version: 66.06
glider: 139
mission: 8
dive: 664
start: 10 13 110 2 38 55
data:
$ID,139
$MISSION,8
$DIVE,664
$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,-2165155
$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
$GPS1,023224,2105.535,-15744.612,28,1.0,45,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-70.2
$GPS2,023837,2105.461,-15744.699,15,1.1,20,9.8
$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,68.2,3145,-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,-64.18,0.000,2,0.000,0.000,424,1506,2749,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.5,-4.0,12,109,12.65,0.00,-6.82,0.000,6,0.131,0.000,2786,1507,3109,0,0,0,0,0,0
$GC,309,-0.96,-116.8,43.4,-14.1,48,311,0.25,0.00,0.00,0.000,6,0.090,0.000,2838,1508,3112,0,0,0,0,0,0
$GC,562,-0.88,-116.8,71.8,-10.0,68,563,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1508,3113,0,0,0,0,0,0
$GC,814,-0.88,-116.8,98.5,-9.9,88,817,0.00,2.17,0.00,0.000,4,0.000,0.045,2838,231,3113,0,0,0,0,0,0
$GC,855,-0.85,-116.8,102.5,-10.0,91,859,0.12,2.12,0.00,0.000,6,0.091,0.019,2865,1591,3114,0,0,0,0,0,0
$GC,1121,-0.91,-116.8,126.8,-9.2,112,1122,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1594,3114,0,0,0,0,0,0
$GC,1371,-0.98,-116.8,147.4,-8.4,132,1376,0.12,2.35,0.00,0.000,4,0.061,0.046,2818,231,3114,0,0,0,0,0,0
$GC,1428,-0.92,-116.8,153.6,-11.7,136,1433,0.15,2.10,0.00,0.000,6,0.084,0.018,2852,1589,3115,0,0,0,0,0,0
$GC,1689,-0.97,-116.8,177.6,-9.1,156,1693,0.00,2.33,0.00,0.000,4,0.000,0.045,2852,232,3115,0,0,0,0,0,0
$GC,1731,-1.04,-116.8,181.6,-9.4,159,1736,0.12,2.10,0.00,0.000,6,0.061,0.019,2806,1590,3115,0,0,0,0,0,0
$GC,2000,-1.00,-116.8,206.6,-7.9,177,2005,0.12,2.25,0.00,0.000,4,0.091,0.023,2833,2960,3115,0,0,0,0,0,0
$GC,2040,-1.12,-116.8,209.6,-6.4,178,2047,0.10,2.45,0.00,0.000,6,0.031,0.032,2785,1525,3115,0,0,0,0,0,0
$GC,2359,-1.05,-116.8,240.4,-10.4,194,2363,0.17,2.20,0.00,0.000,4,0.083,0.047,2823,238,3115,0,0,0,0,0,0
$GC,2396,-1.05,-116.8,244.5,-8.9,195,2401,0.00,2.12,0.00,0.000,6,0.000,0.019,2823,1591,3115,0,0,0,0,0,0
$GC,2714,-1.05,-116.8,270.2,-7.5,211,2715,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1595,3115,0,0,0,0,0,0
$GC,3021,-1.10,-116.8,291.9,-6.6,226,3025,0.00,2.35,0.00,0.000,4,0.000,0.048,2823,239,3114,0,0,0,0,0,0
$GC,3055,-1.10,-116.8,294.5,-8.4,227,3059,0.00,2.12,0.00,0.000,6,0.000,0.021,2823,1582,3114,0,0,0,0,0,0
$GC,3388,-1.15,-116.8,319.7,-8.1,237,3393,0.10,2.35,0.00,0.000,4,0.074,0.050,2785,231,3113,0,0,0,0,0,0
$GC,3422,-1.07,-116.8,323.2,-10.8,237,3426,0.15,2.12,0.00,0.000,6,0.084,0.022,2819,1584,3112,0,0,0,0,0,0
$GC,3760,-1.10,-116.8,352.8,-8.4,246,3764,0.00,2.33,0.00,0.000,4,0.000,0.051,2819,239,3111,0,0,0,0,0,0
$GC,3778,-1.10,-116.8,354.6,-8.5,246,3782,0.00,2.12,0.00,0.000,6,0.000,0.023,2819,1580,3111,0,0,0,0,0,0
$GC,4125,-1.14,-116.8,377.2,-5.7,255,4126,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1584,3108,0,0,0,0,0,0
$GC,4449,-1.19,-116.8,396.9,-6.4,263,4453,0.12,2.35,0.00,0.000,4,0.064,0.054,2777,239,3106,0,0,0,0,0,0
$GC,4488,-1.11,-116.8,400.3,-8.4,263,4494,0.15,2.05,0.00,0.000,6,0.087,0.025,2810,1532,3106,0,0,0,0,0,0
$GC,4821,-1.11,-116.8,420.0,-6.1,272,4825,0.00,2.28,0.00,0.000,4,0.000,0.055,2810,237,3103,0,0,0,0,0,0
$GC,4868,-1.11,-116.8,423.2,-6.8,273,4872,0.00,2.05,0.00,0.000,6,0.000,0.025,2810,1524,3104,0,0,0,0,0,0
$GC,5191,-1.11,-116.8,445.3,-7.1,281,5195,0.00,2.25,0.00,0.000,4,0.000,0.057,2810,238,3101,0,0,0,0,0,0
$GC,5220,-1.11,-116.8,447.9,-9.7,281,5224,0.00,2.08,0.00,0.000,6,0.000,0.025,2810,1532,3101,0,0,0,0,0,0
$STATE,5273,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5273,begin apogee
$GC,5280,-0.31,0.0,452.3,8.0,283,5379,0.77,0.00,96.28,0.839,6,0.064,0.000,2979,1494,2630,0,0,0,0,0,0
$STATE,5380,end apogee,CONTROL_FINISHED_OK
$STATE,5380,begin climb
$GC,5383,1.18,116.8,455.2,0.0,285,5497,1.45,2.40,102.03,0.821,4,0.035,0.028,3312,2885,2152,0,0,0,0,0,0
$GC,5517,1.10,212.6,457.2,3.6,288,5611,0.12,2.42,83.28,0.811,6,0.114,0.041,3289,1509,1763,0,0,0,0,0,0
$GC,5939,0.95,212.6,414.3,11.7,299,5941,0.15,0.00,0.00,0.000,6,0.106,0.000,3260,1509,1754,0,0,0,0,0,0
$GC,6264,0.88,212.6,376.0,11.8,307,6268,0.00,2.28,0.00,0.000,4,0.000,0.060,3260,235,1751,0,0,0,0,0,0
$GC,6302,0.74,212.6,371.1,13.2,307,6309,0.25,2.08,0.00,0.000,6,0.094,0.028,3211,1498,1748,0,0,0,0,0,0
$GC,6634,0.81,216.5,343.7,7.7,316,6638,0.00,2.33,0.00,0.000,4,0.000,0.030,3211,2892,1747,0,0,0,0,0,0
$GC,6658,0.94,236.6,341.9,7.0,316,6684,0.20,2.42,19.67,0.746,6,0.051,0.044,3265,1498,1665,0,0,0,0,0,0
$GC,7004,0.89,236.6,309.3,9.8,325,7009,0.12,2.28,0.00,0.000,4,0.104,0.060,3240,233,1661,0,0,0,0,0,0
$GC,7080,0.82,236.6,301.2,10.8,326,7085,0.00,2.05,0.00,0.000,6,0.000,0.028,3241,1497,1658,0,0,0,0,0,0
$GC,7401,0.87,281.1,277.1,5.9,341,7448,0.00,2.38,39.17,0.732,4,0.000,0.059,3241,229,1482,0,0,0,0,0,0
$GC,7507,0.88,285.5,269.3,7.7,345,7517,0.00,2.10,4.68,0.505,6,0.000,0.028,3241,1501,1465,0,0,0,0,0,0
$GC,7830,0.95,310.4,247.7,6.8,361,7859,0.00,2.33,22.75,0.688,4,0.000,0.057,3240,242,1364,0,0,0,0,0,0
$GC,7892,0.95,310.4,242.3,9.4,363,7898,0.00,2.08,0.00,0.000,6,0.000,0.027,3240,1504,1360,0,0,0,0,0,0
$GC,8209,1.02,310.4,213.4,9.5,379,8214,0.15,2.28,0.00,0.000,4,0.061,0.056,3284,235,1358,0,0,0,0,0,0
$GC,8304,0.93,310.4,202.6,12.4,383,8308,0.15,2.05,0.00,0.000,6,0.097,0.025,3254,1507,1356,0,0,0,0,0,0
$GC,8628,1.00,320.2,175.3,7.5,408,8643,0.00,2.30,8.68,0.562,4,0.000,0.053,3254,239,1323,0,0,0,0,0,0
$GC,8709,1.00,320.2,168.2,9.0,413,8714,0.00,2.03,0.00,0.000,6,0.000,0.025,3254,1502,1321,0,0,0,0,0,0
$GC,8968,1.05,320.2,145.4,9.4,434,8972,0.10,2.25,0.00,0.000,4,0.075,0.053,3287,235,1321,0,0,0,0,0,0
$GC,9060,0.98,320.2,134.3,12.8,440,9067,0.08,2.08,0.00,0.000,6,0.075,0.023,3267,1513,1319,0,0,0,0,0,0
$GC,9322,1.04,320.2,109.5,8.3,461,9323,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1514,1320,0,0,0,0,0,0
$GC,9573,1.19,376.6,93.4,5.3,481,9628,0.17,2.35,48.45,0.566,4,0.051,0.050,3319,231,1093,0,0,0,0,0,0
$GC,9679,1.19,376.6,83.0,11.0,488,9686,0.00,2.08,0.00,0.000,6,0.000,0.021,3320,1512,1089,0,0,0,0,0,0
$GC,9940,1.19,376.6,59.5,9.5,509,9944,0.00,2.22,0.00,0.000,4,0.000,0.048,3320,230,1089,0,0,0,0,0,0
$GC,9963,1.14,376.6,56.6,11.4,510,9969,0.08,2.05,0.00,0.000,6,0.074,0.021,3300,1514,1087,0,0,0,0,0,0
$GC,10226,1.20,376.6,33.8,8.8,531,10230,0.00,2.20,0.00,0.000,4,0.000,0.048,3300,234,1087,0,0,0,0,0,0
$GC,10257,1.20,376.6,30.3,10.2,533,10264,0.00,2.03,0.00,0.000,6,0.000,0.020,3300,1507,1087,0,0,0,0,0,0
$GC,10525,1.34,424.8,7.3,5.7,594,10572,0.17,2.25,39.95,0.476,4,0.050,0.044,3355,230,896,0,0,0,0,0,0
$STATE,10577,end climb,SURFACE_DEPTH_REACHED
$STATE,10578,begin surface coast
$FINISH,0.9,1.023166
$STATE,10606,end surface coast,CONTROL_FINISHED_OK
$STATE,10606,begin surface
$SM_CCo,10693,0.00,0.000,0,0,890,426.58
$SM_GC,1.81,12.70,0.00,0.00,0.026,0.000,0.000,426,1528,890,-12.00,-0.06,426.58
$IRIDIUM_FIX,2057.14,-15744.48,060100,232350
$TT8_MAMPS,0.028379
$HUMID,58.86
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.10
$XPDR_PINGS,1
$24V_AH,23.3,61.846
$10V_AH,10.0,50.353
$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,31.025,106.075,464.925,0.000,0.000,31.187,42.183,159.830,4.750,0.000,20.469,1144.777,7165.493,478.032,1745.510,523.721,0.000,1281.543,0.000,1719.438,0.000,29.261,0.000
$DEVICE_MAMPS,131.157,148.798,839.098,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,408.497,390.169,882.239,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,34926,609
$CAP_FILE_SIZE,115883,0
$CFSIZE,260165632,177115136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,131010,053816,2105.049,-15745.144,13,2.3,32,9.8