version: 66.06
glider: 139
mission: 8
dive: 691
start: 10 16 110 17 45 34
data:
$ID,139
$MISSION,8
$DIVE,691
$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,-2165741.8
$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
$GPS1,173844,2108.869,-15802.940,13,1.9,13,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-72.4
$GPS2,174514,2108.913,-15803.007,18,2.0,18,9.8
$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,89.6,35182,-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,14,begin dive
$GC,17,-1.18,-116.8,0.0,0.0,0,83,0.00,0.00,-64.18,0.000,2,0.000,0.000,430,1504,2755,0,0,0,0,0,0
$GC,87,-1.18,-116.8,3.6,-3.9,12,112,12.68,2.40,-6.57,0.000,4,0.133,0.032,2786,2951,3108,0,0,0,0,0,0
$GC,129,-0.15,-116.8,15.5,-26.8,19,137,1.02,2.47,0.00,0.000,6,0.068,0.034,3014,1528,3110,0,0,0,0,0,0
$GC,337,-0.72,-116.8,35.0,-9.6,58,343,0.52,2.35,0.00,0.000,4,0.044,0.019,2889,2962,3111,0,0,0,0,0,0
$GC,393,-0.91,-116.8,40.3,-8.2,62,398,0.17,2.40,0.00,0.000,6,0.049,0.028,2829,1521,3111,0,0,0,0,0,0
$GC,655,-0.81,-116.8,71.1,-12.3,82,659,0.20,2.20,0.00,0.000,4,0.080,0.044,2872,237,3112,0,0,0,0,0,0
$GC,695,-0.81,-116.8,75.9,-11.3,85,699,0.00,2.10,0.00,0.000,6,0.000,0.018,2872,1594,3112,0,0,0,0,0,0
$GC,958,-0.87,-116.8,99.3,-8.6,106,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1599,3112,0,0,0,0,0,0
$GC,1212,-0.98,-116.8,116.2,-6.7,126,1217,0.15,2.35,0.00,0.000,4,0.054,0.044,2819,240,3113,0,0,0,0,0,0
$GC,1350,-0.93,-116.8,130.7,-10.8,136,1355,0.12,2.10,0.00,0.000,6,0.093,0.018,2847,1603,3113,0,0,0,0,0,0
$GC,1613,-0.99,-116.8,153.5,-7.8,156,1617,0.00,2.33,0.00,0.000,4,0.000,0.045,2846,240,3114,0,0,0,0,0,0
$GC,1668,-0.99,-116.8,158.0,-7.6,160,1672,0.00,2.10,0.00,0.000,6,0.000,0.018,2846,1603,3114,0,0,0,0,0,0
$GC,1930,-1.04,-116.8,175.8,-7.9,180,1934,0.00,2.33,0.00,0.000,4,0.000,0.045,2846,240,3114,0,0,0,0,0,0
$GC,1970,-1.09,-116.8,179.4,-8.7,183,1975,0.15,2.12,0.00,0.000,6,0.054,0.019,2794,1601,3114,0,0,0,0,0,0
$GC,2233,-1.03,-116.8,204.6,-8.9,202,2238,0.15,2.20,0.00,0.000,4,0.087,0.022,2827,2951,3114,0,0,0,0,0,0
$GC,2260,-1.08,-116.8,206.8,-7.4,203,2264,0.00,2.40,0.00,0.000,6,0.000,0.032,2827,1531,3114,0,0,0,0,0,0
$GC,2594,-1.08,-116.8,228.9,-6.4,219,2598,0.00,2.22,0.00,0.000,4,0.000,0.047,2827,232,3114,0,0,0,0,0,0
$GC,2631,-1.08,-116.8,231.8,-6.6,220,2638,0.00,2.15,0.00,0.000,6,0.000,0.020,2827,1585,3114,0,0,0,0,0,0
$GC,2948,-1.12,-116.8,255.4,-9.0,236,2952,0.00,2.33,0.00,0.000,4,0.000,0.047,2827,237,3114,0,0,0,0,0,0
$GC,2991,-1.17,-116.8,259.4,-8.8,238,2996,0.15,2.12,0.00,0.000,6,0.055,0.021,2775,1585,3114,0,0,0,0,0,0
$GC,3323,-1.11,-116.8,290.6,-8.2,254,3325,0.15,0.00,0.00,0.000,6,0.089,0.000,2808,1589,3113,0,0,0,0,0,0
$GC,3629,-1.11,-116.8,310.2,-5.9,265,3633,0.00,2.33,0.00,0.000,4,0.000,0.048,2808,235,3112,0,0,0,0,0,0
$GC,3648,-1.11,-116.8,311.7,-7.0,265,3652,0.00,2.12,0.00,0.000,6,0.000,0.022,2808,1578,3112,0,0,0,0,0,0
$GC,3995,-1.14,-116.8,341.1,-9.3,274,3999,0.00,2.33,0.00,0.000,4,0.000,0.051,2808,234,3111,0,0,0,0,0,0
$GC,4042,-1.14,-116.8,346.2,-10.9,275,4046,0.00,2.05,0.00,0.000,6,0.000,0.022,2808,1537,3110,0,0,0,0,0,0
$GC,4366,-1.18,-116.8,378.7,-10.2,283,4367,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1542,3108,0,0,0,0,0,0
$GC,4693,-1.21,-116.8,406.2,-7.6,291,4697,0.00,2.28,0.00,0.000,4,0.000,0.054,2808,230,3106,0,0,0,0,0,0
$GC,4744,-1.21,-116.8,410.1,-7.3,292,4748,0.00,2.08,0.00,0.000,6,0.000,0.024,2808,1526,3106,0,0,0,0,0,0
$GC,5064,-1.24,-116.8,425.5,-4.4,300,5069,0.12,2.28,0.00,0.000,4,0.065,0.028,2769,2905,3104,0,0,0,0,0,0
$GC,5088,-1.24,-116.8,426.5,-4.1,300,5092,0.00,2.33,0.00,0.000,6,0.000,0.039,2768,1533,3104,0,0,0,0,0,0
$GC,5429,-1.19,-116.8,448.2,-6.5,309,5434,0.10,2.30,0.00,0.000,4,0.106,0.029,2789,2910,3101,0,0,0,0,0,0
$STATE,5460,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5460,begin apogee
$GC,5470,-0.31,0.0,450.3,6.4,309,5570,0.85,0.00,96.70,0.833,6,0.067,0.000,2976,1501,2629,0,0,0,0,0,0
$STATE,5571,end apogee,CONTROL_FINISHED_OK
$STATE,5571,begin climb
$GC,5574,1.18,116.8,452.4,0.0,312,5687,1.45,2.33,101.32,0.814,4,0.038,0.054,3313,234,2151,0,0,0,0,0,0
$GC,5725,0.86,124.4,450.4,7.6,315,5739,0.38,2.08,7.35,0.647,6,0.091,0.025,3239,1507,2122,0,0,0,0,0,0
$GC,6078,0.86,180.7,431.0,5.4,324,6135,0.00,2.38,49.80,0.805,4,0.000,0.028,3239,2870,1893,0,0,0,0,0,0
$GC,6182,0.93,232.4,425.1,5.6,326,6235,0.00,2.40,46.62,0.793,6,0.000,0.043,3239,1501,1680,0,0,0,0,0,0
$GC,6575,0.93,232.4,395.1,8.2,336,6579,0.00,2.33,0.00,0.000,4,0.000,0.029,3239,2873,1673,0,0,0,0,0,0
$GC,6589,0.93,232.4,393.7,8.9,336,6593,0.00,2.40,0.00,0.000,6,0.000,0.041,3239,1494,1672,0,0,0,0,0,0
$GC,6903,0.95,249.4,370.4,7.1,344,6923,0.00,2.33,14.02,0.731,4,0.000,0.059,3239,238,1613,0,0,0,0,0,0
$GC,6972,0.88,249.4,364.3,9.4,345,6976,0.00,2.08,0.00,0.000,6,0.000,0.028,3238,1495,1609,0,0,0,0,0,0
$GC,7321,0.88,250.8,337.0,7.8,354,7325,0.00,2.22,0.00,0.000,4,0.000,0.058,3238,235,1608,0,0,0,0,0,0
$GC,7397,0.85,250.8,329.7,10.3,355,7401,0.00,2.05,0.00,0.000,6,0.000,0.028,3238,1501,1606,0,0,0,0,0,0
$GC,7733,0.89,256.9,303.2,7.6,364,7742,0.00,0.00,7.05,0.614,6,0.000,0.000,3239,1503,1582,0,0,0,0,0,0
$GC,8042,0.92,256.9,279.2,8.2,378,8046,0.00,2.22,0.00,0.000,4,0.000,0.057,3238,234,1580,0,0,0,0,0,0
$GC,8110,0.92,256.9,272.3,10.7,381,8114,0.00,2.05,0.00,0.000,6,0.000,0.028,3239,1502,1578,0,0,0,0,0,0
$GC,8441,0.97,263.8,244.1,7.6,397,8450,0.10,0.00,7.05,0.581,6,0.077,0.000,3270,1503,1554,0,0,0,0,0,0
$GC,8749,0.97,263.8,215.3,10.5,412,8753,0.00,2.30,0.00,0.000,4,0.000,0.028,3270,2888,1552,0,0,0,0,0,0
$GC,8786,1.03,263.8,211.3,9.8,413,8791,0.00,2.40,0.00,0.000,6,0.000,0.041,3270,1491,1552,0,0,0,0,0,0
$GC,9107,1.08,303.2,184.2,6.1,434,9145,0.00,0.00,35.47,0.647,6,0.000,0.000,3270,1491,1393,0,0,0,0,0,0
$GC,9397,1.08,303.2,163.8,8.0,457,9401,0.00,2.20,0.00,0.000,4,0.000,0.053,3270,234,1389,0,0,0,0,0,0
$GC,9437,1.04,303.2,159.8,10.9,460,9441,0.00,2.05,0.00,0.000,6,0.000,0.024,3270,1512,1387,0,0,0,0,0,0
$GC,9701,1.04,303.2,136.3,8.4,481,9705,0.00,2.25,0.00,0.000,4,0.000,0.051,3270,234,1387,0,0,0,0,0,0
$GC,9761,1.04,303.2,129.9,10.0,485,9766,0.00,2.05,0.00,0.000,6,0.000,0.023,3270,1515,1385,0,0,0,0,0,0
$GC,10021,1.10,356.4,112.5,5.5,506,10071,0.00,2.30,45.53,0.581,4,0.000,0.051,3270,233,1176,0,0,0,0,0,0
$GC,10099,1.10,356.4,107.1,8.3,512,10103,0.00,2.03,0.00,0.000,6,0.000,0.023,3270,1497,1173,0,0,0,0,0,0
$GC,10367,1.20,365.9,89.9,7.5,533,10379,0.17,0.00,8.70,0.480,6,0.052,0.000,3323,1498,1137,0,0,0,0,0,0
$GC,10630,1.20,365.9,61.4,10.6,554,10634,0.00,2.22,0.00,0.000,4,0.000,0.049,3323,227,1136,0,0,0,0,0,0
$GC,10686,1.13,365.9,54.9,9.3,558,10690,0.12,2.05,0.00,0.000,6,0.094,0.021,3297,1517,1134,0,0,0,0,0,0
$GC,10949,1.24,404.2,38.2,6.2,578,10992,0.10,2.28,32.75,0.504,4,0.073,0.021,3334,2867,981,0,0,0,0,0,0
$GC,11013,1.28,404.2,33.3,8.7,582,11017,0.00,2.38,0.00,0.000,6,0.000,0.035,3334,1492,980,0,0,0,0,0,0
$GC,11277,1.28,404.2,7.5,9.6,638,11284,0.00,2.20,0.00,0.000,4,0.000,0.048,3334,238,979,0,0,0,0,0,0
$STATE,11314,end climb,SURFACE_DEPTH_REACHED
$STATE,11314,begin surface coast
$FINISH,1.0,1.023049
$STATE,11342,end surface coast,CONTROL_FINISHED_OK
$STATE,11342,begin surface
$SM_CCo,11367,5.07,0.358,0,0,958,410.14
$SM_GC,1.61,0.00,0.00,5.07,0.000,0.000,0.358,429,1532,958,-12.06,0.06,410.14
$IRIDIUM_FIX,2059.45,-15801.19,100100,141456
$TT8_MAMPS,0.029146
$HUMID,61.93
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,21.30
$XPDR_PINGS,0
$24V_AH,23.3,64.839
$10V_AH,10.1,52.608
$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,31.375,120.850,452.375,5.075,0.000,29.791,32.525,188.314,4.500,0.000,18.352,1255.405,7579.906,476.971,1883.589,564.210,0.000,1330.851,0.000,1861.900,0.000,29.257,0.000
$DEVICE_MAMPS,132.691,59.059,832.962,358.189,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,439.074,415.019,935.306,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,34919,652
$CAP_FILE_SIZE,123729,0
$CFSIZE,260165632,175505408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,161010,205625,2109.131,-15803.085,39,1.6,39,9.8