version: 66.06
glider: 139
mission: 8
dive: 663
start: 10 12 110 23 30 33
data:
$ID,139
$MISSION,8
$DIVE,663
$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,-2165133.8
$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,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
$GPS1,232354,2106.332,-15744.606,45,1.2,45,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-70.7
$GPS2,233013,2106.295,-15744.536,13,1.2,18,9.8
$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,97.9,2934,-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,-64.70,0.000,2,0.000,0.000,429,1520,2764,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.6,-3.5,12,109,12.62,0.00,-6.45,0.000,6,0.132,0.000,2785,1522,3108,0,0,0,0,0,0
$GC,305,-0.96,-116.8,43.8,-15.4,47,310,0.25,2.25,0.00,0.000,4,0.090,0.045,2840,229,3111,0,0,0,0,0,0
$GC,374,-0.86,-116.8,53.1,-12.0,52,379,0.12,2.12,0.00,0.000,6,0.096,0.018,2866,1571,3111,0,0,0,0,0,0
$GC,635,-0.86,-116.8,79.8,-10.0,72,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1576,3112,0,0,0,0,0,0
$GC,887,-0.90,-116.8,104.3,-9.4,92,891,0.00,2.15,0.00,0.000,4,0.000,0.021,2866,2915,3112,0,0,0,0,0,0
$GC,948,-1.07,-116.8,108.9,-6.4,96,955,0.17,2.35,0.00,0.000,6,0.026,0.031,2798,1533,3112,0,0,0,0,0,0
$GC,1210,-0.99,-116.8,132.9,-9.2,117,1214,0.17,2.22,0.00,0.000,4,0.081,0.045,2837,229,3113,0,0,0,0,0,0
$GC,1239,-0.99,-116.8,135.9,-8.7,119,1243,0.00,2.05,0.00,0.000,6,0.000,0.019,2837,1554,3113,0,0,0,0,0,0
$GC,1502,-0.99,-116.8,158.3,-8.5,140,1506,0.00,2.25,0.00,0.000,4,0.000,0.045,2837,235,3114,0,0,0,0,0,0
$GC,1558,-1.03,-116.8,163.3,-8.8,144,1562,0.00,2.03,0.00,0.000,6,0.000,0.019,2837,1528,3114,0,0,0,0,0,0
$GC,1826,-1.07,-116.8,182.6,-7.3,165,1830,0.00,2.20,0.00,0.000,4,0.000,0.021,2837,2893,3115,0,0,0,0,0,0
$GC,1857,-1.19,-116.8,185.3,-8.0,167,1862,0.20,2.30,0.00,0.000,6,0.044,0.033,2770,1529,3114,0,0,0,0,0,0
$GC,2135,-1.08,-116.8,214.4,-11.3,185,2140,0.20,2.20,0.00,0.000,4,0.081,0.045,2813,235,3114,0,0,0,0,0,0
$GC,2191,-1.08,-116.8,220.6,-9.7,187,2195,0.00,2.00,0.00,0.000,6,0.000,0.020,2813,1519,3114,0,0,0,0,0,0
$GC,2514,-1.08,-116.8,242.9,-6.7,203,2518,0.00,2.25,0.00,0.000,4,0.000,0.023,2813,2909,3114,0,0,0,0,0,0
$GC,2539,-1.14,-116.8,244.7,-6.8,204,2543,0.00,2.33,0.00,0.000,6,0.000,0.035,2813,1526,3114,0,0,0,0,0,0
$GC,2868,-1.14,-116.8,270.4,-8.5,220,2869,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1525,3113,0,0,0,0,0,0
$GC,3179,-1.18,-116.8,296.4,-8.5,235,3183,0.00,2.20,0.00,0.000,4,0.000,0.049,2813,238,3112,0,0,0,0,0,0
$GC,3236,-1.21,-116.8,302.0,-9.7,237,3240,0.12,2.03,0.00,0.000,6,0.064,0.022,2772,1533,3112,0,0,0,0,0,0
$GC,3550,-1.15,-116.8,334.0,-10.0,245,3555,0.12,2.28,0.00,0.000,4,0.095,0.025,2798,2907,3110,0,0,0,0,0,0
$GC,3584,-1.24,-116.8,337.0,-8.3,245,3588,0.00,2.33,0.00,0.000,6,0.000,0.037,2798,1534,3110,0,0,0,0,0,0
$GC,3916,-1.24,-116.8,365.0,-8.5,253,3920,0.00,2.25,0.00,0.000,4,0.000,0.053,2798,225,3108,0,0,0,0,0,0
$GC,3930,-1.24,-116.8,366.4,-8.8,253,3934,0.00,2.08,0.00,0.000,6,0.000,0.024,2798,1525,3108,0,0,0,0,0,0
$GC,4279,-1.24,-116.8,398.3,-9.1,262,4283,0.00,2.25,0.00,0.000,4,0.000,0.027,2798,2905,3105,0,0,0,0,0,0
$GC,4341,-1.33,-116.8,403.2,-7.5,263,4346,0.17,2.35,0.00,0.000,6,0.051,0.038,2745,1521,3105,0,0,0,0,0,0
$GC,4693,-1.23,-116.8,439.0,-10.0,272,4698,0.17,2.30,0.00,0.000,4,0.087,0.028,2782,2903,3102,0,0,0,0,0,0
$GC,4719,-1.23,-116.8,441.6,-8.9,272,4723,0.00,2.38,0.00,0.000,6,0.000,0.041,2782,1525,3103,0,0,0,0,0,0
$STATE,4858,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4858,begin apogee
$GC,4864,-0.31,0.0,453.1,8.1,276,4964,0.93,0.00,96.68,0.837,6,0.068,0.000,2982,1525,2630,0,0,0,0,0,0
$STATE,4965,end apogee,CONTROL_FINISHED_OK
$STATE,4965,begin climb
$GC,4967,1.18,116.8,455.5,0.0,278,5081,1.40,2.38,101.47,0.820,4,0.036,0.030,3309,2878,2153,0,0,0,0,0,0
$GC,5193,1.02,132.8,448.9,7.2,283,5213,0.17,2.42,14.82,0.749,6,0.100,0.041,3275,1501,2088,0,0,0,0,0,0
$GC,5527,0.98,203.3,430.4,4.7,291,5591,0.00,0.00,62.38,0.815,6,0.000,0.000,3275,1501,1801,0,0,0,0,0,0
$GC,5898,0.89,218.1,405.8,7.2,300,5914,0.15,0.00,13.50,0.739,6,0.105,0.000,3245,1501,1740,0,0,0,0,0,0
$GC,6219,0.90,262.8,385.9,5.9,308,6264,0.00,2.38,39.80,0.791,4,0.000,0.030,3245,2874,1557,0,0,0,0,0,0
$GC,6301,0.97,262.8,380.2,8.4,309,6305,0.00,2.45,0.00,0.000,6,0.000,0.046,3245,1500,1557,0,0,0,0,0,0
$GC,6632,0.97,262.8,351.9,8.5,317,6636,0.00,2.30,0.00,0.000,4,0.000,0.061,3245,230,1552,0,0,0,0,0,0
$GC,6771,0.90,262.8,337.4,10.3,320,6775,0.00,2.05,0.00,0.000,6,0.000,0.028,3245,1491,1548,0,0,0,0,0,0
$GC,7095,0.93,289.9,313.9,6.7,328,7123,0.00,2.30,23.30,0.739,4,0.000,0.059,3245,229,1447,0,0,0,0,0,0
$GC,7234,0.86,289.9,302.0,10.0,331,7238,0.00,2.10,0.00,0.000,6,0.000,0.028,3245,1501,1443,0,0,0,0,0,0
$GC,7565,0.86,289.9,269.6,9.5,346,7566,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1502,1441,0,0,0,0,0,0
$GC,7877,0.92,310.8,246.0,6.9,361,7902,0.00,2.35,18.90,0.683,4,0.000,0.058,3245,232,1361,0,0,0,0,0,0
$GC,7985,0.92,310.8,236.9,8.6,365,7990,0.00,2.08,0.00,0.000,6,0.000,0.027,3245,1512,1357,0,0,0,0,0,0
$GC,8303,0.97,310.8,209.1,9.3,381,8308,0.00,2.28,0.00,0.000,4,0.000,0.055,3245,230,1356,0,0,0,0,0,0
$GC,8357,0.97,310.8,204.1,8.7,383,8361,0.00,2.08,0.00,0.000,6,0.000,0.026,3245,1502,1355,0,0,0,0,0,0
$GC,8688,1.04,310.8,177.4,8.2,408,8693,0.15,2.22,0.00,0.000,4,0.060,0.053,3290,225,1354,0,0,0,0,0,0
$GC,8746,0.93,310.8,171.9,10.6,412,8751,0.17,2.10,0.00,0.000,6,0.091,0.025,3254,1537,1354,0,0,0,0,0,0
$GC,9018,1.02,310.8,147.5,9.0,433,9022,0.00,2.30,0.00,0.000,4,0.000,0.052,3254,230,1354,0,0,0,0,0,0
$GC,9077,1.02,310.8,141.7,10.3,437,9081,0.00,2.08,0.00,0.000,6,0.000,0.024,3254,1509,1352,0,0,0,0,0,0
$GC,9346,1.10,310.8,120.2,8.4,458,9351,0.15,2.22,0.00,0.000,4,0.058,0.051,3300,231,1352,0,0,0,0,0,0
$GC,9371,1.03,310.8,117.3,11.6,459,9377,0.12,2.03,0.00,0.000,6,0.100,0.023,3274,1514,1352,0,0,0,0,0,0
$GC,9632,1.11,315.6,94.8,7.7,480,9641,0.00,2.22,4.25,0.386,4,0.000,0.048,3274,232,1342,0,0,0,0,0,0
$GC,9682,1.17,315.6,90.3,9.7,482,9689,0.10,2.03,0.00,0.000,6,0.034,0.022,3319,1502,1341,0,0,0,0,0,0
$GC,9943,1.17,315.6,65.8,8.8,503,9947,0.00,2.17,0.00,0.000,4,0.000,0.048,3318,231,1341,0,0,0,0,0,0
$GC,9996,1.12,315.6,60.6,10.1,507,10000,0.12,2.00,0.00,0.000,6,0.097,0.021,3293,1514,1341,0,0,0,0,0,0
$GC,10266,1.21,342.4,42.6,6.7,528,10296,0.00,0.00,24.42,0.506,6,0.000,0.000,3293,1518,1233,0,0,0,0,0,0
$GC,10554,1.28,349.5,20.9,7.6,569,10568,0.15,2.25,7.43,0.416,4,0.055,0.046,3344,225,1204,0,0,0,0,0,0
$GC,10649,1.17,349.5,10.7,11.2,589,10656,0.15,2.03,0.00,0.000,6,0.064,0.020,3306,1506,1201,0,0,0,0,0,0
$STATE,10730,end climb,SURFACE_DEPTH_REACHED
$STATE,10730,begin surface coast
$FINISH,0.9,1.023179
$STATE,10768,end surface coast,CONTROL_FINISHED_OK
$STATE,10768,begin surface
$SM_CCo,10790,36.20,0.472,0,0,957,410.14
$SM_GC,1.75,0.00,0.00,36.20,0.000,0.000,0.472,425,1505,957,-12.08,-0.71,410.14
$IRIDIUM_FIX,2059.45,-15736.31,060100,202014
$TT8_MAMPS,0.029146
$HUMID,59.25
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.3,61.736
$10V_AH,10.0,50.273
$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,30.500,105.925,406.950,36.200,0.000,31.377,33.053,176.848,4.500,0.000,18.715,1207.665,7128.503,470.552,1844.152,550.960,0.000,1295.424,0.000,1822.421,0.000,29.249,0.000
$DEVICE_MAMPS,131.924,60.593,836.797,472.472,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,414.485,393.977,896.143,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,34914,615
$CAP_FILE_SIZE,118485,0
$CFSIZE,260165632,177172480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131010,023224,2105.535,-15744.612,28,1.0,45,9.8