version: 66.06
glider: 139
mission: 8
dive: 618
start: 10 6 110 21 27 12
data:
$ID,139
$MISSION,8
$DIVE,618
$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,-2164117.8
$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,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
$GPS1,211031,2105.858,-15752.772,17,2.0,28,9.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-71.7
$GPS2,212652,2105.870,-15752.864,17,3.7,36,9.8
$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,80.5,17186,-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,-64.20,0.000,2,0.000,0.000,426,1566,2757,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.4,-3.5,12,111,12.60,2.33,-6.47,0.000,4,0.130,0.033,2785,2970,3109,0,0,0,0,0,0
$GC,132,-0.32,-116.8,16.9,-27.7,20,139,0.85,2.45,0.00,0.000,6,0.069,0.035,2978,1553,3111,0,0,0,0,0,0
$GC,344,-0.57,-116.8,31.1,-6.3,66,349,0.22,2.28,0.00,0.000,4,0.041,0.044,2909,224,3112,0,0,0,0,0,0
$GC,404,-0.68,-116.8,37.1,-9.9,70,410,0.00,2.20,0.00,0.000,6,0.000,0.018,2909,1617,3112,0,0,0,0,0,0
$GC,665,-0.76,-116.8,59.3,-8.3,91,670,0.10,2.40,0.00,0.000,4,0.073,0.046,2868,228,3112,0,0,0,0,0,0
$GC,707,-0.72,-116.8,64.0,-10.5,94,711,0.12,2.15,0.00,0.000,6,0.094,0.018,2894,1609,3112,0,0,0,0,0,0
$GC,968,-0.82,-116.8,86.7,-10.4,114,973,0.12,2.40,0.00,0.000,4,0.061,0.046,2846,234,3113,0,0,0,0,0,0
$GC,1073,-0.82,-116.8,101.9,-12.3,121,1079,0.10,2.15,0.00,0.000,6,0.100,0.018,2868,1612,3113,0,0,0,0,0,0
$GC,1335,-0.92,-116.8,119.9,-4.3,142,1340,0.00,2.38,0.00,0.000,4,0.000,0.045,2868,225,3113,0,0,0,0,0,0
$GC,1410,-1.04,-116.8,124.2,-5.8,147,1414,0.20,2.17,0.00,0.000,6,0.045,0.018,2803,1612,3113,0,0,0,0,0,0
$GC,1673,-1.01,-116.8,147.6,-10.7,167,1678,0.12,2.38,0.00,0.000,4,0.092,0.046,2831,234,3113,0,0,0,0,0,0
$GC,1705,-1.01,-116.8,151.7,-10.1,169,1711,0.00,2.15,0.00,0.000,6,0.000,0.018,2831,1611,3113,0,0,0,0,0,0
$GC,1966,-1.01,-116.8,170.6,-5.8,190,1967,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1616,3114,0,0,0,0,0,0
$GC,2217,-1.05,-116.8,189.2,-8.4,210,2221,0.00,2.38,0.00,0.000,4,0.000,0.047,2830,232,3113,0,0,0,0,0,0
$GC,2249,-1.05,-116.8,192.4,-10.0,212,2255,0.00,2.17,0.00,0.000,6,0.000,0.020,2831,1603,3113,0,0,0,0,0,0
$GC,2510,-1.09,-116.8,215.5,-8.6,228,2514,0.00,2.35,0.00,0.000,4,0.000,0.048,2831,231,3113,0,0,0,0,0,0
$GC,2542,-1.09,-116.8,218.9,-10.0,229,2546,0.00,2.17,0.00,0.000,6,0.000,0.020,2831,1604,3112,0,0,0,0,0,0
$GC,2861,-1.15,-116.8,243.3,-7.1,244,2866,0.12,2.40,0.00,0.000,4,0.063,0.049,2787,233,3112,0,0,0,0,0,0
$GC,2922,-1.07,-116.8,249.0,-8.7,246,2930,0.10,2.20,0.00,0.000,6,0.067,0.021,2814,1600,3112,0,0,0,0,0,0
$GC,3238,-1.07,-116.8,269.3,-6.7,262,3242,0.00,2.38,0.00,0.000,4,0.000,0.050,2814,235,3110,0,0,0,0,0,0
$GC,3284,-1.03,-116.8,273.0,-9.8,264,3288,0.00,2.08,0.00,0.000,6,0.000,0.021,2814,1552,3110,0,0,0,0,0,0
$GC,3615,-1.07,-116.8,299.7,-8.5,280,3620,0.00,2.28,0.00,0.000,4,0.000,0.051,2814,234,3109,0,0,0,0,0,0
$GC,3635,-1.07,-116.8,301.8,-8.8,280,3642,0.00,2.12,0.00,0.000,6,0.000,0.022,2814,1554,3108,0,0,0,0,0,0
$GC,3967,-1.11,-116.8,331.1,-8.4,289,3971,0.00,2.28,0.00,0.000,4,0.000,0.051,2814,235,3106,0,0,0,0,0,0
$GC,4068,-1.14,-116.8,338.5,-7.5,291,4072,0.00,2.08,0.00,0.000,6,0.000,0.023,2814,1549,3106,0,0,0,0,0,0
$GC,4388,-1.18,-116.8,356.4,-5.4,299,4389,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1553,3104,0,0,0,0,0,0
$GC,4714,-1.22,-116.8,382.2,-9.1,307,4718,0.12,2.30,0.00,0.000,4,0.066,0.054,2774,235,3102,0,0,0,0,0,0
$GC,4786,-1.13,-116.8,391.2,-12.7,308,4790,0.12,2.08,0.00,0.000,6,0.096,0.025,2801,1544,3101,0,0,0,0,0,0
$GC,5128,-1.13,-116.8,424.3,-9.0,317,5129,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1549,3099,0,0,0,0,0,0
$STATE,5449,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5449,begin apogee
$GC,5457,-0.31,0.0,450.5,8.3,325,5555,0.82,0.00,95.70,0.830,6,0.064,0.000,2981,1549,2630,0,0,0,0,0,0
$STATE,5556,end apogee,CONTROL_FINISHED_OK
$STATE,5556,begin climb
$GC,5559,1.18,116.8,453.2,0.0,327,5671,1.42,2.35,101.80,0.814,4,0.037,0.031,3312,2931,2152,0,0,0,0,0,0
$GC,5795,1.02,134.7,447.9,7.1,332,5819,0.20,2.40,16.27,0.751,6,0.097,0.041,3273,1551,2081,0,0,0,0,0,0
$GC,6154,0.89,134.7,421.7,8.2,341,6159,0.15,2.38,0.00,0.000,4,0.104,0.031,3243,2933,2073,0,0,0,0,0,0
$GC,6274,0.90,141.1,412.5,7.6,343,6286,0.00,2.42,6.03,0.619,6,0.000,0.043,3243,1551,2053,0,0,0,0,0,0
$GC,6619,0.86,141.1,384.2,8.0,352,6624,0.00,2.35,0.00,0.000,4,0.000,0.058,3243,234,2050,0,0,0,0,0,0
$GC,6663,0.75,141.1,380.6,7.9,353,6668,0.15,2.17,0.00,0.000,6,0.105,0.028,3214,1551,2047,0,0,0,0,0,0
$GC,6993,0.85,198.7,362.5,5.3,361,7050,0.00,2.42,51.30,0.786,4,0.000,0.058,3214,233,1820,0,0,0,0,0,0
$GC,7080,0.81,198.7,356.7,8.0,363,7084,0.00,2.17,0.00,0.000,6,0.000,0.028,3214,1553,1815,0,0,0,0,0,0
$GC,7407,0.86,198.7,330.8,8.4,371,7412,0.10,2.35,0.00,0.000,4,0.081,0.058,3244,238,1812,0,0,0,0,0,0
$GC,7428,0.81,198.7,328.6,10.3,371,7432,0.00,2.17,0.00,0.000,6,0.000,0.028,3244,1554,1810,0,0,0,0,0,0
$GC,7753,0.81,198.7,294.9,10.0,380,7757,0.00,2.35,0.00,0.000,4,0.000,0.057,3244,238,1810,0,0,0,0,0,0
$GC,7834,0.73,198.7,287.0,9.1,383,7839,0.17,2.15,0.00,0.000,6,0.099,0.028,3210,1557,1807,0,0,0,0,0,0
$GC,8152,0.93,278.8,267.5,4.3,398,8231,0.17,2.40,68.93,0.728,4,0.058,0.031,3259,2928,1492,0,0,0,0,0,0
$GC,8278,1.01,278.8,258.3,8.4,403,8283,0.00,2.45,0.00,0.000,6,0.000,0.044,3259,1547,1491,0,0,0,0,0,0
$GC,8594,1.01,278.8,231.4,8.8,418,8598,0.00,2.33,0.00,0.000,4,0.000,0.057,3259,229,1486,0,0,0,0,0,0
$GC,8697,0.97,278.8,220.2,11.4,422,8701,0.00,2.17,0.00,0.000,6,0.000,0.026,3259,1552,1482,0,0,0,0,0,0
$GC,9019,0.97,278.8,186.6,10.0,442,9023,0.00,2.35,0.00,0.000,4,0.000,0.055,3259,232,1482,0,0,0,0,0,0
$GC,9067,0.92,278.8,181.4,11.3,445,9073,0.00,2.15,0.00,0.000,6,0.000,0.025,3259,1564,1480,0,0,0,0,0,0
$GC,9326,0.96,278.8,157.3,8.3,466,9330,0.00,2.35,0.00,0.000,4,0.000,0.054,3259,230,1480,0,0,0,0,0,0
$GC,9410,0.96,278.8,149.9,8.9,472,9414,0.00,2.12,0.00,0.000,6,0.000,0.025,3259,1554,1478,0,0,0,0,0,0
$GC,9677,1.03,306.1,132.6,6.7,493,9701,0.00,0.00,22.55,0.591,6,0.000,0.000,3259,1559,1382,0,0,0,0,0,0
$GC,9955,1.13,315.2,111.4,7.5,515,9970,0.15,2.35,9.10,0.513,4,0.058,0.049,3307,227,1343,0,0,0,0,0,0
$GC,9980,1.13,315.2,108.7,9.5,516,9986,0.00,2.17,0.00,0.000,6,0.000,0.024,3307,1549,1342,0,0,0,0,0,0
$GC,10240,1.13,315.2,86.8,8.9,537,10244,0.00,2.30,0.00,0.000,4,0.000,0.050,3307,232,1342,0,0,0,0,0,0
$GC,10301,1.08,315.2,80.2,12.0,541,10306,0.00,2.12,0.00,0.000,6,0.000,0.021,3307,1572,1340,0,0,0,0,0,0
$GC,10561,1.12,315.2,58.0,8.2,562,10565,0.00,2.35,0.00,0.000,4,0.000,0.048,3307,224,1340,0,0,0,0,0,0
$GC,10621,1.12,315.2,52.0,9.6,566,10628,0.00,2.12,0.00,0.000,6,0.000,0.021,3307,1556,1339,0,0,0,0,0,0
$GC,10881,1.13,322.5,31.3,7.6,587,10893,0.00,0.00,7.10,0.420,6,0.000,0.000,3307,1555,1314,0,0,0,0,0,0
$GC,11150,1.16,322.5,9.9,8.3,646,11157,0.00,2.33,0.00,0.000,4,0.000,0.047,3307,228,1314,0,0,0,0,0,0
$GC,11173,1.16,322.5,7.9,8.1,650,11180,0.00,2.10,0.00,0.000,6,0.000,0.021,3307,1555,1313,0,0,0,0,0,0
$STATE,11232,end climb,SURFACE_DEPTH_REACHED
$STATE,11233,begin surface coast
$FINISH,0.9,1.008285
$STATE,11277,end surface coast,CONTROL_FINISHED_OK
$STATE,11277,begin surface
$SM_CCo,11299,50.80,0.471,0,0,957,410.14
$SM_GC,1.49,0.00,0.00,50.80,0.000,0.000,0.471,429,1553,957,-12.06,0.08,410.14
$IRIDIUM_FIX,2057.14,-15750.89,311299,212101
$TT8_MAMPS,0.029146
$HUMID,57.79
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.3,56.720
$10V_AH,10.0,46.466
$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,30.500,122.550,378.775,50.800,0.000,95.263,239.170,293.745,4.500,0.000,37.515,1298.844,7548.273,476.718,2035.009,969.495,0.000,1366.720,0.000,1994.842,0.000,29.274,0.000
$DEVICE_MAMPS,130.390,58.292,829.894,470.938,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,452.292,437.251,1015.096,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,37997,672
$CAP_FILE_SIZE,130594,0
$CFSIZE,260165632,179867648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071010,003737,2105.814,-15753.393,36,1.3,36,9.8