version: 66.06
glider: 139
mission: 8
dive: 674
start: 10 14 110 11 0 41
data:
$ID,139
$MISSION,8
$DIVE,674
$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,-2165400.8
$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
$GPS1,105037,2059.685,-15750.011,32,1.7,32,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-72.9
$GPS2,110020,2059.780,-15750.020,14,1.8,14,9.8
$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,165.6,3459,-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,-64.28,0.000,2,0.000,0.000,425,1504,2762,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.6,-4.1,12,110,12.62,2.20,-6.47,0.000,4,0.130,0.058,2787,237,3109,0,0,0,0,0,0
$GC,145,-0.75,-116.8,19.6,-22.8,23,151,0.40,2.15,0.00,0.000,6,0.075,0.019,2883,1579,3111,0,0,0,0,0,0
$GC,348,-0.75,-116.8,40.8,-9.7,52,352,0.00,2.33,0.00,0.000,4,0.000,0.044,2883,236,3112,0,0,0,0,0,0
$GC,384,-0.75,-116.8,44.7,-10.4,54,391,0.00,2.05,0.00,0.000,6,0.000,0.019,2883,1538,3112,0,0,0,0,0,0
$GC,645,-0.78,-116.8,69.0,-8.9,75,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1539,3112,0,0,0,0,0,0
$GC,896,-0.85,-116.8,92.3,-8.7,95,900,0.00,2.22,0.00,0.000,4,0.000,0.044,2882,232,3113,0,0,0,0,0,0
$GC,951,-0.93,-116.8,96.6,-7.9,99,955,0.15,2.00,0.00,0.000,6,0.053,0.018,2830,1539,3113,0,0,0,0,0,0
$GC,1216,-0.93,-116.8,119.9,-7.8,120,1218,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1544,3114,0,0,0,0,0,0
$GC,1469,-0.93,-116.8,140.4,-8.1,140,1470,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1543,3113,0,0,0,0,0,0
$GC,1720,-0.93,-116.8,158.6,-7.6,160,1724,0.00,2.25,0.00,0.000,4,0.000,0.045,2830,233,3114,0,0,0,0,0,0
$GC,1772,-0.93,-116.8,163.3,-9.3,164,1776,0.00,2.00,0.00,0.000,6,0.000,0.019,2830,1521,3114,0,0,0,0,0,0
$GC,2044,-0.93,-116.8,187.7,-9.1,185,2048,0.00,2.25,0.00,0.000,4,0.000,0.046,2829,230,3114,0,0,0,0,0,0
$GC,2082,-0.93,-116.8,191.7,-9.2,188,2086,0.00,2.03,0.00,0.000,6,0.000,0.020,2829,1535,3114,0,0,0,0,0,0
$GC,2339,-0.93,-116.8,212.1,-7.6,204,2343,0.00,2.22,0.00,0.000,4,0.000,0.047,2829,235,3114,0,0,0,0,0,0
$GC,2395,-0.93,-116.8,216.5,-7.7,206,2398,0.00,2.00,0.00,0.000,6,0.000,0.020,2829,1522,3114,0,0,0,0,0,0
$GC,2715,-0.93,-116.8,241.5,-7.6,222,2719,0.00,2.25,0.00,0.000,4,0.000,0.024,2830,2908,3114,0,0,0,0,0,0
$GC,2761,-1.04,-116.8,245.0,-6.5,224,2765,0.00,2.33,0.00,0.000,6,0.000,0.032,2830,1522,3113,0,0,0,0,0,0
$GC,3092,-1.08,-116.8,270.9,-8.2,240,3096,0.00,2.22,0.00,0.000,4,0.000,0.048,2830,228,3113,0,0,0,0,0,0
$GC,3134,-1.08,-116.8,274.9,-9.9,242,3138,0.00,2.05,0.00,0.000,6,0.000,0.021,2830,1538,3113,0,0,0,0,0,0
$GC,3466,-1.14,-116.8,299.9,-6.8,258,3471,0.12,2.25,0.00,0.000,4,0.064,0.049,2786,238,3112,0,0,0,0,0,0
$GC,3516,-1.10,-116.8,304.0,-8.5,260,3521,0.12,2.05,0.00,0.000,6,0.092,0.022,2813,1534,3111,0,0,0,0,0,0
$GC,3845,-1.10,-116.8,331.2,-8.5,268,3846,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1538,3110,0,0,0,0,0,0
$GC,4171,-1.13,-116.8,355.6,-7.5,276,4175,0.00,2.25,0.00,0.000,4,0.000,0.052,2813,237,3108,0,0,0,0,0,0
$GC,4231,-1.17,-116.8,361.0,-9.1,277,4235,0.00,2.05,0.00,0.000,6,0.000,0.023,2813,1532,3107,0,0,0,0,0,0
$GC,4546,-1.20,-116.8,386.9,-8.5,285,4551,0.12,2.28,0.00,0.000,4,0.065,0.028,2772,2910,3105,0,0,0,0,0,0
$GC,4575,-1.20,-116.8,389.7,-8.9,285,4579,0.00,2.35,0.00,0.000,6,0.000,0.038,2772,1525,3105,0,0,0,0,0,0
$GC,4912,-1.15,-116.8,420.2,-9.1,294,4916,0.12,2.25,0.00,0.000,4,0.097,0.055,2797,235,3103,0,0,0,0,0,0
$GC,4965,-1.15,-116.8,425.0,-8.4,295,4969,0.00,2.08,0.00,0.000,6,0.000,0.025,2797,1530,3103,0,0,0,0,0,0
$GC,5287,-1.15,-116.8,449.3,-7.4,303,5291,0.00,2.28,0.00,0.000,4,0.000,0.030,2797,2911,3100,0,0,0,0,0,0
$STATE,5294,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5294,begin apogee
$GC,5304,-0.31,0.0,450.1,7.2,303,5404,0.82,0.00,96.28,0.834,6,0.065,0.000,2980,1494,2629,0,0,0,0,0,0
$STATE,5405,end apogee,CONTROL_FINISHED_OK
$STATE,5405,begin climb
$GC,5408,1.18,116.8,452.1,0.0,305,5517,1.42,2.30,102.05,0.818,4,0.036,0.054,3309,239,2152,0,0,0,0,0,0
$GC,5550,0.85,125.7,450.7,7.5,309,5566,0.38,2.05,8.62,0.679,6,0.094,0.025,3236,1503,2117,0,0,0,0,0,0
$GC,5914,0.85,162.8,427.5,6.2,318,5956,0.00,2.38,33.10,0.793,4,0.000,0.028,3236,2883,1964,0,0,0,0,0,0
$GC,5987,0.87,183.1,422.6,7.0,319,6012,0.00,2.40,19.12,0.761,6,0.000,0.042,3236,1501,1883,0,0,0,0,0,0
$GC,6337,0.84,183.1,394.1,8.4,328,6341,0.00,2.22,0.00,0.000,4,0.000,0.058,3235,236,1875,0,0,0,0,0,0
$GC,6390,0.76,183.1,389.0,9.4,329,6394,0.00,2.05,0.00,0.000,6,0.000,0.028,3235,1494,1873,0,0,0,0,0,0
$GC,6708,0.80,211.8,366.4,6.6,337,6740,0.00,2.38,25.30,0.772,4,0.000,0.028,3236,2886,1765,0,0,0,0,0,0
$GC,6809,0.87,234.7,359.7,6.9,339,6837,0.00,2.42,21.20,0.752,6,0.000,0.043,3236,1498,1672,0,0,0,0,0,0
$GC,7168,0.87,234.7,329.2,8.9,348,7172,0.00,2.25,0.00,0.000,4,0.000,0.058,3236,233,1667,0,0,0,0,0,0
$GC,7247,0.82,234.7,321.5,9.5,349,7252,0.00,2.10,0.00,0.000,6,0.000,0.028,3235,1504,1664,0,0,0,0,0,0
$GC,7580,0.86,265.6,298.1,6.5,357,7609,0.00,0.00,27.10,0.736,6,0.000,0.000,3236,1504,1547,0,0,0,0,0,0
$GC,7910,0.86,272.2,274.0,7.6,373,7922,0.00,2.33,6.62,0.592,4,0.000,0.058,3235,233,1520,0,0,0,0,0,0
$GC,7971,0.86,272.2,268.4,8.9,375,7975,0.00,2.08,0.00,0.000,6,0.000,0.028,3235,1504,1517,0,0,0,0,0,0
$GC,8287,0.91,272.2,242.4,8.6,390,8290,0.00,2.22,0.00,0.000,4,0.000,0.055,3236,234,1516,0,0,0,0,0,0
$GC,8309,0.91,272.2,240.4,8.7,391,8313,0.00,2.08,0.00,0.000,6,0.000,0.028,3236,1503,1515,0,0,0,0,0,0
$GC,8637,0.99,279.9,216.7,7.6,407,8647,0.12,0.00,7.57,0.580,6,0.067,0.000,3274,1504,1488,0,0,0,0,0,0
$GC,8953,0.99,280.8,189.7,7.9,426,8957,0.00,2.22,0.00,0.000,4,0.000,0.053,3274,229,1487,0,0,0,0,0,0
$GC,9006,0.92,280.8,184.8,10.4,430,9011,0.12,2.08,0.00,0.000,6,0.104,0.025,3250,1508,1485,0,0,0,0,0,0
$GC,9274,1.03,330.0,167.3,5.7,451,9327,0.10,2.33,44.28,0.640,4,0.078,0.052,3283,240,1283,0,0,0,0,0,0
$GC,9360,0.94,330.0,160.1,10.7,457,9364,0.15,2.05,0.00,0.000,6,0.096,0.025,3253,1501,1280,0,0,0,0,0,0
$GC,9631,0.99,330.0,138.6,8.3,478,9635,0.00,2.25,0.00,0.000,4,0.000,0.051,3252,227,1278,0,0,0,0,0,0
$GC,9675,0.99,330.0,134.3,9.8,481,9679,0.00,2.05,0.00,0.000,6,0.000,0.024,3252,1514,1277,0,0,0,0,0,0
$GC,9940,1.06,330.0,111.2,9.0,502,9942,0.12,0.00,0.00,0.000,6,0.065,0.000,3294,1515,1277,0,0,0,0,0,0
$GC,10191,1.08,341.1,91.0,7.4,522,10207,0.00,2.25,9.93,0.509,4,0.000,0.048,3294,232,1238,0,0,0,0,0,0
$GC,10239,1.08,341.1,86.5,9.7,525,10244,0.00,2.03,0.00,0.000,6,0.000,0.022,3294,1505,1236,0,0,0,0,0,0
$GC,10507,1.12,341.1,62.8,9.7,546,10508,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1509,1236,0,0,0,0,0,0
$GC,10756,1.20,350.9,43.2,7.5,566,10768,0.00,0.00,9.60,0.465,6,0.000,0.000,3294,1510,1198,0,0,0,0,0,0
$GC,11025,1.34,402.7,22.9,5.6,601,11077,0.20,2.25,43.90,0.500,4,0.045,0.046,3357,233,986,0,0,0,0,0,0
$GC,11143,1.19,402.7,10.2,14.8,624,11150,0.20,2.03,0.00,0.000,6,0.067,0.020,3311,1505,983,0,0,0,0,0,0
$STATE,11210,end climb,SURFACE_DEPTH_REACHED
$STATE,11210,begin surface coast
$FINISH,0.9,1.012952
$STATE,11243,end surface coast,CONTROL_FINISHED_OK
$STATE,11243,begin surface
$SM_CCo,11265,5.38,0.367,0,0,958,410.14
$SM_GC,1.69,0.00,0.00,5.38,0.000,0.000,0.367,429,1504,958,-12.06,-0.74,410.14
$IRIDIUM_FIX,2052.52,-15747.49,080100,111131
$TT8_MAMPS,0.028379
$HUMID,61.45
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,21.60
$XPDR_PINGS,1
$24V_AH,23.3,62.982
$10V_AH,10.1,51.199
$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,29.725,109.625,454.675,5.375,0.000,60.756,66.764,252.522,4.750,0.000,14.740,1224.025,7615.765,484.560,1835.817,692.232,0.000,1311.196,0.000,1814.392,0.000,29.267,0.000
$DEVICE_MAMPS,130.390,58.292,834.496,367.393,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,434.840,416.609,932.306,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,34897,646
$CAP_FILE_SIZE,123106,0
$CFSIZE,260165632,176508928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141010,140937,2058.804,-15749.808,25,1.7,25,9.8