version: 66.06
glider: 139
mission: 8
dive: 626
start: 10 7 110 23 9 34
data:
$ID,139
$MISSION,8
$DIVE,626
$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,-2164261.5
$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
$GPS1,225637,2106.496,-15751.406,32,0.9,32,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-72.9
$GPS2,230914,2106.560,-15751.515,15,1.4,15,9.8
$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,85.5,14918,-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,16,-1.18,-116.8,0.0,0.0,0,83,0.00,0.00,-64.22,0.000,2,0.000,0.000,428,1549,2749,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.5,-3.7,12,111,12.65,2.33,-6.75,0.000,4,0.132,0.057,2785,237,3109,0,0,0,0,0,0
$GC,132,-0.27,-116.8,16.8,-28.0,20,139,0.93,2.20,0.00,0.000,6,0.077,0.019,2989,1609,3111,0,0,0,0,0,0
$GC,335,-0.53,-116.8,31.0,-5.9,64,340,0.25,2.38,0.00,0.000,4,0.039,0.043,2909,234,3112,0,0,0,0,0,0
$GC,389,-0.63,-116.8,35.5,-8.6,68,393,0.00,2.15,0.00,0.000,6,0.000,0.018,2910,1617,3112,0,0,0,0,0,0
$GC,657,-0.71,-116.8,55.9,-6.9,89,661,0.00,2.40,0.00,0.000,4,0.000,0.045,2910,233,3113,0,0,0,0,0,0
$GC,711,-0.83,-116.8,60.5,-8.8,93,716,0.20,2.15,0.00,0.000,6,0.044,0.018,2845,1607,3112,0,0,0,0,0,0
$GC,977,-0.79,-116.8,88.4,-11.6,114,982,0.15,2.22,0.00,0.000,4,0.084,0.021,2877,2976,3113,0,0,0,0,0,0
$GC,1017,-0.92,-116.8,92.1,-8.2,117,1022,0.12,2.42,0.00,0.000,6,0.061,0.031,2828,1541,3113,0,0,0,0,0,0
$GC,1284,-0.92,-116.8,117.4,-8.6,138,1286,0.10,0.00,0.00,0.000,6,0.102,0.000,2850,1540,3113,0,0,0,0,0,0
$GC,1537,-0.97,-116.8,137.2,-7.6,158,1541,0.00,2.22,0.00,0.000,4,0.000,0.044,2850,237,3114,0,0,0,0,0,0
$GC,1594,-1.04,-116.8,142.4,-8.4,162,1598,0.12,2.15,0.00,0.000,6,0.062,0.018,2805,1610,3114,0,0,0,0,0,0
$GC,1867,-1.00,-116.8,171.1,-10.6,183,1872,0.12,0.00,0.00,0.000,6,0.092,0.000,2833,1615,3114,0,0,0,0,0,0
$GC,2128,-1.04,-116.8,191.2,-6.3,204,2132,0.00,2.35,0.00,0.000,4,0.000,0.047,2833,238,3114,0,0,0,0,0,0
$GC,2195,-1.10,-116.8,195.9,-6.7,209,2199,0.00,2.15,0.00,0.000,6,0.000,0.019,2833,1607,3114,0,0,0,0,0,0
$GC,2460,-1.14,-116.8,214.4,-7.7,224,2465,0.15,2.38,0.00,0.000,4,0.056,0.047,2782,232,3114,0,0,0,0,0,0
$GC,2507,-1.04,-116.8,219.5,-11.3,226,2515,0.20,2.15,0.00,0.000,6,0.082,0.020,2825,1601,3113,0,0,0,0,0,0
$GC,2844,-1.07,-116.8,249.0,-8.3,242,2848,0.00,2.35,0.00,0.000,4,0.000,0.048,2825,233,3113,0,0,0,0,0,0
$GC,2866,-1.07,-116.8,251.6,-10.2,243,2870,0.00,2.17,0.00,0.000,6,0.000,0.021,2825,1608,3114,0,0,0,0,0,0
$GC,3195,-1.12,-116.8,282.6,-9.0,259,3199,0.00,2.38,0.00,0.000,4,0.000,0.048,2825,238,3113,0,0,0,0,0,0
$GC,3228,-1.12,-116.8,285.9,-8.9,260,3232,0.00,2.15,0.00,0.000,6,0.000,0.021,2825,1600,3113,0,0,0,0,0,0
$GC,3546,-1.16,-116.8,308.2,-6.6,273,3551,0.12,2.15,0.00,0.000,4,0.064,0.025,2783,2922,3111,0,0,0,0,0,0
$GC,3563,-1.16,-116.8,309.6,-7.5,273,3567,0.00,2.33,0.00,0.000,6,0.000,0.035,2783,1544,3111,0,0,0,0,0,0
$GC,3913,-1.12,-116.8,342.7,-9.2,282,3918,0.10,2.30,0.00,0.000,4,0.105,0.025,2804,2924,3109,0,0,0,0,0,0
$GC,3959,-1.21,-116.8,345.9,-6.7,283,3963,0.00,2.35,0.00,0.000,6,0.000,0.036,2804,1544,3109,0,0,0,0,0,0
$GC,4287,-1.21,-116.8,368.8,-7.2,291,4291,0.00,2.25,0.00,0.000,4,0.000,0.052,2804,235,3107,0,0,0,0,0,0
$GC,4337,-1.21,-116.8,374.1,-10.8,292,4341,0.00,2.08,0.00,0.000,6,0.000,0.023,2804,1546,3106,0,0,0,0,0,0
$GC,4657,-1.21,-116.8,405.2,-9.5,300,4658,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1551,3104,0,0,0,0,0,0
$GC,4980,-1.21,-116.8,437.7,-10.5,308,4984,0.00,2.33,0.00,0.000,4,0.000,0.056,2804,228,3102,0,0,0,0,0,0
$GC,5013,-1.21,-116.8,441.6,-11.6,308,5017,0.00,2.12,0.00,0.000,6,0.000,0.025,2804,1546,3102,0,0,0,0,0,0
$STATE,5097,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5097,begin apogee
$GC,5105,-0.31,0.0,450.8,10.8,310,5205,0.82,0.00,96.72,0.828,6,0.066,0.000,2983,1550,2630,0,0,0,0,0,0
$STATE,5206,end apogee,CONTROL_FINISHED_OK
$STATE,5206,begin climb
$GC,5208,1.18,116.8,455.5,0.0,312,5318,1.40,0.00,101.93,0.814,6,0.037,0.000,3309,1550,2152,0,0,0,0,0,0
$GC,5617,1.02,162.2,447.3,5.8,322,5663,0.17,2.38,40.08,0.800,4,0.101,0.029,3275,2930,1967,0,0,0,0,0,0
$GC,5725,0.96,162.2,438.9,8.0,324,5730,0.00,2.40,0.00,0.000,6,0.000,0.044,3275,1553,1966,0,0,0,0,0,0
$GC,6071,0.85,162.2,411.2,8.3,333,6076,0.20,2.38,0.00,0.000,4,0.095,0.057,3235,225,1960,0,0,0,0,0,0
$GC,6137,0.76,162.2,404.7,10.3,334,6141,0.00,2.15,0.00,0.000,6,0.000,0.028,3235,1547,1956,0,0,0,0,0,0
$GC,6488,0.77,172.0,377.3,7.5,343,6500,0.00,2.38,7.85,0.668,4,0.000,0.031,3235,2939,1927,0,0,0,0,0,0
$GC,6520,0.79,185.1,374.7,7.3,343,6541,0.00,2.45,13.55,0.730,6,0.000,0.042,3235,1546,1875,0,0,0,0,0,0
$GC,6863,0.83,221.4,352.1,6.3,352,6905,0.00,2.45,33.40,0.768,4,0.000,0.058,3235,231,1725,0,0,0,0,0,0
$GC,6962,0.78,221.4,344.5,7.9,354,6966,0.00,2.17,0.00,0.000,6,0.000,0.028,3235,1555,1721,0,0,0,0,0,0
$GC,7281,0.81,241.5,322.0,7.0,362,7306,0.00,2.40,17.85,0.723,4,0.000,0.030,3235,2933,1645,0,0,0,0,0,0
$GC,7355,0.95,271.0,317.2,6.6,363,7388,0.10,2.45,27.30,0.735,6,0.077,0.043,3265,1543,1525,0,0,0,0,0,0
$GC,7704,0.91,271.0,288.7,9.9,374,7708,0.00,2.33,0.00,0.000,4,0.000,0.058,3265,228,1519,0,0,0,0,0,0
$GC,7831,0.80,271.0,274.3,10.4,379,7836,0.20,2.17,0.00,0.000,6,0.094,0.027,3226,1560,1515,0,0,0,0,0,0
$GC,8150,0.93,316.1,254.9,5.9,394,8197,0.12,2.47,39.00,0.703,4,0.067,0.056,3264,228,1340,0,0,0,0,0,0
$GC,8337,0.86,316.1,233.5,13.3,402,8342,0.12,2.15,0.00,0.000,6,0.103,0.025,3240,1553,1334,0,0,0,0,0,0
$GC,8664,0.92,316.1,202.5,8.8,418,8668,0.00,2.35,0.00,0.000,4,0.000,0.054,3239,231,1333,0,0,0,0,0,0
$GC,8731,0.92,316.1,195.7,10.2,422,8735,0.00,2.15,0.00,0.000,6,0.000,0.025,3240,1553,1331,0,0,0,0,0,0
$GC,8998,0.99,316.1,170.5,10.5,443,9002,0.12,2.33,0.00,0.000,4,0.065,0.053,3278,232,1331,0,0,0,0,0,0
$GC,9069,0.92,316.1,161.4,12.4,448,9074,0.15,2.10,0.00,0.000,6,0.093,0.024,3249,1554,1330,0,0,0,0,0,0
$GC,9329,1.01,316.1,142.0,8.2,468,9333,0.00,2.33,0.00,0.000,4,0.000,0.051,3248,232,1330,0,0,0,0,0,0
$GC,9396,1.06,316.1,135.1,11.0,472,9404,0.10,2.12,0.00,0.000,6,0.037,0.023,3290,1554,1329,0,0,0,0,0,0
$GC,9658,1.20,427.3,117.6,2.9,493,9759,0.00,2.35,93.10,0.583,4,0.000,0.049,3290,232,886,0,0,0,0,0,0
$GC,9775,1.20,427.3,110.8,8.2,502,9781,0.00,2.15,0.00,0.000,6,0.000,0.022,3290,1547,884,0,0,0,0,0,0
$GC,10035,1.25,427.3,89.6,9.3,523,10040,0.15,2.30,0.00,0.000,4,0.055,0.051,3338,232,882,0,0,0,0,0,0
$GC,10106,1.12,427.3,79.9,14.4,528,10111,0.20,2.10,0.00,0.000,6,0.084,0.021,3295,1568,880,0,0,0,0,0,0
$GC,10368,1.18,427.3,55.3,9.1,548,10372,0.00,2.35,0.00,0.000,4,0.000,0.048,3295,225,880,0,0,0,0,0,0
$GC,10507,1.21,427.3,40.7,9.7,558,10511,0.00,2.10,0.00,0.000,6,0.000,0.020,3295,1560,879,0,0,0,0,0,0
$GC,10771,1.28,427.3,17.2,10.0,600,10779,0.15,2.35,0.00,0.000,4,0.054,0.048,3346,231,879,0,0,0,0,0,0
$STATE,10870,end climb,SURFACE_DEPTH_REACHED
$STATE,10870,begin surface coast
$FINISH,0.9,1.010378
$STATE,10889,end surface coast,CONTROL_FINISHED_OK
$STATE,10889,begin surface
$SM_CCo,10974,0.00,0.000,0,0,875,430.50
$SM_GC,1.69,12.57,0.00,0.00,0.028,0.000,0.000,430,1549,875,-11.98,-0.03,430.50
$IRIDIUM_FIX,2059.45,-15750.89,010100,191955
$TT8_MAMPS,0.027612
$HUMID,58.89
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.3,57.625
$10V_AH,10.1,47.142
$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,31.825,122.525,470.775,0.000,0.000,97.620,92.263,309.530,4.500,0.000,15.244,1231.721,7243.767,495.252,1923.660,830.031,0.000,1370.477,0.000,1907.864,0.000,29.264,0.000
$DEVICE_MAMPS,131.924,58.292,827.593,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,420.906,402.143,915.307,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355860
$DATA_FILE_SIZE,34909,626
$CAP_FILE_SIZE,127468,0
$CFSIZE,260165632,179388416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,081010,021337,2106.235,-15752.271,32,0.9,32,9.8