version: 66.06
glider: 139
mission: 8
dive: 696
start: 10 17 110 9 55 53
data:
$ID,139
$MISSION,8
$DIVE,696
$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,-2165821.8
$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
$GPS1,094836,2110.315,-15803.753,10,1.9,26,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-71.0
$GPS2,095532,2110.335,-15803.804,16,1.9,16,9.8
$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,93.3,37047,-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,13,begin dive
$GC,15,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.18,0.000,2,0.000,0.000,425,1506,2748,0,0,0,0,0,0
$GC,87,-1.18,-116.8,3.5,-3.6,12,111,12.68,0.00,-6.78,0.000,6,0.133,0.000,2784,1507,3109,0,0,0,0,0,0
$GC,314,-0.95,-116.8,45.0,-17.3,49,319,0.25,2.40,0.00,0.000,4,0.089,0.019,2839,2957,3112,0,0,0,0,0,0
$GC,343,-0.95,-116.8,49.2,-12.0,51,347,0.00,2.45,0.00,0.000,6,0.000,0.033,2839,1524,3112,0,0,0,0,0,0
$GC,603,-0.90,-116.8,76.7,-8.3,71,607,0.00,2.20,0.00,0.000,4,0.000,0.045,2839,234,3112,0,0,0,0,0,0
$GC,634,-0.83,-116.8,79.3,-9.2,73,639,0.15,2.10,0.00,0.000,6,0.087,0.018,2871,1594,3113,0,0,0,0,0,0
$GC,902,-0.90,-116.8,95.8,-6.3,94,906,0.00,2.33,0.00,0.000,4,0.000,0.044,2871,237,3113,0,0,0,0,0,0
$GC,975,-0.99,-116.8,101.6,-7.2,99,980,0.17,2.10,0.00,0.000,6,0.048,0.018,2813,1601,3114,0,0,0,0,0,0
$GC,1239,-0.95,-116.8,125.9,-8.5,119,1244,0.15,2.38,0.00,0.000,4,0.084,0.045,2846,237,3114,0,0,0,0,0,0
$GC,1265,-0.95,-116.8,128.1,-7.7,121,1269,0.00,2.10,0.00,0.000,6,0.000,0.018,2846,1596,3114,0,0,0,0,0,0
$GC,1532,-0.99,-116.8,144.9,-7.0,142,1536,0.00,2.33,0.00,0.000,4,0.000,0.044,2846,237,3115,0,0,0,0,0,0
$GC,1578,-1.03,-116.8,149.1,-8.9,145,1583,0.00,2.10,0.00,0.000,6,0.000,0.018,2846,1591,3115,0,0,0,0,0,0
$GC,1840,-1.08,-116.8,172.3,-10.1,166,1845,0.15,2.35,0.00,0.000,4,0.054,0.046,2794,232,3114,0,0,0,0,0,0
$GC,1888,-1.00,-116.8,178.3,-12.1,169,1894,0.17,2.10,0.00,0.000,6,0.081,0.019,2833,1583,3115,0,0,0,0,0,0
$GC,2160,-1.03,-116.8,201.9,-8.5,190,2164,0.00,2.30,0.00,0.000,4,0.000,0.046,2833,238,3115,0,0,0,0,0,0
$GC,2202,-1.03,-116.8,205.9,-8.8,192,2206,0.00,2.12,0.00,0.000,6,0.000,0.020,2834,1587,3114,0,0,0,0,0,0
$GC,2535,-1.08,-116.8,231.2,-7.1,208,2539,0.00,2.35,0.00,0.000,4,0.000,0.048,2833,231,3114,0,0,0,0,0,0
$GC,2591,-1.12,-116.8,236.1,-8.2,210,2596,0.12,2.10,0.00,0.000,6,0.062,0.020,2789,1581,3114,0,0,0,0,0,0
$GC,2910,-1.06,-116.8,268.0,-10.5,225,2915,0.12,2.33,0.00,0.000,4,0.094,0.048,2817,238,3113,0,0,0,0,0,0
$GC,2936,-1.02,-116.8,270.9,-9.9,226,2939,0.00,2.12,0.00,0.000,6,0.000,0.021,2817,1585,3113,0,0,0,0,0,0
$GC,3262,-1.06,-116.8,294.3,-5.5,242,3266,0.00,2.33,0.00,0.000,4,0.000,0.049,2817,236,3113,0,0,0,0,0,0
$GC,3315,-1.06,-116.8,297.7,-7.1,244,3319,0.00,2.12,0.00,0.000,6,0.000,0.021,2817,1587,3113,0,0,0,0,0,0
$GC,3652,-1.10,-116.8,319.7,-6.9,254,3656,0.00,2.33,0.00,0.000,4,0.000,0.050,2817,239,3111,0,0,0,0,0,0
$GC,3710,-1.13,-116.8,323.8,-7.2,255,3714,0.00,2.12,0.00,0.000,6,0.000,0.022,2817,1586,3111,0,0,0,0,0,0
$GC,4030,-1.17,-116.8,344.2,-6.2,263,4031,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1590,3109,0,0,0,0,0,0
$GC,4353,-1.17,-116.8,366.5,-6.9,271,4358,0.10,2.38,0.00,0.000,4,0.074,0.052,2781,238,3107,0,0,0,0,0,0
$GC,4416,-1.12,-116.8,372.7,-10.3,272,4420,0.12,2.12,0.00,0.000,6,0.094,0.024,2808,1578,3107,0,0,0,0,0,0
$GC,4766,-1.12,-116.8,406.9,-9.7,281,4770,0.00,2.33,0.00,0.000,4,0.000,0.054,2808,239,3105,0,0,0,0,0,0
$GC,4803,-1.12,-116.8,410.7,-10.5,281,4808,0.00,2.05,0.00,0.000,6,0.000,0.024,2808,1535,3104,0,0,0,0,0,0
$GC,5135,-1.15,-116.8,437.4,-8.1,290,5137,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1537,3102,0,0,0,0,0,0
$STATE,5334,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5334,begin apogee
$GC,5341,-0.31,0.0,451.3,6.6,295,5440,0.80,0.00,96.15,0.826,6,0.064,0.000,2982,1495,2630,0,0,0,0,0,0
$STATE,5441,end apogee,CONTROL_FINISHED_OK
$STATE,5441,begin climb
$GC,5445,1.18,116.8,452.3,0.0,297,5553,1.42,0.00,101.35,0.810,6,0.036,0.000,3313,1495,2153,0,0,0,0,0,0
$GC,5853,0.96,116.8,426.7,8.3,307,5855,0.28,0.00,0.00,0.000,6,0.092,0.000,3259,1494,2143,0,0,0,0,0,0
$GC,6180,0.92,158.2,405.7,6.0,315,6222,0.00,2.40,35.33,0.783,4,0.000,0.029,3259,2877,1985,0,0,0,0,0,0
$GC,6348,0.95,211.8,396.2,5.5,318,6403,0.00,2.40,48.28,0.785,6,0.000,0.042,3259,1508,1765,0,0,0,0,0,0
$GC,6728,0.88,211.8,368.0,8.0,328,6732,0.00,2.28,0.00,0.000,4,0.000,0.059,3258,235,1759,0,0,0,0,0,0
$GC,6765,0.76,211.8,364.6,9.5,328,6771,0.20,2.08,0.00,0.000,6,0.096,0.027,3218,1497,1755,0,0,0,0,0,0
$GC,7098,0.81,219.0,340.2,7.6,337,7111,0.00,2.33,5.57,0.577,4,0.000,0.057,3218,233,1737,0,0,0,0,0,0
$GC,7153,0.81,219.0,335.3,8.8,338,7157,0.00,2.05,0.00,0.000,6,0.000,0.027,3218,1498,1735,0,0,0,0,0,0
$GC,7473,0.86,219.0,309.3,8.0,346,7476,0.00,2.25,0.00,0.000,4,0.000,0.058,3218,235,1734,0,0,0,0,0,0
$GC,7509,0.86,219.0,305.6,10.1,346,7513,0.00,2.08,0.00,0.000,6,0.000,0.027,3218,1508,1733,0,0,0,0,0,0
$GC,7825,0.97,251.4,281.8,6.4,359,7863,0.20,2.38,29.45,0.719,4,0.052,0.057,3273,235,1604,0,0,0,0,0,0
$GC,7917,0.87,251.4,273.3,10.9,363,7922,0.15,2.08,0.00,0.000,6,0.098,0.026,3243,1499,1599,0,0,0,0,0,0
$GC,8254,0.93,269.6,250.0,7.1,379,8272,0.00,0.00,16.38,0.666,6,0.000,0.000,3242,1504,1530,0,0,0,0,0,0
$GC,8579,0.98,269.6,223.2,8.3,395,8584,0.00,2.22,0.00,0.000,4,0.000,0.055,3242,235,1526,0,0,0,0,0,0
$GC,8658,0.98,269.6,215.6,9.7,398,8662,0.00,2.08,0.00,0.000,6,0.000,0.025,3242,1508,1523,0,0,0,0,0,0
$GC,8989,1.07,287.7,191.5,7.1,417,9010,0.17,2.30,16.17,0.620,4,0.055,0.053,3292,233,1456,0,0,0,0,0,0
$GC,9034,0.94,287.7,186.5,11.6,419,9040,0.17,2.05,0.00,0.000,6,0.090,0.025,3257,1505,1454,0,0,0,0,0,0
$GC,9296,1.00,311.6,165.2,6.8,440,9324,0.00,2.28,21.90,0.609,4,0.000,0.052,3257,232,1358,0,0,0,0,0,0
$GC,9342,1.02,326.9,161.8,7.2,443,9362,0.00,2.05,14.40,0.575,6,0.000,0.025,3256,1502,1296,0,0,0,0,0,0
$GC,9624,1.06,326.9,139.5,9.7,465,9628,0.10,2.25,0.00,0.000,4,0.075,0.053,3290,225,1294,0,0,0,0,0,0
$GC,9680,0.99,326.9,131.3,14.0,469,9685,0.12,2.08,0.00,0.000,6,0.097,0.023,3265,1513,1291,0,0,0,0,0,0
$GC,9942,1.06,326.9,102.1,10.2,489,9943,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,1518,1292,0,0,0,0,0,0
$GC,10193,1.24,388.4,81.8,5.1,509,10251,0.25,2.30,51.88,0.554,4,0.043,0.052,3341,233,1045,0,0,0,0,0,0
$GC,10387,1.16,388.4,58.4,14.1,523,10392,0.20,2.03,0.00,0.000,6,0.083,0.021,3300,1513,1040,0,0,0,0,0,0
$GC,10657,1.22,388.4,35.1,8.4,544,10661,0.00,2.25,0.00,0.000,4,0.000,0.049,3300,232,1040,0,0,0,0,0,0
$GC,10708,1.22,388.4,29.8,9.9,548,10715,0.00,2.03,0.00,0.000,6,0.000,0.030,3300,1504,1038,0,0,0,0,0,0
$GC,10912,1.34,452.7,16.3,5.0,594,10970,0.17,0.00,52.75,0.489,6,0.049,0.000,3356,1504,782,0,0,0,0,0,0
$STATE,11020,end climb,SURFACE_DEPTH_REACHED
$STATE,11020,begin surface coast
$FINISH,1.0,1.023125
$STATE,11043,end surface coast,CONTROL_FINISHED_OK
$STATE,11043,begin surface
$SM_CCo,11126,0.00,0.000,0,0,776,454.54
$SM_GC,1.85,12.62,0.00,0.00,0.023,0.000,0.000,429,1503,776,-11.98,-0.76,454.54
$IRIDIUM_FIX,2101.76,-15805.48,110100,060626
$TT8_MAMPS,0.029146
$HUMID,60.55
$INTERNAL_PRESSURE,9.23518
$TCM_TEMP,21.50
$XPDR_PINGS,1
$24V_AH,23.3,65.391
$10V_AH,10.0,53.026
$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,31.075,106.275,489.600,0.000,0.000,22.341,32.602,222.161,4.750,0.000,16.926,1189.961,7459.303,484.494,1816.897,585.094,0.000,1325.478,0.000,1792.134,0.000,29.254,0.000
$DEVICE_MAMPS,133.458,148.031,826.059,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,416.142,392.028,880.286,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,35103,620
$CAP_FILE_SIZE,121216,0
$CFSIZE,260165632,175206400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171010,130236,2110.698,-15803.728,42,1.0,42,9.8