version: 66.06
glider: 139
mission: 8
dive: 660
start: 10 12 110 13 35 51
data:
$ID,139
$MISSION,8
$DIVE,660
$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,-2165049.8
$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
$GPS1,132836,2106.086,-15745.821,34,1.7,34,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-70.2
$GPS2,133531,2106.041,-15745.853,28,1.2,33,9.8
$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,84.9,5087,-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,-64.10,0.000,2,0.000,0.000,430,1564,2732,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.2,-3.3,12,111,12.68,0.00,-7.12,0.000,6,0.133,0.000,2787,1565,3109,0,0,0,0,0,0
$GC,305,-0.95,-116.8,41.9,-15.7,49,310,0.25,2.30,0.00,0.000,4,0.090,0.045,2842,234,3112,0,0,0,0,0,0
$GC,339,-0.79,-116.8,47.4,-15.5,51,347,0.12,2.20,0.00,0.000,6,0.069,0.019,2874,1601,3112,0,0,0,0,0,0
$GC,599,-0.79,-116.8,73.6,-9.2,72,603,0.00,2.35,0.00,0.000,4,0.000,0.045,2874,235,3112,0,0,0,0,0,0
$GC,632,-0.79,-116.8,77.1,-10.3,74,638,0.00,2.17,0.00,0.000,6,0.000,0.018,2874,1609,3112,0,0,0,0,0,0
$GC,893,-0.85,-116.8,101.3,-8.8,95,897,0.00,2.35,0.00,0.000,4,0.000,0.044,2874,235,3113,0,0,0,0,0,0
$GC,953,-0.90,-116.8,106.5,-7.6,99,958,0.00,2.12,0.00,0.000,6,0.000,0.018,2873,1612,3113,0,0,0,0,0,0
$GC,1215,-1.00,-116.8,124.8,-6.5,120,1220,0.17,2.38,0.00,0.000,4,0.049,0.044,2815,235,3114,0,0,0,0,0,0
$GC,1268,-0.96,-116.8,129.6,-9.1,124,1273,0.12,2.12,0.00,0.000,6,0.091,0.018,2843,1606,3114,0,0,0,0,0,0
$GC,1536,-1.00,-116.8,150.2,-7.5,145,1541,0.00,2.35,0.00,0.000,4,0.000,0.044,2843,232,3115,0,0,0,0,0,0
$GC,1590,-1.04,-116.8,154.6,-8.0,149,1594,0.00,2.15,0.00,0.000,6,0.000,0.018,2843,1606,3115,0,0,0,0,0,0
$GC,1856,-1.10,-116.8,171.6,-6.3,170,1861,0.15,2.25,0.00,0.000,4,0.055,0.022,2791,2977,3115,0,0,0,0,0,0
$GC,1882,-1.13,-116.8,173.7,-7.4,172,1886,0.00,2.40,0.00,0.000,6,0.000,0.033,2791,1543,3115,0,0,0,0,0,0
$GC,2150,-1.07,-116.8,198.8,-10.1,193,2155,0.12,2.25,0.00,0.000,4,0.096,0.047,2818,230,3115,0,0,0,0,0,0
$GC,2210,-1.07,-116.8,205.4,-9.5,196,2217,0.00,2.17,0.00,0.000,6,0.000,0.020,2818,1600,3115,0,0,0,0,0,0
$GC,2527,-1.07,-116.8,231.7,-7.9,212,2531,0.00,2.33,0.00,0.000,4,0.000,0.047,2819,238,3114,0,0,0,0,0,0
$GC,2547,-1.07,-116.8,233.6,-9.1,213,2551,0.00,2.05,0.00,0.000,6,0.000,0.021,2818,1559,3115,0,0,0,0,0,0
$GC,2878,-1.07,-116.8,256.9,-6.9,229,2882,0.00,2.28,0.00,0.000,4,0.000,0.048,2818,232,3114,0,0,0,0,0,0
$GC,2902,-1.07,-116.8,258.8,-8.1,230,2906,0.00,2.08,0.00,0.000,6,0.000,0.021,2818,1550,3114,0,0,0,0,0,0
$GC,3229,-1.11,-116.8,283.1,-7.0,246,3233,0.00,2.25,0.00,0.000,4,0.000,0.048,2819,238,3113,0,0,0,0,0,0
$GC,3256,-1.11,-116.8,285.5,-8.1,247,3260,0.00,2.05,0.00,0.000,6,0.000,0.021,2819,1547,3113,0,0,0,0,0,0
$GC,3597,-1.11,-116.8,309.1,-7.1,261,3601,0.00,2.22,0.00,0.000,4,0.000,0.025,2819,2920,3112,0,0,0,0,0,0
$GC,3620,-1.20,-116.8,310.9,-7.0,261,3625,0.12,2.30,0.00,0.000,6,0.061,0.035,2774,1551,3112,0,0,0,0,0,0
$GC,3964,-1.13,-116.8,342.2,-9.0,270,3968,0.12,2.28,0.00,0.000,4,0.094,0.051,2800,238,3110,0,0,0,0,0,0
$GC,4011,-1.13,-116.8,346.5,-8.2,271,4015,0.00,2.05,0.00,0.000,6,0.000,0.023,2800,1545,3110,0,0,0,0,0,0
$GC,4335,-1.13,-116.8,368.9,-6.8,279,4339,0.00,2.28,0.00,0.000,4,0.000,0.026,2801,2930,3108,0,0,0,0,0,0
$GC,4374,-1.23,-116.8,371.6,-6.7,279,4380,0.00,2.33,0.00,0.000,6,0.000,0.038,2800,1552,3107,0,0,0,0,0,0
$GC,4706,-1.23,-116.8,395.4,-7.6,288,4710,0.00,2.28,0.00,0.000,4,0.000,0.053,2800,235,3105,0,0,0,0,0,0
$GC,4763,-1.23,-116.8,400.3,-8.8,289,4768,0.00,2.08,0.00,0.000,6,0.000,0.024,2800,1545,3105,0,0,0,0,0,0
$GC,5077,-1.23,-116.8,425.4,-8.0,297,5081,0.00,2.30,0.00,0.000,4,0.000,0.054,2800,236,3103,0,0,0,0,0,0
$GC,5137,-1.23,-116.8,431.2,-9.5,298,5141,0.00,2.10,0.00,0.000,6,0.000,0.025,2800,1554,3103,0,0,0,0,0,0
$STATE,5407,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5407,begin apogee
$GC,5414,-0.31,0.0,452.4,7.5,305,5514,0.82,0.00,96.55,0.832,6,0.067,0.000,2979,1559,2630,0,0,0,0,0,0
$STATE,5515,end apogee,CONTROL_FINISHED_OK
$STATE,5515,begin climb
$GC,5517,1.18,116.8,453.9,0.0,307,5630,1.42,2.38,101.38,0.815,4,0.038,0.029,3308,2920,2152,0,0,0,0,0,0
$GC,5743,1.04,139.8,445.6,6.9,312,5772,0.15,2.38,20.80,0.763,6,0.105,0.041,3279,1549,2060,0,0,0,0,0,0
$GC,6111,0.91,139.8,415.4,7.9,321,6116,0.15,2.35,0.00,0.000,4,0.102,0.057,3250,226,2053,0,0,0,0,0,0
$GC,6140,0.76,139.8,412.8,7.9,321,6145,0.17,2.15,0.00,0.000,6,0.103,0.026,3216,1544,2050,0,0,0,0,0,0
$GC,6478,0.82,192.5,393.9,5.5,330,6530,0.00,2.42,46.28,0.792,4,0.000,0.057,3216,239,1844,0,0,0,0,0,0
$GC,6614,0.82,192.5,383.5,8.6,333,6618,0.00,2.15,0.00,0.000,6,0.000,0.027,3216,1553,1838,0,0,0,0,0,0
$GC,6938,0.89,216.8,360.3,6.8,341,6967,0.12,2.45,21.80,0.752,4,0.069,0.057,3253,233,1745,0,0,0,0,0,0
$GC,7002,0.79,216.8,355.7,8.2,342,7007,0.15,2.17,0.00,0.000,6,0.108,0.028,3225,1550,1741,0,0,0,0,0,0
$GC,7354,0.87,281.7,338.2,5.0,351,7418,0.00,2.40,57.42,0.767,4,0.000,0.057,3225,237,1479,0,0,0,0,0,0
$GC,7492,0.87,281.7,327.0,10.1,354,7496,0.00,2.17,0.00,0.000,6,0.000,0.028,3225,1550,1474,0,0,0,0,0,0
$GC,7815,0.91,281.7,295.2,10.7,363,7820,0.10,2.38,0.00,0.000,4,0.077,0.058,3257,230,1472,0,0,0,0,0,0
$GC,7890,0.84,281.7,284.6,13.9,366,7895,0.12,2.17,0.00,0.000,6,0.109,0.027,3234,1552,1469,0,0,0,0,0,0
$GC,8214,0.92,306.4,257.1,6.8,382,8240,0.00,2.42,20.77,0.687,4,0.000,0.056,3234,240,1381,0,0,0,0,0,0
$GC,8285,0.93,312.9,251.6,7.6,385,8298,0.00,2.17,7.07,0.581,6,0.000,0.027,3233,1561,1353,0,0,0,0,0,0
$GC,8623,0.99,312.9,227.4,8.4,401,8628,0.15,2.35,0.00,0.000,4,0.059,0.055,3278,236,1351,0,0,0,0,0,0
$GC,8707,0.91,312.9,216.8,12.6,404,8714,0.10,2.17,0.00,0.000,6,0.078,0.026,3253,1555,1349,0,0,0,0,0,0
$GC,9037,0.98,341.1,192.1,6.6,424,9067,0.00,2.40,24.92,0.645,4,0.000,0.054,3253,230,1239,0,0,0,0,0,0
$GC,9081,0.98,347.5,188.5,7.6,427,9094,0.00,2.17,7.00,0.536,6,0.000,0.025,3253,1553,1213,0,0,0,0,0,0
$GC,9359,1.03,348.9,167.6,7.8,449,9364,0.10,2.33,0.00,0.000,4,0.077,0.053,3286,235,1210,0,0,0,0,0,0
$GC,9415,0.97,348.9,160.9,12.3,453,9420,0.12,2.12,0.00,0.000,6,0.098,0.024,3261,1559,1208,0,0,0,0,0,0
$GC,9678,1.02,348.9,137.2,8.7,473,9683,0.00,2.33,0.00,0.000,4,0.000,0.051,3261,231,1207,0,0,0,0,0,0
$GC,9747,1.02,348.9,130.4,9.0,478,9751,0.00,2.12,0.00,0.000,6,0.000,0.022,3261,1556,1206,0,0,0,0,0,0
$GC,10009,1.11,348.9,110.5,8.1,498,10014,0.12,2.33,0.00,0.000,4,0.064,0.051,3303,234,1206,0,0,0,0,0,0
$GC,10055,1.05,348.9,104.7,13.3,501,10060,0.12,2.10,0.00,0.000,6,0.097,0.022,3277,1559,1206,0,0,0,0,0,0
$GC,10319,1.14,370.6,82.6,6.9,521,10347,0.00,2.40,20.02,0.539,4,0.000,0.049,3277,233,1118,0,0,0,0,0,0
$GC,10378,1.21,379.5,78.3,7.5,525,10394,0.15,2.12,8.75,0.479,6,0.054,0.021,3328,1561,1082,0,0,0,0,0,0
$GC,10646,1.21,379.5,56.8,8.8,546,10650,0.00,2.20,0.00,0.000,4,0.000,0.021,3328,2921,1081,0,0,0,0,0,0
$GC,10673,1.27,379.5,54.1,8.8,548,10678,0.00,2.35,0.00,0.000,6,0.000,0.035,3328,1542,1081,0,0,0,0,0,0
$GC,10934,1.27,379.5,29.6,9.5,568,10941,0.00,2.30,0.00,0.000,4,0.000,0.049,3327,232,1081,0,0,0,0,0,0
$GC,10999,1.19,379.5,21.4,13.1,582,11006,0.00,2.10,0.00,0.000,6,0.000,0.020,3328,1557,1080,0,0,0,0,0,0
$STATE,11179,end climb,SURFACE_DEPTH_REACHED
$STATE,11179,begin surface coast
$FINISH,0.9,1.017717
$STATE,11206,end surface coast,CONTROL_FINISHED_OK
$STATE,11206,begin surface
$SM_CCo,11229,20.90,0.465,0,0,957,410.14
$SM_GC,1.78,0.00,0.00,20.90,0.000,0.000,0.465,428,1557,957,-12.06,0.20,410.14
$IRIDIUM_FIX,2057.14,-15746.61,060100,101027
$TT8_MAMPS,0.029146
$HUMID,60.67
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.3,61.381
$10V_AH,10.1,50.020
$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,30.375,134.875,432.775,20.900,0.000,24.881,30.283,207.198,4.500,0.000,33.186,1245.997,7412.714,477.062,1944.027,581.113,0.000,1376.311,0.000,1897.686,0.000,29.247,0.000
$DEVICE_MAMPS,133.458,58.292,832.195,464.802,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,423.597,400.032,885.340,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,34998,629
$CAP_FILE_SIZE,130361,0
$CFSIZE,260165632,177340416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121010,164437,2105.887,-15745.770,37,1.1,37,9.8