version: 66.06
glider: 139
mission: 8
dive: 739
start: 10 23 110 2 26 51
data:
$ID,139
$MISSION,8
$DIVE,739
$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,-2166852.8
$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,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
$GPS1,022036,2108.796,-15751.800,43,1.0,43,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-73.9
$GPS2,022631,2108.825,-15751.793,13,1.0,18,9.8
$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,100.2,16317,-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,-64.18,0.000,2,0.000,0.000,429,1443,2728,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.6,-4.0,12,109,12.65,2.15,-7.18,0.000,4,0.132,0.060,2786,235,3110,0,0,0,0,0,0
$GC,131,-0.28,-116.8,16.0,-25.7,20,139,0.93,2.10,0.00,0.000,6,0.076,0.020,2983,1553,3112,0,0,0,0,0,0
$GC,342,-0.75,-116.8,31.0,-7.9,66,347,0.40,2.25,0.00,0.000,4,0.038,0.041,2876,235,3112,0,0,0,0,0,0
$GC,397,-0.75,-116.8,36.1,-9.5,70,400,0.00,2.08,0.00,0.000,6,0.000,0.018,2876,1562,3113,0,0,0,0,0,0
$GC,662,-0.75,-116.8,63.2,-9.6,91,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1566,3113,0,0,0,0,0,0
$GC,916,-0.75,-116.8,88.1,-10.0,111,920,0.00,2.28,0.00,0.000,4,0.000,0.044,2876,231,3113,0,0,0,0,0,0
$GC,958,-0.78,-116.8,92.6,-10.2,114,962,0.00,2.08,0.00,0.000,6,0.000,0.018,2876,1565,3114,0,0,0,0,0,0
$GC,1220,-0.87,-116.8,114.8,-7.3,134,1224,0.00,2.30,0.00,0.000,4,0.000,0.044,2876,230,3114,0,0,0,0,0,0
$GC,1253,-0.96,-116.8,117.6,-8.0,136,1258,0.15,2.05,0.00,0.000,6,0.053,0.018,2823,1566,3114,0,0,0,0,0,0
$GC,1513,-0.96,-116.8,139.1,-8.3,156,1514,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1570,3115,0,0,0,0,0,0
$GC,1766,-0.96,-116.8,160.5,-8.8,176,1770,0.00,2.28,0.00,0.000,4,0.000,0.044,2823,231,3115,0,0,0,0,0,0
$GC,1826,-0.96,-116.8,166.6,-9.7,180,1832,0.00,2.10,0.00,0.000,6,0.000,0.018,2823,1568,3116,0,0,0,0,0,0
$GC,2087,-0.96,-116.8,188.7,-8.6,201,2091,0.00,2.28,0.00,0.000,4,0.000,0.045,2823,231,3116,0,0,0,0,0,0
$GC,2129,-0.99,-116.8,192.7,-9.1,204,2133,0.00,2.08,0.00,0.000,6,0.000,0.018,2823,1560,3116,0,0,0,0,0,0
$GC,2391,-0.99,-116.8,212.1,-7.4,219,2395,0.00,2.25,0.00,0.000,4,0.000,0.046,2823,238,3116,0,0,0,0,0,0
$GC,2460,-1.04,-116.8,218.3,-8.3,222,2464,0.00,2.08,0.00,0.000,6,0.000,0.019,2823,1561,3116,0,0,0,0,0,0
$GC,2787,-1.07,-116.8,243.8,-7.8,238,2791,0.00,2.28,0.00,0.000,4,0.000,0.046,2823,231,3116,0,0,0,0,0,0
$GC,2855,-1.07,-116.8,249.6,-8.2,241,2859,0.00,2.08,0.00,0.000,6,0.000,0.020,2823,1556,3116,0,0,0,0,0,0
$GC,3188,-1.13,-116.8,273.3,-6.7,257,3189,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1560,3115,0,0,0,0,0,0
$GC,3496,-1.18,-116.8,294.0,-7.7,272,3497,0.12,0.00,0.00,0.000,6,0.062,0.000,2779,1561,3114,0,0,0,0,0,0
$GC,3820,-1.14,-116.8,323.9,-8.9,282,3825,0.10,2.30,0.00,0.000,4,0.102,0.050,2800,233,3113,0,0,0,0,0,0
$GC,3874,-1.14,-116.8,328.0,-7.2,283,3878,0.00,2.08,0.00,0.000,6,0.000,0.022,2800,1544,3113,0,0,0,0,0,0
$GC,4192,-1.14,-116.8,349.1,-6.7,291,4196,0.00,2.28,0.00,0.000,4,0.000,0.051,2800,232,3111,0,0,0,0,0,0
$GC,4211,-1.14,-116.8,350.5,-7.0,291,4214,0.00,2.00,0.00,0.000,6,0.000,0.023,2800,1498,3111,0,0,0,0,0,0
$GC,4525,-1.14,-116.8,375.5,-8.4,299,4526,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1510,3109,0,0,0,0,0,0
$GC,4849,-1.14,-116.8,402.8,-8.1,307,4853,0.00,2.28,0.00,0.000,4,0.000,0.027,2800,2882,3106,0,0,0,0,0,0
$GC,4893,-1.24,-116.8,406.2,-8.3,308,4897,0.00,2.38,0.00,0.000,6,0.000,0.039,2801,1503,3106,0,0,0,0,0,0
$GC,5222,-1.24,-116.8,430.9,-7.4,316,5226,0.00,2.17,0.00,0.000,4,0.000,0.055,2800,234,3104,0,0,0,0,0,0
$GC,5252,-1.24,-116.8,433.3,-7.7,316,5255,0.00,2.03,0.00,0.000,6,0.000,0.025,2800,1499,3104,0,0,0,0,0,0
$STATE,5467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5467,begin apogee
$GC,5475,-0.31,0.0,450.9,8.1,322,5575,0.82,0.00,96.78,0.828,6,0.064,0.000,2980,1439,2630,0,0,0,0,0,0
$STATE,5576,end apogee,CONTROL_FINISHED_OK
$STATE,5576,begin climb
$GC,5579,1.18,116.8,454.1,0.0,324,5691,1.42,2.15,101.20,0.811,4,0.035,0.054,3312,241,2152,0,0,0,0,0,0
$GC,5778,0.86,127.6,450.3,7.4,328,5795,0.38,1.95,9.82,0.695,6,0.091,0.025,3238,1457,2109,0,0,0,0,0,0
$GC,6129,0.87,180.7,430.0,5.5,337,6182,0.00,2.35,47.15,0.796,4,0.000,0.030,3238,2833,1892,0,0,0,0,0,0
$GC,6234,0.87,180.7,422.3,8.6,339,6239,0.00,2.40,0.00,0.000,6,0.000,0.042,3238,1457,1891,0,0,0,0,0,0
$GC,6586,0.85,197.7,396.2,7.1,348,6607,0.00,2.25,15.30,0.740,4,0.000,0.058,3237,235,1823,0,0,0,0,0,0
$GC,6645,0.76,197.7,391.4,8.2,349,6650,0.12,1.98,0.00,0.000,6,0.107,0.027,3214,1447,1820,0,0,0,0,0,0
$GC,6960,0.85,242.8,372.7,5.9,357,7007,0.00,2.38,40.53,0.779,4,0.000,0.028,3214,2842,1639,0,0,0,0,0,0
$GC,7040,1.02,297.7,368.3,5.4,358,7097,0.25,2.47,48.80,0.769,6,0.046,0.043,3280,1447,1416,0,0,0,0,0,0
$GC,7421,0.93,297.7,326.7,11.1,368,7426,0.12,2.17,0.00,0.000,4,0.098,0.058,3256,230,1408,0,0,0,0,0,0
$GC,7478,0.84,297.7,320.9,9.3,369,7483,0.12,2.00,0.00,0.000,6,0.106,0.028,3231,1456,1405,0,0,0,0,0,0
$GC,7794,0.98,373.6,304.1,4.5,377,7869,0.15,2.22,64.93,0.743,4,0.061,0.058,3273,230,1105,0,0,0,0,0,0
$GC,7930,0.90,373.6,290.0,14.3,381,7934,0.15,2.03,0.00,0.000,6,0.096,0.028,3243,1456,1100,0,0,0,0,0,0
$GC,8261,0.95,373.6,253.3,10.6,397,8265,0.00,2.20,0.00,0.000,4,0.000,0.058,3243,228,1097,0,0,0,0,0,0
$GC,8316,0.95,373.6,246.1,12.3,399,8320,0.00,2.00,0.00,0.000,6,0.000,0.028,3243,1458,1095,0,0,0,0,0,0
$GC,8639,1.04,388.1,218.1,7.2,415,8656,0.15,2.20,11.88,0.624,4,0.060,0.054,3286,231,1047,0,0,0,0,0,0
$GC,8736,0.96,388.1,208.1,10.7,418,8741,0.12,1.98,0.00,0.000,6,0.097,0.027,3260,1456,1044,0,0,0,0,0,0
$GC,9058,1.00,388.1,177.7,9.8,441,9062,0.00,2.15,0.00,0.000,4,0.000,0.054,3261,228,1043,0,0,0,0,0,0
$GC,9113,1.00,388.1,171.3,12.0,445,9116,0.00,1.98,0.00,0.000,6,0.000,0.025,3260,1454,1042,0,0,0,0,0,0
$GC,9377,1.06,388.1,148.2,8.2,466,9381,0.00,2.15,0.00,0.000,4,0.000,0.053,3260,227,1042,0,0,0,0,0,0
$GC,9423,1.13,388.1,143.4,10.8,469,9429,0.15,2.00,0.00,0.000,6,0.058,0.025,3307,1469,1041,0,0,0,0,0,0
$GC,9685,1.13,388.1,116.7,9.6,490,9686,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,1469,1041,0,0,0,0,0,0
$GC,9935,1.17,396.5,96.1,7.5,510,9950,0.00,2.22,7.75,0.484,4,0.000,0.051,3307,229,1012,0,0,0,0,0,0
$GC,9990,1.17,396.5,91.5,8.8,513,9996,0.00,1.95,0.00,0.000,6,0.000,0.023,3307,1452,1011,0,0,0,0,0,0
$GC,10251,1.21,396.5,69.8,8.6,534,10255,0.00,2.25,0.00,0.000,4,0.000,0.022,3307,2838,1012,0,0,0,0,0,0
$GC,10276,1.29,396.5,67.4,9.3,536,10281,0.10,2.40,0.00,0.000,6,0.072,0.036,3344,1443,1011,0,0,0,0,0,0
$GC,10545,1.22,396.5,37.5,11.1,557,10550,0.15,2.08,0.00,0.000,4,0.086,0.049,3312,235,1011,0,0,0,0,0,0
$GC,10586,1.22,396.5,32.3,11.0,560,10590,0.00,1.92,0.00,0.000,6,0.000,0.021,3312,1458,1012,0,0,0,0,0,0
$GC,10851,1.22,396.5,8.3,9.2,616,10857,0.00,2.15,0.00,0.000,4,0.000,0.048,3312,236,1012,0,0,0,0,0,0
$GC,10879,1.22,396.5,5.6,9.7,621,10886,0.00,1.92,0.00,0.000,6,0.000,0.021,3312,1460,1012,0,0,0,0,0,0
$STATE,10903,end climb,SURFACE_DEPTH_REACHED
$STATE,10904,begin surface coast
$FINISH,1.0,1.011279
$STATE,10935,end surface coast,CONTROL_FINISHED_OK
$STATE,10935,begin surface
$SM_CCo,10957,12.57,0.443,0,0,957,410.14
$SM_GC,1.72,0.00,0.00,12.57,0.000,0.000,0.443,423,1460,957,-12.08,-1.13,410.14
$IRIDIUM_FIX,2104.07,-15750.02,160100,232300
$TT8_MAMPS,0.029146
$HUMID,62.20
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.3,70.070
$10V_AH,10.0,56.654
$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,30.950,112.175,444.125,12.575,0.000,23.758,31.522,158.049,4.500,0.000,18.376,1235.633,7175.188,461.747,1906.364,541.830,0.000,1330.995,0.000,1889.129,0.000,29.251,0.000
$DEVICE_MAMPS,131.924,90.506,827.593,443.326,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,426.431,406.787,927.824,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355760
$DATA_FILE_SIZE,34965,633
$CAP_FILE_SIZE,122187,0
$CFSIZE,260165632,172601344
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,231010,053032,2108.861,-15751.568,12,2.0,12,9.8