version: 66.06
glider: 139
mission: 8
dive: 658
start: 10 12 110 6 53 55
data:
$ID,139
$MISSION,8
$DIVE,658
$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,-2164987.8
$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
$GPS1,064706,2105.715,-15746.967,44,1.0,44,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-69.2
$GPS2,065337,2105.765,-15746.985,11,1.1,22,9.8
$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,79.5,7029,-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,-64.20,0.000,2,0.000,0.000,426,1560,2748,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.5,-3.7,12,110,12.60,2.40,-6.78,0.000,4,0.130,0.032,2787,2982,3108,0,0,0,0,0,0
$GC,136,-0.56,-116.8,16.6,-24.1,21,144,0.60,2.50,0.00,0.000,6,0.069,0.037,2928,1549,3110,0,0,0,0,0,0
$GC,344,-0.68,-116.8,34.7,-5.5,56,349,0.12,2.28,0.00,0.000,4,0.062,0.046,2884,228,3111,0,0,0,0,0,0
$GC,397,-0.73,-116.8,39.4,-9.3,60,401,0.00,2.15,0.00,0.000,6,0.000,0.018,2883,1607,3111,0,0,0,0,0,0
$GC,663,-0.73,-116.8,59.9,-7.3,81,667,0.00,2.38,0.00,0.000,4,0.000,0.044,2884,224,3112,0,0,0,0,0,0
$GC,691,-0.73,-116.8,62.1,-8.9,83,695,0.00,2.17,0.00,0.000,6,0.000,0.018,2884,1611,3111,0,0,0,0,0,0
$GC,952,-0.77,-116.8,80.3,-7.2,103,956,0.00,2.38,0.00,0.000,4,0.000,0.044,2884,232,3112,0,0,0,0,0,0
$GC,1008,-0.81,-116.8,85.1,-8.3,107,1012,0.00,2.12,0.00,0.000,6,0.000,0.018,2884,1610,3112,0,0,0,0,0,0
$GC,1273,-0.87,-116.8,106.2,-8.0,128,1277,0.10,2.22,0.00,0.000,4,0.073,0.021,2843,2978,3112,0,0,0,0,0,0
$GC,1317,-0.99,-116.8,110.2,-8.8,131,1322,0.00,2.40,0.00,0.000,6,0.000,0.031,2843,1544,3112,0,0,0,0,0,0
$GC,1583,-0.99,-116.8,133.9,-8.1,152,1587,0.00,2.22,0.00,0.000,4,0.000,0.044,2842,237,3113,0,0,0,0,0,0
$GC,1723,-1.02,-116.8,145.5,-7.8,162,1727,0.00,2.12,0.00,0.000,6,0.000,0.018,2842,1609,3113,0,0,0,0,0,0
$GC,1990,-1.06,-116.8,167.4,-8.4,183,1996,0.10,0.00,0.00,0.000,6,0.072,0.000,2802,1614,3113,0,0,0,0,0,0
$GC,2250,-1.06,-116.8,192.9,-9.4,204,2255,0.00,2.35,0.00,0.000,4,0.000,0.045,2802,235,3114,0,0,0,0,0,0
$GC,2323,-1.00,-116.8,200.5,-10.5,209,2329,0.12,2.12,0.00,0.000,6,0.093,0.019,2829,1605,3114,0,0,0,0,0,0
$GC,2581,-1.04,-116.8,220.4,-8.1,222,2585,0.00,2.35,0.00,0.000,4,0.000,0.046,2829,233,3114,0,0,0,0,0,0
$GC,2609,-1.04,-116.8,223.3,-9.4,223,2613,0.00,2.12,0.00,0.000,6,0.000,0.019,2829,1603,3114,0,0,0,0,0,0
$GC,2931,-1.09,-116.8,247.0,-7.3,239,2935,0.00,2.35,0.00,0.000,4,0.000,0.048,2830,235,3114,0,0,0,0,0,0
$GC,3016,-1.13,-116.8,253.8,-7.5,242,3022,0.08,2.17,0.00,0.000,6,0.038,0.021,2791,1609,3114,0,0,0,0,0,0
$GC,3331,-1.13,-116.8,278.4,-7.8,258,3333,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1610,3113,0,0,0,0,0,0
$GC,3641,-1.13,-116.8,304.8,-9.1,272,3645,0.00,2.38,0.00,0.000,4,0.000,0.049,2792,239,3112,0,0,0,0,0,0
$GC,3702,-1.09,-116.8,311.4,-9.8,273,3707,0.10,2.15,0.00,0.000,6,0.104,0.022,2813,1597,3112,0,0,0,0,0,0
$GC,4020,-1.13,-116.8,336.1,-7.1,281,4024,0.00,2.35,0.00,0.000,4,0.000,0.051,2813,240,3110,0,0,0,0,0,0
$GC,4038,-1.13,-116.8,337.8,-7.3,281,4043,0.00,2.08,0.00,0.000,6,0.000,0.023,2813,1554,3110,0,0,0,0,0,0
$GC,4384,-1.18,-116.8,359.2,-6.2,290,4385,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1558,3108,0,0,0,0,0,0
$GC,4711,-1.22,-116.8,382.0,-7.3,298,4716,0.15,2.33,0.00,0.000,4,0.058,0.054,2767,239,3105,0,0,0,0,0,0
$GC,4755,-1.11,-116.8,386.3,-10.4,299,4760,0.17,2.08,0.00,0.000,6,0.087,0.025,2805,1543,3105,0,0,0,0,0,0
$GC,5087,-1.15,-116.8,411.0,-7.7,307,5088,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1547,3103,0,0,0,0,0,0
$GC,5409,-1.18,-116.8,437.7,-8.5,315,5413,0.00,2.30,0.00,0.000,4,0.000,0.057,2804,231,3100,0,0,0,0,0,0
$GC,5473,-1.18,-116.8,443.5,-9.2,316,5477,0.00,2.10,0.00,0.000,6,0.000,0.025,2804,1543,3100,0,0,0,0,0,0
$STATE,5571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5572,begin apogee
$GC,5579,-0.31,0.0,451.5,8.0,319,5678,0.82,0.00,96.18,0.839,6,0.065,0.000,2983,1548,2630,0,0,0,0,0,0
$STATE,5679,end apogee,CONTROL_FINISHED_OK
$STATE,5679,begin climb
$GC,5682,1.18,116.8,454.3,0.0,321,5795,1.42,2.38,101.68,0.823,4,0.035,0.030,3313,2932,2152,0,0,0,0,0,0
$GC,5816,1.06,184.2,455.5,4.9,324,5882,0.15,2.40,59.47,0.806,6,0.114,0.041,3284,1554,1879,0,0,0,0,0,0
$GC,6194,0.92,184.2,422.0,9.0,334,6196,0.17,0.00,0.00,0.000,6,0.104,0.000,3250,1554,1869,0,0,0,0,0,0
$GC,6519,0.87,184.2,396.6,7.9,342,6523,0.00,2.33,0.00,0.000,4,0.000,0.031,3250,2937,1866,0,0,0,0,0,0
$GC,6562,0.87,191.4,393.1,7.6,343,6574,0.00,2.42,5.53,0.599,6,0.000,0.044,3250,1545,1849,0,0,0,0,0,0
$GC,6896,0.85,209.5,369.2,7.1,351,6916,0.00,0.00,17.67,0.756,6,0.000,0.000,3250,1545,1775,0,0,0,0,0,0
$GC,7217,0.85,209.5,343.6,8.3,359,7222,0.00,2.33,0.00,0.000,4,0.000,0.060,3250,232,1771,0,0,0,0,0,0
$GC,7250,0.75,209.5,340.3,10.0,359,7255,0.17,2.17,0.00,0.000,6,0.102,0.028,3216,1545,1768,0,0,0,0,0,0
$GC,7583,0.84,235.4,317.9,6.7,367,7608,0.00,0.00,23.20,0.747,6,0.000,0.000,3216,1549,1670,0,0,0,0,0,0
$GC,7887,0.91,235.4,293.0,8.5,376,7892,0.15,2.35,0.00,0.000,4,0.063,0.059,3257,233,1666,0,0,0,0,0,0
$GC,7936,0.81,235.4,288.1,10.9,378,7940,0.15,2.15,0.00,0.000,6,0.103,0.028,3228,1551,1664,0,0,0,0,0,0
$GC,8264,0.93,284.3,266.6,5.7,394,8315,0.12,2.45,43.03,0.726,4,0.068,0.057,3264,232,1470,0,0,0,0,0,0
$GC,8360,0.87,284.3,257.7,11.1,398,8365,0.12,2.17,0.00,0.000,6,0.104,0.027,3241,1557,1466,0,0,0,0,0,0
$GC,8688,0.91,284.3,231.7,8.0,414,8692,0.00,2.38,0.00,0.000,4,0.000,0.056,3240,225,1464,0,0,0,0,0,0
$GC,8771,0.91,284.3,223.5,9.7,417,8775,0.00,2.17,0.00,0.000,6,0.000,0.025,3240,1552,1461,0,0,0,0,0,0
$GC,9087,0.99,305.9,200.5,6.9,432,9116,0.12,2.45,18.77,0.640,4,0.067,0.054,3278,229,1382,0,0,0,0,0,0
$GC,9230,0.93,305.9,184.6,12.4,442,9235,0.12,2.12,0.00,0.000,6,0.099,0.025,3254,1552,1378,0,0,0,0,0,0
$GC,9491,0.98,305.9,160.0,9.0,462,9495,0.00,2.33,0.00,0.000,4,0.000,0.052,3253,226,1377,0,0,0,0,0,0
$GC,9535,0.98,305.9,155.7,9.4,465,9540,0.00,2.15,0.00,0.000,6,0.000,0.025,3253,1556,1376,0,0,0,0,0,0
$GC,9801,1.06,319.6,136.4,7.3,486,9819,0.12,2.33,12.32,0.561,4,0.065,0.025,3293,2924,1326,0,0,0,0,0,0
$GC,9826,1.06,319.6,134.1,9.1,487,9832,0.00,2.40,0.00,0.000,6,0.000,0.036,3293,1541,1326,0,0,0,0,0,0
$GC,10085,1.06,319.6,109.3,9.6,508,10089,0.00,2.28,0.00,0.000,4,0.000,0.051,3293,227,1326,0,0,0,0,0,0
$GC,10159,1.02,319.6,101.8,9.6,513,10165,0.10,2.15,0.00,0.000,6,0.106,0.021,3272,1572,1323,0,0,0,0,0,0
$GC,10420,1.14,348.2,84.2,6.6,534,10452,0.12,2.38,25.58,0.545,4,0.063,0.048,3314,227,1209,0,0,0,0,0,0
$GC,10463,1.11,348.2,80.4,9.5,537,10467,0.12,2.12,0.00,0.000,6,0.097,0.021,3289,1548,1207,0,0,0,0,0,0
$GC,10725,1.16,348.2,58.8,8.1,557,10729,0.00,2.30,0.00,0.000,4,0.000,0.048,3289,228,1206,0,0,0,0,0,0
$GC,10762,1.16,348.2,55.2,10.0,559,10769,0.00,2.12,0.00,0.000,6,0.000,0.021,3289,1560,1205,0,0,0,0,0,0
$GC,11024,1.29,367.8,34.3,7.0,580,11048,0.17,2.33,17.38,0.485,4,0.050,0.047,3345,232,1128,0,0,0,0,0,0
$GC,11066,1.16,367.8,30.4,9.5,583,11070,0.20,2.08,0.00,0.000,6,0.081,0.019,3303,1552,1127,0,0,0,0,0,0
$GC,11334,1.18,384.3,9.6,7.1,643,11357,0.00,2.35,14.45,0.453,4,0.000,0.046,3304,240,1062,0,0,0,0,0,0
$STATE,11394,end climb,SURFACE_DEPTH_REACHED
$STATE,11394,begin surface coast
$FINISH,1.1,1.023158
$STATE,11422,end surface coast,CONTROL_FINISHED_OK
$STATE,11422,begin surface
$SM_CCo,11447,18.92,0.456,0,0,957,410.14
$SM_GC,1.77,0.00,0.00,18.92,0.000,0.000,0.456,428,1534,957,-12.07,-0.48,410.14
$IRIDIUM_FIX,2059.45,-15748.75,060100,030339
$TT8_MAMPS,0.029146
$HUMID,59.52
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.3,61.154
$10V_AH,10.0,49.847
$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,30.925,122.250,435.250,18.925,0.000,29.091,37.577,183.513,4.500,0.000,22.414,1275.030,7591.127,489.553,1932.488,565.802,0.000,1350.583,0.000,1903.227,0.000,29.255,0.000
$DEVICE_MAMPS,129.623,59.826,839.098,456.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,444.360,424.598,982.370,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,38065,661
$CAP_FILE_SIZE,126987,0
$CFSIZE,260165632,177463296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121010,100721,2106.114,-15746.404,80,5.4,99,9.8