version: 66.06
glider: 139
mission: 8
dive: 656
start: 10 12 110 0 24 10
data:
$ID,139
$MISSION,8
$DIVE,656
$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,-2164927.8
$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,1550
$C_ROLL_CLIMB,1550
$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
$GPS1,001725,2106.498,-15746.060,50,1.3,50,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-70.9
$GPS2,002350,2106.449,-15746.081,12,1.3,12,9.8
$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,92.3,5591,-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,14,begin dive
$GC,16,-1.18,-116.8,0.0,0.0,0,78,0.00,0.00,-58.80,0.000,2,0.000,0.000,428,1547,2578,0,0,0,0,0,0
$GC,81,-1.18,-116.8,3.1,-3.0,11,110,12.65,2.28,-10.60,0.000,4,0.132,0.057,2785,231,3108,0,0,0,0,0,0
$GC,149,-0.90,-116.8,17.5,-17.6,24,156,0.28,2.20,0.00,0.000,6,0.077,0.019,2847,1594,3110,0,0,0,0,0,0
$GC,359,-0.83,-116.8,42.3,-10.3,54,363,0.10,2.35,0.00,0.000,4,0.110,0.045,2868,237,3111,0,0,0,0,0,0
$GC,399,-0.83,-116.8,46.5,-9.9,57,403,0.00,2.08,0.00,0.000,6,0.000,0.019,2868,1577,3111,0,0,0,0,0,0
$GC,664,-0.83,-116.8,68.9,-8.2,78,665,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1582,3111,0,0,0,0,0,0
$GC,917,-0.87,-116.8,89.7,-8.8,98,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1582,3112,0,0,0,0,0,0
$GC,1168,-0.94,-116.8,106.8,-7.6,118,1172,0.00,2.30,0.00,0.000,4,0.000,0.045,2868,232,3113,0,0,0,0,0,0
$GC,1265,-1.02,-116.8,114.7,-8.1,125,1270,0.17,2.03,0.00,0.000,6,0.049,0.019,2810,1551,3113,0,0,0,0,0,0
$GC,1531,-0.98,-116.8,139.7,-8.7,146,1536,0.12,2.30,0.00,0.000,4,0.092,0.046,2838,227,3113,0,0,0,0,0,0
$GC,1584,-1.02,-116.8,144.3,-8.2,149,1590,0.00,2.08,0.00,0.000,6,0.000,0.018,2838,1558,3114,0,0,0,0,0,0
$GC,1845,-1.05,-116.8,164.2,-8.1,170,1849,0.00,2.28,0.00,0.000,4,0.000,0.045,2838,238,3114,0,0,0,0,0,0
$GC,1892,-1.05,-116.8,168.7,-8.9,173,1897,0.00,2.03,0.00,0.000,6,0.000,0.019,2838,1558,3114,0,0,0,0,0,0
$GC,2152,-1.10,-116.8,190.5,-8.6,194,2157,0.12,2.20,0.00,0.000,4,0.062,0.022,2793,2914,3114,0,0,0,0,0,0
$GC,2177,-1.10,-116.8,192.8,-8.9,196,2181,0.00,2.28,0.00,0.000,6,0.000,0.033,2793,1549,3114,0,0,0,0,0,0
$GC,2450,-1.05,-116.8,219.4,-10.1,212,2456,0.12,2.22,0.00,0.000,4,0.093,0.022,2821,2913,3114,0,0,0,0,0,0
$GC,2467,-1.05,-116.8,221.0,-10.4,212,2471,0.00,2.28,0.00,0.000,6,0.000,0.033,2821,1546,3114,0,0,0,0,0,0
$GC,2785,-1.05,-116.8,251.1,-9.6,227,2789,0.00,2.22,0.00,0.000,4,0.000,0.047,2821,235,3113,0,0,0,0,0,0
$GC,2822,-1.05,-116.8,255.4,-10.7,228,2829,0.00,2.08,0.00,0.000,6,0.000,0.021,2821,1543,3114,0,0,0,0,0,0
$GC,3139,-1.05,-116.8,283.6,-7.9,244,3143,0.00,2.25,0.00,0.000,4,0.000,0.048,2821,238,3113,0,0,0,0,0,0
$GC,3168,-1.05,-116.8,285.8,-8.0,245,3172,0.00,2.05,0.00,0.000,6,0.000,0.021,2821,1549,3113,0,0,0,0,0,0
$GC,3487,-1.09,-116.8,307.6,-6.1,258,3491,0.00,2.22,0.00,0.000,4,0.000,0.025,2821,2922,3111,0,0,0,0,0,0
$GC,3529,-1.19,-116.8,310.1,-5.3,258,3535,0.15,2.33,0.00,0.000,6,0.054,0.035,2769,1550,3111,0,0,0,0,0,0
$GC,3862,-1.11,-116.8,338.8,-8.9,267,3867,0.17,2.30,0.00,0.000,4,0.084,0.051,2807,231,3109,0,0,0,0,0,0
$GC,3914,-1.11,-116.8,343.3,-8.3,268,3918,0.00,2.08,0.00,0.000,6,0.000,0.022,2806,1548,3108,0,0,0,0,0,0
$GC,4233,-1.11,-116.8,370.2,-8.7,276,4234,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1553,3107,0,0,0,0,0,0
$GC,4557,-1.11,-116.8,398.5,-9.0,284,4561,0.00,2.28,0.00,0.000,4,0.000,0.053,2806,237,3105,0,0,0,0,0,0
$GC,4608,-1.11,-116.8,403.9,-10.4,285,4612,0.00,2.08,0.00,0.000,6,0.000,0.023,2806,1547,3105,0,0,0,0,0,0
$GC,4929,-1.14,-116.8,430.8,-7.8,293,4930,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1551,3103,0,0,0,0,0,0
$STATE,5248,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5248,begin apogee
$GC,5254,-0.31,0.0,450.7,5.5,301,5354,0.80,0.00,96.43,0.825,6,0.064,0.000,2981,1551,2630,0,0,0,0,0,0
$STATE,5354,end apogee,CONTROL_FINISHED_OK
$STATE,5355,begin climb
$GC,5358,1.18,116.8,451.8,0.0,303,5470,1.40,2.35,101.55,0.808,4,0.035,0.030,3308,2927,2152,0,0,0,0,0,0
$GC,5567,1.01,116.8,444.5,8.5,307,5572,0.20,2.40,0.00,0.000,6,0.102,0.041,3269,1547,2149,0,0,0,0,0,0
$GC,5904,0.95,162.1,422.3,5.9,316,5949,0.00,2.40,39.42,0.789,4,0.000,0.030,3269,2926,1969,0,0,0,0,0,0
$GC,5967,0.90,183.8,418.3,6.9,317,5994,0.12,2.40,20.65,0.756,6,0.106,0.041,3245,1546,1879,0,0,0,0,0,0
$GC,6321,0.88,199.7,392.4,7.2,326,6337,0.00,0.00,14.48,0.733,6,0.000,0.000,3245,1546,1815,0,0,0,0,0,0
$GC,6643,0.89,202.1,368.0,7.8,334,6644,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1546,1810,0,0,0,0,0,0
$GC,6969,0.89,207.7,342.0,7.6,342,6979,0.00,0.00,7.32,0.638,6,0.000,0.000,3245,1547,1783,0,0,0,0,0,0
$GC,7293,0.93,234.0,319.3,6.7,350,7325,0.00,2.40,24.83,0.738,4,0.000,0.057,3245,226,1674,0,0,0,0,0,0
$GC,7346,0.87,240.6,315.6,7.6,351,7358,0.00,2.17,7.00,0.607,6,0.000,0.028,3245,1551,1649,0,0,0,0,0,0
$GC,7670,0.89,261.1,291.9,7.0,361,7691,0.00,0.00,19.25,0.704,6,0.000,0.000,3245,1552,1564,0,0,0,0,0,0
$GC,8000,0.89,261.1,266.9,8.1,377,8004,0.00,2.33,0.00,0.000,4,0.000,0.056,3245,234,1561,0,0,0,0,0,0
$GC,8071,0.89,261.1,260.3,8.9,380,8075,0.00,2.15,0.00,0.000,6,0.000,0.026,3246,1549,1558,0,0,0,0,0,0
$GC,8396,0.92,284.8,236.9,6.8,396,8422,0.00,2.38,20.83,0.669,4,0.000,0.054,3245,230,1468,0,0,0,0,0,0
$GC,8469,0.92,284.8,231.3,9.0,399,8473,0.00,2.17,0.00,0.000,6,0.000,0.025,3246,1553,1464,0,0,0,0,0,0
$GC,8800,0.98,292.3,205.3,7.6,415,8809,0.00,0.00,7.35,0.553,6,0.000,0.000,3246,1558,1438,0,0,0,0,0,0
$GC,9123,1.06,308.6,183.0,7.2,438,9145,0.15,2.40,15.82,0.606,4,0.059,0.054,3291,237,1371,0,0,0,0,0,0
$GC,9208,0.97,308.6,174.2,11.0,444,9213,0.15,2.15,0.00,0.000,6,0.097,0.024,3261,1558,1368,0,0,0,0,0,0
$GC,9481,1.05,337.6,154.4,6.6,465,9512,0.00,2.38,25.80,0.599,4,0.000,0.050,3261,234,1252,0,0,0,0,0,0
$GC,9581,1.09,337.6,145.6,10.3,472,9586,0.12,2.12,0.00,0.000,6,0.064,0.022,3304,1556,1248,0,0,0,0,0,0
$GC,9842,1.09,337.6,120.6,9.0,492,9845,0.00,2.35,0.00,0.000,4,0.000,0.051,3304,225,1248,0,0,0,0,0,0
$GC,9897,1.00,337.6,114.8,12.1,496,9902,0.17,2.12,0.00,0.000,6,0.091,0.022,3268,1561,1247,0,0,0,0,0,0
$GC,10170,1.09,340.5,93.4,7.8,517,10175,0.00,2.33,0.00,0.000,4,0.000,0.049,3268,233,1247,0,0,0,0,0,0
$GC,10212,1.15,340.5,89.6,9.0,520,10217,0.12,2.10,0.00,0.000,6,0.061,0.021,3314,1553,1246,0,0,0,0,0,0
$GC,10474,1.15,344.2,67.4,7.7,540,10489,0.00,2.35,6.25,0.425,4,0.000,0.048,3313,239,1226,0,0,0,0,0,0
$GC,10547,1.09,344.2,60.8,8.9,545,10552,0.12,2.08,0.00,0.000,6,0.096,0.021,3288,1554,1224,0,0,0,0,0,0
$GC,10817,1.21,384.5,43.7,6.1,566,10860,0.10,2.35,35.08,0.502,4,0.073,0.047,3326,231,1060,0,0,0,0,0,0
$GC,10939,1.15,384.5,31.8,10.9,574,10946,0.10,2.12,0.00,0.000,6,0.067,0.019,3300,1552,1056,0,0,0,0,0,0
$GC,11204,1.24,414.6,11.3,6.5,631,11238,0.00,2.38,25.48,0.467,4,0.000,0.046,3300,235,937,0,0,0,0,0,0
$GC,11280,1.24,414.6,4.0,12.5,646,11286,0.00,2.10,0.00,0.000,6,0.000,0.021,3300,1544,935,0,0,0,0,0,0
$STATE,11291,end climb,SURFACE_DEPTH_REACHED
$STATE,11291,begin surface coast
$FINISH,0.9,1.004197
$STATE,11314,end surface coast,CONTROL_FINISHED_OK
$STATE,11314,begin surface
$SM_CCo,11398,0.00,0.000,0,0,931,416.76
$SM_GC,1.68,12.38,0.00,0.00,0.025,0.000,0.000,426,1545,931,-11.98,-0.14,416.76
$IRIDIUM_FIX,2057.14,-15748.75,050100,212153
$TT8_MAMPS,0.028379
$HUMID,59.13
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.3,60.935
$10V_AH,10.1,49.677
$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,29.850,107.225,467.525,0.000,0.000,24.572,38.466,189.837,4.500,0.000,13.047,1232.403,7666.922,475.558,1847.447,552.975,0.000,1316.931,0.000,1830.453,0.000,29.268,0.000
$DEVICE_MAMPS,131.924,56.758,825.292,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,438.885,419.959,954.118,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,34965,653
$CAP_FILE_SIZE,119954,0
$CFSIZE,260165632,177590272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121010,033546,2105.778,-15746.616,43,2.5,62,9.8