version: 66.06
glider: 139
mission: 8
dive: 661
start: 10 12 110 16 59 13
data:
$ID,139
$MISSION,8
$DIVE,661
$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,-2165067
$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,1550
$C_ROLL_CLIMB,1550
$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
$GPS1,164437,2105.887,-15745.770,37,1.1,37,9.8
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-71.4
$GPS2,165850,2105.967,-15745.955,16,1.1,16,9.8
$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,83.3,5255,-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,-64.32,0.000,2,0.000,0.000,427,1557,2744,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.2,-3.0,12,109,12.57,0.00,-6.95,0.000,6,0.130,0.000,2784,1559,3108,0,0,0,0,0,0
$GC,305,-0.95,-116.8,44.8,-15.0,47,310,0.25,2.33,0.00,0.000,4,0.089,0.018,2839,2983,3111,0,0,0,0,0,0
$GC,320,-0.79,-116.8,47.3,-15.7,48,325,0.17,2.40,0.00,0.000,6,0.084,0.031,2877,1551,3111,0,0,0,0,0,0
$GC,580,-0.79,-116.8,75.5,-10.2,68,582,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1551,3111,0,0,0,0,0,0
$GC,830,-0.85,-116.8,97.4,-8.1,88,834,0.00,2.25,0.00,0.000,4,0.000,0.045,2877,229,3112,0,0,0,0,0,0
$GC,890,-0.91,-116.8,102.9,-9.2,92,896,0.08,2.17,0.00,0.000,6,0.036,0.018,2836,1614,3112,0,0,0,0,0,0
$GC,1153,-0.91,-116.8,129.1,-10.1,113,1157,0.00,2.22,0.00,0.000,4,0.000,0.021,2836,2977,3112,0,0,0,0,0,0
$GC,1172,-0.94,-116.8,131.3,-9.3,114,1178,0.00,2.42,0.00,0.000,6,0.000,0.031,2836,1557,3112,0,0,0,0,0,0
$GC,1433,-0.94,-116.8,151.9,-6.8,135,1437,0.00,2.25,0.00,0.000,4,0.000,0.044,2836,228,3113,0,0,0,0,0,0
$GC,1459,-0.94,-116.8,153.9,-7.0,137,1463,0.00,2.15,0.00,0.000,6,0.000,0.018,2836,1617,3113,0,0,0,0,0,0
$GC,1724,-0.94,-116.8,173.3,-8.2,158,1728,0.00,2.38,0.00,0.000,4,0.000,0.045,2836,231,3113,0,0,0,0,0,0
$GC,1762,-0.94,-116.8,176.9,-10.0,161,1766,0.00,2.15,0.00,0.000,6,0.000,0.019,2836,1612,3113,0,0,0,0,0,0
$GC,2032,-0.98,-116.8,200.0,-8.3,182,2037,0.00,2.35,0.00,0.000,4,0.000,0.046,2836,236,3113,0,0,0,0,0,0
$GC,2108,-1.01,-116.8,207.1,-8.7,186,2112,0.00,2.15,0.00,0.000,6,0.000,0.019,2836,1607,3113,0,0,0,0,0,0
$GC,2434,-1.06,-116.8,234.8,-7.3,202,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1611,3113,0,0,0,0,0,0
$GC,2745,-1.11,-116.8,255.2,-7.2,217,2750,0.12,2.38,0.00,0.000,4,0.061,0.048,2792,238,3112,0,0,0,0,0,0
$GC,2790,-1.06,-116.8,259.6,-10.5,219,2798,0.12,2.15,0.00,0.000,6,0.091,0.021,2819,1607,3112,0,0,0,0,0,0
$GC,3133,-1.10,-116.8,285.6,-7.3,235,3137,0.00,2.35,0.00,0.000,4,0.000,0.048,2819,238,3111,0,0,0,0,0,0
$GC,3161,-1.10,-116.8,288.4,-8.5,236,3165,0.00,2.15,0.00,0.000,6,0.000,0.021,2819,1606,3111,0,0,0,0,0,0
$GC,3479,-1.15,-116.8,312.7,-7.7,248,3483,0.00,2.38,0.00,0.000,4,0.000,0.049,2819,239,3109,0,0,0,0,0,0
$GC,3504,-1.15,-116.8,314.4,-7.0,248,3508,0.00,2.15,0.00,0.000,6,0.000,0.022,2819,1601,3109,0,0,0,0,0,0
$GC,3844,-1.20,-116.8,337.3,-6.9,257,3849,0.15,2.38,0.00,0.000,4,0.057,0.051,2772,238,3107,0,0,0,0,0,0
$GC,3916,-1.11,-116.8,344.8,-11.2,258,3921,0.17,2.17,0.00,0.000,6,0.084,0.023,2810,1595,3107,0,0,0,0,0,0
$GC,4257,-1.11,-116.8,375.8,-8.8,267,4258,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1599,3104,0,0,0,0,0,0
$GC,4583,-1.11,-116.8,397.1,-6.0,275,4587,0.00,2.38,0.00,0.000,4,0.000,0.054,2810,232,3102,0,0,0,0,0,0
$GC,4603,-1.11,-116.8,398.3,-6.1,275,4607,0.00,2.10,0.00,0.000,6,0.000,0.025,2810,1554,3102,0,0,0,0,0,0
$GC,4948,-1.14,-116.8,419.3,-5.9,284,4952,0.00,2.28,0.00,0.000,4,0.000,0.029,2810,2931,3100,0,0,0,0,0,0
$GC,4986,-1.25,-116.8,421.5,-5.1,284,4991,0.15,2.35,0.00,0.000,6,0.057,0.039,2761,1553,3100,0,0,0,0,0,0
$GC,5319,-1.18,-116.8,447.6,-8.4,292,5320,0.15,0.00,0.00,0.000,6,0.090,0.000,2792,1553,3097,0,0,0,0,0,0
$STATE,5355,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5355,begin apogee
$GC,5361,-0.31,0.0,451.1,8.6,293,5460,0.88,0.00,95.60,0.840,6,0.067,0.000,2981,1553,2630,0,0,0,0,0,0
$STATE,5461,end apogee,CONTROL_FINISHED_OK
$STATE,5461,begin climb
$GC,5465,1.18,116.8,453.3,0.0,295,5576,1.45,2.38,101.28,0.822,4,0.035,0.031,3316,2927,2153,0,0,0,0,0,0
$GC,5587,1.05,183.8,452.7,4.9,298,5652,0.17,2.40,59.12,0.805,6,0.107,0.039,3283,1549,1880,0,0,0,0,0,0
$GC,5974,0.92,183.8,411.7,11.0,308,5979,0.17,2.35,0.00,0.000,4,0.103,0.058,3248,232,1869,0,0,0,0,0,0
$GC,5989,0.78,183.8,410.1,10.0,308,5994,0.15,2.17,0.00,0.000,6,0.105,0.027,3220,1546,1867,0,0,0,0,0,0
$GC,6341,0.85,238.2,388.4,5.4,317,6394,0.00,2.42,46.78,0.795,4,0.000,0.031,3220,2935,1658,0,0,0,0,0,0
$GC,6406,0.94,270.2,384.4,6.5,318,6443,0.15,2.42,29.27,0.769,6,0.060,0.043,3263,1551,1528,0,0,0,0,0,0
$GC,6759,0.89,270.2,350.1,10.1,327,6763,0.00,2.35,0.00,0.000,4,0.000,0.060,3263,236,1520,0,0,0,0,0,0
$GC,6830,0.77,270.2,341.3,12.8,328,6835,0.22,2.17,0.00,0.000,6,0.095,0.028,3219,1547,1517,0,0,0,0,0,0
$GC,7171,0.83,270.2,309.6,9.0,337,7175,0.00,2.33,0.00,0.000,4,0.000,0.058,3219,236,1515,0,0,0,0,0,0
$GC,7302,0.83,270.2,297.4,8.9,339,7308,0.00,2.15,0.00,0.000,6,0.000,0.028,3219,1561,1513,0,0,0,0,0,0
$GC,7621,0.92,283.2,273.7,7.3,355,7638,0.15,2.42,10.15,0.657,4,0.061,0.057,3262,240,1474,0,0,0,0,0,0
$GC,7686,0.85,283.2,267.1,10.7,357,7692,0.15,2.15,0.00,0.000,6,0.103,0.028,3233,1550,1472,0,0,0,0,0,0
$GC,8005,0.98,333.6,245.8,5.6,373,8056,0.12,2.40,44.78,0.708,4,0.067,0.058,3271,236,1269,0,0,0,0,0,0
$GC,8132,0.90,333.6,236.4,9.3,378,8139,0.10,2.17,0.00,0.000,6,0.079,0.027,3247,1550,1265,0,0,0,0,0,0
$GC,8450,0.99,358.0,215.9,6.8,394,8476,0.00,2.40,21.67,0.655,4,0.000,0.054,3247,228,1169,0,0,0,0,0,0
$GC,8520,0.99,358.0,209.8,9.2,397,8524,0.00,2.15,0.00,0.000,6,0.000,0.025,3247,1549,1165,0,0,0,0,0,0
$GC,8852,1.05,358.0,183.0,9.5,419,8856,0.15,2.35,0.00,0.000,4,0.059,0.054,3292,235,1164,0,0,0,0,0,0
$GC,8971,0.95,358.0,167.5,11.7,427,8977,0.17,2.15,0.00,0.000,6,0.091,0.024,3257,1556,1162,0,0,0,0,0,0
$GC,9232,1.03,358.0,143.7,8.7,448,9236,0.00,2.33,0.00,0.000,4,0.000,0.053,3256,232,1162,0,0,0,0,0,0
$GC,9293,1.08,358.0,137.1,10.8,452,9298,0.12,2.12,0.00,0.000,6,0.065,0.023,3301,1559,1161,0,0,0,0,0,0
$GC,9559,1.08,358.0,108.8,11.2,473,9563,0.00,2.33,0.00,0.000,4,0.000,0.051,3301,235,1161,0,0,0,0,0,0
$GC,9600,1.02,358.0,102.8,15.7,476,9605,0.15,2.10,0.00,0.000,6,0.094,0.021,3269,1554,1161,0,0,0,0,0,0
$GC,9868,1.11,359.4,79.0,7.8,497,9873,0.10,2.33,0.00,0.000,4,0.074,0.050,3306,235,1161,0,0,0,0,0,0
$GC,9951,1.07,359.4,71.2,8.3,503,9956,0.12,2.10,0.00,0.000,6,0.094,0.021,3280,1561,1161,0,0,0,0,0,0
$GC,10215,1.22,398.2,53.8,6.1,523,10251,0.15,0.00,33.65,0.519,6,0.055,0.000,3330,1566,1005,0,0,0,0,0,0
$GC,10502,1.22,398.2,25.9,9.5,552,10508,0.00,2.35,0.00,0.000,4,0.000,0.048,3330,235,1003,0,0,0,0,0,0
$GC,10550,1.12,398.2,20.3,12.0,562,10557,0.15,2.10,0.00,0.000,6,0.066,0.020,3294,1554,1001,0,0,0,0,0,0
$STATE,10727,end climb,SURFACE_DEPTH_REACHED
$STATE,10727,begin surface coast
$FINISH,0.9,1.023167
$STATE,10758,end surface coast,CONTROL_FINISHED_OK
$STATE,10758,begin surface
$SM_CCo,10780,10.20,0.430,0,0,957,410.14
$SM_GC,1.47,0.00,0.00,10.20,0.000,0.000,0.430,429,1554,957,-12.06,0.11,410.14
$IRIDIUM_FIX,2059.45,-15745.74,060100,171700
$TT8_MAMPS,0.028379
$HUMID,60.19
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,21.80
$XPDR_PINGS,1
$24V_AH,23.3,61.511
$10V_AH,10.0,50.105
$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,31.075,113.525,442.300,10.200,0.000,85.083,101.887,394.658,4.750,0.000,16.495,1186.664,7291.192,469.969,1792.571,903.493,0.000,1293.582,0.000,1768.551,0.000,29.270,0.000
$DEVICE_MAMPS,129.623,59.826,839.865,429.520,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,409.643,387.621,871.922,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,34867,609
$CAP_FILE_SIZE,126912,0
$CFSIZE,260165632,177283072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121010,200016,2106.215,-15745.425,13,2.1,32,9.8