version: 66.06
glider: 139
mission: 8
dive: 669
start: 10 13 110 18 48 43
data:
$ID,139
$MISSION,8
$DIVE,669
$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,-2165284.8
$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
$GPS1,184124,2105.456,-15744.575,42,1.3,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-71.2
$GPS2,184825,2105.494,-15744.618,15,1.3,32,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$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,203.1,16705,-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,16,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.25,0.000,2,0.000,0.000,422,1524,2654,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.0,-3.0,12,115,12.68,2.28,-8.90,0.000,4,0.133,0.058,2785,235,3109,0,0,0,0,0,0
$GC,254,-0.97,-116.8,35.0,-14.2,44,259,0.25,2.12,0.00,0.000,6,0.085,0.018,2837,1580,3111,0,0,0,0,0,0
$GC,524,-0.90,-116.8,66.0,-11.2,65,528,0.00,2.35,0.00,0.000,4,0.000,0.046,2837,228,3111,0,0,0,0,0,0
$GC,582,-0.90,-116.8,73.9,-11.0,69,589,0.00,2.08,0.00,0.000,6,0.000,0.018,2837,1548,3111,0,0,0,0,0,0
$GC,840,-0.90,-116.8,101.5,-10.3,90,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1548,3112,0,0,0,0,0,0
$GC,1094,-0.90,-116.8,127.1,-11.1,110,1098,0.00,2.25,0.00,0.000,4,0.000,0.045,2837,227,3112,0,0,0,0,0,0
$GC,1135,-0.85,-116.8,131.7,-11.8,113,1140,0.12,2.05,0.00,0.000,6,0.093,0.018,2865,1557,3113,0,0,0,0,0,0
$GC,1407,-0.94,-116.8,153.2,-6.7,134,1411,0.00,2.25,0.00,0.000,4,0.000,0.044,2865,236,3114,0,0,0,0,0,0
$GC,1467,-1.03,-116.8,157.4,-6.3,138,1471,0.17,2.00,0.00,0.000,6,0.048,0.018,2806,1523,3113,0,0,0,0,0,0
$GC,1735,-1.03,-116.8,181.1,-10.0,159,1739,0.00,2.22,0.00,0.000,4,0.000,0.046,2806,230,3113,0,0,0,0,0,0
$GC,1788,-1.03,-116.8,186.8,-9.8,163,1792,0.00,2.03,0.00,0.000,6,0.000,0.019,2806,1520,3114,0,0,0,0,0,0
$GC,2064,-1.00,-116.8,210.0,-9.1,181,2068,0.12,2.25,0.00,0.000,4,0.091,0.023,2834,2904,3114,0,0,0,0,0,0
$GC,2088,-1.08,-116.8,212.8,-8.1,182,2092,0.00,2.33,0.00,0.000,6,0.000,0.033,2833,1527,3114,0,0,0,0,0,0
$GC,2421,-1.12,-116.8,238.0,-7.7,198,2425,0.12,2.22,0.00,0.000,4,0.062,0.047,2789,237,3114,0,0,0,0,0,0
$GC,2488,-1.06,-116.8,244.7,-9.9,200,2495,0.10,2.05,0.00,0.000,6,0.066,0.020,2816,1531,3114,0,0,0,0,0,0
$GC,2807,-1.06,-116.8,268.7,-6.5,216,2811,0.00,2.22,0.00,0.000,4,0.000,0.049,2816,238,3114,0,0,0,0,0,0
$GC,2844,-1.06,-116.8,271.4,-7.0,217,2847,0.00,2.03,0.00,0.000,6,0.000,0.021,2816,1519,3113,0,0,0,0,0,0
$GC,3165,-1.06,-116.8,290.0,-7.0,233,3169,0.00,2.25,0.00,0.000,4,0.000,0.025,2817,2909,3112,0,0,0,0,0,0
$GC,3190,-1.15,-116.8,291.9,-8.0,234,3194,0.00,2.35,0.00,0.000,6,0.000,0.035,2816,1527,3112,0,0,0,0,0,0
$GC,3532,-1.15,-116.8,318.4,-6.7,245,3536,0.00,2.20,0.00,0.000,4,0.000,0.050,2816,238,3111,0,0,0,0,0,0
$GC,3592,-1.18,-116.8,321.8,-5.9,246,3597,0.12,2.05,0.00,0.000,6,0.063,0.022,2774,1536,3110,0,0,0,0,0,0
$GC,3945,-1.14,-116.8,351.1,-9.1,255,3950,0.12,2.28,0.00,0.000,4,0.095,0.026,2801,2908,3108,0,0,0,0,0,0
$GC,4002,-1.22,-116.8,356.1,-7.8,256,4006,0.00,2.35,0.00,0.000,6,0.000,0.037,2801,1534,3108,0,0,0,0,0,0
$GC,4318,-1.22,-116.8,380.9,-7.8,264,4322,0.00,2.25,0.00,0.000,4,0.000,0.054,2801,228,3106,0,0,0,0,0,0
$GC,4406,-1.22,-116.8,388.4,-8.2,265,4411,0.00,2.08,0.00,0.000,6,0.000,0.024,2801,1527,3105,0,0,0,0,0,0
$GC,4738,-1.22,-116.8,412.7,-7.9,274,4739,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1528,3103,0,0,0,0,0,0
$GC,5062,-1.22,-116.8,438.1,-7.4,282,5066,0.00,2.25,0.00,0.000,4,0.000,0.056,2801,235,3101,0,0,0,0,0,0
$GC,5108,-1.22,-116.8,441.8,-7.9,283,5112,0.00,2.08,0.00,0.000,6,0.000,0.026,2801,1523,3101,0,0,0,0,0,0
$STATE,5266,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5266,begin apogee
$GC,5273,-0.31,0.0,452.9,7.0,287,5372,0.82,0.00,95.78,0.842,6,0.066,0.000,2980,1527,2630,0,0,0,0,0,0
$STATE,5373,end apogee,CONTROL_FINISHED_OK
$STATE,5373,begin climb
$GC,5376,1.18,116.8,455.3,0.0,289,5489,1.42,2.35,101.20,0.824,4,0.032,0.031,3316,2875,2153,0,0,0,0,0,0
$GC,5703,0.99,116.8,439.7,8.2,296,5708,0.25,2.40,0.00,0.000,6,0.095,0.041,3266,1498,2146,0,0,0,0,0,0
$GC,6019,0.90,141.1,418.2,6.8,304,6047,0.00,2.38,20.92,0.778,4,0.000,0.028,3266,2883,2053,0,0,0,0,0,0
$GC,6057,0.84,167.8,415.4,6.7,304,6090,0.17,2.45,24.90,0.779,6,0.098,0.042,3232,1498,1946,0,0,0,0,0,0
$GC,6431,0.84,173.9,388.2,7.6,314,6443,0.00,2.28,5.70,0.605,4,0.000,0.058,3232,235,1920,0,0,0,0,0,0
$GC,6462,0.75,173.9,385.4,9.0,314,6466,0.00,2.05,0.00,0.000,6,0.000,0.028,3232,1497,1919,0,0,0,0,0,0
$GC,6799,0.76,178.9,358.7,7.7,323,6807,0.00,0.00,5.65,0.600,6,0.000,0.000,3232,1498,1899,0,0,0,0,0,0
$GC,7123,0.83,240.9,339.8,5.1,331,7181,0.00,0.00,56.00,0.781,6,0.000,0.000,3232,1498,1648,0,0,0,0,0,0
$GC,7492,0.83,240.9,305.1,10.5,340,7496,0.00,2.25,0.00,0.000,4,0.000,0.059,3232,231,1641,0,0,0,0,0,0
$GC,7520,0.78,240.9,301.9,10.6,340,7524,0.00,2.08,0.00,0.000,6,0.000,0.029,3232,1504,1639,0,0,0,0,0,0
$GC,7840,0.81,240.9,274.9,8.7,355,7844,0.00,2.28,0.00,0.000,4,0.000,0.058,3232,229,1638,0,0,0,0,0,0
$GC,7901,0.81,240.9,268.8,9.5,357,7907,0.00,2.10,0.00,0.000,6,0.000,0.028,3232,1506,1635,0,0,0,0,0,0
$GC,8218,0.96,318.9,251.4,4.4,373,8288,0.12,0.00,66.82,0.722,6,0.069,0.000,3268,1507,1329,0,0,0,0,0,0
$GC,8591,0.96,318.9,212.6,10.3,391,8595,0.00,2.28,0.00,0.000,4,0.000,0.056,3267,232,1323,0,0,0,0,0,0
$GC,8642,0.88,318.9,207.1,11.0,393,8647,0.12,2.10,0.00,0.000,6,0.103,0.027,3244,1510,1321,0,0,0,0,0,0
$GC,8971,0.95,318.9,181.5,8.6,416,8975,0.00,2.28,0.00,0.000,4,0.000,0.054,3243,227,1320,0,0,0,0,0,0
$GC,9012,0.95,318.9,177.5,9.6,419,9017,0.00,2.08,0.00,0.000,6,0.000,0.026,3244,1504,1319,0,0,0,0,0,0
$GC,9276,1.07,347.6,158.3,6.6,439,9307,0.17,2.33,24.20,0.619,4,0.054,0.053,3294,235,1211,0,0,0,0,0,0
$GC,9364,1.00,347.6,149.5,11.1,445,9369,0.12,2.05,0.00,0.000,6,0.097,0.024,3269,1506,1208,0,0,0,0,0,0
$GC,9631,1.07,347.6,128.4,8.8,466,9635,0.00,2.28,0.00,0.000,4,0.000,0.024,3269,2882,1208,0,0,0,0,0,0
$GC,9671,1.25,347.6,124.5,9.5,469,9676,0.22,2.40,0.00,0.000,6,0.045,0.038,3333,1496,1207,0,0,0,0,0,0
$GC,9938,1.17,347.6,92.6,10.8,490,9943,0.12,2.20,0.00,0.000,4,0.096,0.051,3307,231,1207,0,0,0,0,0,0
$GC,10018,1.14,347.6,84.0,9.5,496,10022,0.00,2.03,0.00,0.000,6,0.000,0.021,3307,1509,1205,0,0,0,0,0,0
$GC,10288,1.14,347.6,58.9,8.8,517,10292,0.00,2.22,0.00,0.000,4,0.000,0.021,3307,2878,1204,0,0,0,0,0,0
$GC,10313,1.23,347.6,56.7,8.9,519,10318,0.00,2.38,0.00,0.000,6,0.000,0.035,3307,1490,1205,0,0,0,0,0,0
$GC,10580,1.26,347.6,36.7,8.3,540,10584,0.00,2.15,0.00,0.000,4,0.000,0.048,3307,230,1204,0,0,0,0,0,0
$GC,10686,1.26,347.6,26.6,9.7,552,10693,0.00,2.03,0.00,0.000,6,0.000,0.020,3308,1517,1204,0,0,0,0,0,0
$GC,10889,1.31,352.6,10.1,7.7,598,10903,0.12,2.28,4.82,0.357,4,0.063,0.047,3351,232,1192,0,0,0,0,0,0
$GC,10916,1.31,352.6,7.4,8.5,602,10923,0.00,2.00,0.00,0.000,6,0.000,0.020,3351,1500,1191,0,0,0,0,0,0
$STATE,10957,end climb,SURFACE_DEPTH_REACHED
$STATE,10957,begin surface coast
$FINISH,0.8,1.013759
$STATE,10989,end surface coast,CONTROL_FINISHED_OK
$STATE,10989,begin surface
$SM_CCo,11013,37.03,0.478,0,0,957,410.14
$SM_GC,1.77,0.00,0.00,37.03,0.000,0.000,0.478,427,1499,957,-12.07,-0.88,410.14
$IRIDIUM_FIX,2057.14,-15741.46,070100,151539
$TT8_MAMPS,0.029146
$HUMID,59.52
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.3,62.414
$10V_AH,10.0,50.782
$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,30.125,114.500,406.000,37.025,0.000,28.625,32.910,207.870,4.500,0.000,32.659,1215.224,7342.288,478.361,1867.248,564.341,0.000,1318.475,0.000,1820.968,0.000,32.293,0.000
$DEVICE_MAMPS,132.691,59.059,842.166,477.841,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,416.315,388.716,884.713,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355856
$DATA_FILE_SIZE,35069,618
$CAP_FILE_SIZE,120897,0
$CFSIZE,260165632,176803840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131010,215407,2104.395,-15745.859,35,1.7,35,9.8