version: 66.06
glider: 139
mission: 8
dive: 665
start: 10 13 110 5 53 13
data:
$ID,139
$MISSION,8
$DIVE,665
$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,-2165187.2
$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
$GPS1,053816,2105.049,-15745.144,13,2.3,32,9.8
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-73.2
$GPS2,055252,2105.079,-15745.335,11,2.2,30,9.8
$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,62.2,4392,-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,13,begin dive
$GC,15,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.15,0.000,2,0.000,0.000,425,1528,2678,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.1,-3.3,12,115,12.60,2.28,-8.40,0.000,4,0.130,0.058,2784,241,3110,0,0,0,0,0,0
$GC,177,-0.96,-116.8,22.1,-15.5,30,183,0.20,2.15,0.00,0.000,6,0.077,0.019,2838,1595,3111,0,0,0,0,0,0
$GC,382,-0.86,-116.8,47.6,-11.1,53,387,0.12,2.35,0.00,0.000,4,0.098,0.045,2864,236,3111,0,0,0,0,0,0
$GC,397,-0.76,-116.8,49.7,-11.2,54,401,0.00,2.10,0.00,0.000,6,0.000,0.019,2864,1598,3112,0,0,0,0,0,0
$GC,658,-0.76,-116.8,75.1,-9.5,74,662,0.10,2.38,0.00,0.000,4,0.103,0.045,2885,230,3112,0,0,0,0,0,0
$GC,708,-0.81,-116.8,80.3,-9.3,77,715,0.00,2.15,0.00,0.000,6,0.000,0.018,2885,1591,3112,0,0,0,0,0,0
$GC,969,-0.91,-116.8,105.0,-9.0,98,973,0.15,2.22,0.00,0.000,4,0.054,0.021,2833,2955,3112,0,0,0,0,0,0
$GC,983,-0.99,-116.8,105.9,-8.3,99,987,0.00,2.40,0.00,0.000,6,0.000,0.031,2833,1521,3112,0,0,0,0,0,0
$GC,1247,-0.99,-116.8,134.1,-10.1,120,1251,0.00,2.20,0.00,0.000,4,0.000,0.044,2833,233,3113,0,0,0,0,0,0
$GC,1341,-0.99,-116.8,143.0,-9.7,127,1345,0.00,2.12,0.00,0.000,6,0.000,0.018,2833,1591,3113,0,0,0,0,0,0
$GC,1605,-0.99,-116.8,165.5,-8.3,148,1607,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1596,3113,0,0,0,0,0,0
$GC,1856,-0.99,-116.8,185.9,-7.9,168,1861,0.00,2.33,0.00,0.000,4,0.000,0.045,2833,232,3113,0,0,0,0,0,0
$GC,1908,-0.99,-116.8,190.1,-8.9,172,1911,0.00,2.10,0.00,0.000,6,0.000,0.019,2833,1589,3113,0,0,0,0,0,0
$GC,2178,-0.99,-116.8,213.4,-8.5,189,2180,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1593,3113,0,0,0,0,0,0
$GC,2486,-1.03,-116.8,237.6,-7.7,204,2490,0.00,2.33,0.00,0.000,4,0.000,0.047,2833,234,3113,0,0,0,0,0,0
$GC,2530,-1.08,-116.8,241.4,-8.7,206,2534,0.00,2.10,0.00,0.000,6,0.000,0.020,2833,1588,3113,0,0,0,0,0,0
$GC,2860,-1.13,-116.8,267.8,-7.9,222,2864,0.12,2.35,0.00,0.000,4,0.062,0.048,2789,232,3112,0,0,0,0,0,0
$GC,2917,-1.07,-116.8,273.5,-10.9,224,2922,0.12,2.10,0.00,0.000,6,0.091,0.021,2816,1580,3111,0,0,0,0,0,0
$GC,3236,-1.07,-116.8,297.6,-6.7,239,3240,0.00,2.15,0.00,0.000,4,0.000,0.024,2816,2901,3110,0,0,0,0,0,0
$GC,3270,-1.18,-116.8,299.8,-6.6,240,3275,0.10,2.30,0.00,0.000,6,0.071,0.034,2774,1530,3110,0,0,0,0,0,0
$GC,3608,-1.11,-116.8,325.9,-8.4,249,3613,0.15,2.22,0.00,0.000,4,0.086,0.051,2807,239,3109,0,0,0,0,0,0
$GC,3655,-1.11,-116.8,330.3,-8.9,250,3659,0.00,2.05,0.00,0.000,6,0.000,0.022,2807,1534,3109,0,0,0,0,0,0
$GC,3980,-1.11,-116.8,356.6,-8.2,258,3984,0.00,2.22,0.00,0.000,4,0.000,0.025,2807,2903,3107,0,0,0,0,0,0
$GC,4009,-1.21,-116.8,359.3,-7.9,258,4013,0.00,2.35,0.00,0.000,6,0.000,0.037,2807,1525,3107,0,0,0,0,0,0
$GC,4349,-1.21,-116.8,388.2,-8.5,267,4353,0.00,2.30,0.00,0.000,4,0.000,0.026,2807,2908,3104,0,0,0,0,0,0
$GC,4364,-1.24,-116.8,389.6,-8.8,267,4369,0.12,2.38,0.00,0.000,6,0.062,0.038,2763,1525,3104,0,0,0,0,0,0
$GC,4715,-1.17,-116.8,427.4,-10.6,276,4720,0.15,2.25,0.00,0.000,4,0.087,0.055,2794,235,3102,0,0,0,0,0,0
$GC,4735,-1.12,-116.8,429.5,-10.0,276,4739,0.00,2.08,0.00,0.000,6,0.000,0.025,2794,1515,3102,0,0,0,0,0,0
$STATE,4960,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4960,begin apogee
$GC,4967,-0.31,0.0,450.5,9.2,282,5066,0.85,0.00,95.78,0.826,6,0.065,0.000,2979,1516,2630,0,0,0,0,0,0
$STATE,5067,end apogee,CONTROL_FINISHED_OK
$STATE,5067,begin climb
$GC,5070,1.18,116.8,453.7,0.0,284,5183,1.42,2.38,100.78,0.811,4,0.036,0.029,3311,2879,2153,0,0,0,0,0,0
$GC,5203,1.09,203.8,455.3,4.0,287,5288,0.12,2.42,75.72,0.799,6,0.112,0.040,3288,1502,1799,0,0,0,0,0,0
$GC,5612,0.94,203.8,416.2,10.2,297,5617,0.17,2.33,0.00,0.000,4,0.100,0.029,3254,2885,1790,0,0,0,0,0,0
$GC,5650,0.94,203.8,412.7,8.6,297,5656,0.00,2.42,0.00,0.000,6,0.000,0.044,3254,1498,1790,0,0,0,0,0,0
$GC,5984,0.89,203.8,382.2,9.8,306,5988,0.00,2.22,0.00,0.000,4,0.000,0.058,3254,233,1787,0,0,0,0,0,0
$GC,6068,0.78,203.8,372.3,12.3,307,6074,0.17,2.08,0.00,0.000,6,0.100,0.027,3220,1502,1783,0,0,0,0,0,0
$GC,6401,0.82,204.5,344.7,7.9,316,6402,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1502,1782,0,0,0,0,0,0
$GC,6725,0.94,266.5,325.2,5.1,324,6786,0.15,2.38,53.30,0.759,4,0.062,0.058,3262,232,1542,0,0,0,0,0,0
$GC,6861,0.85,266.5,312.7,11.9,327,6865,0.12,2.08,0.00,0.000,6,0.106,0.027,3238,1497,1536,0,0,0,0,0,0
$GC,7195,0.89,266.5,279.9,9.4,339,7199,0.00,2.25,0.00,0.000,4,0.000,0.058,3238,235,1534,0,0,0,0,0,0
$GC,7261,0.89,266.5,274.2,8.1,342,7265,0.00,2.08,0.00,0.000,6,0.000,0.027,3237,1501,1531,0,0,0,0,0,0
$GC,7592,1.01,315.0,253.1,5.7,358,7640,0.15,2.30,41.67,0.702,4,0.060,0.055,3282,229,1344,0,0,0,0,0,0
$GC,7660,0.92,315.0,247.7,9.7,361,7665,0.15,2.10,0.00,0.000,6,0.098,0.027,3252,1500,1342,0,0,0,0,0,0
$GC,7995,0.96,315.0,221.6,8.2,377,7999,0.00,2.25,0.00,0.000,4,0.000,0.055,3252,232,1339,0,0,0,0,0,0
$GC,8109,0.96,315.0,209.8,10.4,382,8113,0.00,2.08,0.00,0.000,6,0.000,0.025,3252,1505,1335,0,0,0,0,0,0
$GC,8436,1.03,324.8,184.2,7.5,404,8452,0.00,2.30,8.43,0.555,4,0.000,0.052,3252,235,1304,0,0,0,0,0,0
$GC,8540,1.03,324.8,175.5,8.6,411,8544,0.00,2.05,0.00,0.000,6,0.000,0.024,3252,1504,1301,0,0,0,0,0,0
$GC,8805,1.08,328.6,155.5,7.7,432,8813,0.15,0.00,4.68,0.434,6,0.058,0.000,3298,1508,1289,0,0,0,0,0,0
$GC,9077,1.04,328.6,128.1,11.2,453,9081,0.00,2.22,0.00,0.000,4,0.000,0.050,3297,233,1289,0,0,0,0,0,0
$GC,9119,0.97,328.6,122.1,13.7,456,9124,0.17,2.05,0.00,0.000,6,0.089,0.022,3261,1518,1287,0,0,0,0,0,0
$GC,9383,1.05,328.6,98.7,8.2,476,9387,0.00,2.25,0.00,0.000,4,0.000,0.050,3261,232,1286,0,0,0,0,0,0
$GC,9477,1.12,344.7,90.7,7.2,483,9499,0.15,2.03,15.00,0.526,6,0.057,0.022,3309,1512,1223,0,0,0,0,0,0
$GC,9759,1.14,361.4,69.0,7.1,505,9781,0.00,2.30,15.48,0.506,4,0.000,0.048,3309,230,1155,0,0,0,0,0,0
$GC,9816,1.09,361.4,64.2,9.7,509,9820,0.00,2.00,0.00,0.000,6,0.000,0.021,3308,1486,1152,0,0,0,0,0,0
$GC,10086,1.10,372.0,43.3,7.4,530,10102,0.00,2.25,10.20,0.458,4,0.000,0.049,3309,224,1111,0,0,0,0,0,0
$GC,10160,1.10,372.0,37.2,8.7,535,10164,0.00,2.05,0.00,0.000,6,0.000,0.021,3309,1524,1109,0,0,0,0,0,0
$GC,10423,1.10,372.0,15.2,9.2,581,10430,0.00,2.28,0.00,0.000,4,0.000,0.050,3309,235,1109,0,0,0,0,0,0
$GC,10480,1.07,372.0,8.7,12.0,593,10487,0.10,2.00,0.00,0.000,6,0.066,0.019,3282,1508,1108,0,0,0,0,0,0
$STATE,10552,end climb,SURFACE_DEPTH_REACHED
$STATE,10553,begin surface coast
$FINISH,1.0,1.012589
$STATE,10595,end surface coast,CONTROL_FINISHED_OK
$STATE,10596,begin surface
$SM_CCo,10618,25.40,0.463,0,0,957,410.14
$SM_GC,1.74,0.00,0.00,25.40,0.000,0.000,0.463,427,1507,957,-12.07,-0.65,410.14
$IRIDIUM_FIX,2057.14,-15744.48,070100,050543
$TT8_MAMPS,0.029146
$HUMID,59.29
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.00
$XPDR_PINGS,2
$24V_AH,23.3,61.972
$10V_AH,10.1,50.440
$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,30.150,115.075,421.025,25.400,0.000,87.503,104.351,396.077,5.000,0.000,31.574,1197.963,7080.902,460.633,1858.943,920.311,0.000,1305.835,0.000,1830.135,0.000,29.267,0.000
$DEVICE_MAMPS,130.390,58.292,826.059,462.501,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,415.776,403.250,912.319,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,34970,618
$CAP_FILE_SIZE,126605,0
$CFSIZE,260165632,177049600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131010,085200,2105.260,-15745.478,40,1.2,45,9.8