version: 66.06
glider: 139
mission: 8
dive: 657
start: 10 12 110 3 43 12
data:
$ID,139
$MISSION,8
$DIVE,657
$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,-2164964.5
$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
$GPS1,033546,2105.778,-15746.616,43,2.5,62,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-71.3
$GPS2,034252,2105.761,-15746.755,16,2.9,35,9.8
$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,79.4,6630,-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,-116.8,0.0,0.0,0,82,0.00,0.00,-64.28,0.000,2,0.000,0.000,425,1544,2740,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.6,-4.1,12,111,12.70,2.35,-6.60,0.000,4,0.133,0.030,2786,2975,3108,0,0,0,0,0,0
$GC,172,-1.14,-116.8,22.9,-13.3,29,178,0.00,2.45,0.00,0.000,6,0.000,0.035,2786,1560,3110,0,0,0,0,0,0
$GC,373,-0.93,-116.8,53.2,-15.0,51,378,0.25,2.28,0.00,0.000,4,0.089,0.044,2842,231,3110,0,0,0,0,0,0
$GC,392,-0.77,-116.8,56.4,-13.4,52,399,0.15,2.17,0.00,0.000,6,0.071,0.019,2879,1611,3111,0,0,0,0,0,0
$GC,652,-0.80,-116.8,83.2,-9.7,73,657,0.00,2.38,0.00,0.000,4,0.000,0.044,2879,224,3111,0,0,0,0,0,0
$GC,686,-0.80,-116.8,86.6,-10.2,75,691,0.00,2.15,0.00,0.000,6,0.000,0.018,2879,1613,3111,0,0,0,0,0,0
$GC,944,-0.86,-116.8,110.0,-9.2,96,948,0.00,2.22,0.00,0.000,4,0.000,0.021,2879,2973,3112,0,0,0,0,0,0
$GC,972,-1.01,-116.8,112.6,-8.7,98,977,0.22,2.40,0.00,0.000,6,0.041,0.031,2813,1546,3111,0,0,0,0,0,0
$GC,1231,-0.96,-116.8,142.3,-11.1,118,1236,0.15,2.25,0.00,0.000,4,0.089,0.045,2845,238,3112,0,0,0,0,0,0
$GC,1328,-0.96,-116.8,151.7,-8.2,125,1332,0.00,2.12,0.00,0.000,6,0.000,0.018,2845,1611,3112,0,0,0,0,0,0
$GC,1593,-1.01,-116.8,170.3,-7.5,146,1597,0.00,2.38,0.00,0.000,4,0.000,0.044,2845,234,3112,0,0,0,0,0,0
$GC,1637,-1.06,-116.8,174.0,-8.5,149,1642,0.12,2.12,0.00,0.000,6,0.061,0.018,2799,1614,3113,0,0,0,0,0,0
$GC,1904,-1.02,-116.8,198.3,-9.3,170,1909,0.12,2.22,0.00,0.000,4,0.092,0.022,2827,2971,3113,0,0,0,0,0,0
$GC,1930,-1.10,-116.8,200.8,-7.8,172,1934,0.00,2.40,0.00,0.000,6,0.000,0.032,2827,1546,3113,0,0,0,0,0,0
$GC,2256,-1.14,-116.8,228.5,-8.2,188,2261,0.10,2.25,0.00,0.000,4,0.072,0.047,2788,232,3113,0,0,0,0,0,0
$GC,2294,-1.06,-116.8,232.4,-10.4,189,2300,0.15,2.15,0.00,0.000,6,0.087,0.020,2821,1606,3113,0,0,0,0,0,0
$GC,2612,-1.06,-116.8,254.8,-5.7,205,2616,0.00,2.35,0.00,0.000,4,0.000,0.047,2820,233,3112,0,0,0,0,0,0
$GC,2658,-1.06,-116.8,257.6,-6.5,207,2662,0.00,2.17,0.00,0.000,6,0.000,0.021,2821,1604,3113,0,0,0,0,0,0
$GC,2992,-1.11,-116.8,278.1,-7.2,223,2996,0.00,2.35,0.00,0.000,4,0.000,0.048,2821,238,3111,0,0,0,0,0,0
$GC,3052,-1.11,-116.8,283.5,-9.0,225,3057,0.00,2.15,0.00,0.000,6,0.000,0.021,2821,1603,3111,0,0,0,0,0,0
$GC,3368,-1.16,-116.8,306.7,-7.8,239,3372,0.00,2.35,0.00,0.000,4,0.000,0.050,2820,239,3109,0,0,0,0,0,0
$GC,3419,-1.16,-116.8,311.5,-9.2,240,3424,0.10,2.15,0.00,0.000,6,0.074,0.021,2785,1596,3110,0,0,0,0,0,0
$GC,3738,-1.12,-116.8,338.9,-8.0,248,3742,0.00,2.38,0.00,0.000,4,0.000,0.051,2785,234,3107,0,0,0,0,0,0
$GC,3772,-1.05,-116.8,341.7,-8.8,248,3777,0.17,2.12,0.00,0.000,6,0.084,0.023,2823,1566,3107,0,0,0,0,0,0
$GC,4115,-1.11,-116.8,365.0,-7.2,257,4119,0.00,2.20,0.00,0.000,4,0.000,0.027,2823,2923,3104,0,0,0,0,0,0
$GC,4144,-1.23,-116.8,367.5,-7.8,257,4149,0.17,2.35,0.00,0.000,6,0.051,0.037,2768,1548,3104,0,0,0,0,0,0
$GC,4483,-1.17,-116.8,400.4,-9.6,266,4488,0.12,2.30,0.00,0.000,4,0.096,0.054,2794,235,3102,0,0,0,0,0,0
$GC,4521,-1.17,-116.8,404.0,-8.5,266,4525,0.00,2.08,0.00,0.000,6,0.000,0.024,2794,1547,3102,0,0,0,0,0,0
$GC,4853,-1.17,-116.8,430.0,-7.6,274,4857,0.00,2.30,0.00,0.000,4,0.000,0.054,2794,228,3099,0,0,0,0,0,0
$GC,4872,-1.17,-116.8,431.7,-7.8,274,4876,0.00,2.10,0.00,0.000,6,0.000,0.025,2794,1548,3099,0,0,0,0,0,0
$STATE,5135,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5135,begin apogee
$GC,5141,-0.31,0.0,452.7,8.1,281,5240,0.85,0.00,95.85,0.834,6,0.065,0.000,2979,1552,2630,0,0,0,0,0,0
$STATE,5241,end apogee,CONTROL_FINISHED_OK
$STATE,5241,begin climb
$GC,5245,1.18,116.8,454.8,0.0,283,5357,1.42,2.38,101.65,0.816,4,0.037,0.030,3311,2938,2152,0,0,0,0,0,0
$GC,5502,1.00,123.0,444.1,7.6,288,5515,0.20,2.45,6.03,0.611,6,0.097,0.041,3272,1544,2127,0,0,0,0,0,0
$GC,5845,0.90,138.4,419.2,7.2,297,5866,0.12,2.42,14.23,0.748,4,0.111,0.030,3247,2925,2065,0,0,0,0,0,0
$GC,5930,0.93,164.2,413.5,6.7,298,5960,0.00,2.40,24.35,0.778,6,0.000,0.041,3248,1545,1960,0,0,0,0,0,0
$GC,6310,0.97,238.3,392.9,4.6,308,6379,0.00,0.00,66.53,0.801,6,0.000,0.000,3248,1545,1658,0,0,0,0,0,0
$GC,6670,0.98,247.3,367.2,7.5,317,6682,0.00,2.38,7.93,0.661,4,0.000,0.058,3247,235,1622,0,0,0,0,0,0
$GC,6725,0.90,247.3,361.6,10.2,318,6729,0.00,2.15,0.00,0.000,6,0.000,0.028,3248,1542,1619,0,0,0,0,0,0
$GC,7040,0.90,247.3,333.9,8.9,326,7041,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1546,1617,0,0,0,0,0,0
$GC,7363,0.90,247.3,299.3,10.7,334,7368,0.00,2.33,0.00,0.000,4,0.000,0.058,3248,228,1616,0,0,0,0,0,0
$GC,7432,0.83,247.3,291.4,12.0,337,7436,0.00,2.20,0.00,0.000,6,0.000,0.028,3248,1564,1614,0,0,0,0,0,0
$GC,7760,0.83,247.3,263.0,8.6,353,7764,0.00,2.38,0.00,0.000,4,0.000,0.058,3248,232,1613,0,0,0,0,0,0
$GC,7916,0.80,261.4,248.9,7.3,359,7934,0.12,2.15,12.27,0.659,6,0.107,0.028,3224,1554,1564,0,0,0,0,0,0
$GC,8250,0.92,294.9,231.3,6.4,376,8289,0.12,2.38,30.48,0.686,4,0.068,0.054,3262,233,1426,0,0,0,0,0,0
$GC,8359,0.89,294.9,220.2,11.3,380,8366,0.00,2.20,0.00,0.000,6,0.000,0.026,3262,1557,1422,0,0,0,0,0,0
$GC,8682,0.89,294.9,189.9,9.8,399,8686,0.00,2.35,0.00,0.000,4,0.000,0.054,3263,231,1421,0,0,0,0,0,0
$GC,8716,0.89,294.9,186.1,12.0,401,8721,0.00,2.12,0.00,0.000,6,0.000,0.025,3263,1556,1419,0,0,0,0,0,0
$GC,8976,0.95,307.0,165.6,7.3,422,8992,0.00,2.42,10.73,0.573,4,0.000,0.052,3263,228,1377,0,0,0,0,0,0
$GC,9035,0.95,307.0,160.4,9.0,426,9039,0.00,2.12,0.00,0.000,6,0.000,0.024,3262,1549,1375,0,0,0,0,0,0
$GC,9303,1.01,307.0,138.1,9.4,447,9307,0.00,2.30,0.00,0.000,4,0.000,0.051,3262,231,1374,0,0,0,0,0,0
$GC,9329,1.01,307.0,135.1,10.9,449,9333,0.00,2.10,0.00,0.000,6,0.000,0.023,3262,1553,1374,0,0,0,0,0,0
$GC,9595,1.13,341.9,112.6,6.3,470,9633,0.15,0.00,30.60,0.572,6,0.056,0.000,3311,1557,1236,0,0,0,0,0,0
$GC,9887,1.16,361.5,90.3,7.0,493,9914,0.00,2.42,17.65,0.529,4,0.000,0.050,3310,225,1155,0,0,0,0,0,0
$GC,9946,1.11,361.5,84.6,11.0,497,9950,0.00,2.12,0.00,0.000,6,0.000,0.021,3310,1557,1152,0,0,0,0,0,0
$GC,10215,1.11,365.7,62.8,7.7,518,10230,0.00,2.33,4.62,0.360,4,0.000,0.047,3310,228,1138,0,0,0,0,0,0
$GC,10277,1.11,365.7,57.2,9.7,522,10281,0.00,2.10,0.00,0.000,6,0.000,0.020,3310,1556,1137,0,0,0,0,0,0
$GC,10539,1.15,365.7,34.4,9.3,542,10542,0.00,2.30,0.00,0.000,4,0.000,0.048,3310,229,1137,0,0,0,0,0,0
$GC,10608,1.15,365.7,27.0,10.7,551,10615,0.00,2.10,0.00,0.000,6,0.000,0.019,3310,1560,1136,0,0,0,0,0,0
$GC,10811,1.18,365.7,9.4,9.0,597,10818,0.00,2.33,0.00,0.000,4,0.000,0.049,3310,236,1136,0,0,0,0,0,0
$GC,10857,1.12,365.7,4.9,10.5,606,10863,0.00,2.08,0.00,0.000,6,0.000,0.018,3310,1559,1135,0,0,0,0,0,0
$STATE,10872,end climb,SURFACE_DEPTH_REACHED
$STATE,10873,begin surface coast
$FINISH,1.0,1.023180
$STATE,10900,end surface coast,CONTROL_FINISHED_OK
$STATE,10900,begin surface
$SM_CCo,10922,28.25,0.463,0,0,957,410.14
$SM_GC,1.83,0.00,0.00,28.25,0.000,0.000,0.463,426,1559,957,-12.07,0.25,410.14
$IRIDIUM_FIX,2059.45,-15753.90,060100,000022
$TT8_MAMPS,0.029146
$HUMID,59.68
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.20
$XPDR_PINGS,2
$24V_AH,23.3,61.045
$10V_AH,10.0,49.760
$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,29.950,126.650,422.900,28.250,0.000,24.841,35.046,211.435,5.000,0.000,36.063,1202.876,7229.242,507.598,1851.961,582.442,0.000,1345.283,0.000,1810.089,0.000,32.269,0.000
$DEVICE_MAMPS,132.691,58.292,833.729,463.268,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,413.308,392.211,877.607,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,34876,615
$CAP_FILE_SIZE,123369,0
$CFSIZE,260165632,177528832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121010,064706,2105.715,-15746.967,44,1.0,44,9.8