GC,11441,1.13,380.4,6.4,9.5,651,11448,0.00,2.05,0.00,0.000,6,0.000,0.021,3313,1523,1075,0,0,0,0,0,0
$STATE,11484,end climb,SURFACE_DEPTH_REACHED
$STATE,11484,begin surface coast
$FINISH,0.9,1.012276
$STATE,11535,end surface coast,CONTROL_FINISHED_OK
$STATE,11535,begin surface
$SM_CCo,11557,22.50,0.462,0,0,957,410.14
$SM_GC,1.86,0.00,0.00,22.50,0.000,0.000,0.462,424,1522,957,-12.08,-0.23,410.14
$IRIDIUM_FIX,2104.07,-15800.33,120100,020204
$TT8_MAMPS,0.029146
$HUMID,60.98
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,21.80
$XPDR_PINGS,1
$24V_AH,23.3,66.042
$10V_AH,10.0,53.544
$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,31.275,124.150,432.325,22.500,0.000,25.639,32.912,171.320,4.750,0.000,15.287,1299.071,7636.518,506.659,1937.742,560.867,0.000,1365.831,0.000,1917.574,0.000,29.248,0.000
$DEVICE_MAMPS,131.924,59.059,824.525,461.734,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,451.865,438.417,982.813,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,37962,671
$CAP_FILE_SIZE,129057,0
$CFSIZE,260165632,174829568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,181010,082807,2111.624,-15802.688,31,1.4,31,9.8