version: 66.06
glider: 139
mission: 8
dive: 693
start: 10 17 110 0 17 10
data:
$ID,139
$MISSION,8
$DIVE,693
$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,-2165774.5
$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
$GPS1,001037,2109.274,-15803.398,29,1.4,29,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-71.1
$GPS2,001650,2109.295,-15803.506,15,1.5,15,9.8
$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,90.5,36152,-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,12,begin dive
$GC,15,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.50,0.000,2,0.000,0.000,426,1491,2749,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.8,-4.3,12,109,12.65,0.00,-6.60,0.000,6,0.133,0.000,2783,1492,3109,0,0,0,0,0,0
$GC,313,-0.96,-116.8,47.0,-15.8,47,318,0.25,2.40,0.00,0.000,4,0.087,0.020,2839,2954,3112,0,0,0,0,0,0
$GC,353,-1.00,-116.8,51.6,-10.0,50,357,0.00,2.40,0.00,0.000,6,0.000,0.031,2838,1530,3112,0,0,0,0,0,0
$GC,619,-0.96,-116.8,79.5,-8.7,71,623,0.00,2.25,0.00,0.000,4,0.000,0.047,2839,233,3113,0,0,0,0,0,0
$GC,705,-0.96,-116.8,88.1,-10.0,77,708,0.00,2.12,0.00,0.000,6,0.000,0.018,2839,1590,3113,0,0,0,0,0,0
$GC,973,-0.96,-116.8,113.9,-9.2,98,977,0.00,2.33,0.00,0.000,4,0.000,0.045,2839,234,3114,0,0,0,0,0,0
$GC,1000,-0.96,-116.8,116.9,-10.6,100,1004,0.00,2.10,0.00,0.000,6,0.000,0.018,2839,1594,3114,0,0,0,0,0,0
$GC,1264,-0.96,-116.8,140.7,-8.8,120,1268,0.00,2.33,0.00,0.000,4,0.000,0.044,2839,235,3115,0,0,0,0,0,0
$GC,1323,-0.96,-116.8,146.8,-9.9,124,1330,0.00,2.15,0.00,0.000,6,0.000,0.018,2838,1597,3115,0,0,0,0,0,0
$GC,1583,-0.96,-116.8,167.3,-8.0,145,1587,0.00,2.33,0.00,0.000,4,0.000,0.045,2838,235,3115,0,0,0,0,0,0
$GC,1649,-0.96,-116.8,173.1,-8.7,150,1653,0.00,2.12,0.00,0.000,6,0.000,0.019,2839,1592,3115,0,0,0,0,0,0
$GC,1920,-1.00,-116.8,194.2,-8.1,171,1924,0.00,2.20,0.00,0.000,4,0.000,0.022,2839,2955,3115,0,0,0,0,0,0
$GC,1941,-1.08,-116.8,196.2,-8.1,172,1948,0.08,2.42,0.00,0.000,6,0.036,0.032,2795,1532,3115,0,0,0,0,0,0
$GC,2215,-1.03,-116.8,222.4,-10.0,187,2217,0.15,0.00,0.00,0.000,6,0.085,0.000,2828,1531,3115,0,0,0,0,0,0
$GC,2523,-1.07,-116.8,248.1,-7.7,202,2527,0.00,2.22,0.00,0.000,4,0.000,0.048,2828,227,3115,0,0,0,0,0,0
$GC,2569,-1.10,-116.8,252.0,-8.2,204,2573,0.00,2.12,0.00,0.000,6,0.000,0.020,2828,1584,3115,0,0,0,0,0,0
$GC,2898,-1.15,-116.8,271.8,-5.6,220,2902,0.12,2.38,0.00,0.000,4,0.063,0.048,2784,227,3114,0,0,0,0,0,0
$GC,2947,-1.10,-116.8,275.7,-7.9,222,2952,0.12,2.12,0.00,0.000,6,0.092,0.021,2813,1576,3114,0,0,0,0,0,0
$GC,3279,-1.10,-116.8,298.1,-6.7,238,3284,0.00,2.35,0.00,0.000,4,0.000,0.049,2812,228,3113,0,0,0,0,0,0
$GC,3295,-1.10,-116.8,299.3,-6.9,238,3302,0.00,2.08,0.00,0.000,6,0.000,0.023,2812,1530,3113,0,0,0,0,0,0
$GC,3607,-1.10,-116.8,322.9,-7.8,247,3611,0.00,2.22,0.00,0.000,4,0.000,0.025,2812,2900,3112,0,0,0,0,0,0
$GC,3622,-1.15,-116.8,324.2,-8.3,247,3625,0.00,2.33,0.00,0.000,6,0.000,0.035,2812,1531,3112,0,0,0,0,0,0
$GC,3938,-1.15,-116.8,349.8,-8.2,255,3942,0.00,2.28,0.00,0.000,4,0.000,0.051,2811,234,3110,0,0,0,0,0,0
$GC,3971,-1.15,-116.8,352.8,-8.4,255,3975,0.00,2.05,0.00,0.000,6,0.000,0.023,2811,1534,3110,0,0,0,0,0,0
$GC,4303,-1.15,-116.8,381.9,-8.3,263,4307,0.00,2.22,0.00,0.000,4,0.000,0.026,2812,2901,3107,0,0,0,0,0,0
$GC,4338,-1.26,-116.8,384.5,-7.6,263,4343,0.15,2.33,0.00,0.000,6,0.057,0.038,2764,1524,3107,0,0,0,0,0,0
$GC,4670,-1.18,-116.8,414.8,-9.1,271,4671,0.12,0.00,0.00,0.000,6,0.096,0.000,2790,1524,3105,0,0,0,0,0,0
$GC,4996,-1.18,-116.8,437.4,-6.7,279,5000,0.00,2.30,0.00,0.000,4,0.000,0.028,2790,2902,3103,0,0,0,0,0,0
$GC,5057,-1.26,-116.8,441.7,-6.7,280,5061,0.00,2.35,0.00,0.000,6,0.000,0.040,2790,1526,3103,0,0,0,0,0,0
$STATE,5205,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5205,begin apogee
$GC,5211,-0.31,0.0,452.0,6.9,284,5312,0.88,0.00,97.03,0.831,6,0.066,0.000,2979,1526,2630,0,0,0,0,0,0
$STATE,5312,end apogee,CONTROL_FINISHED_OK
$STATE,5312,begin climb
$GC,5316,1.18,116.8,454.2,0.0,286,5428,1.42,2.33,101.72,0.816,4,0.037,0.028,3310,2880,2152,0,0,0,0,0,0
$GC,5463,1.06,173.8,453.7,5.3,289,5521,0.15,2.40,50.55,0.798,6,0.105,0.040,3282,1501,1920,0,0,0,0,0,0
$GC,5857,0.93,179.7,422.5,7.6,299,5869,0.15,2.33,4.93,0.557,4,0.104,0.028,3253,2870,1897,0,0,0,0,0,0
$GC,5953,0.98,217.9,417.3,6.2,301,5995,0.00,2.40,35.47,0.785,6,0.000,0.044,3253,1498,1741,0,0,0,0,0,0
$GC,6322,0.93,217.9,389.1,8.2,310,6326,0.00,2.25,0.00,0.000,4,0.000,0.059,3253,233,1734,0,0,0,0,0,0
$GC,6352,0.80,217.9,386.2,9.6,310,6357,0.15,2.05,0.00,0.000,6,0.104,0.027,3224,1496,1731,0,0,0,0,0,0
$GC,6688,0.81,232.4,361.6,7.2,319,6708,0.00,2.28,12.65,0.716,4,0.000,0.057,3224,233,1681,0,0,0,0,0,0
$GC,6734,0.77,232.4,358.0,9.7,320,6738,0.00,2.08,0.00,0.000,6,0.000,0.028,3224,1506,1678,0,0,0,0,0,0
$GC,7062,0.81,232.4,332.0,8.0,328,7065,0.00,2.28,0.00,0.000,4,0.000,0.058,3224,230,1678,0,0,0,0,0,0
$GC,7117,0.81,232.4,326.8,9.3,329,7121,0.00,2.08,0.00,0.000,6,0.000,0.028,3224,1499,1675,0,0,0,0,0,0
$GC,7437,0.86,232.4,301.4,8.1,337,7441,0.00,2.30,0.00,0.000,4,0.000,0.029,3224,2886,1675,0,0,0,0,0,0
$GC,7456,0.93,232.4,299.6,8.3,337,7461,0.12,2.40,0.00,0.000,6,0.067,0.042,3262,1498,1675,0,0,0,0,0,0
$GC,7792,0.90,232.4,269.1,8.3,353,7796,0.00,2.22,0.00,0.000,4,0.000,0.058,3261,236,1675,0,0,0,0,0,0
$GC,7862,0.83,232.4,261.5,10.5,356,7867,0.15,2.08,0.00,0.000,6,0.100,0.027,3232,1506,1672,0,0,0,0,0,0
$GC,8200,0.92,266.9,239.5,6.3,372,8237,0.00,2.30,30.27,0.694,4,0.000,0.054,3232,232,1540,0,0,0,0,0,0
$GC,8301,0.92,266.9,231.0,9.4,376,8306,0.00,2.08,0.00,0.000,6,0.000,0.026,3231,1503,1535,0,0,0,0,0,0
$GC,8620,1.06,318.4,209.7,5.6,391,8668,0.22,0.00,45.62,0.670,6,0.049,0.000,3293,1507,1330,0,0,0,0,0,0
$GC,8980,1.01,318.4,178.0,9.5,416,8984,0.10,2.28,0.00,0.000,4,0.107,0.054,3272,232,1325,0,0,0,0,0,0
$GC,9012,0.95,318.4,174.9,10.3,418,9016,0.00,2.05,0.00,0.000,6,0.000,0.025,3272,1506,1323,0,0,0,0,0,0
$GC,9276,0.95,318.4,150.6,8.9,439,9280,0.00,2.25,0.00,0.000,4,0.000,0.053,3272,235,1323,0,0,0,0,0,0
$GC,9329,0.95,318.4,145.2,9.8,443,9333,0.00,2.05,0.00,0.000,6,0.000,0.024,3272,1512,1321,0,0,0,0,0,0
$GC,9598,0.96,325.7,124.6,7.6,464,9609,0.00,0.00,6.22,0.476,6,0.000,0.000,3272,1517,1301,0,0,0,0,0,0
$GC,9863,1.03,328.5,103.1,7.8,485,9872,0.00,2.25,4.20,0.387,4,0.000,0.049,3272,231,1290,0,0,0,0,0,0
$GC,9932,1.03,328.5,96.5,10.7,489,9936,0.00,2.03,0.00,0.000,6,0.000,0.022,3272,1509,1287,0,0,0,0,0,0
$GC,10198,1.11,328.5,73.3,8.2,510,10202,0.00,2.22,0.00,0.000,4,0.000,0.048,3272,232,1287,0,0,0,0,0,0
$GC,10245,1.15,328.5,68.8,10.1,513,10252,0.08,2.05,0.00,0.000,6,0.038,0.022,3308,1507,1286,0,0,0,0,0,0
$GC,10508,1.21,379.1,50.2,5.6,534,10557,0.00,2.28,43.35,0.522,4,0.000,0.022,3309,2874,1084,0,0,0,0,0,0
$GC,10595,1.35,385.4,44.7,7.6,540,10611,0.15,2.38,6.80,0.422,6,0.054,0.035,3357,1498,1058,0,0,0,0,0,0
$GC,10867,1.28,385.4,17.1,11.3,581,10873,0.15,0.00,0.00,0.000,6,0.087,0.000,3325,1498,1056,0,0,0,0,0,0
$STATE,11025,end climb,SURFACE_DEPTH_REACHED
$STATE,11025,begin surface coast
$FINISH,0.9,1.011472
$STATE,11060,end surface coast,CONTROL_FINISHED_OK
$STATE,11060,begin surface
$SM_CCo,11084,20.30,0.462,0,0,958,410.14
$SM_GC,1.69,0.00,0.00,20.30,0.000,0.000,0.462,430,1496,958,-12.06,-0.96,410.14
$IRIDIUM_FIX,2101.76,-15805.48,100100,212126
$TT8_MAMPS,0.029146
$HUMID,61.65
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.3,65.057
$10V_AH,10.1,52.776
$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,29.900,116.150,438.825,20.300,0.000,28.558,31.908,176.520,4.500,0.000,15.650,1211.345,7402.360,478.463,1831.960,548.855,0.000,1321.395,0.000,1809.305,0.000,29.245,0.000
$DEVICE_MAMPS,132.691,59.059,831.428,461.734,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,421.380,404.644,900.080,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,34961,625
$CAP_FILE_SIZE,120383,0
$CFSIZE,260165632,175386624
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171010,032336,2109.521,-15803.521,37,1.0,43,9.8