version: 66.06
glider: 139
mission: 8
dive: 662
start: 10 12 110 20 9 27
data:
$ID,139
$MISSION,8
$DIVE,662
$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,-2165114.2
$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,1530
$C_ROLL_CLIMB,1500
$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
$GPS1,200016,2106.215,-15745.425,13,2.1,32,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-72.0
$GPS2,200907,2106.320,-15745.411,44,0.9,44,9.8
$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,92.5,4408,-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,-116.8,0.0,0.0,0,77,0.00,0.00,-58.80,0.000,2,0.000,0.000,428,1554,2584,0,0,0,0,0,0
$GC,81,-1.18,-116.8,3.0,-2.9,11,111,12.60,2.30,-10.38,0.000,4,0.131,0.055,2784,229,3107,0,0,0,0,0,0
$GC,140,-0.79,-116.8,16.5,-19.0,22,146,0.38,2.17,0.00,0.000,6,0.079,0.019,2874,1587,3108,0,0,0,0,0,0
$GC,347,-0.79,-116.8,39.1,-9.9,56,351,0.00,2.33,0.00,0.000,4,0.000,0.046,2874,237,3109,0,0,0,0,0,0
$GC,373,-0.74,-116.8,41.8,-10.9,58,377,0.00,2.10,0.00,0.000,6,0.000,0.019,2875,1589,3109,0,0,0,0,0,0
$GC,639,-0.74,-116.8,67.6,-9.8,79,643,0.00,2.25,0.00,0.000,4,0.000,0.021,2874,2954,3110,0,0,0,0,0,0
$GC,671,-0.86,-116.8,71.0,-8.8,81,678,0.00,2.42,0.00,0.000,6,0.000,0.031,2875,1530,3110,0,0,0,0,0,0
$GC,930,-0.90,-116.8,94.2,-9.7,102,934,0.00,2.20,0.00,0.000,4,0.000,0.045,2874,237,3111,0,0,0,0,0,0
$GC,1048,-0.97,-116.8,106.8,-10.6,110,1055,0.12,2.15,0.00,0.000,6,0.029,0.018,2822,1605,3111,0,0,0,0,0,0
$GC,1309,-0.93,-116.8,135.9,-10.9,131,1314,0.12,2.20,0.00,0.000,4,0.094,0.021,2849,2957,3112,0,0,0,0,0,0
$GC,1337,-1.00,-116.8,138.7,-9.6,133,1342,0.00,2.40,0.00,0.000,6,0.000,0.032,2849,1525,3112,0,0,0,0,0,0
$GC,1602,-1.00,-116.8,161.2,-8.0,154,1606,0.00,2.20,0.00,0.000,4,0.000,0.044,2849,236,3112,0,0,0,0,0,0
$GC,1631,-1.00,-116.8,163.6,-8.0,156,1635,0.00,2.10,0.00,0.000,6,0.000,0.018,2849,1594,3113,0,0,0,0,0,0
$GC,1892,-1.06,-116.8,179.6,-5.9,176,1894,0.15,0.00,0.00,0.000,6,0.054,0.000,2796,1598,3112,0,0,0,0,0,0
$GC,2146,-0.99,-116.8,200.4,-8.3,196,2151,0.17,2.20,0.00,0.000,4,0.081,0.022,2834,2955,3112,0,0,0,0,0,0
$GC,2157,-0.96,-116.8,201.6,-7.8,196,2161,0.00,2.40,0.00,0.000,6,0.000,0.031,2834,1527,3112,0,0,0,0,0,0
$GC,2476,-1.00,-116.8,224.5,-7.7,211,2479,0.00,2.20,0.00,0.000,4,0.000,0.046,2835,228,3112,0,0,0,0,0,0
$GC,2559,-1.04,-116.8,232.0,-8.1,214,2565,0.00,2.15,0.00,0.000,6,0.000,0.020,2835,1584,3112,0,0,0,0,0,0
$GC,2875,-1.09,-116.8,254.2,-6.3,230,2879,0.00,2.30,0.00,0.000,4,0.000,0.047,2834,238,3112,0,0,0,0,0,0
$GC,2908,-1.09,-116.8,256.5,-6.6,231,2912,0.00,2.10,0.00,0.000,6,0.000,0.021,2835,1588,3112,0,0,0,0,0,0
$GC,3230,-1.16,-116.8,277.3,-6.1,247,3232,0.17,0.00,0.00,0.000,6,0.051,0.000,2777,1591,3111,0,0,0,0,0,0
$GC,3538,-1.11,-116.8,304.4,-9.5,261,3543,0.15,2.35,0.00,0.000,4,0.087,0.050,2810,235,3110,0,0,0,0,0,0
$GC,3576,-1.11,-116.8,308.1,-8.8,261,3581,0.00,2.15,0.00,0.000,6,0.000,0.021,2810,1588,3109,0,0,0,0,0,0
$GC,3907,-1.11,-116.8,336.9,-8.9,270,3908,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1592,3108,0,0,0,0,0,0
$GC,4235,-1.11,-116.8,361.0,-6.8,278,4239,0.00,2.35,0.00,0.000,4,0.000,0.051,2810,233,3106,0,0,0,0,0,0
$GC,4309,-1.11,-116.8,366.2,-6.6,279,4313,0.00,2.15,0.00,0.000,6,0.000,0.023,2810,1574,3105,0,0,0,0,0,0
$GC,4646,-1.11,-116.8,384.5,-5.3,288,4650,0.00,2.17,0.00,0.000,4,0.000,0.027,2810,2910,3103,0,0,0,0,0,0
$GC,4675,-1.20,-116.8,386.3,-5.9,288,4679,0.00,2.38,0.00,0.000,6,0.000,0.039,2810,1527,3103,0,0,0,0,0,0
$GC,5017,-1.23,-116.8,405.0,-5.8,297,5022,0.12,2.28,0.00,0.000,4,0.065,0.055,2769,234,3100,0,0,0,0,0,0
$GC,5062,-1.16,-116.8,408.5,-8.1,298,5067,0.12,2.08,0.00,0.000,6,0.095,0.025,2795,1537,3100,0,0,0,0,0,0
$GC,5390,-1.16,-116.8,431.7,-7.0,306,5391,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1541,3098,0,0,0,0,0,0
$STATE,5712,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5712,begin apogee
$GC,5720,-0.31,0.0,452.6,6.7,314,5819,0.85,0.00,95.68,0.846,6,0.066,0.000,2980,1493,2630,0,0,0,0,0,0
$STATE,5820,end apogee,CONTROL_FINISHED_OK
$STATE,5820,begin climb
$GC,5823,1.18,116.8,454.5,0.0,316,5935,1.42,2.42,101.45,0.826,4,0.038,0.030,3309,2873,2152,0,0,0,0,0,0
$GC,5965,1.05,168.4,453.7,5.6,319,6018,0.15,2.42,45.92,0.805,6,0.104,0.041,3281,1501,1943,0,0,0,0,0,0
$GC,6365,0.91,168.4,420.0,8.5,329,6370,0.17,2.33,0.00,0.000,4,0.103,0.030,3247,2877,1933,0,0,0,0,0,0
$GC,6431,0.94,191.6,415.0,6.8,330,6456,0.00,2.42,19.83,0.772,6,0.000,0.044,3247,1501,1848,0,0,0,0,0,0
$GC,6782,0.89,191.6,386.0,8.5,339,6786,0.00,2.35,0.00,0.000,4,0.000,0.030,3247,2885,1843,0,0,0,0,0,0
$GC,6805,0.89,191.6,383.5,8.4,339,6810,0.00,2.42,0.00,0.000,6,0.000,0.044,3247,1499,1843,0,0,0,0,0,0
$GC,7146,0.85,191.6,355.9,8.2,348,7150,0.00,2.38,0.00,0.000,4,0.000,0.031,3247,2884,1841,0,0,0,0,0,0
$GC,7226,0.86,199.4,349.5,7.5,349,7240,0.00,2.42,7.15,0.649,6,0.000,0.045,3247,1496,1817,0,0,0,0,0,0
$GC,7565,0.83,199.4,321.7,7.9,358,7569,0.00,2.25,0.00,0.000,4,0.000,0.060,3247,233,1814,0,0,0,0,0,0
$GC,7640,0.73,199.4,315.2,8.7,359,7645,0.17,2.05,0.00,0.000,6,0.100,0.028,3212,1495,1812,0,0,0,0,0,0
$GC,7960,0.84,228.1,294.8,6.6,369,7988,0.00,0.00,26.38,0.742,6,0.000,0.000,3212,1499,1700,0,0,0,0,0,0
$GC,8288,0.96,259.1,273.0,6.5,385,8322,0.20,2.30,28.27,0.724,4,0.055,0.058,3266,230,1573,0,0,0,0,0,0
$GC,8365,0.84,259.1,265.4,11.4,388,8370,0.15,2.08,0.00,0.000,6,0.100,0.028,3236,1503,1569,0,0,0,0,0,0
$GC,8682,0.89,259.1,241.1,8.3,403,8686,0.00,2.25,0.00,0.000,4,0.000,0.057,3236,231,1567,0,0,0,0,0,0
$GC,8752,0.89,259.1,234.4,9.6,406,8756,0.00,2.08,0.00,0.000,6,0.000,0.027,3236,1500,1565,0,0,0,0,0,0
$GC,9077,0.97,271.7,209.5,7.3,422,9094,0.12,2.33,10.82,0.622,4,0.067,0.055,3274,231,1521,0,0,0,0,0,0
$GC,9114,0.88,271.7,205.9,10.3,423,9119,0.17,2.10,0.00,0.000,6,0.095,0.026,3240,1511,1519,0,0,0,0,0,0
$GC,9443,0.96,292.0,181.1,7.0,446,9471,0.00,2.38,18.90,0.632,4,0.000,0.053,3240,225,1438,0,0,0,0,0,0
$GC,9511,0.97,297.1,176.2,7.7,450,9521,0.00,2.10,5.72,0.500,6,0.000,0.025,3240,1504,1418,0,0,0,0,0,0
$GC,9783,1.08,318.0,155.9,7.0,472,9811,0.20,2.33,19.35,0.606,4,0.050,0.053,3296,232,1332,0,0,0,0,0,0
$GC,9830,0.98,318.0,151.4,11.4,475,9835,0.17,2.05,0.00,0.000,6,0.090,0.024,3262,1503,1330,0,0,0,0,0,0
$GC,10097,1.06,339.4,131.2,6.9,496,10119,0.00,0.00,19.38,0.581,6,0.000,0.000,3262,1508,1246,0,0,0,0,0,0
$GC,10372,1.15,346.3,109.7,7.6,518,10389,0.17,2.28,6.93,0.484,4,0.051,0.051,3314,239,1217,0,0,0,0,0,0
$GC,10423,1.06,346.3,104.3,11.2,521,10428,0.17,2.03,0.00,0.000,6,0.089,0.022,3278,1508,1215,0,0,0,0,0,0
$GC,10689,1.15,355.8,83.5,7.5,542,10705,0.00,2.22,9.73,0.495,4,0.000,0.021,3278,2885,1178,0,0,0,0,0,0
$GC,10731,1.34,379.1,80.4,6.8,544,10758,0.25,2.42,21.10,0.535,6,0.025,0.038,3357,1502,1083,0,0,0,0,0,0
$GC,11019,1.25,379.1,49.4,12.4,567,11024,0.17,2.20,0.00,0.000,4,0.086,0.050,3321,233,1081,0,0,0,0,0,0
$GC,11074,1.20,379.1,43.3,11.4,571,11077,0.00,2.00,0.00,0.000,6,0.000,0.021,3321,1498,1079,0,0,0,0,0,0
$GC,11337,1.20,379.1,19.1,9.1,608,11344,0.00,2.25,0.00,0.000,4,0.000,0.048,3321,235,1078,0,0,0,0,0,0
$GC,11383,1.14,379.1,14.5,11.3,617,11390,0.08,2.03,0.00,0.000,6,0.074,0.020,3300,1521,1077,0,0,0,0,0,0
$STATE,11502,end climb,SURFACE_DEPTH_REACHED
$STATE,11503,begin surface coast
$FINISH,0.9,1.002099
$STATE,11538,end surface coast,CONTROL_FINISHED_OK
$STATE,11538,begin surface
$SM_CCo,11561,21.45,0.467,0,0,958,410.14
$SM_GC,1.86,0.00,0.00,21.45,0.000,0.000,0.467,430,1520,958,-12.06,-0.28,410.14
$IRIDIUM_FIX,2057.14,-15744.48,060100,171759
$TT8_MAMPS,0.029146
$HUMID,61.41
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,21.80
$XPDR_PINGS,2
$24V_AH,23.3,61.628
$10V_AH,10.0,50.191
$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,31.075,121.025,436.600,21.450,0.000,29.324,37.029,302.340,5.000,0.000,46.379,1250.152,7798.094,485.601,1897.303,679.294,0.000,1339.345,0.000,1848.665,0.000,29.256,0.000
$DEVICE_MAMPS,131.157,107.380,846.001,467.103,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,438.608,416.052,929.867,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355780
$DATA_FILE_SIZE,35035,652
$CAP_FILE_SIZE,128415,0
$CFSIZE,260165632,177221632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121010,232354,2106.332,-15744.606,45,1.2,45,9.8