version: 66.06
glider: 139
mission: 8
dive: 668
start: 10 13 110 15 37 24
data:
$ID,139
$MISSION,8
$DIVE,668
$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,-2165251.2
$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
$GPS1,153040,2105.579,-15744.609,8,3.1,27,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-74.3
$GPS2,153706,2105.576,-15744.683,15,0.9,32,9.8
$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,72.0,3080,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.18,0.000,2,0.000,0.000,426,1536,2736,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.5,-3.8,12,116,12.60,2.40,-7.15,0.000,4,0.130,0.035,2784,2952,3111,0,0,0,0,0,0
$GC,154,-1.05,-116.8,18.8,-15.7,25,161,0.12,2.45,0.00,0.000,6,0.080,0.035,2815,1537,3112,0,0,0,0,0,0
$GC,354,-0.89,-116.8,45.6,-13.4,53,359,0.20,2.35,0.00,0.000,4,0.088,0.019,2857,2959,3113,0,0,0,0,0,0
$GC,370,-0.79,-116.8,47.5,-11.6,54,374,0.00,2.42,0.00,0.000,6,0.000,0.031,2857,1529,3113,0,0,0,0,0,0
$GC,630,-0.79,-116.8,72.0,-9.0,74,634,0.00,2.22,0.00,0.000,4,0.000,0.046,2857,230,3113,0,0,0,0,0,0
$GC,690,-0.75,-116.8,78.0,-10.9,78,695,0.12,2.10,0.00,0.000,6,0.094,0.018,2883,1588,3113,0,0,0,0,0,0
$GC,951,-0.85,-116.8,95.3,-5.7,98,955,0.00,2.33,0.00,0.000,4,0.000,0.044,2883,229,3114,0,0,0,0,0,0
$GC,1003,-0.95,-116.8,98.7,-6.3,102,1008,0.17,2.10,0.00,0.000,6,0.048,0.018,2825,1596,3114,0,0,0,0,0,0
$GC,1268,-0.95,-116.8,124.0,-11.4,123,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1600,3115,0,0,0,0,0,0
$GC,1521,-0.95,-116.8,148.8,-9.9,143,1525,0.00,2.33,0.00,0.000,4,0.000,0.044,2825,235,3115,0,0,0,0,0,0
$GC,1563,-0.95,-116.8,153.2,-9.8,146,1567,0.00,2.10,0.00,0.000,6,0.000,0.018,2825,1592,3116,0,0,0,0,0,0
$GC,1823,-0.95,-116.8,175.5,-8.7,166,1827,0.00,2.33,0.00,0.000,4,0.000,0.045,2825,234,3116,0,0,0,0,0,0
$GC,1903,-0.95,-116.8,183.0,-9.3,172,1907,0.00,2.10,0.00,0.000,6,0.000,0.019,2825,1586,3116,0,0,0,0,0,0
$GC,2180,-0.95,-116.8,204.7,-7.3,192,2184,0.00,2.33,0.00,0.000,4,0.000,0.046,2826,228,3116,0,0,0,0,0,0
$GC,2228,-0.95,-116.8,208.9,-8.5,194,2232,0.00,2.12,0.00,0.000,6,0.000,0.020,2825,1592,3116,0,0,0,0,0,0
$GC,2552,-0.95,-116.8,235.5,-8.2,210,2556,0.00,2.33,0.00,0.000,4,0.000,0.048,2825,235,3116,0,0,0,0,0,0
$GC,2589,-0.95,-116.8,238.9,-9.6,211,2594,0.00,2.10,0.00,0.000,6,0.000,0.021,2825,1580,3116,0,0,0,0,0,0
$GC,2910,-0.98,-116.8,261.2,-6.6,227,2914,0.00,2.33,0.00,0.000,4,0.000,0.048,2825,236,3115,0,0,0,0,0,0
$GC,2959,-0.98,-116.8,264.8,-7.0,229,2963,0.00,2.03,0.00,0.000,6,0.000,0.021,2825,1537,3115,0,0,0,0,0,0
$GC,3295,-1.03,-116.8,286.9,-7.5,245,3299,0.00,2.20,0.00,0.000,4,0.000,0.025,2825,2898,3113,0,0,0,0,0,0
$GC,3315,-1.11,-116.8,288.8,-7.4,246,3319,0.00,2.33,0.00,0.000,6,0.000,0.035,2825,1531,3114,0,0,0,0,0,0
$GC,3642,-1.15,-116.8,314.4,-8.0,258,3647,0.12,2.25,0.00,0.000,4,0.063,0.051,2782,227,3112,0,0,0,0,0,0
$GC,3668,-1.09,-116.8,316.9,-10.4,258,3672,0.15,2.05,0.00,0.000,6,0.087,0.022,2815,1526,3113,0,0,0,0,0,0
$GC,4013,-1.09,-116.8,343.4,-6.9,267,4014,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1530,3110,0,0,0,0,0,0
$GC,4342,-1.13,-116.8,361.6,-5.3,275,4343,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1531,3108,0,0,0,0,0,0
$GC,4666,-1.16,-116.8,381.8,-6.5,283,4670,0.00,2.25,0.00,0.000,4,0.000,0.027,2815,2902,3106,0,0,0,0,0,0
$GC,4690,-1.23,-116.8,383.5,-6.4,283,4695,0.15,2.33,0.00,0.000,6,0.057,0.038,2765,1531,3106,0,0,0,0,0,0
$GC,5033,-1.16,-116.8,417.6,-10.4,292,5037,0.15,2.28,0.00,0.000,4,0.090,0.055,2796,234,3104,0,0,0,0,0,0
$GC,5057,-1.10,-116.8,420.2,-10.0,292,5061,0.00,2.05,0.00,0.000,6,0.000,0.025,2796,1521,3104,0,0,0,0,0,0
$STATE,5400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5400,begin apogee
$GC,5407,-0.31,0.0,450.7,8.3,301,5507,0.85,0.00,96.47,0.835,6,0.066,0.000,2980,1525,2630,0,0,0,0,0,0
$STATE,5507,end apogee,CONTROL_FINISHED_OK
$STATE,5508,begin climb
$GC,5510,1.18,116.8,453.4,0.0,303,5622,1.42,2.35,101.07,0.820,4,0.036,0.029,3310,2874,2152,0,0,0,0,0,0
$GC,5648,1.05,167.4,454.0,5.6,306,5701,0.15,2.40,45.03,0.798,6,0.101,0.041,3281,1498,1946,0,0,0,0,0,0
$GC,6011,0.91,167.4,419.4,9.7,315,6013,0.15,0.00,0.00,0.000,6,0.104,0.000,3252,1499,1938,0,0,0,0,0,0
$GC,6335,0.85,167.4,388.0,9.9,323,6339,0.00,2.22,0.00,0.000,4,0.000,0.058,3251,232,1934,0,0,0,0,0,0
$GC,6359,0.73,167.4,385.5,10.5,323,6363,0.22,2.08,0.00,0.000,6,0.096,0.027,3208,1505,1932,0,0,0,0,0,0
$GC,6701,0.82,205.6,362.6,6.2,332,6745,0.00,2.38,32.62,0.773,4,0.000,0.028,3208,2884,1790,0,0,0,0,0,0
$GC,6766,0.99,261.3,359.1,5.4,333,6823,0.25,2.45,49.92,0.772,6,0.046,0.043,3274,1497,1562,0,0,0,0,0,0
$GC,7160,0.91,261.3,323.8,9.0,343,7162,0.12,0.00,0.00,0.000,6,0.104,0.000,3249,1497,1555,0,0,0,0,0,0
$GC,7466,0.91,261.3,295.8,9.6,351,7470,0.00,2.22,0.00,0.000,4,0.000,0.058,3248,233,1552,0,0,0,0,0,0
$GC,7494,0.84,261.3,292.5,11.3,352,7499,0.00,2.05,0.00,0.000,6,0.000,0.028,3249,1499,1550,0,0,0,0,0,0
$GC,7816,0.84,261.3,261.4,9.1,368,7819,0.00,2.25,0.00,0.000,4,0.000,0.058,3249,233,1550,0,0,0,0,0,0
$GC,7921,0.81,261.3,251.7,8.7,372,7926,0.12,2.05,0.00,0.000,6,0.106,0.027,3225,1504,1547,0,0,0,0,0,0
$GC,8242,0.94,312.8,232.2,5.6,387,8288,0.15,0.00,43.20,0.693,6,0.061,0.000,3268,1506,1354,0,0,0,0,0,0
$GC,8586,0.94,312.8,203.5,8.4,404,8590,0.00,2.25,0.00,0.000,4,0.000,0.054,3268,232,1349,0,0,0,0,0,0
$GC,8661,0.89,312.8,196.2,10.3,408,8666,0.12,2.08,0.00,0.000,6,0.103,0.025,3244,1509,1346,0,0,0,0,0,0
$GC,8922,0.97,328.8,177.1,7.2,428,8941,0.00,2.28,13.90,0.602,4,0.000,0.052,3243,234,1288,0,0,0,0,0,0
$GC,8984,0.97,328.8,171.4,9.3,432,8990,0.00,2.08,0.00,0.000,6,0.000,0.025,3243,1501,1285,0,0,0,0,0,0
$GC,9244,1.05,337.4,150.6,7.5,453,9259,0.15,2.25,8.38,0.536,4,0.058,0.050,3289,235,1254,0,0,0,0,0,0
$GC,9278,0.99,337.4,147.7,9.5,455,9283,0.12,2.05,0.00,0.000,6,0.099,0.024,3264,1514,1252,0,0,0,0,0,0
$GC,9544,1.09,365.6,128.8,6.6,476,9575,0.10,2.30,25.23,0.584,4,0.074,0.024,3299,2879,1139,0,0,0,0,0,0
$GC,9595,1.13,365.6,124.3,9.1,479,9601,0.00,2.42,0.00,0.000,6,0.000,0.038,3299,1491,1139,0,0,0,0,0,0
$GC,9854,1.13,365.6,97.2,11.1,500,9858,0.00,2.20,0.00,0.000,4,0.000,0.051,3299,233,1137,0,0,0,0,0,0
$GC,9906,1.10,365.6,91.1,11.6,504,9910,0.00,2.03,0.00,0.000,6,0.000,0.022,3299,1512,1135,0,0,0,0,0,0
$GC,10173,1.15,381.1,68.1,7.2,525,10193,0.00,2.28,14.12,0.507,4,0.000,0.048,3299,229,1074,0,0,0,0,0,0
$GC,10245,1.15,381.1,62.2,8.1,530,10249,0.00,2.03,0.00,0.000,6,0.000,0.021,3299,1515,1072,0,0,0,0,0,0
$GC,10507,1.24,407.1,44.8,6.7,550,10536,0.00,2.25,22.50,0.501,4,0.000,0.020,3299,2875,969,0,0,0,0,0,0
$GC,10555,1.37,428.7,41.3,6.9,553,10584,0.22,2.35,19.30,0.490,6,0.043,0.035,3367,1499,881,0,0,0,0,0,0
$GC,10843,1.26,428.7,5.4,12.6,603,10850,0.20,2.22,0.00,0.000,4,0.082,0.046,3325,232,879,0,0,0,0,0,0
$STATE,10855,end climb,SURFACE_DEPTH_REACHED
$STATE,10855,begin surface coast
$FINISH,0.8,1.011353
$STATE,10878,end surface coast,CONTROL_FINISHED_OK
$STATE,10878,begin surface
$SM_CCo,10963,0.00,0.000,0,0,875,430.75
$SM_GC,1.78,12.40,0.00,0.00,0.021,0.000,0.000,424,1524,875,-12.00,-0.17,430.75
$IRIDIUM_FIX,2057.14,-15743.60,070100,121224
$TT8_MAMPS,0.029146
$HUMID,60.59
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.3,62.304
$10V_AH,10.0,50.699
$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,30.575,115.775,471.750,0.000,0.000,30.681,35.341,166.354,4.500,0.000,32.281,1166.729,7415.594,482.678,1743.228,531.690,0.000,1292.756,0.000,1705.557,0.000,29.250,0.000
$DEVICE_MAMPS,130.390,58.292,835.263,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,410.381,390.410,862.634,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,34975,610
$CAP_FILE_SIZE,118116,0
$CFSIZE,260165632,176865280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131010,184124,2105.456,-15744.575,42,1.3,42,9.8