version: 66.06
glider: 139
mission: 8
dive: 622
start: 10 7 110 10 12 34
data:
$ID,139
$MISSION,8
$DIVE,622
$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,-2164180.8
$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
$GPS1,100606,2106.420,-15752.435,41,1.0,41,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-71.7
$GPS2,101214,2106.444,-15752.473,10,2.0,10,9.8
$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,84.2,16550,-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,-64.47,0.000,2,0.000,0.000,428,1554,2751,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.4,-3.4,12,110,12.62,2.28,-6.62,0.000,4,0.131,0.054,2786,235,3109,0,0,0,0,0,0
$GC,161,-0.88,-116.8,23.5,-20.1,27,168,0.28,2.20,0.00,0.000,6,0.078,0.019,2856,1603,3110,0,0,0,0,0,0
$GC,367,-0.81,-116.8,51.3,-12.5,48,368,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1608,3111,0,0,0,0,0,0
$GC,618,-0.81,-116.8,79.3,-9.4,68,622,0.00,2.38,0.00,0.000,4,0.000,0.044,2855,233,3112,0,0,0,0,0,0
$GC,649,-0.78,-116.8,82.5,-10.4,70,654,0.12,2.15,0.00,0.000,6,0.094,0.018,2882,1614,3112,0,0,0,0,0,0
$GC,918,-0.88,-116.8,103.4,-7.2,91,923,0.12,2.40,0.00,0.000,4,0.061,0.045,2833,237,3113,0,0,0,0,0,0
$GC,1005,-0.88,-116.8,112.7,-11.1,97,1011,0.12,2.12,0.00,0.000,6,0.089,0.018,2861,1607,3114,0,0,0,0,0,0
$GC,1269,-0.96,-116.8,127.8,-4.7,118,1273,0.00,2.25,0.00,0.000,4,0.000,0.021,2861,2975,3114,0,0,0,0,0,0
$GC,1308,-1.12,-116.8,130.0,-5.6,121,1314,0.25,2.40,0.00,0.000,6,0.041,0.031,2791,1549,3114,0,0,0,0,0,0
$GC,1576,-1.03,-116.8,159.9,-13.5,142,1581,0.17,2.28,0.00,0.000,4,0.084,0.046,2829,230,3114,0,0,0,0,0,0
$GC,1601,-0.98,-116.8,163.5,-12.3,143,1606,0.00,2.17,0.00,0.000,6,0.000,0.019,2829,1618,3114,0,0,0,0,0,0
$GC,1859,-0.98,-116.8,191.6,-10.0,164,1863,0.00,2.38,0.00,0.000,4,0.000,0.046,2828,233,3114,0,0,0,0,0,0
$GC,1935,-0.98,-116.8,198.7,-9.0,169,1940,0.00,2.15,0.00,0.000,6,0.000,0.019,2828,1614,3115,0,0,0,0,0,0
$GC,2203,-0.98,-116.8,217.2,-6.7,183,2207,0.00,2.35,0.00,0.000,4,0.000,0.046,2829,238,3115,0,0,0,0,0,0
$GC,2224,-0.98,-116.8,218.9,-7.8,184,2228,0.00,2.12,0.00,0.000,6,0.000,0.021,2828,1607,3114,0,0,0,0,0,0
$GC,2555,-1.02,-116.8,245.2,-8.2,200,2559,0.00,2.35,0.00,0.000,4,0.000,0.048,2828,238,3114,0,0,0,0,0,0
$GC,2583,-1.02,-116.8,247.7,-8.1,201,2586,0.00,2.15,0.00,0.000,6,0.000,0.021,2828,1607,3113,0,0,0,0,0,0
$GC,2906,-1.07,-116.8,270.3,-7.0,217,2910,0.00,2.38,0.00,0.000,4,0.000,0.048,2828,238,3113,0,0,0,0,0,0
$GC,2952,-1.10,-116.8,273.7,-6.9,219,2956,0.00,2.15,0.00,0.000,6,0.000,0.021,2829,1601,3113,0,0,0,0,0,0
$GC,3282,-1.16,-116.8,294.4,-6.2,235,3287,0.12,2.38,0.00,0.000,4,0.064,0.051,2785,238,3112,0,0,0,0,0,0
$GC,3311,-1.09,-116.8,297.1,-8.5,236,3316,0.12,2.17,0.00,0.000,6,0.093,0.022,2812,1596,3112,0,0,0,0,0,0
$GC,3652,-1.09,-116.8,322.0,-7.6,246,3653,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1600,3110,0,0,0,0,0,0
$GC,3974,-1.09,-116.8,343.9,-6.9,254,3975,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1600,3108,0,0,0,0,0,0
$GC,4299,-1.09,-116.8,365.4,-6.4,262,4300,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1600,3106,0,0,0,0,0,0
$GC,4625,-1.13,-116.8,385.9,-6.4,270,4629,0.00,2.38,0.00,0.000,4,0.000,0.055,2812,238,3104,0,0,0,0,0,0
$GC,4658,-1.13,-116.8,388.2,-6.7,270,4662,0.00,2.10,0.00,0.000,6,0.000,0.025,2812,1555,3104,0,0,0,0,0,0
$GC,4990,-1.16,-116.8,407.9,-6.6,278,4994,0.00,2.30,0.00,0.000,4,0.000,0.056,2811,235,3102,0,0,0,0,0,0
$GC,5024,-1.16,-116.8,410.4,-8.0,278,5028,0.00,2.12,0.00,0.000,6,0.000,0.025,2812,1557,3102,0,0,0,0,0,0
$GC,5355,-1.20,-116.8,434.7,-7.8,286,5360,0.10,2.35,0.00,0.000,4,0.077,0.057,2779,234,3100,0,0,0,0,0,0
$GC,5377,-1.16,-116.8,436.7,-9.2,286,5381,0.00,2.12,0.00,0.000,6,0.000,0.026,2779,1546,3099,0,0,0,0,0,0
$STATE,5516,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5516,begin apogee
$GC,5523,-0.31,0.0,450.1,9.4,290,5623,0.93,0.00,96.47,0.835,6,0.067,0.000,2979,1551,2630,0,0,0,0,0,0
$STATE,5624,end apogee,CONTROL_FINISHED_OK
$STATE,5624,begin climb
$GC,5626,1.18,116.8,452.3,0.0,292,5741,1.45,2.45,102.03,0.818,4,0.038,0.031,3311,2937,2152,0,0,0,0,0,0
$GC,5770,1.03,156.6,451.4,6.1,296,5812,0.17,2.45,35.85,0.790,6,0.100,0.042,3277,1547,1990,0,0,0,0,0,0
$GC,6137,0.91,156.6,417.0,9.9,305,6142,0.15,2.38,0.00,0.000,4,0.106,0.031,3249,2937,1982,0,0,0,0,0,0
$GC,6189,0.91,156.6,412.0,9.8,306,6193,0.00,2.40,0.00,0.000,6,0.000,0.043,3249,1550,1981,0,0,0,0,0,0
$GC,6508,0.86,163.8,386.8,7.6,314,6515,0.00,0.00,5.32,0.583,6,0.000,0.000,3249,1550,1961,0,0,0,0,0,0
$GC,6840,0.85,189.4,363.0,6.7,322,6872,0.00,2.38,24.45,0.763,4,0.000,0.058,3249,235,1856,0,0,0,0,0,0
$GC,6891,0.74,189.4,358.8,9.0,323,6896,0.17,2.17,0.00,0.000,6,0.100,0.028,3213,1550,1853,0,0,0,0,0,0
$GC,7212,0.82,215.9,336.1,6.7,331,7241,0.00,2.38,24.23,0.749,4,0.000,0.030,3214,2942,1748,0,0,0,0,0,0
$GC,7295,0.99,249.0,331.1,6.4,332,7334,0.17,2.45,30.65,0.747,6,0.035,0.044,3267,1546,1613,0,0,0,0,0,0
$GC,7650,0.94,249.0,292.2,12.1,342,7654,0.00,2.35,0.00,0.000,4,0.000,0.059,3267,232,1607,0,0,0,0,0,0
$GC,7719,0.84,249.0,282.7,13.9,345,7724,0.17,2.17,0.00,0.000,6,0.097,0.028,3233,1560,1605,0,0,0,0,0,0
$GC,8051,0.89,249.0,247.3,10.3,361,8055,0.00,2.38,0.00,0.000,4,0.000,0.057,3232,231,1604,0,0,0,0,0,0
$GC,8079,0.89,249.0,243.4,11.8,362,8083,0.00,2.15,0.00,0.000,6,0.000,0.028,3232,1554,1603,0,0,0,0,0,0
$GC,8401,0.95,252.9,215.4,7.7,378,8405,0.12,2.35,0.00,0.000,4,0.068,0.055,3269,234,1602,0,0,0,0,0,0
$GC,8462,0.88,252.9,208.9,10.1,380,8469,0.10,2.17,0.00,0.000,6,0.076,0.027,3245,1550,1600,0,0,0,0,0,0
$GC,8784,0.92,252.9,181.5,10.2,402,8788,0.00,2.33,0.00,0.000,4,0.000,0.054,3245,231,1600,0,0,0,0,0,0
$GC,8821,0.92,252.9,176.9,11.8,404,8827,0.00,2.17,0.00,0.000,6,0.000,0.025,3245,1555,1599,0,0,0,0,0,0
$GC,9084,1.07,324.0,157.1,4.7,425,9155,0.15,2.38,63.30,0.631,4,0.060,0.052,3290,233,1307,0,0,0,0,0,0
$GC,9186,0.93,324.0,150.6,8.9,433,9191,0.17,2.15,0.00,0.000,6,0.090,0.025,3254,1562,1304,0,0,0,0,0,0
$GC,9458,1.03,324.0,128.7,8.8,454,9462,0.00,2.35,0.00,0.000,4,0.000,0.050,3254,228,1302,0,0,0,0,0,0
$GC,9494,1.03,324.0,124.7,10.3,456,9501,0.00,2.17,0.00,0.000,6,0.000,0.025,3254,1546,1300,0,0,0,0,0,0
$GC,9755,1.15,324.0,99.7,9.4,477,9760,0.20,2.30,0.00,0.000,4,0.049,0.048,3313,232,1300,0,0,0,0,0,0
$GC,9771,1.19,324.0,98.1,8.7,478,9775,0.00,2.12,0.00,0.000,6,0.000,0.022,3313,1572,1299,0,0,0,0,0,0
$GC,10031,1.21,346.4,74.5,6.9,498,10054,0.00,0.00,19.08,0.525,6,0.000,0.000,3313,1573,1216,0,0,0,0,0,0
$GC,10309,1.25,374.0,58.2,6.6,520,10338,0.00,2.45,24.05,0.509,4,0.000,0.049,3313,228,1105,0,0,0,0,0,0
$GC,10369,1.18,374.0,52.3,12.2,524,10373,0.00,2.12,0.00,0.000,6,0.000,0.021,3313,1561,1102,0,0,0,0,0,0
$GC,10637,1.19,380.6,30.3,7.6,545,10652,0.00,2.38,6.72,0.400,4,0.000,0.047,3313,232,1077,0,0,0,0,0,0
$GC,10694,1.15,380.6,24.8,9.5,555,10700,0.00,2.10,0.00,0.000,6,0.000,0.020,3313,1547,1075,0,0,0,0,0,0
$GC,10898,1.15,380.6,4.2,12.1,601,10905,0.00,2.33,0.00,0.000,4,0.000,0.051,3312,232,1075,0,0,0,0,0,0
$STATE,10910,end climb,SURFACE_DEPTH_REACHED
$STATE,10911,begin surface coast
$FINISH,0.9,1.023174
$STATE,10937,end surface coast,CONTROL_FINISHED_OK
$STATE,10937,begin surface
$SM_CCo,10963,19.55,0.454,0,0,957,410.14
$SM_GC,1.84,0.00,0.00,19.55,0.000,0.000,0.454,427,1561,957,-12.07,0.31,410.14
$IRIDIUM_FIX,2059.45,-15756.04,010100,060627
$TT8_MAMPS,0.028379
$HUMID,58.82
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.20
$XPDR_PINGS,1
$24V_AH,23.3,57.140
$10V_AH,10.1,46.795
$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,30.425,122.650,432.150,19.550,0.000,30.677,35.166,173.046,4.750,0.000,10.687,1175.908,7426.542,481.903,1721.599,541.110,0.000,1290.804,0.000,1705.425,0.000,29.255,0.000
$DEVICE_MAMPS,131.157,59.059,835.263,454.064,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,409.492,389.091,864.856,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355724
$DATA_FILE_SIZE,35009,609
$CAP_FILE_SIZE,120007,0
$CFSIZE,260165632,179638272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071010,131652,2106.545,-15752.506,16,3.7,35,9.8