version: 66.06
glider: 139
mission: 8
dive: 692
start: 10 16 110 21 3 3
data:
$ID,139
$MISSION,8
$DIVE,692
$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,-2165758
$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
$GPS1,205625,2109.131,-15803.085,39,1.6,39,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-71.3
$GPS2,210244,2109.155,-15803.150,15,1.3,15,9.8
$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,90.2,35502,-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,-64.35,0.000,2,0.000,0.000,429,1533,2772,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.8,-4.1,12,110,12.65,2.25,-6.15,0.000,4,0.133,0.057,2784,235,3110,0,0,0,0,0,0
$GC,144,-0.76,-116.8,20.1,-23.0,23,152,0.45,2.15,0.00,0.000,6,0.077,0.019,2882,1572,3111,0,0,0,0,0,0
$GC,352,-0.76,-116.8,43.9,-11.0,51,356,0.00,2.15,0.00,0.000,4,0.000,0.021,2882,2914,3112,0,0,0,0,0,0
$GC,379,-0.81,-116.8,46.3,-9.7,53,383,0.00,2.35,0.00,0.000,6,0.000,0.032,2882,1521,3113,0,0,0,0,0,0
$GC,647,-0.84,-116.8,68.1,-6.3,74,651,0.00,2.17,0.00,0.000,4,0.000,0.045,2882,236,3113,0,0,0,0,0,0
$GC,680,-0.84,-116.8,70.2,-5.2,76,687,0.00,2.05,0.00,0.000,6,0.000,0.018,2882,1551,3113,0,0,0,0,0,0
$GC,941,-0.91,-116.8,87.8,-7.3,97,946,0.12,2.28,0.00,0.000,4,0.061,0.046,2834,231,3114,0,0,0,0,0,0
$GC,967,-0.86,-116.8,90.2,-9.1,99,972,0.12,2.00,0.00,0.000,6,0.091,0.018,2860,1534,3114,0,0,0,0,0,0
$GC,1235,-0.92,-116.8,113.0,-7.5,120,1239,0.00,2.22,0.00,0.000,4,0.000,0.044,2860,232,3115,0,0,0,0,0,0
$GC,1252,-0.96,-116.8,114.5,-7.4,121,1256,0.00,2.00,0.00,0.000,6,0.000,0.019,2860,1521,3115,0,0,0,0,0,0
$GC,1523,-1.04,-116.8,135.2,-9.1,142,1527,0.17,2.25,0.00,0.000,4,0.049,0.044,2801,233,3115,0,0,0,0,0,0
$GC,1556,-0.95,-116.8,138.6,-11.2,144,1561,0.20,2.05,0.00,0.000,6,0.077,0.018,2845,1549,3115,0,0,0,0,0,0
$GC,1821,-0.98,-116.8,160.7,-9.2,164,1825,0.00,2.25,0.00,0.000,4,0.000,0.045,2845,233,3116,0,0,0,0,0,0
$GC,1872,-1.03,-116.8,167.0,-11.1,168,1876,0.00,2.00,0.00,0.000,6,0.000,0.019,2845,1523,3116,0,0,0,0,0,0
$GC,2144,-1.08,-116.8,191.9,-8.5,189,2149,0.15,2.22,0.00,0.000,4,0.054,0.022,2791,2910,3116,0,0,0,0,0,0
$GC,2158,-1.08,-116.8,193.7,-8.3,190,2163,0.10,2.30,0.00,0.000,6,0.103,0.032,2813,1529,3116,0,0,0,0,0,0
$GC,2427,-1.08,-116.8,216.3,-7.9,205,2431,0.00,2.20,0.00,0.000,4,0.000,0.047,2813,235,3116,0,0,0,0,0,0
$GC,2480,-1.08,-116.8,220.5,-7.8,207,2484,0.00,2.05,0.00,0.000,6,0.000,0.020,2813,1537,3116,0,0,0,0,0,0
$GC,2807,-1.08,-116.8,239.5,-6.3,223,2812,0.00,2.22,0.00,0.000,4,0.000,0.023,2813,2905,3116,0,0,0,0,0,0
$GC,2843,-1.18,-116.8,241.8,-6.2,224,2847,0.00,2.30,0.00,0.000,6,0.000,0.033,2813,1530,3116,0,0,0,0,0,0
$GC,3163,-1.18,-116.8,265.6,-9.1,240,3167,0.00,2.22,0.00,0.000,4,0.000,0.049,2813,237,3114,0,0,0,0,0,0
$GC,3222,-1.18,-116.8,271.3,-9.0,242,3229,0.00,2.05,0.00,0.000,6,0.000,0.021,2813,1523,3114,0,0,0,0,0,0
$GC,3539,-1.18,-116.8,296.5,-8.0,258,3540,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1524,3114,0,0,0,0,0,0
$GC,3864,-1.18,-116.8,323.4,-7.5,267,3868,0.00,2.25,0.00,0.000,4,0.000,0.025,2813,2903,3112,0,0,0,0,0,0
$GC,3884,-1.24,-116.8,324.8,-7.1,267,3889,0.15,2.33,0.00,0.000,6,0.054,0.035,2761,1528,3111,0,0,0,0,0,0
$GC,4230,-1.15,-116.8,357.2,-9.9,276,4235,0.17,2.30,0.00,0.000,4,0.086,0.025,2799,2905,3110,0,0,0,0,0,0
$GC,4264,-1.24,-116.8,360.5,-8.5,276,4268,0.00,2.33,0.00,0.000,6,0.000,0.037,2799,1531,3109,0,0,0,0,0,0
$GC,4596,-1.24,-116.8,389.1,-8.7,284,4600,0.00,2.22,0.00,0.000,4,0.000,0.053,2798,235,3107,0,0,0,0,0,0
$GC,4639,-1.24,-116.8,392.8,-8.3,285,4643,0.00,2.05,0.00,0.000,6,0.000,0.024,2798,1523,3108,0,0,0,0,0,0
$GC,4968,-1.24,-116.8,419.8,-8.7,293,4973,0.00,2.28,0.00,0.000,4,0.000,0.054,2798,227,3105,0,0,0,0,0,0
$GC,5010,-1.24,-116.8,424.0,-9.4,293,5016,0.00,2.08,0.00,0.000,6,0.000,0.024,2798,1536,3105,0,0,0,0,0,0
$STATE,5339,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5339,begin apogee
$GC,5346,-0.31,0.0,451.1,8.0,302,5446,0.85,0.00,96.90,0.824,6,0.064,0.000,2984,1489,2630,0,0,0,0,0,0
$STATE,5446,end apogee,CONTROL_FINISHED_OK
$STATE,5447,begin climb
$GC,5451,1.18,116.8,452.8,0.0,304,5562,1.40,2.22,101.28,0.808,4,0.034,0.052,3312,244,2152,0,0,0,0,0,0
$GC,5593,0.84,116.8,449.9,8.6,307,5598,0.40,2.03,0.00,0.000,6,0.093,0.025,3234,1498,2147,0,0,0,0,0,0
$GC,5908,0.87,175.3,431.1,5.3,315,5964,0.00,2.35,51.10,0.795,4,0.000,0.029,3234,2877,1915,0,0,0,0,0,0
$GC,6058,0.92,218.0,421.9,6.0,318,6103,0.00,2.40,38.53,0.783,6,0.000,0.041,3234,1501,1741,0,0,0,0,0,0
$GC,6412,0.95,240.7,398.1,6.9,327,6438,0.10,2.30,20.30,0.755,4,0.077,0.057,3264,235,1647,0,0,0,0,0,0
$GC,6532,0.80,240.7,386.7,10.4,329,6537,0.20,2.05,0.00,0.000,6,0.096,0.027,3225,1494,1642,0,0,0,0,0,0
$GC,6871,0.86,254.6,363.0,7.3,338,6888,0.00,2.28,12.45,0.711,4,0.000,0.057,3224,231,1591,0,0,0,0,0,0
$GC,6964,0.86,254.6,354.7,9.0,340,6968,0.00,2.08,0.00,0.000,6,0.000,0.028,3224,1510,1587,0,0,0,0,0,0
$GC,7287,0.90,254.6,326.0,9.1,348,7291,0.00,2.25,0.00,0.000,4,0.000,0.058,3225,234,1585,0,0,0,0,0,0
$GC,7344,0.90,254.6,319.7,10.9,349,7348,0.00,2.08,0.00,0.000,6,0.000,0.028,3225,1502,1584,0,0,0,0,0,0
$GC,7666,0.95,254.6,288.6,9.9,359,7671,0.15,2.30,0.00,0.000,4,0.061,0.028,3268,2886,1583,0,0,0,0,0,0
$GC,7688,0.95,254.6,286.3,10.1,360,7692,0.00,2.40,0.00,0.000,6,0.000,0.043,3268,1501,1583,0,0,0,0,0,0
$GC,8018,0.94,283.7,259.9,6.6,376,8048,0.00,2.30,25.55,0.698,4,0.000,0.057,3268,232,1472,0,0,0,0,0,0
$GC,8152,0.86,283.7,248.8,8.7,382,8157,0.15,2.08,0.00,0.000,6,0.098,0.027,3239,1501,1467,0,0,0,0,0,0
$GC,8484,0.91,283.7,223.5,8.0,398,8488,0.00,2.22,0.00,0.000,4,0.000,0.055,3238,234,1465,0,0,0,0,0,0
$GC,8568,0.91,283.7,214.9,9.6,401,8574,0.00,2.05,0.00,0.000,6,0.000,0.026,3238,1511,1464,0,0,0,0,0,0
$GC,8893,1.00,292.6,187.9,7.5,422,8907,0.12,2.30,7.82,0.558,4,0.066,0.054,3278,239,1437,0,0,0,0,0,0
$GC,8918,1.00,292.6,185.6,8.3,424,8922,0.00,2.03,0.00,0.000,6,0.000,0.026,3278,1496,1436,0,0,0,0,0,0
$GC,9184,1.00,292.6,164.5,8.0,445,9188,0.00,2.33,0.00,0.000,4,0.000,0.026,3278,2892,1435,0,0,0,0,0,0
$GC,9210,1.04,301.1,162.5,7.5,447,9224,0.00,2.40,9.23,0.556,6,0.000,0.039,3278,1497,1401,0,0,0,0,0,0
$GC,9480,1.04,301.1,140.5,9.1,468,9484,0.00,2.20,0.00,0.000,4,0.000,0.052,3278,227,1399,0,0,0,0,0,0
$GC,9559,1.00,301.1,131.5,11.9,474,9563,0.00,2.08,0.00,0.000,6,0.000,0.023,3278,1517,1397,0,0,0,0,0,0
$GC,9825,1.00,301.1,107.1,9.0,495,9829,0.00,2.25,0.00,0.000,4,0.000,0.050,3277,232,1397,0,0,0,0,0,0
$GC,9871,0.94,301.1,102.2,10.7,498,9879,0.08,2.05,0.00,0.000,6,0.073,0.022,3257,1507,1396,0,0,0,0,0,0
$GC,10135,1.13,375.8,87.1,4.5,519,10208,0.17,2.28,63.83,0.561,4,0.052,0.021,3310,2873,1097,0,0,0,0,0,0
$GC,10218,1.17,415.2,82.4,6.1,525,10257,0.00,2.38,33.78,0.542,6,0.000,0.036,3310,1500,937,0,0,0,0,0,0
$GC,10517,1.17,415.2,57.2,9.9,549,10521,0.00,2.25,0.00,0.000,4,0.000,0.050,3310,227,932,0,0,0,0,0,0
$GC,10633,1.17,415.2,44.6,10.6,557,10639,0.00,2.05,0.00,0.000,6,0.000,0.021,3310,1507,929,0,0,0,0,0,0
$GC,10897,1.21,415.2,19.9,9.5,594,10904,0.00,2.25,0.00,0.000,4,0.000,0.048,3310,232,929,0,0,0,0,0,0
$GC,10917,1.21,415.2,17.7,9.9,597,10924,0.00,2.03,0.00,0.000,6,0.000,0.021,3310,1491,929,0,0,0,0,0,0
$STATE,11074,end climb,SURFACE_DEPTH_REACHED
$STATE,11074,begin surface coast
$FINISH,0.9,1.023015
$STATE,11105,end surface coast,CONTROL_FINISHED_OK
$STATE,11105,begin surface
$SM_CCo,11188,0.00,0.000,0,0,925,418.24
$SM_GC,1.80,12.43,0.00,0.00,0.026,0.000,0.000,427,1491,925,-12.00,-1.13,418.24
$IRIDIUM_FIX,2059.45,-15805.48,100100,171739
$TT8_MAMPS,0.028379
$HUMID,60.78
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.3,64.949
$10V_AH,10.0,52.693
$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,30.350,131.875,460.750,0.000,0.000,27.959,38.578,176.665,4.500,0.000,15.617,1245.610,7336.348,466.896,1937.073,573.844,0.000,1369.351,0.000,1917.615,0.000,29.271,0.000
$DEVICE_MAMPS,132.691,107.380,823.758,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,430.631,413.382,930.014,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355744
$DATA_FILE_SIZE,34853,640
$CAP_FILE_SIZE,127378,0
$CFSIZE,260165632,175439872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171010,001037,2109.274,-15803.398,29,1.4,29,9.8