version: 66.06
glider: 139
mission: 8
dive: 666
start: 10 13 110 8 58 34
data:
$ID,139
$MISSION,8
$DIVE,666
$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,-2165203.5
$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
$GPS1,085200,2105.260,-15745.478,40,1.2,45,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-72.9
$GPS2,085814,2105.288,-15745.447,15,1.4,15,9.8
$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,67.6,4478,-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,-64.47,0.000,2,0.000,0.000,427,1507,2757,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.5,-3.8,12,110,12.60,2.40,-6.62,0.000,4,0.130,0.034,2786,2949,3107,0,0,0,0,0,0
$GC,132,-0.35,-116.8,15.5,-25.1,20,139,0.80,2.45,0.00,0.000,6,0.069,0.035,2970,1536,3109,0,0,0,0,0,0
$GC,336,-0.57,-116.8,29.3,-5.5,66,343,0.20,2.28,0.00,0.000,4,0.044,0.044,2906,234,3110,0,0,0,0,0,0
$GC,395,-0.65,-116.8,34.9,-10.3,72,399,0.00,2.12,0.00,0.000,6,0.000,0.018,2906,1600,3110,0,0,0,0,0,0
$GC,661,-0.72,-116.8,60.0,-9.6,93,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1605,3111,0,0,0,0,0,0
$GC,914,-0.80,-116.8,83.6,-8.6,113,919,0.15,2.38,0.00,0.000,4,0.054,0.044,2854,226,3112,0,0,0,0,0,0
$GC,1072,-0.80,-116.8,100.9,-9.0,124,1078,0.00,2.15,0.00,0.000,6,0.000,0.018,2854,1596,3112,0,0,0,0,0,0
$GC,1334,-0.85,-116.8,123.3,-9.0,145,1338,0.00,2.35,0.00,0.000,4,0.000,0.045,2854,230,3112,0,0,0,0,0,0
$GC,1428,-0.91,-116.8,132.5,-9.5,152,1432,0.00,2.12,0.00,0.000,6,0.000,0.018,2854,1590,3113,0,0,0,0,0,0
$GC,1694,-0.97,-116.8,157.6,-8.9,173,1698,0.00,2.33,0.00,0.000,4,0.000,0.044,2854,227,3113,0,0,0,0,0,0
$GC,1723,-1.04,-116.8,160.1,-8.8,175,1727,0.15,2.10,0.00,0.000,6,0.054,0.019,2802,1591,3113,0,0,0,0,0,0
$GC,1990,-1.00,-116.8,183.6,-9.3,196,1994,0.15,2.22,0.00,0.000,4,0.087,0.022,2835,2951,3113,0,0,0,0,0,0
$GC,2004,-1.00,-116.8,185.2,-9.0,197,2008,0.00,2.40,0.00,0.000,6,0.000,0.031,2835,1528,3113,0,0,0,0,0,0
$GC,2266,-1.04,-116.8,205.0,-7.5,215,2270,0.00,2.20,0.00,0.000,4,0.000,0.046,2835,227,3113,0,0,0,0,0,0
$GC,2311,-1.07,-116.8,209.1,-9.1,217,2315,0.00,2.12,0.00,0.000,6,0.000,0.019,2834,1598,3114,0,0,0,0,0,0
$GC,2645,-1.13,-116.8,235.4,-7.5,233,2650,0.15,2.38,0.00,0.000,4,0.056,0.047,2784,234,3113,0,0,0,0,0,0
$GC,2683,-1.04,-116.8,239.6,-10.3,234,2691,0.15,2.15,0.00,0.000,6,0.064,0.020,2822,1587,3113,0,0,0,0,0,0
$GC,3003,-1.04,-116.8,262.8,-6.8,250,3008,0.00,2.33,0.00,0.000,4,0.000,0.048,2822,236,3113,0,0,0,0,0,0
$GC,3050,-1.04,-116.8,266.6,-7.1,252,3054,0.00,2.10,0.00,0.000,6,0.000,0.021,2821,1585,3113,0,0,0,0,0,0
$GC,3377,-1.09,-116.8,287.2,-7.0,268,3381,0.00,2.33,0.00,0.000,4,0.000,0.048,2822,235,3112,0,0,0,0,0,0
$GC,3405,-1.09,-116.8,289.7,-8.0,269,3409,0.00,2.12,0.00,0.000,6,0.000,0.021,2822,1589,3112,0,0,0,0,0,0
$GC,3725,-1.14,-116.8,311.8,-6.7,281,3729,0.00,2.35,0.00,0.000,4,0.000,0.049,2822,237,3111,0,0,0,0,0,0
$GC,3759,-1.18,-116.8,314.3,-7.6,281,3764,0.12,2.12,0.00,0.000,6,0.064,0.022,2779,1578,3110,0,0,0,0,0,0
$GC,4098,-1.14,-116.8,343.1,-8.7,290,4103,0.10,2.20,0.00,0.000,4,0.102,0.026,2800,2909,3108,0,0,0,0,0,0
$GC,4138,-1.23,-116.8,346.6,-8.4,290,4144,0.00,2.35,0.00,0.000,6,0.000,0.037,2800,1532,3108,0,0,0,0,0,0
$GC,4470,-1.23,-116.8,376.9,-9.1,299,4474,0.00,2.25,0.00,0.000,4,0.000,0.053,2800,235,3105,0,0,0,0,0,0
$GC,4512,-1.23,-116.8,381.4,-9.9,300,4516,0.00,2.05,0.00,0.000,6,0.000,0.024,2800,1529,3105,0,0,0,0,0,0
$GC,4841,-1.23,-116.8,411.9,-8.8,308,4845,0.00,2.28,0.00,0.000,4,0.000,0.028,2800,2908,3103,0,0,0,0,0,0
$GC,4869,-1.31,-116.8,414.6,-9.1,308,4874,0.15,2.35,0.00,0.000,6,0.055,0.039,2752,1527,3103,0,0,0,0,0,0
$STATE,5209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5209,begin apogee
$GC,5215,-0.31,0.0,450.1,10.6,317,5315,1.08,0.00,96.12,0.832,6,0.070,0.000,2983,1527,2630,0,0,0,0,0,0
$STATE,5315,end apogee,CONTROL_FINISHED_OK
$STATE,5316,begin climb
$GC,5319,1.18,116.8,453.4,0.0,319,5431,1.40,2.33,101.00,0.816,4,0.035,0.029,3310,2878,2152,0,0,0,0,0,0
$GC,5628,1.01,127.9,442.5,7.4,325,5645,0.20,2.42,10.15,0.710,6,0.097,0.041,3271,1499,2107,0,0,0,0,0,0
$GC,5969,0.98,199.5,424.2,4.7,334,6038,0.00,2.33,63.20,0.812,4,0.000,0.059,3271,230,1816,0,0,0,0,0,0
$GC,6064,0.79,199.5,418.9,8.4,336,6069,0.25,2.10,0.00,0.000,6,0.096,0.027,3223,1495,1811,0,0,0,0,0,0
$GC,6384,0.87,265.8,404.2,4.9,344,6449,0.00,2.30,57.90,0.802,4,0.000,0.058,3222,234,1545,0,0,0,0,0,0
$GC,6473,0.82,265.8,397.4,9.9,346,6477,0.00,2.08,0.00,0.000,6,0.000,0.028,3222,1496,1542,0,0,0,0,0,0
$GC,6793,0.85,265.8,368.2,9.8,354,6797,0.00,2.28,0.00,0.000,4,0.000,0.059,3222,229,1537,0,0,0,0,0,0
$GC,6859,0.85,265.8,360.5,11.7,355,6863,0.00,2.08,0.00,0.000,6,0.000,0.028,3222,1505,1535,0,0,0,0,0,0
$GC,7204,0.89,271.0,331.1,7.7,364,7214,0.10,2.28,3.70,0.455,4,0.080,0.059,3253,232,1525,0,0,0,0,0,0
$GC,7235,0.81,271.0,328.1,10.8,364,7239,0.12,2.10,0.00,0.000,6,0.107,0.028,3229,1505,1524,0,0,0,0,0,0
$GC,7571,0.84,271.0,299.7,8.1,373,7575,0.00,2.22,0.00,0.000,4,0.000,0.058,3228,234,1523,0,0,0,0,0,0
$GC,7632,0.84,271.0,294.2,9.6,375,7638,0.00,2.08,0.00,0.000,6,0.000,0.028,3229,1503,1521,0,0,0,0,0,0
$GC,7951,0.89,271.0,267.6,8.1,391,7952,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1504,1521,0,0,0,0,0,0
$GC,8257,0.95,271.0,242.4,8.3,406,8262,0.12,2.25,0.00,0.000,4,0.067,0.057,3266,232,1521,0,0,0,0,0,0
$GC,8368,0.88,271.0,230.5,10.7,410,8374,0.10,2.10,0.00,0.000,6,0.078,0.027,3241,1509,1519,0,0,0,0,0,0
$GC,8683,0.93,271.0,204.9,8.5,426,8687,0.00,2.25,0.00,0.000,4,0.000,0.054,3241,232,1519,0,0,0,0,0,0
$GC,8754,0.93,271.0,197.5,11.1,429,8758,0.00,2.05,0.00,0.000,6,0.000,0.026,3241,1513,1517,0,0,0,0,0,0
$GC,9016,1.01,281.2,174.6,7.4,449,9028,0.12,0.00,9.60,0.581,6,0.067,0.000,3281,1514,1482,0,0,0,0,0,0
$GC,9280,1.01,281.2,153.7,7.9,470,9284,0.00,2.22,0.00,0.000,4,0.000,0.052,3281,233,1482,0,0,0,0,0,0
$GC,9308,0.93,281.2,150.9,9.7,472,9312,0.15,2.05,0.00,0.000,6,0.094,0.025,3250,1511,1480,0,0,0,0,0,0
$GC,9571,1.01,281.2,130.4,8.0,492,9575,0.00,2.22,0.00,0.000,4,0.000,0.051,3250,228,1480,0,0,0,0,0,0
$GC,9624,1.05,281.2,125.7,8.7,496,9629,0.12,2.05,0.00,0.000,6,0.067,0.024,3290,1504,1479,0,0,0,0,0,0
$GC,9892,1.07,293.9,105.0,7.3,517,9910,0.00,2.25,12.48,0.539,4,0.000,0.048,3291,233,1429,0,0,0,0,0,0
$GC,9933,1.07,293.9,101.7,7.9,520,9937,0.00,2.05,0.00,0.000,6,0.000,0.023,3290,1506,1428,0,0,0,0,0,0
$GC,10195,1.13,303.0,82.6,7.5,540,10211,0.00,2.25,8.98,0.486,4,0.000,0.048,3290,225,1393,0,0,0,0,0,0
$GC,10235,1.13,303.0,79.2,8.3,542,10241,0.00,2.08,0.00,0.000,6,0.000,0.022,3290,1511,1391,0,0,0,0,0,0
$GC,10497,1.27,367.5,61.1,5.0,563,10560,0.15,2.28,54.97,0.533,4,0.056,0.047,3339,225,1129,0,0,0,0,0,0
$GC,10586,1.17,368.6,55.1,7.8,569,10591,0.17,2.05,0.00,0.000,6,0.084,0.021,3303,1512,1127,0,0,0,0,0,0
$GC,10850,1.21,368.6,38.7,8.7,589,10854,0.00,2.20,0.00,0.000,4,0.000,0.047,3303,233,1125,0,0,0,0,0,0
$GC,10895,1.21,368.6,33.8,9.5,592,10903,0.00,2.03,0.00,0.000,6,0.000,0.021,3303,1500,1124,0,0,0,0,0,0
$GC,11158,1.25,368.6,8.6,9.9,647,11165,0.00,2.25,0.00,0.000,4,0.000,0.048,3303,235,1124,0,0,0,0,0,0
$GC,11185,1.25,368.6,6.0,9.3,652,11193,0.00,2.00,0.00,0.000,6,0.000,0.021,3303,1493,1124,0,0,0,0,0,0
$STATE,11219,end climb,SURFACE_DEPTH_REACHED
$STATE,11220,begin surface coast
$FINISH,0.9,1.001542
$STATE,11255,end surface coast,CONTROL_FINISHED_OK
$STATE,11255,begin surface
$SM_CCo,11279,26.30,0.462,0,0,958,410.14
$SM_GC,1.52,0.00,0.00,26.30,0.000,0.000,0.462,429,1492,958,-12.06,-1.07,410.14
$IRIDIUM_FIX,2057.14,-15746.61,070100,050547
$TT8_MAMPS,0.029146
$HUMID,60.00
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.3,62.079
$10V_AH,10.0,50.529
$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,31.225,128.175,418.100,26.300,0.000,30.893,31.793,177.339,4.500,0.000,15.411,1303.578,7317.696,485.903,2002.969,565.161,0.000,1383.226,0.000,1981.642,0.000,29.268,0.000
$DEVICE_MAMPS,130.390,59.059,832.195,461.734,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,448.538,431.509,1007.235,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,38014,667
$CAP_FILE_SIZE,128953,0
$CFSIZE,260165632,176979968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131010,120807,2105.605,-15744.740,29,1.0,29,9.8