version: 66.06
glider: 139
mission: 8
dive: 673
start: 10 14 110 7 44 4
data:
$ID,139
$MISSION,8
$DIVE,673
$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,-2165385.2
$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
$GPS1,073658,2100.740,-15749.724,13,2.1,32,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-72.4
$GPS2,074346,2100.777,-15749.792,12,2.2,31,9.8
$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,171.5,5297,-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,-64.28,0.000,2,0.000,0.000,425,1508,2763,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.7,-3.7,12,110,12.62,2.20,-6.38,0.000,4,0.131,0.055,2786,236,3108,0,0,0,0,0,0
$GC,163,-0.91,-116.8,22.4,-17.8,27,170,0.25,2.15,0.00,0.000,6,0.077,0.018,2850,1573,3110,0,0,0,0,0,0
$GC,369,-0.86,-116.8,49.5,-11.7,50,373,0.00,2.33,0.00,0.000,4,0.000,0.045,2850,231,3111,0,0,0,0,0,0
$GC,416,-0.76,-116.8,55.6,-12.2,53,421,0.15,2.03,0.00,0.000,6,0.093,0.018,2882,1548,3111,0,0,0,0,0,0
$GC,675,-0.76,-116.8,80.2,-9.1,73,679,0.00,2.17,0.00,0.000,4,0.000,0.021,2882,2902,3111,0,0,0,0,0,0
$GC,700,-0.85,-116.8,82.9,-9.8,74,707,0.00,2.35,0.00,0.000,6,0.000,0.032,2882,1525,3111,0,0,0,0,0,0
$GC,964,-0.93,-116.8,106.7,-7.8,95,969,0.15,2.20,0.00,0.000,4,0.054,0.045,2826,237,3112,0,0,0,0,0,0
$GC,1094,-0.88,-116.8,120.0,-9.8,104,1103,0.10,2.03,0.00,0.000,6,0.066,0.018,2853,1527,3112,0,0,0,0,0,0
$GC,1354,-0.88,-116.8,141.3,-9.4,125,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1527,3113,0,0,0,0,0,0
$GC,1609,-0.92,-116.8,159.9,-6.7,145,1610,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1527,3113,0,0,0,0,0,0
$GC,1860,-0.99,-116.8,179.3,-6.1,165,1864,0.00,2.20,0.00,0.000,4,0.000,0.045,2854,232,3114,0,0,0,0,0,0
$GC,1931,-1.07,-116.8,183.2,-5.4,170,1936,0.17,2.00,0.00,0.000,6,0.048,0.019,2793,1539,3114,0,0,0,0,0,0
$GC,2205,-1.00,-116.8,206.3,-9.1,189,2210,0.17,2.20,0.00,0.000,4,0.084,0.022,2833,2898,3114,0,0,0,0,0,0
$GC,2237,-1.08,-116.8,209.2,-7.5,190,2241,0.00,2.28,0.00,0.000,6,0.000,0.032,2832,1529,3114,0,0,0,0,0,0
$GC,2557,-1.14,-116.8,236.4,-8.6,206,2562,0.12,2.20,0.00,0.000,4,0.062,0.047,2786,237,3114,0,0,0,0,0,0
$GC,2592,-1.08,-116.8,239.9,-10.6,207,2598,0.12,2.00,0.00,0.000,6,0.091,0.020,2813,1530,3114,0,0,0,0,0,0
$GC,2916,-1.08,-116.8,268.5,-8.9,223,2920,0.00,2.22,0.00,0.000,4,0.000,0.047,2813,237,3113,0,0,0,0,0,0
$GC,2999,-1.08,-116.8,276.4,-9.0,226,3006,0.00,2.05,0.00,0.000,6,0.000,0.021,2813,1532,3113,0,0,0,0,0,0
$GC,3317,-1.12,-116.8,298.2,-7.6,242,3318,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1533,3112,0,0,0,0,0,0
$GC,3642,-1.16,-116.8,322.2,-6.9,251,3643,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1533,3111,0,0,0,0,0,0
$GC,3967,-1.20,-116.8,345.8,-7.9,259,3972,0.12,2.25,0.00,0.000,4,0.064,0.051,2771,238,3109,0,0,0,0,0,0
$GC,4034,-1.11,-116.8,352.9,-11.1,260,4038,0.17,2.03,0.00,0.000,6,0.086,0.023,2808,1521,3108,0,0,0,0,0,0
$GC,4380,-1.11,-116.8,383.8,-8.8,269,4381,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1525,3106,0,0,0,0,0,0
$GC,4704,-1.11,-116.8,409.3,-7.6,277,4705,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1525,3104,0,0,0,0,0,0
$GC,5030,-1.16,-116.8,434.9,-7.9,285,5034,0.00,2.25,0.00,0.000,4,0.000,0.055,2809,239,3101,0,0,0,0,0,0
$GC,5102,-1.19,-116.8,440.3,-7.7,286,5106,0.00,2.05,0.00,0.000,6,0.000,0.025,2808,1523,3101,0,0,0,0,0,0
$STATE,5282,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5282,begin apogee
$GC,5288,-0.31,0.0,452.6,6.6,291,5387,0.80,0.00,96.47,0.833,6,0.064,0.000,2982,1527,2630,0,0,0,0,0,0
$STATE,5388,end apogee,CONTROL_FINISHED_OK
$STATE,5388,begin climb
$GC,5391,1.18,116.8,454.1,0.0,293,5504,1.40,2.35,101.68,0.815,4,0.035,0.030,3309,2875,2152,0,0,0,0,0,0
$GC,5529,1.02,138.8,452.2,6.9,296,5557,0.20,2.42,20.23,0.764,6,0.095,0.041,3269,1501,2063,0,0,0,0,0,0
$GC,5892,0.89,138.8,420.3,9.0,305,5894,0.12,0.00,0.00,0.000,6,0.107,0.000,3245,1501,2054,0,0,0,0,0,0
$GC,6214,0.84,138.8,393.9,7.9,313,6215,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1501,2051,0,0,0,0,0,0
$GC,6540,0.84,177.1,372.4,6.2,321,6582,0.00,2.38,32.53,0.779,4,0.000,0.029,3246,2881,1908,0,0,0,0,0,0
$GC,6643,0.89,218.7,366.0,6.0,323,6687,0.00,2.42,38.12,0.775,6,0.000,0.042,3245,1494,1737,0,0,0,0,0,0
$GC,7003,0.89,218.7,338.6,8.1,332,7007,0.00,2.22,0.00,0.000,4,0.000,0.058,3245,235,1731,0,0,0,0,0,0
$GC,7036,0.78,218.7,335.2,11.1,332,7040,0.12,2.08,0.00,0.000,6,0.110,0.028,3221,1507,1728,0,0,0,0,0,0
$GC,7372,0.82,218.8,307.8,7.9,341,7374,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1508,1727,0,0,0,0,0,0
$GC,7683,0.91,254.3,287.1,6.3,353,7720,0.12,2.35,30.20,0.729,4,0.070,0.058,3258,238,1592,0,0,0,0,0,0
$GC,7736,0.81,254.3,282.2,9.7,355,7741,0.15,2.08,0.00,0.000,6,0.102,0.029,3229,1495,1590,0,0,0,0,0,0
$GC,8062,0.89,275.9,259.2,6.9,371,8087,0.00,2.33,19.10,0.689,4,0.000,0.057,3229,232,1505,0,0,0,0,0,0
$GC,8159,0.89,275.9,251.2,8.8,375,8163,0.00,2.08,0.00,0.000,6,0.000,0.027,3229,1511,1500,0,0,0,0,0,0
$GC,8487,1.03,327.1,231.5,5.6,391,8538,0.20,2.35,44.85,0.690,4,0.051,0.028,3285,2886,1295,0,0,0,0,0,0
$GC,8569,1.10,327.1,224.4,9.1,394,8576,0.00,2.47,0.00,0.000,6,0.000,0.043,3285,1500,1295,0,0,0,0,0,0
$GC,8885,1.10,327.1,193.6,10.3,412,8889,0.00,2.28,0.00,0.000,4,0.000,0.055,3285,229,1291,0,0,0,0,0,0
$GC,8964,1.04,327.1,184.4,11.4,418,8968,0.00,2.05,0.00,0.000,6,0.000,0.025,3285,1507,1288,0,0,0,0,0,0
$GC,9230,1.04,327.1,157.2,10.7,439,9234,0.00,2.25,0.00,0.000,4,0.000,0.051,3285,232,1288,0,0,0,0,0,0
$GC,9296,1.00,327.1,148.7,12.1,444,9300,0.00,2.03,0.00,0.000,6,0.000,0.024,3285,1505,1287,0,0,0,0,0,0
$GC,9561,1.00,327.1,124.7,8.2,465,9565,0.00,2.25,0.00,0.000,4,0.000,0.051,3285,226,1286,0,0,0,0,0,0
$GC,9615,0.96,327.1,119.6,9.9,469,9620,0.12,2.08,0.00,0.000,6,0.097,0.023,3259,1506,1286,0,0,0,0,0,0
$GC,9889,1.07,339.1,100.3,7.4,490,9905,0.10,2.25,10.50,0.516,4,0.075,0.048,3295,232,1246,0,0,0,0,0,0
$GC,9963,1.07,339.1,92.9,9.7,495,9967,0.00,2.00,0.00,0.000,6,0.000,0.022,3295,1491,1243,0,0,0,0,0,0
$GC,10235,1.10,339.1,69.4,9.3,516,10239,0.00,2.20,0.00,0.000,4,0.000,0.048,3295,232,1243,0,0,0,0,0,0
$GC,10273,1.10,339.1,65.3,10.2,519,10277,0.00,2.03,0.00,0.000,6,0.000,0.021,3295,1524,1242,0,0,0,0,0,0
$GC,10541,1.18,339.1,44.3,9.9,540,10545,0.00,2.17,0.00,0.000,4,0.000,0.021,3295,2875,1242,0,0,0,0,0,0
$GC,10567,1.30,345.5,41.9,7.6,542,10583,0.17,2.33,6.65,0.421,6,0.050,0.034,3352,1495,1220,0,0,0,0,0,0
$GC,10839,1.23,345.5,18.3,8.7,581,10846,0.17,2.20,0.00,0.000,4,0.082,0.046,3314,238,1220,0,0,0,0,0,0
$GC,10896,1.23,345.5,13.3,9.1,593,10903,0.00,2.00,0.00,0.000,6,0.000,0.020,3314,1504,1218,0,0,0,0,0,0
$STATE,11021,end climb,SURFACE_DEPTH_REACHED
$STATE,11022,begin surface coast
$FINISH,0.9,1.010455
$STATE,11061,end surface coast,CONTROL_FINISHED_OK
$STATE,11061,begin surface
$SM_CCo,11084,38.42,0.473,0,0,958,410.14
$SM_GC,1.66,0.00,0.00,38.42,0.000,0.000,0.473,426,1504,958,-12.07,-0.74,410.14
$IRIDIUM_FIX,2054.83,-15746.61,080100,040438
$TT8_MAMPS,0.029146
$HUMID,59.96
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,22.00
$XPDR_PINGS,1
$24V_AH,23.3,62.866
$10V_AH,10.1,51.114
$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,30.350,100.800,400.325,38.425,0.000,30.691,33.714,184.064,4.750,0.000,32.810,1210.983,7473.943,457.087,1808.419,574.919,0.000,1272.974,0.000,1782.404,0.000,30.998,0.000
$DEVICE_MAMPS,131.157,58.292,832.962,473.239,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,424.374,405.958,904.800,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355744
$DATA_FILE_SIZE,34950,630
$CAP_FILE_SIZE,118159,0
$CFSIZE,260165632,176574464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141010,105037,2059.685,-15750.011,32,1.7,32,9.8