version: 66.06
glider: 139
mission: 8
dive: 672
start: 10 14 110 4 35 9
data:
$ID,139
$MISSION,8
$DIVE,672
$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,-2165351.8
$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
$GPS1,042737,2101.823,-15748.546,76,1.2,76,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-69.8
$GPS2,043449,2101.838,-15748.607,17,1.6,17,9.8
$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,186.8,7576,-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,14,begin dive
$GC,16,-1.18,-116.8,0.0,0.0,0,83,0.00,0.00,-64.22,0.000,2,0.000,0.000,426,1506,2761,0,0,0,0,0,0
$GC,87,-1.18,-116.8,3.6,-4.2,12,111,12.62,2.20,-6.45,0.000,4,0.131,0.056,2783,235,3109,0,0,0,0,0,0
$GC,217,-0.89,-116.8,33.6,-18.2,37,222,0.32,2.12,0.00,0.000,6,0.087,0.018,2850,1580,3111,0,0,0,0,0,0
$GC,480,-0.83,-116.8,65.8,-11.8,57,481,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1584,3112,0,0,0,0,0,0
$GC,729,-0.83,-116.8,93.7,-10.7,77,733,0.00,2.33,0.00,0.000,4,0.000,0.045,2850,236,3112,0,0,0,0,0,0
$GC,818,-0.83,-116.8,102.7,-7.9,83,823,0.00,2.00,0.00,0.000,6,0.000,0.018,2851,1546,3112,0,0,0,0,0,0
$GC,1076,-0.83,-116.8,123.2,-8.7,104,1077,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1551,3113,0,0,0,0,0,0
$GC,1329,-0.86,-116.8,146.0,-9.4,124,1333,0.00,2.25,0.00,0.000,4,0.000,0.046,2850,230,3114,0,0,0,0,0,0
$GC,1377,-0.86,-116.8,150.3,-9.6,127,1383,0.00,2.00,0.00,0.000,6,0.000,0.018,2850,1538,3114,0,0,0,0,0,0
$GC,1638,-0.92,-116.8,168.7,-6.5,148,1642,0.00,2.22,0.00,0.000,4,0.000,0.045,2851,230,3114,0,0,0,0,0,0
$GC,1715,-0.99,-116.8,174.1,-7.7,153,1720,0.00,2.00,0.00,0.000,6,0.000,0.019,2850,1530,3114,0,0,0,0,0,0
$GC,1976,-1.05,-116.8,193.2,-7.7,174,1980,0.12,2.22,0.00,0.000,4,0.062,0.046,2805,233,3114,0,0,0,0,0,0
$GC,2002,-1.00,-116.8,195.8,-9.7,176,2007,0.12,2.03,0.00,0.000,6,0.091,0.019,2832,1532,3114,0,0,0,0,0,0
$GC,2274,-1.00,-116.8,215.5,-7.0,191,2278,0.00,2.22,0.00,0.000,4,0.000,0.047,2831,231,3114,0,0,0,0,0,0
$GC,2303,-1.00,-116.8,218.0,-8.2,192,2307,0.00,2.03,0.00,0.000,6,0.000,0.020,2831,1520,3114,0,0,0,0,0,0
$GC,2633,-1.04,-116.8,241.2,-6.8,208,2637,0.00,2.22,0.00,0.000,4,0.000,0.024,2832,2910,3114,0,0,0,0,0,0
$GC,2662,-1.15,-116.8,243.5,-7.2,209,2667,0.15,2.33,0.00,0.000,6,0.054,0.034,2782,1523,3114,0,0,0,0,0,0
$GC,2987,-1.07,-116.8,272.9,-9.6,225,2992,0.17,2.20,0.00,0.000,4,0.087,0.048,2819,238,3113,0,0,0,0,0,0
$GC,3091,-1.07,-116.8,282.2,-8.8,229,3095,0.00,2.03,0.00,0.000,6,0.000,0.021,2819,1541,3113,0,0,0,0,0,0
$GC,3427,-1.10,-116.8,307.9,-7.9,243,3431,0.00,2.25,0.00,0.000,4,0.000,0.049,2819,232,3112,0,0,0,0,0,0
$GC,3446,-1.10,-116.8,309.8,-8.8,243,3450,0.00,2.03,0.00,0.000,6,0.000,0.022,2819,1527,3112,0,0,0,0,0,0
$GC,3797,-1.14,-116.8,336.8,-7.0,252,3798,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1531,3110,0,0,0,0,0,0
$GC,4123,-1.19,-116.8,362.8,-8.5,260,4127,0.12,2.25,0.00,0.000,4,0.064,0.026,2777,2899,3108,0,0,0,0,0,0
$GC,4147,-1.19,-116.8,365.2,-8.9,260,4151,0.00,2.33,0.00,0.000,6,0.000,0.038,2777,1524,3108,0,0,0,0,0,0
$GC,4489,-1.14,-116.8,394.4,-7.8,269,4491,0.12,0.00,0.00,0.000,6,0.095,0.000,2803,1524,3105,0,0,0,0,0,0
$GC,4812,-1.14,-116.8,419.1,-8.1,277,4816,0.00,2.22,0.00,0.000,4,0.000,0.054,2803,233,3103,0,0,0,0,0,0
$GC,4844,-1.14,-116.8,421.8,-8.2,277,4848,0.00,2.03,0.00,0.000,6,0.000,0.025,2802,1520,3103,0,0,0,0,0,0
$GC,5177,-1.14,-116.8,446.7,-7.5,285,5181,0.00,2.28,0.00,0.000,4,0.000,0.030,2803,2903,3100,0,0,0,0,0,0
$STATE,5217,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5217,begin apogee
$GC,5226,-0.31,0.0,450.1,7.2,286,5326,0.82,0.00,96.32,0.832,6,0.062,0.000,2984,1492,2630,0,0,0,0,0,0
$STATE,5326,end apogee,CONTROL_FINISHED_OK
$STATE,5327,begin climb
$GC,5330,1.18,116.8,453.5,0.0,288,5442,1.40,2.35,101.38,0.817,4,0.035,0.029,3310,2875,2152,0,0,0,0,0,0
$GC,5467,1.08,185.8,455.4,4.8,291,5539,0.12,2.42,60.95,0.800,6,0.110,0.042,3286,1501,1871,0,0,0,0,0,0
$GC,5871,0.93,185.8,416.3,10.1,301,5876,0.15,2.35,0.00,0.000,4,0.102,0.030,3257,2883,1862,0,0,0,0,0,0
$GC,5935,0.93,185.8,410.6,8.1,302,5939,0.00,2.42,0.00,0.000,6,0.000,0.043,3256,1501,1861,0,0,0,0,0,0
$GC,6285,0.87,185.8,378.2,9.6,311,6289,0.00,2.25,0.00,0.000,4,0.000,0.058,3256,233,1858,0,0,0,0,0,0
$GC,6369,0.75,185.8,369.4,10.9,312,6375,0.22,2.05,0.00,0.000,6,0.094,0.028,3212,1500,1854,0,0,0,0,0,0
$GC,6702,0.86,242.9,349.8,5.3,321,6758,0.12,2.38,49.17,0.773,4,0.071,0.029,3248,2887,1638,0,0,0,0,0,0
$GC,6778,0.89,265.2,344.7,6.9,322,6805,0.00,2.47,20.77,0.731,6,0.000,0.044,3248,1494,1547,0,0,0,0,0,0
$GC,7155,0.89,265.2,311.6,9.4,332,7159,0.00,2.25,0.00,0.000,4,0.000,0.058,3248,232,1541,0,0,0,0,0,0
$GC,7230,0.82,265.2,303.2,10.4,333,7234,0.00,2.08,0.00,0.000,6,0.000,0.028,3248,1495,1538,0,0,0,0,0,0
$GC,7550,0.82,265.2,274.9,8.2,348,7554,0.00,2.25,0.00,0.000,4,0.000,0.057,3248,231,1537,0,0,0,0,0,0
$GC,7624,0.78,265.2,269.3,8.9,351,7628,0.12,2.08,0.00,0.000,6,0.107,0.028,3223,1511,1535,0,0,0,0,0,0
$GC,7954,0.89,285.9,241.2,7.0,367,7976,0.00,2.33,17.08,0.668,4,0.000,0.054,3223,227,1463,0,0,0,0,0,0
$GC,8009,0.93,285.9,236.2,9.4,369,8014,0.12,2.10,0.00,0.000,6,0.070,0.027,3259,1508,1460,0,0,0,0,0,0
$GC,8337,0.93,285.9,207.7,8.7,385,8341,0.00,2.28,0.00,0.000,4,0.000,0.027,3259,2886,1459,0,0,0,0,0,0
$GC,8360,1.00,285.9,205.6,8.3,386,8365,0.00,2.40,0.00,0.000,6,0.000,0.041,3259,1493,1459,0,0,0,0,0,0
$GC,8692,1.05,303.1,180.9,7.1,410,8714,0.00,2.28,15.55,0.614,4,0.000,0.052,3259,236,1393,0,0,0,0,0,0
$GC,8764,1.05,303.1,175.3,8.4,415,8768,0.00,2.05,0.00,0.000,6,0.000,0.024,3259,1515,1391,0,0,0,0,0,0
$GC,9029,1.16,326.2,155.8,6.8,436,9058,0.20,2.30,20.85,0.599,4,0.049,0.051,3316,233,1299,0,0,0,0,0,0
$GC,9136,1.07,326.2,145.1,12.0,443,9142,0.17,2.03,0.00,0.000,6,0.088,0.022,3281,1508,1295,0,0,0,0,0,0
$GC,9399,1.15,346.5,125.3,7.0,464,9419,0.00,0.00,18.35,0.565,6,0.000,0.000,3281,1509,1217,0,0,0,0,0,0
$GC,9674,1.24,364.7,105.7,7.1,486,9696,0.17,2.33,16.70,0.538,4,0.051,0.049,3334,231,1142,0,0,0,0,0,0
$GC,9708,1.18,364.7,102.4,9.1,488,9714,0.12,2.08,0.00,0.000,6,0.071,0.022,3305,1505,1141,0,0,0,0,0,0
$GC,9970,1.21,364.7,81.3,8.1,509,9974,0.00,2.22,0.00,0.000,4,0.000,0.049,3305,232,1140,0,0,0,0,0,0
$GC,10029,1.21,364.7,75.1,9.8,513,10036,0.00,2.05,0.00,0.000,6,0.000,0.020,3305,1511,1138,0,0,0,0,0,0
$GC,10293,1.24,364.7,53.4,9.1,534,10297,0.00,2.22,0.00,0.000,4,0.000,0.021,3305,2875,1138,0,0,0,0,0,0
$GC,10329,1.41,364.7,49.4,9.3,536,10337,0.17,2.38,0.00,0.000,6,0.027,0.035,3370,1502,1137,0,0,0,0,0,0
$GC,10593,1.29,364.7,19.7,12.2,569,10600,0.20,2.22,0.00,0.000,4,0.083,0.047,3328,232,1138,0,0,0,0,0,0
$GC,10676,1.22,364.7,10.7,11.4,587,10682,0.00,2.00,0.00,0.000,6,0.000,0.019,3328,1508,1137,0,0,0,0,0,0
$STATE,10752,end climb,SURFACE_DEPTH_REACHED
$STATE,10752,begin surface coast
$FINISH,0.9,1.019272
$STATE,10786,end surface coast,CONTROL_FINISHED_OK
$STATE,10786,begin surface
$SM_CCo,10808,29.23,0.465,0,0,957,410.14
$SM_GC,1.50,0.00,0.00,29.23,0.000,0.000,0.465,426,1507,957,-12.07,-0.65,410.14
$IRIDIUM_FIX,2054.83,-15746.61,080100,010117
$TT8_MAMPS,0.029146
$HUMID,59.09
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.20
$XPDR_PINGS,1
$24V_AH,23.3,62.759
$10V_AH,10.0,51.031
$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,30.325,114.850,417.125,29.225,0.000,31.030,42.149,220.881,4.750,0.000,17.358,1187.855,7231.464,488.033,1758.755,600.236,0.000,1287.921,0.000,1736.887,0.000,29.256,0.000
$DEVICE_MAMPS,131.157,58.292,832.195,464.802,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,410.662,388.303,854.745,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,34954,611
$CAP_FILE_SIZE,118630,0
$CFSIZE,260165632,176631808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141010,073658,2100.740,-15749.724,13,2.1,32,9.8