version: 66.06
glider: 139
mission: 8
dive: 697
start: 10 17 110 13 9 4
data:
$ID,139
$MISSION,8
$DIVE,697
$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,-2165835.5
$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
$GPS1,130236,2110.698,-15803.728,42,1.0,42,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-71.5
$GPS2,130844,2110.681,-15803.808,12,1.5,12,9.8
$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,94.2,37203,-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,-116.8,0.0,0.0,0,87,0.00,0.00,-69.55,0.000,2,0.000,0.000,428,1503,2724,0,0,0,0,0,0
$GC,90,-1.18,-116.8,3.4,-3.4,13,114,12.68,0.00,-7.43,0.000,6,0.133,0.000,2785,1504,3109,0,0,0,0,0,0
$GC,314,-0.95,-116.8,45.0,-16.5,49,319,0.25,2.38,0.00,0.000,4,0.089,0.020,2840,2953,3111,0,0,0,0,0,0
$GC,354,-1.00,-116.8,49.7,-9.7,52,358,0.00,2.40,0.00,0.000,6,0.000,0.032,2841,1528,3111,0,0,0,0,0,0
$GC,619,-0.93,-116.8,75.2,-9.9,73,623,0.00,2.20,0.00,0.000,4,0.000,0.045,2840,237,3112,0,0,0,0,0,0
$GC,660,-0.88,-116.8,79.4,-9.8,76,664,0.00,2.10,0.00,0.000,6,0.000,0.018,2841,1585,3112,0,0,0,0,0,0
$GC,927,-0.88,-116.8,100.3,-6.7,97,931,0.00,2.33,0.00,0.000,4,0.000,0.045,2841,230,3113,0,0,0,0,0,0
$GC,1000,-0.91,-116.8,106.7,-8.3,102,1007,0.00,2.15,0.00,0.000,6,0.000,0.018,2841,1585,3113,0,0,0,0,0,0
$GC,1264,-0.96,-116.8,129.1,-9.3,123,1268,0.00,2.22,0.00,0.000,4,0.000,0.021,2841,2952,3113,0,0,0,0,0,0
$GC,1289,-1.05,-116.8,131.9,-9.0,125,1294,0.00,2.38,0.00,0.000,6,0.000,0.031,2841,1530,3113,0,0,0,0,0,0
$GC,1556,-1.09,-116.8,154.5,-8.0,146,1560,0.12,2.22,0.00,0.000,4,0.062,0.046,2796,234,3114,0,0,0,0,0,0
$GC,1616,-1.03,-116.8,161.2,-10.6,150,1621,0.12,2.10,0.00,0.000,6,0.091,0.018,2823,1586,3114,0,0,0,0,0,0
$GC,1878,-1.03,-116.8,182.1,-7.9,170,1882,0.00,2.33,0.00,0.000,4,0.000,0.046,2824,230,3114,0,0,0,0,0,0
$GC,1926,-1.03,-116.8,186.2,-7.8,173,1931,0.00,2.10,0.00,0.000,6,0.000,0.019,2823,1586,3114,0,0,0,0,0,0
$GC,2183,-1.03,-116.8,204.8,-7.2,192,2184,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1590,3114,0,0,0,0,0,0
$GC,2497,-1.03,-116.8,225.7,-5.7,207,2501,0.00,2.33,0.00,0.000,4,0.000,0.048,2823,232,3114,0,0,0,0,0,0
$GC,2564,-1.03,-116.8,229.8,-6.4,210,2568,0.00,2.12,0.00,0.000,6,0.000,0.021,2823,1590,3114,0,0,0,0,0,0
$GC,2897,-1.07,-116.8,246.5,-5.1,226,2901,0.00,2.35,0.00,0.000,4,0.000,0.049,2823,238,3113,0,0,0,0,0,0
$GC,2943,-1.11,-116.8,249.7,-6.2,228,2947,0.00,2.12,0.00,0.000,6,0.000,0.021,2823,1591,3113,0,0,0,0,0,0
$GC,3275,-1.16,-116.8,272.8,-7.2,244,3279,0.12,2.38,0.00,0.000,4,0.064,0.049,2779,238,3113,0,0,0,0,0,0
$GC,3360,-1.08,-116.8,281.9,-11.4,247,3367,0.15,2.10,0.00,0.000,6,0.087,0.021,2812,1578,3113,0,0,0,0,0,0
$GC,3696,-1.11,-116.8,313.2,-9.3,261,3700,0.00,2.35,0.00,0.000,4,0.000,0.051,2812,231,3111,0,0,0,0,0,0
$GC,3733,-1.11,-116.8,316.9,-9.2,261,3739,0.00,2.05,0.00,0.000,6,0.000,0.022,2813,1535,3110,0,0,0,0,0,0
$GC,4066,-1.11,-116.8,342.4,-7.3,270,4070,0.00,2.25,0.00,0.000,4,0.000,0.051,2813,234,3108,0,0,0,0,0,0
$GC,4123,-1.11,-116.8,346.2,-6.5,271,4127,0.00,2.05,0.00,0.000,6,0.000,0.023,2813,1537,3108,0,0,0,0,0,0
$GC,4441,-1.15,-116.8,365.3,-6.2,279,4445,0.00,2.25,0.00,0.000,4,0.000,0.026,2813,2903,3106,0,0,0,0,0,0
$GC,4461,-1.21,-116.8,366.6,-6.2,279,4466,0.12,2.33,0.00,0.000,6,0.064,0.037,2769,1534,3106,0,0,0,0,0,0
$GC,4808,-1.15,-116.8,398.3,-9.3,288,4813,0.15,2.30,0.00,0.000,4,0.088,0.028,2801,2904,3104,0,0,0,0,0,0
$GC,4852,-1.25,-116.8,401.9,-7.3,289,4857,0.12,2.38,0.00,0.000,6,0.063,0.039,2759,1521,3104,0,0,0,0,0,0
$GC,5185,-1.18,-116.8,427.1,-6.8,297,5187,0.17,0.00,0.00,0.000,6,0.086,0.000,2796,1522,3102,0,0,0,0,0,0
$GC,5506,-1.18,-116.8,449.0,-7.2,305,5510,0.00,2.30,0.00,0.000,4,0.000,0.028,2796,2910,3100,0,0,0,0,0,0
$STATE,5517,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5518,begin apogee
$GC,5528,-0.31,0.0,450.2,7.8,305,5627,0.82,0.00,95.90,0.836,6,0.065,0.000,2977,1500,2630,0,0,0,0,0,0
$STATE,5628,end apogee,CONTROL_FINISHED_OK
$STATE,5628,begin climb
$GC,5631,1.18,116.8,453.4,0.0,307,5744,1.45,2.40,101.45,0.820,4,0.038,0.029,3313,2872,2153,0,0,0,0,0,0
$GC,5792,1.07,190.3,455.5,4.6,310,5866,0.15,2.42,64.45,0.809,6,0.104,0.043,3284,1501,1853,0,0,0,0,0,0
$GC,6177,0.91,190.3,423.0,9.2,320,6182,0.17,2.33,0.00,0.000,4,0.100,0.028,3250,2874,1844,0,0,0,0,0,0
$GC,6215,0.93,204.6,419.8,7.3,320,6233,0.00,2.42,12.30,0.728,6,0.000,0.044,3250,1500,1796,0,0,0,0,0,0
$GC,6550,0.91,224.5,395.9,7.0,329,6575,0.00,2.40,18.52,0.762,4,0.000,0.030,3250,2869,1714,0,0,0,0,0,0
$GC,6599,0.93,240.3,391.9,7.2,330,6619,0.00,2.42,15.40,0.743,6,0.000,0.045,3250,1498,1650,0,0,0,0,0,0
$GC,6963,0.89,240.3,360.1,9.2,339,6964,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1498,1644,0,0,0,0,0,0
$GC,7285,0.89,240.3,331.5,8.4,347,7289,0.00,2.28,0.00,0.000,4,0.000,0.061,3249,228,1642,0,0,0,0,0,0
$GC,7328,0.81,240.3,327.6,9.5,348,7333,0.12,2.08,0.00,0.000,6,0.108,0.028,3226,1487,1640,0,0,0,0,0,0
$GC,7660,0.87,263.2,304.2,6.9,356,7681,0.00,0.00,19.92,0.729,6,0.000,0.000,3226,1487,1557,0,0,0,0,0,0
$GC,7966,0.92,263.2,278.2,8.8,369,7970,0.10,2.25,0.00,0.000,4,0.079,0.058,3256,227,1552,0,0,0,0,0,0
$GC,8035,0.86,263.2,270.3,12.5,372,8039,0.00,2.10,0.00,0.000,6,0.000,0.028,3256,1504,1550,0,0,0,0,0,0
$GC,8364,0.86,263.2,237.8,8.8,388,8365,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1506,1550,0,0,0,0,0,0
$GC,8674,0.88,284.5,212.8,6.9,403,8699,0.00,2.35,18.58,0.661,4,0.000,0.057,3256,229,1469,0,0,0,0,0,0
$GC,8773,0.88,284.5,205.4,8.0,407,8777,0.00,2.10,0.00,0.000,6,0.000,0.026,3256,1507,1465,0,0,0,0,0,0
$GC,9107,0.92,284.5,179.2,8.6,431,9108,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1511,1465,0,0,0,0,0,0
$GC,9356,0.97,293.9,159.0,7.5,451,9371,0.00,2.30,9.43,0.562,4,0.000,0.052,3256,227,1430,0,0,0,0,0,0
$GC,9409,0.97,293.9,154.3,8.9,454,9416,0.00,2.10,0.00,0.000,6,0.000,0.025,3257,1506,1428,0,0,0,0,0,0
$GC,9671,1.01,293.9,133.2,8.6,475,9675,0.00,2.22,0.00,0.000,4,0.000,0.051,3256,227,1427,0,0,0,0,0,0
$GC,9710,1.05,293.9,129.5,9.6,478,9714,0.00,2.03,0.00,0.000,6,0.000,0.024,3256,1501,1426,0,0,0,0,0,0
$GC,9978,1.20,360.5,113.2,4.9,499,10044,0.25,2.33,57.25,0.586,4,0.044,0.051,3331,232,1159,0,0,0,0,0,0
$GC,10056,1.09,360.5,107.3,8.4,504,10063,0.17,2.08,0.00,0.000,6,0.072,0.024,3290,1497,1158,0,0,0,0,0,0
$GC,10319,1.14,360.5,86.7,8.8,525,10323,0.00,2.20,0.00,0.000,4,0.000,0.051,3290,231,1155,0,0,0,0,0,0
$GC,10361,1.14,360.5,82.6,9.2,528,10365,0.00,2.03,0.00,0.000,6,0.000,0.022,3290,1512,1153,0,0,0,0,0,0
$GC,10625,1.22,372.4,63.9,7.4,548,10638,0.12,0.00,10.75,0.480,6,0.063,0.000,3333,1515,1110,0,0,0,0,0,0
$GC,10889,1.22,372.4,37.2,11.4,569,10893,0.00,2.22,0.00,0.000,4,0.000,0.048,3333,227,1109,0,0,0,0,0,0
$GC,10956,1.16,372.4,28.9,11.5,574,10962,0.12,2.03,0.00,0.000,6,0.068,0.021,3301,1508,1106,0,0,0,0,0,0
$GC,11160,1.22,372.4,11.7,8.4,620,11167,0.00,2.25,0.00,0.000,4,0.000,0.021,3301,2864,1106,0,0,0,0,0,0
$GC,11175,1.28,372.4,10.3,8.4,622,11182,0.08,2.35,0.00,0.000,6,0.037,0.034,3340,1500,1106,0,0,0,0,0,0
$STATE,11254,end climb,SURFACE_DEPTH_REACHED
$STATE,11254,begin surface coast
$FINISH,0.9,1.009353
$STATE,11287,end surface coast,CONTROL_FINISHED_OK
$STATE,11288,begin surface
$SM_CCo,11311,30.00,0.472,0,0,957,410.14
$SM_GC,1.56,0.00,0.00,30.00,0.000,0.000,0.472,428,1497,957,-12.06,-0.93,410.14
$IRIDIUM_FIX,2104.07,-15802.47,110100,101026
$TT8_MAMPS,0.029146
$HUMID,61.06
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.3,65.499
$10V_AH,10.0,53.111
$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,30.050,116.700,423.950,30.000,0.000,22.643,33.712,180.999,4.500,0.000,12.983,1245.952,7553.841,478.648,1879.015,549.552,0.000,1335.675,0.000,1855.886,0.000,29.240,0.000
$DEVICE_MAMPS,132.691,61.360,836.030,472.472,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,435.639,414.746,924.104,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,35050,647
$CAP_FILE_SIZE,124416,0
$CFSIZE,260165632,175144960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171010,161930,2110.963,-15803.547,46,1.2,46,9.8