version: 66.06
glider: 139
mission: 8
dive: 624
start: 10 7 110 16 27 27
data:
$ID,139
$MISSION,8
$DIVE,624
$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,-2164213.8
$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
$GPS1,162106,2106.434,-15752.563,42,0.9,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-72.2
$GPS2,162708,2106.478,-15752.567,16,1.3,16,9.8
$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,84.4,16719,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.18,-116.8,0.0,0.0,0,88,0.00,0.00,-69.55,0.000,2,0.000,0.000,427,1555,2825,0,0,0,0,0,0
$GC,91,-1.18,-116.8,3.7,-3.7,13,116,12.65,2.35,-5.15,0.000,4,0.133,0.033,2785,2975,3108,0,0,0,0,0,0
$GC,133,-0.11,-116.8,16.4,-29.5,20,141,1.08,2.47,0.00,0.000,6,0.068,0.035,3025,1548,3110,0,0,0,0,0,0
$GC,337,-0.69,-116.8,22.5,-4.3,66,343,0.55,0.00,0.00,0.000,6,0.039,0.000,2890,1548,3111,0,0,0,0,0,0
$GC,536,-0.73,-116.8,36.9,-8.9,100,540,0.00,2.35,0.00,0.000,4,0.000,0.021,2889,2975,3112,0,0,0,0,0,0
$GC,551,-0.78,-116.8,38.4,-9.1,101,555,0.00,2.40,0.00,0.000,6,0.000,0.031,2889,1539,3112,0,0,0,0,0,0
$GC,812,-0.82,-116.8,61.9,-8.2,121,816,0.00,2.22,0.00,0.000,4,0.000,0.046,2889,239,3112,0,0,0,0,0,0
$GC,849,-0.86,-116.8,65.2,-8.2,123,855,0.10,2.15,0.00,0.000,6,0.033,0.018,2844,1602,3113,0,0,0,0,0,0
$GC,1109,-0.86,-116.8,97.9,-11.1,144,1113,0.00,2.25,0.00,0.000,4,0.000,0.021,2844,2975,3113,0,0,0,0,0,0
$GC,1122,-0.86,-116.8,99.5,-10.6,145,1126,0.00,2.40,0.00,0.000,6,0.000,0.030,2844,1549,3113,0,0,0,0,0,0
$GC,1384,-0.86,-116.8,123.5,-8.3,165,1388,0.00,2.22,0.00,0.000,4,0.000,0.045,2844,235,3114,0,0,0,0,0,0
$GC,1473,-0.86,-116.8,132.1,-9.2,171,1480,0.00,2.15,0.00,0.000,6,0.000,0.018,2844,1601,3114,0,0,0,0,0,0
$GC,1735,-0.91,-116.8,160.9,-10.7,192,1739,0.00,2.33,0.00,0.000,4,0.000,0.045,2844,236,3115,0,0,0,0,0,0
$GC,1764,-0.91,-116.8,163.9,-9.5,194,1768,0.00,2.15,0.00,0.000,6,0.000,0.018,2844,1614,3114,0,0,0,0,0,0
$GC,2025,-0.97,-116.8,181.9,-5.9,214,2029,0.00,2.38,0.00,0.000,4,0.000,0.044,2844,231,3115,0,0,0,0,0,0
$GC,2076,-1.01,-116.8,185.4,-6.3,217,2082,0.00,2.15,0.00,0.000,6,0.000,0.018,2844,1613,3115,0,0,0,0,0,0
$GC,2338,-1.06,-116.8,200.6,-5.8,238,2343,0.12,2.38,0.00,0.000,4,0.061,0.046,2798,238,3115,0,0,0,0,0,0
$GC,2362,-1.03,-116.8,202.2,-6.6,239,2367,0.12,2.12,0.00,0.000,6,0.093,0.020,2825,1601,3114,0,0,0,0,0,0
$GC,2695,-1.06,-116.8,227.2,-7.8,255,2700,0.00,2.38,0.00,0.000,4,0.000,0.047,2824,231,3115,0,0,0,0,0,0
$GC,2723,-1.06,-116.8,229.9,-9.1,256,2727,0.00,2.17,0.00,0.000,6,0.000,0.020,2824,1611,3115,0,0,0,0,0,0
$GC,3045,-1.10,-116.8,252.5,-7.4,272,3049,0.00,2.35,0.00,0.000,4,0.000,0.048,2824,239,3114,0,0,0,0,0,0
$GC,3119,-1.13,-116.8,259.2,-8.1,275,3123,0.00,2.12,0.00,0.000,6,0.000,0.020,2824,1599,3114,0,0,0,0,0,0
$GC,3443,-1.19,-116.8,285.0,-9.0,291,3448,0.15,2.38,0.00,0.000,4,0.057,0.049,2775,239,3113,0,0,0,0,0,0
$GC,3473,-1.08,-116.8,288.6,-11.6,292,3477,0.17,2.08,0.00,0.000,6,0.083,0.021,2813,1558,3113,0,0,0,0,0,0
$GC,3813,-1.08,-116.8,320.6,-9.2,304,3817,0.00,2.22,0.00,0.000,4,0.000,0.025,2813,2918,3112,0,0,0,0,0,0
$GC,3836,-1.17,-116.8,322.8,-8.5,304,3840,0.00,2.33,0.00,0.000,6,0.000,0.035,2813,1545,3112,0,0,0,0,0,0
$GC,4178,-1.17,-116.8,350.6,-7.8,313,4179,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1545,3110,0,0,0,0,0,0
$GC,4503,-1.20,-116.8,373.7,-7.5,321,4508,0.12,2.30,0.00,0.000,4,0.064,0.053,2772,232,3108,0,0,0,0,0,0
$GC,4523,-1.16,-116.8,375.9,-9.0,321,4528,0.12,2.10,0.00,0.000,6,0.097,0.024,2798,1543,3108,0,0,0,0,0,0
$GC,4870,-1.16,-116.8,408.4,-9.6,330,4874,0.00,2.30,0.00,0.000,4,0.000,0.054,2798,230,3105,0,0,0,0,0,0
$GC,4921,-1.16,-116.8,413.7,-10.2,331,4925,0.00,2.10,0.00,0.000,6,0.000,0.025,2798,1554,3105,0,0,0,0,0,0
$GC,5244,-1.16,-116.8,441.0,-8.2,339,5245,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1558,3103,0,0,0,0,0,0
$STATE,5362,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5363,begin apogee
$GC,5370,-0.31,0.0,451.5,8.6,342,5470,0.85,0.00,97.00,0.830,6,0.066,0.000,2982,1558,2630,0,0,0,0,0,0
$STATE,5471,end apogee,CONTROL_FINISHED_OK
$STATE,5471,begin climb
$GC,5474,1.18,116.8,454.5,0.0,344,5585,1.40,2.38,101.45,0.814,4,0.038,0.030,3307,2919,2153,0,0,0,0,0,0
$GC,5649,1.04,147.0,453.2,6.5,348,5682,0.15,2.38,27.38,0.779,6,0.104,0.041,3278,1550,2030,0,0,0,0,0,0
$GC,6016,0.91,147.0,421.6,9.3,357,6021,0.15,2.38,0.00,0.000,4,0.103,0.031,3249,2932,2020,0,0,0,0,0,0
$GC,6087,0.91,147.0,415.6,8.1,358,6092,0.00,2.40,0.00,0.000,6,0.000,0.042,3249,1551,2020,0,0,0,0,0,0
$GC,6428,0.86,155.3,389.8,7.5,367,6441,0.00,2.40,6.45,0.630,4,0.000,0.059,3249,234,1996,0,0,0,0,0,0
$GC,6476,0.72,155.3,386.0,8.6,368,6481,0.20,2.17,0.00,0.000,6,0.098,0.028,3210,1546,1994,0,0,0,0,0,0
$GC,6807,0.86,236.4,370.1,4.2,376,6893,0.12,2.38,72.70,0.791,4,0.071,0.029,3245,2938,1665,0,0,0,0,0,0
$GC,6898,0.90,272.0,364.8,6.3,378,6937,0.00,2.47,32.08,0.758,6,0.000,0.043,3245,1543,1521,0,0,0,0,0,0
$GC,7262,0.90,272.0,325.5,12.9,387,7266,0.00,2.33,0.00,0.000,4,0.000,0.059,3245,232,1512,0,0,0,0,0,0
$GC,7337,0.83,272.0,314.0,15.5,388,7342,0.00,2.17,0.00,0.000,6,0.000,0.028,3245,1557,1508,0,0,0,0,0,0
$GC,7658,0.83,272.0,277.2,9.2,401,7662,0.00,2.38,0.00,0.000,4,0.000,0.057,3245,231,1508,0,0,0,0,0,0
$GC,7729,0.79,272.0,269.7,11.0,404,7734,0.12,2.17,0.00,0.000,6,0.107,0.028,3221,1555,1505,0,0,0,0,0,0
$GC,8057,0.91,299.5,246.7,6.6,420,8087,0.12,2.38,22.95,0.688,4,0.070,0.054,3257,238,1406,0,0,0,0,0,0
$GC,8162,0.85,299.5,236.7,9.6,424,8166,0.00,2.15,0.00,0.000,6,0.000,0.026,3257,1555,1403,0,0,0,0,0,0
$GC,8479,0.85,299.5,210.1,9.7,439,8483,0.00,2.35,0.00,0.000,4,0.000,0.054,3257,232,1401,0,0,0,0,0,0
$GC,8540,0.85,299.5,201.8,12.7,441,8545,0.00,2.15,0.00,0.000,6,0.000,0.025,3257,1566,1399,0,0,0,0,0,0
$GC,8872,0.85,299.5,172.0,8.1,467,8873,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1566,1399,0,0,0,0,0,0
$GC,9124,0.85,299.5,151.8,8.3,487,9129,0.00,2.33,0.00,0.000,4,0.000,0.051,3257,232,1399,0,0,0,0,0,0
$GC,9226,0.81,299.5,142.0,10.1,494,9232,0.10,2.15,0.00,0.000,6,0.076,0.024,3232,1551,1398,0,0,0,0,0,0
$GC,9489,0.92,299.5,122.6,8.2,515,9493,0.00,2.30,0.00,0.000,4,0.000,0.050,3231,232,1397,0,0,0,0,0,0
$GC,9536,0.98,299.5,117.7,10.4,518,9543,0.10,2.12,0.00,0.000,6,0.039,0.023,3271,1553,1397,0,0,0,0,0,0
$GC,9799,1.02,304.6,94.0,7.7,539,9808,0.00,2.30,4.07,0.374,4,0.000,0.050,3271,232,1388,0,0,0,0,0,0
$GC,9841,1.02,304.6,90.0,9.3,541,9845,0.00,2.10,0.00,0.000,6,0.000,0.021,3271,1554,1387,0,0,0,0,0,0
$GC,10107,1.13,323.8,73.2,7.0,562,10129,0.12,0.00,18.42,0.519,6,0.063,0.000,3314,1559,1309,0,0,0,0,0,0
$GC,10386,1.14,331.4,48.3,7.6,584,10401,0.00,2.38,7.62,0.440,4,0.000,0.049,3313,231,1277,0,0,0,0,0,0
$GC,10438,1.09,331.4,42.3,11.6,587,10446,0.10,2.12,0.00,0.000,6,0.067,0.021,3288,1561,1276,0,0,0,0,0,0
$GC,10703,1.17,337.0,21.5,7.6,624,10716,0.00,2.33,6.32,0.400,4,0.000,0.046,3287,229,1254,0,0,0,0,0,0
$GC,10794,1.21,337.0,14.1,8.7,643,10802,0.08,2.10,0.00,0.000,6,0.038,0.020,3327,1554,1252,0,0,0,0,0,0
$STATE,10916,end climb,SURFACE_DEPTH_REACHED
$STATE,10916,begin surface coast
$FINISH,0.8,1.010949
$STATE,10952,end surface coast,CONTROL_FINISHED_OK
$STATE,10952,begin surface
$SM_CCo,10976,43.65,0.471,0,0,957,410.14
$SM_GC,1.59,0.00,0.00,43.65,0.000,0.000,0.471,429,1553,957,-12.06,0.08,410.14
$IRIDIUM_FIX,2059.45,-15750.89,010100,131359
$TT8_MAMPS,0.029146
$HUMID,58.38
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.3,57.366
$10V_AH,10.0,46.963
$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,31.250,122.550,396.450,43.650,0.000,29.039,32.624,164.586,4.500,0.000,17.086,1289.782,7098.951,480.872,1975.075,533.902,0.000,1351.058,0.000,1950.856,0.000,29.255,0.000
$DEVICE_MAMPS,132.691,59.059,829.894,470.938,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,456.046,439.562,1054.290,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355724
$DATA_FILE_SIZE,38162,678
$CAP_FILE_SIZE,124298,0
$CFSIZE,260165632,179515392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071010,193216,2106.654,-15751.715,11,3.7,30,9.8