version: 66.06
glider: 139
mission: 8
dive: 694
start: 10 17 110 3 30 10
data:
$ID,139
$MISSION,8
$DIVE,694
$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,-2165788.5
$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
$GPS1,032336,2109.521,-15803.521,37,1.0,43,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-72.0
$GPS2,032950,2109.547,-15803.601,13,1.8,13,9.8
$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,91.1,36399,-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,-116.8,0.0,0.0,0,81,0.00,0.00,-64.30,0.000,2,0.000,0.000,429,1494,2747,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.4,-3.3,12,109,12.65,0.00,-6.78,0.000,6,0.132,0.000,2786,1494,3109,0,0,0,0,0,0
$GC,313,-0.96,-116.8,46.1,-15.7,47,318,0.25,2.40,0.00,0.000,4,0.091,0.020,2842,2955,3112,0,0,0,0,0,0
$GC,379,-0.96,-116.8,54.1,-10.9,52,384,0.00,2.42,0.00,0.000,6,0.000,0.032,2842,1523,3112,0,0,0,0,0,0
$GC,645,-0.96,-116.8,82.8,-10.2,73,649,0.00,2.20,0.00,0.000,4,0.000,0.046,2842,232,3113,0,0,0,0,0,0
$GC,699,-0.96,-116.8,88.8,-11.3,77,703,0.00,2.10,0.00,0.000,6,0.000,0.018,2842,1592,3113,0,0,0,0,0,0
$GC,963,-0.96,-116.8,118.1,-9.7,98,966,0.00,2.33,0.00,0.000,4,0.000,0.044,2842,237,3114,0,0,0,0,0,0
$GC,1005,-0.96,-116.8,122.2,-9.6,101,1009,0.00,2.12,0.00,0.000,6,0.000,0.018,2842,1597,3114,0,0,0,0,0,0
$GC,1272,-1.00,-116.8,142.8,-7.4,122,1276,0.00,2.33,0.00,0.000,4,0.000,0.045,2842,237,3114,0,0,0,0,0,0
$GC,1332,-1.04,-116.8,148.1,-8.4,126,1339,0.00,2.12,0.00,0.000,6,0.000,0.018,2842,1586,3115,0,0,0,0,0,0
$GC,1594,-1.09,-116.8,169.5,-8.4,147,1599,0.12,2.33,0.00,0.000,4,0.062,0.046,2796,234,3115,0,0,0,0,0,0
$GC,1638,-1.04,-116.8,174.2,-11.1,150,1643,0.12,2.12,0.00,0.000,6,0.091,0.019,2824,1582,3115,0,0,0,0,0,0
$GC,1898,-1.04,-116.8,199.4,-9.5,170,1899,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1586,3115,0,0,0,0,0,0
$GC,2160,-1.04,-116.8,221.3,-8.1,183,2164,0.00,2.33,0.00,0.000,4,0.000,0.047,2824,230,3115,0,0,0,0,0,0
$GC,2220,-1.04,-116.8,226.7,-8.3,185,2226,0.00,2.12,0.00,0.000,6,0.000,0.020,2824,1588,3115,0,0,0,0,0,0
$GC,2540,-1.08,-116.8,249.9,-7.7,201,2544,0.00,2.33,0.00,0.000,4,0.000,0.048,2824,234,3115,0,0,0,0,0,0
$GC,2585,-1.11,-116.8,253.9,-9.1,203,2589,0.00,2.12,0.00,0.000,6,0.000,0.021,2824,1581,3115,0,0,0,0,0,0
$GC,2919,-1.16,-116.8,279.4,-7.0,219,2924,0.12,2.35,0.00,0.000,4,0.063,0.049,2780,234,3114,0,0,0,0,0,0
$GC,2969,-1.09,-116.8,284.4,-9.8,221,2974,0.15,2.15,0.00,0.000,6,0.087,0.021,2813,1586,3114,0,0,0,0,0,0
$GC,3299,-1.12,-116.8,310.4,-8.1,234,3303,0.00,2.33,0.00,0.000,4,0.000,0.050,2811,238,3113,0,0,0,0,0,0
$GC,3315,-1.12,-116.8,311.8,-7.7,234,3319,0.00,2.12,0.00,0.000,6,0.000,0.022,2813,1585,3113,0,0,0,0,0,0
$GC,3665,-1.16,-116.8,340.0,-7.7,243,3670,0.00,2.33,0.00,0.000,4,0.000,0.051,2813,238,3112,0,0,0,0,0,0
$GC,3715,-1.20,-116.8,344.0,-8.0,244,3719,0.10,2.12,0.00,0.000,6,0.075,0.023,2776,1581,3112,0,0,0,0,0,0
$GC,4045,-1.15,-116.8,374.9,-9.5,252,4049,0.10,2.25,0.00,0.000,4,0.103,0.026,2798,2947,3109,0,0,0,0,0,0
$GC,4074,-1.23,-116.8,378.0,-9.4,252,4078,0.00,2.42,0.00,0.000,6,0.000,0.038,2797,1528,3109,0,0,0,0,0,0
$GC,4411,-1.23,-116.8,410.5,-9.9,261,4415,0.00,2.35,0.00,0.000,4,0.000,0.027,2798,2946,3107,0,0,0,0,0,0
$GC,4462,-1.31,-116.8,415.3,-8.7,262,4467,0.15,2.42,0.00,0.000,6,0.056,0.038,2750,1523,3107,0,0,0,0,0,0
$GC,4783,-1.22,-116.8,449.5,-10.7,270,4787,0.15,2.28,0.00,0.000,4,0.091,0.056,2781,234,3104,0,0,0,0,0,0
$STATE,4790,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4790,begin apogee
$GC,4798,-0.31,0.0,450.7,10.5,270,4899,0.90,0.00,97.00,0.826,6,0.068,0.000,2979,1539,2630,0,0,0,0,0,0
$STATE,4900,end apogee,CONTROL_FINISHED_OK
$STATE,4900,begin climb
$GC,4904,1.18,116.8,453.7,0.0,272,5016,1.42,2.28,101.15,0.811,4,0.035,0.028,3312,2886,2152,0,0,0,0,0,0
$GC,5139,1.04,159.6,448.0,6.0,277,5184,0.17,2.40,38.08,0.788,6,0.102,0.041,3278,1502,1977,0,0,0,0,0,0
$GC,5498,0.91,159.6,420.8,8.1,286,5500,0.15,0.00,0.00,0.000,6,0.104,0.000,3249,1502,1969,0,0,0,0,0,0
$GC,5825,0.86,168.1,396.6,7.5,294,5838,0.00,2.40,6.55,0.632,4,0.000,0.030,3249,2882,1944,0,0,0,0,0,0
$GC,5949,0.91,208.8,387.5,6.1,296,5994,0.00,2.40,37.85,0.785,6,0.000,0.042,3249,1500,1777,0,0,0,0,0,0
$GC,6330,0.91,235.2,361.4,6.7,306,6356,0.00,0.00,23.60,0.755,6,0.000,0.000,3249,1500,1671,0,0,0,0,0,0
$GC,6655,0.93,282.1,341.3,5.8,314,6704,0.00,2.28,41.75,0.762,4,0.000,0.058,3249,241,1478,0,0,0,0,0,0
$GC,6770,0.87,282.1,332.4,8.4,316,6774,0.00,2.10,0.00,0.000,6,0.000,0.028,3249,1511,1473,0,0,0,0,0,0
$GC,7110,0.87,282.1,301.5,10.0,325,7114,0.00,2.30,0.00,0.000,4,0.000,0.058,3249,227,1471,0,0,0,0,0,0
$GC,7148,0.79,282.1,296.9,11.3,325,7155,0.12,2.08,0.00,0.000,6,0.107,0.028,3224,1501,1468,0,0,0,0,0,0
$GC,7466,0.85,282.1,267.8,8.9,341,7470,0.00,2.22,0.00,0.000,4,0.000,0.058,3224,235,1468,0,0,0,0,0,0
$GC,7535,0.85,282.1,260.4,9.6,344,7539,0.00,2.10,0.00,0.000,6,0.000,0.027,3224,1514,1465,0,0,0,0,0,0
$GC,7861,1.01,342.6,240.7,5.2,360,7920,0.20,2.38,51.45,0.700,4,0.051,0.057,3279,235,1232,0,0,0,0,0,0
$GC,7979,0.94,342.6,231.0,10.2,365,7984,0.12,2.10,0.00,0.000,6,0.100,0.026,3255,1505,1228,0,0,0,0,0,0
$GC,8311,0.97,342.6,204.5,9.1,381,8315,0.00,2.28,0.00,0.000,4,0.000,0.055,3255,230,1227,0,0,0,0,0,0
$GC,8378,0.97,342.6,196.4,10.8,385,8383,0.00,2.08,0.00,0.000,6,0.000,0.025,3255,1514,1225,0,0,0,0,0,0
$GC,8643,1.02,342.6,168.8,10.2,406,8647,0.00,2.28,0.00,0.000,4,0.000,0.054,3255,229,1224,0,0,0,0,0,0
$GC,8680,1.02,342.6,164.6,11.0,408,8686,0.00,2.08,0.00,0.000,6,0.000,0.025,3255,1496,1224,0,0,0,0,0,0
$GC,8942,1.11,372.6,145.5,6.5,429,8973,0.15,2.28,25.60,0.600,4,0.058,0.051,3300,232,1110,0,0,0,0,0,0
$GC,9011,0.99,372.6,139.5,10.1,434,9016,0.17,2.05,0.00,0.000,6,0.090,0.024,3264,1511,1106,0,0,0,0,0,0
$GC,9280,1.04,372.6,117.6,9.4,455,9284,0.00,2.25,0.00,0.000,4,0.000,0.051,3263,234,1106,0,0,0,0,0,0
$GC,9321,1.04,372.6,112.7,10.6,458,9325,0.00,2.03,0.00,0.000,6,0.000,0.023,3264,1490,1105,0,0,0,0,0,0
$GC,9587,1.14,372.6,88.5,9.6,479,9592,0.15,2.22,0.00,0.000,4,0.057,0.051,3311,230,1104,0,0,0,0,0,0
$GC,9626,1.06,372.6,83.6,12.7,482,9631,0.15,2.05,0.00,0.000,6,0.091,0.022,3280,1517,1104,0,0,0,0,0,0
$GC,9896,1.22,422.0,64.0,5.7,503,9945,0.15,2.35,41.47,0.533,4,0.056,0.050,3329,233,909,0,0,0,0,0,0
$GC,10020,1.18,422.0,51.5,10.2,512,10025,0.10,2.03,0.00,0.000,6,0.103,0.021,3307,1509,904,0,0,0,0,0,0
$GC,10285,1.24,422.0,28.4,8.5,534,10291,0.00,2.25,0.00,0.000,4,0.000,0.048,3307,235,904,0,0,0,0,0,0
$GC,10299,1.29,422.0,26.6,8.6,536,10306,0.08,2.03,0.00,0.000,6,0.038,0.021,3345,1497,904,0,0,0,0,0,0
$GC,10503,1.24,422.0,3.2,12.4,582,10510,0.12,2.25,0.00,0.000,4,0.093,0.051,3318,235,904,0,0,0,0,0,0
$STATE,10516,end climb,SURFACE_DEPTH_REACHED
$STATE,10517,begin surface coast
$FINISH,0.9,1.010514
$STATE,10539,end surface coast,CONTROL_FINISHED_OK
$STATE,10539,begin surface
$SM_CCo,10625,0.00,0.000,0,0,900,424.12
$SM_GC,1.68,12.43,0.00,0.00,0.025,0.000,0.000,429,1538,900,-11.98,0.23,424.12
$IRIDIUM_FIX,2104.07,-15803.33,110100,000031
$TT8_MAMPS,0.028379
$HUMID,60.23
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.3,65.170
$10V_AH,10.0,52.855
$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,30.525,120.250,464.500,0.000,0.000,25.432,35.302,179.416,4.500,0.000,13.339,1163.370,7006.422,464.198,1813.479,545.995,0.000,1319.120,0.000,1789.846,0.000,29.261,0.000
$DEVICE_MAMPS,131.924,58.292,826.059,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,396.497,374.583,837.232,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,31850,589
$CAP_FILE_SIZE,120584,0
$CFSIZE,260165632,175333376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171010,062830,2109.963,-15803.477,40,1.6,40,9.8