version: 66.06
glider: 139
mission: 8
dive: 659
start: 10 12 110 10 18 54
data:
$ID,139
$MISSION,8
$DIVE,659
$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,-2165015.8
$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
$GPS1,100721,2106.114,-15746.404,80,5.4,99,9.8
$_CALLS,3
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-74.7
$GPS2,101836,2106.127,-15746.380,17,1.5,27,9.8
$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,85.7,6009,-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,-64.12,0.000,2,0.000,0.000,426,1535,2742,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.2,-3.1,12,112,12.65,2.38,-6.85,0.000,4,0.132,0.033,2783,2969,3107,0,0,0,0,0,0
$GC,128,-0.23,-116.8,15.6,-27.5,19,136,0.95,2.45,0.00,0.000,6,0.066,0.035,2997,1555,3108,0,0,0,0,0,0
$GC,332,-0.76,-116.8,35.0,-9.8,57,337,0.47,2.25,0.00,0.000,4,0.041,0.042,2880,233,3110,0,0,0,0,0,0
$GC,351,-1.20,-116.8,37.2,-10.0,58,358,0.35,2.17,0.00,0.000,6,0.021,0.018,2768,1620,3110,0,0,0,0,0,0
$GC,612,-0.99,-116.8,77.9,-15.3,79,614,0.30,0.00,0.00,0.000,6,0.081,0.000,2831,1619,3110,0,0,0,0,0,0
$GC,863,-0.99,-116.8,104.3,-8.6,99,867,0.00,2.38,0.00,0.000,4,0.000,0.045,2831,232,3111,0,0,0,0,0,0
$GC,924,-0.99,-116.8,110.0,-8.9,103,929,0.00,2.12,0.00,0.000,6,0.000,0.018,2831,1607,3111,0,0,0,0,0,0
$GC,1182,-0.99,-116.8,135.9,-9.9,124,1186,0.00,2.22,0.00,0.000,4,0.000,0.021,2831,2978,3111,0,0,0,0,0,0
$GC,1223,-1.09,-116.8,139.9,-9.3,127,1228,0.00,2.40,0.00,0.000,6,0.000,0.031,2831,1545,3111,0,0,0,0,0,0
$GC,1491,-1.09,-116.8,162.6,-8.0,148,1495,0.00,2.25,0.00,0.000,4,0.000,0.045,2831,231,3112,0,0,0,0,0,0
$GC,1532,-1.13,-116.8,166.6,-9.0,151,1537,0.12,2.15,0.00,0.000,6,0.063,0.018,2788,1615,3112,0,0,0,0,0,0
$GC,1796,-1.07,-116.8,189.3,-9.0,171,1800,0.12,2.38,0.00,0.000,4,0.093,0.046,2815,238,3112,0,0,0,0,0,0
$GC,1811,-1.02,-116.8,191.3,-9.3,172,1815,0.00,2.15,0.00,0.000,6,0.000,0.019,2815,1613,3112,0,0,0,0,0,0
$GC,2073,-1.02,-116.8,215.9,-9.1,187,2077,0.00,2.38,0.00,0.000,4,0.000,0.047,2815,231,3112,0,0,0,0,0,0
$GC,2120,-1.02,-116.8,220.8,-9.5,189,2124,0.00,2.15,0.00,0.000,6,0.000,0.020,2815,1601,3112,0,0,0,0,0,0
$GC,2446,-1.02,-116.8,244.7,-5.9,205,2450,0.00,2.35,0.00,0.000,4,0.000,0.048,2815,235,3111,0,0,0,0,0,0
$GC,2498,-1.02,-116.8,248.2,-6.6,207,2502,0.00,2.15,0.00,0.000,6,0.000,0.021,2815,1601,3111,0,0,0,0,0,0
$GC,2820,-1.02,-116.8,271.8,-8.0,223,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1605,3109,0,0,0,0,0,0
$GC,3129,-1.02,-116.8,296.4,-8.0,238,3133,0.00,2.35,0.00,0.000,4,0.000,0.050,2815,239,3108,0,0,0,0,0,0
$GC,3179,-1.02,-116.8,301.3,-9.4,240,3183,0.00,2.15,0.00,0.000,6,0.000,0.021,2815,1597,3108,0,0,0,0,0,0
$GC,3502,-1.05,-116.8,327.7,-7.8,248,3507,0.00,2.38,0.00,0.000,4,0.000,0.050,2815,235,3106,0,0,0,0,0,0
$GC,3532,-1.05,-116.8,329.7,-7.6,248,3536,0.00,2.08,0.00,0.000,6,0.000,0.022,2815,1551,3106,0,0,0,0,0,0
$GC,3874,-1.09,-116.8,351.5,-5.9,257,3878,0.00,2.25,0.00,0.000,4,0.000,0.025,2815,2922,3103,0,0,0,0,0,0
$GC,3919,-1.21,-116.8,354.1,-5.2,258,3924,0.12,2.35,0.00,0.000,6,0.064,0.037,2773,1545,3103,0,0,0,0,0,0
$GC,4250,-1.16,-116.8,377.5,-7.2,266,4255,0.10,2.28,0.00,0.000,4,0.104,0.054,2795,235,3101,0,0,0,0,0,0
$GC,4294,-1.16,-116.8,381.0,-7.2,267,4298,0.00,2.12,0.00,0.000,6,0.000,0.024,2795,1564,3102,0,0,0,0,0,0
$GC,4627,-1.16,-116.8,403.3,-6.6,275,4628,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1568,3099,0,0,0,0,0,0
$GC,4951,-1.16,-116.8,423.7,-6.4,283,4955,0.00,2.33,0.00,0.000,4,0.000,0.055,2794,232,3097,0,0,0,0,0,0
$GC,4995,-1.16,-116.8,427.3,-8.4,284,4999,0.00,2.10,0.00,0.000,6,0.000,0.025,2795,1545,3097,0,0,0,0,0,0
$STATE,5279,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5279,begin apogee
$GC,5285,-0.31,0.0,451.2,8.4,291,5384,0.85,0.00,95.47,0.839,6,0.065,0.000,2979,1550,2630,0,0,0,0,0,0
$STATE,5384,end apogee,CONTROL_FINISHED_OK
$STATE,5385,begin climb
$GC,5387,1.18,116.8,454.6,0.0,293,5499,1.42,0.00,101.50,0.824,6,0.038,0.000,3309,1550,2152,0,0,0,0,0,0
$GC,5840,0.99,131.9,437.2,7.2,304,5861,0.22,2.40,13.05,0.743,4,0.097,0.055,3264,231,2091,0,0,0,0,0,0
$GC,5942,0.80,131.9,428.2,9.1,306,5947,0.20,2.15,0.00,0.000,6,0.099,0.027,3226,1548,2086,0,0,0,0,0,0
$GC,6261,0.81,138.7,403.9,7.6,314,6273,0.00,2.40,6.40,0.639,4,0.000,0.056,3226,238,2064,0,0,0,0,0,0
$GC,6345,0.74,138.7,396.7,8.9,315,6349,0.00,2.15,0.00,0.000,6,0.000,0.027,3226,1553,2061,0,0,0,0,0,0
$GC,6676,0.82,206.6,378.1,4.8,323,6745,0.00,2.42,61.40,0.801,4,0.000,0.030,3226,2934,1787,0,0,0,0,0,0
$GC,6786,0.96,255.2,372.5,5.7,325,6836,0.15,2.45,43.60,0.779,6,0.061,0.044,3267,1552,1589,0,0,0,0,0,0
$GC,7174,0.90,255.8,343.3,7.9,335,7179,0.10,2.35,0.00,0.000,4,0.111,0.059,3246,235,1581,0,0,0,0,0,0
$GC,7240,0.82,255.8,337.1,9.3,336,7244,0.00,2.15,0.00,0.000,6,0.000,0.028,3246,1549,1577,0,0,0,0,0,0
$GC,7585,0.82,255.8,307.6,8.6,345,7589,0.00,2.35,0.00,0.000,4,0.000,0.058,3246,235,1577,0,0,0,0,0,0
$GC,7637,0.76,255.8,302.0,11.0,346,7642,0.15,2.17,0.00,0.000,6,0.104,0.028,3217,1551,1575,0,0,0,0,0,0
$GC,7964,0.84,255.8,273.2,8.9,361,7968,0.00,2.35,0.00,0.000,4,0.000,0.058,3217,234,1575,0,0,0,0,0,0
$GC,8036,0.88,255.8,266.2,9.0,364,8041,0.10,2.17,0.00,0.000,6,0.080,0.027,3246,1559,1572,0,0,0,0,0,0
$GC,8362,0.92,294.0,243.6,6.2,380,8400,0.00,0.00,32.58,0.703,6,0.000,0.000,3246,1564,1430,0,0,0,0,0,0
$GC,8713,0.96,294.0,215.5,9.4,397,8717,0.00,2.38,0.00,0.000,4,0.000,0.055,3246,230,1426,0,0,0,0,0,0
$GC,8805,0.96,294.0,205.4,10.3,401,8809,0.00,2.17,0.00,0.000,6,0.000,0.026,3246,1553,1423,0,0,0,0,0,0
$GC,9140,1.02,304.6,178.3,7.4,425,9155,0.12,2.42,9.45,0.577,4,0.067,0.054,3284,231,1387,0,0,0,0,0,0
$GC,9184,0.91,304.6,173.5,10.9,428,9189,0.17,2.15,0.00,0.000,6,0.092,0.025,3249,1560,1385,0,0,0,0,0,0
$GC,9457,0.98,314.7,153.1,7.4,449,9474,0.00,2.42,10.25,0.565,4,0.000,0.052,3249,230,1345,0,0,0,0,0,0
$GC,9513,0.98,314.7,147.9,9.6,453,9517,0.00,2.15,0.00,0.000,6,0.000,0.024,3248,1560,1343,0,0,0,0,0,0
$GC,9780,1.08,328.6,128.0,7.3,474,9799,0.15,2.40,12.93,0.560,4,0.059,0.051,3294,226,1290,0,0,0,0,0,0
$GC,9867,1.00,328.6,119.6,10.5,480,9872,0.12,2.15,0.00,0.000,6,0.096,0.023,3269,1556,1286,0,0,0,0,0,0
$GC,10131,1.12,363.2,100.0,6.3,500,10173,0.10,2.35,30.77,0.567,4,0.075,0.049,3304,233,1147,0,0,0,0,0,0
$GC,10238,1.08,363.2,91.5,7.9,507,10244,0.00,2.12,0.00,0.000,6,0.000,0.021,3304,1555,1143,0,0,0,0,0,0
$GC,10499,1.12,363.2,70.1,9.4,528,10503,0.00,2.33,0.00,0.000,4,0.000,0.049,3303,226,1144,0,0,0,0,0,0
$GC,10565,1.12,363.2,63.3,10.6,533,10569,0.00,2.10,0.00,0.000,6,0.000,0.021,3303,1557,1142,0,0,0,0,0,0
$GC,10833,1.19,389.6,40.1,6.7,554,10858,0.00,0.00,22.65,0.499,6,0.000,0.000,3304,1561,1041,0,0,0,0,0,0
$GC,11111,1.23,389.6,16.3,10.5,600,11118,0.00,2.35,0.00,0.000,4,0.000,0.048,3303,228,1039,0,0,0,0,0,0
$GC,11197,1.23,389.6,7.1,11.0,619,11203,0.00,2.12,0.00,0.000,6,0.000,0.020,3303,1565,1037,0,0,0,0,0,0
$STATE,11238,end climb,SURFACE_DEPTH_REACHED
$STATE,11238,begin surface coast
$FINISH,0.9,1.000574
$STATE,11269,end surface coast,CONTROL_FINISHED_OK
$STATE,11272,begin surface
$SM_CCo,11295,14.68,0.448,0,0,957,410.14
$SM_GC,1.80,0.00,0.00,14.68,0.000,0.000,0.448,430,1563,957,-12.05,0.40,410.14
$IRIDIUM_FIX,2057.14,-15743.60,060100,060603
$TT8_MAMPS,0.029146
$HUMID,60.39
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.3,61.270
$10V_AH,10.0,49.935
$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,31.475,117.850,440.050,14.675,0.000,90.944,101.075,204.144,4.500,0.000,27.334,1233.465,7629.492,479.805,1909.958,726.750,0.000,1348.466,0.000,1880.635,0.000,29.263,0.000
$DEVICE_MAMPS,131.924,59.059,839.098,447.928,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,427.746,401.623,902.758,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,34896,635
$CAP_FILE_SIZE,125426,0
$CFSIZE,260165632,177405952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121010,132836,2106.086,-15745.821,34,1.7,34,9.8