version: 66.06
glider: 139
mission: 8
dive: 629
start: 10 8 110 8 36 59
data:
$ID,139
$MISSION,8
$DIVE,629
$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,-2164308.2
$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
$GPS1,082630,2106.556,-15751.622,42,1.4,42,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-74.6
$GPS2,083637,2106.532,-15751.676,11,1.5,16,9.8
$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,85.2,15191,-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,-116.8,0.0,0.0,0,83,0.00,0.00,-64.28,0.000,2,0.000,0.000,422,1548,2760,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.7,-3.9,12,110,12.73,0.00,-6.40,0.000,6,0.133,0.000,2786,1549,3109,0,0,0,0,0,0
$GC,311,-0.99,-116.8,45.4,-14.4,47,316,0.22,2.35,0.00,0.000,4,0.091,0.021,2833,2977,3112,0,0,0,0,0,0
$GC,343,-0.99,-116.8,49.7,-11.2,49,350,0.00,2.45,0.00,0.000,6,0.000,0.032,2833,1551,3112,0,0,0,0,0,0
$GC,605,-0.94,-116.8,78.4,-12.1,70,609,0.00,2.25,0.00,0.000,4,0.000,0.046,2833,231,3113,0,0,0,0,0,0
$GC,699,-0.94,-116.8,90.3,-9.6,77,703,0.00,2.17,0.00,0.000,6,0.000,0.018,2833,1614,3113,0,0,0,0,0,0
$GC,967,-0.94,-116.8,113.6,-9.1,98,971,0.00,2.40,0.00,0.000,4,0.000,0.044,2833,230,3113,0,0,0,0,0,0
$GC,1015,-0.90,-116.8,118.2,-9.7,101,1020,0.00,2.17,0.00,0.000,6,0.000,0.018,2833,1607,3113,0,0,0,0,0,0
$GC,1278,-0.90,-116.8,140.4,-6.8,122,1282,0.00,2.35,0.00,0.000,4,0.000,0.044,2833,232,3114,0,0,0,0,0,0
$GC,1298,-0.87,-116.8,141.9,-6.2,123,1304,0.12,2.15,0.00,0.000,6,0.098,0.019,2859,1601,3114,0,0,0,0,0,0
$GC,1559,-0.94,-116.8,157.4,-6.2,144,1563,0.00,2.38,0.00,0.000,4,0.000,0.046,2859,230,3114,0,0,0,0,0,0
$GC,1590,-1.01,-116.8,159.6,-7.7,146,1595,0.12,2.15,0.00,0.000,6,0.061,0.019,2811,1613,3114,0,0,0,0,0,0
$GC,1857,-1.01,-116.8,181.3,-8.1,167,1861,0.00,2.38,0.00,0.000,4,0.000,0.047,2811,232,3113,0,0,0,0,0,0
$GC,1903,-0.98,-116.8,185.8,-9.8,170,1910,0.08,2.17,0.00,0.000,6,0.071,0.020,2834,1596,3113,0,0,0,0,0,0
$GC,2175,-1.01,-116.8,207.8,-8.7,189,2179,0.00,2.35,0.00,0.000,4,0.000,0.048,2833,228,3113,0,0,0,0,0,0
$GC,2203,-1.01,-116.8,210.8,-8.8,190,2207,0.00,2.08,0.00,0.000,6,0.000,0.021,2834,1565,3113,0,0,0,0,0,0
$GC,2526,-1.05,-116.8,237.0,-7.7,206,2527,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1570,3112,0,0,0,0,0,0
$GC,2834,-1.10,-116.8,256.3,-5.7,221,2839,0.10,2.33,0.00,0.000,4,0.074,0.050,2794,227,3112,0,0,0,0,0,0
$GC,2935,-1.04,-116.8,266.4,-10.9,225,2939,0.12,2.10,0.00,0.000,6,0.092,0.021,2822,1552,3112,0,0,0,0,0,0
$GC,3259,-1.09,-116.8,295.9,-9.0,241,3263,0.00,2.28,0.00,0.000,4,0.000,0.050,2822,232,3111,0,0,0,0,0,0
$GC,3289,-1.09,-116.8,299.1,-10.1,242,3293,0.00,2.08,0.00,0.000,6,0.000,0.021,2822,1555,3110,0,0,0,0,0,0
$GC,3625,-1.14,-116.8,332.6,-10.2,251,3626,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1560,3109,0,0,0,0,0,0
$GC,3951,-1.19,-116.8,362.1,-8.0,259,3956,0.15,2.30,0.00,0.000,4,0.058,0.052,2773,237,3107,0,0,0,0,0,0
$GC,4023,-1.11,-116.8,368.6,-9.3,260,4028,0.17,2.08,0.00,0.000,6,0.084,0.023,2811,1549,3106,0,0,0,0,0,0
$GC,4364,-1.11,-116.8,392.6,-7.3,269,4365,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1554,3105,0,0,0,0,0,0
$GC,4691,-1.14,-116.8,418.9,-8.4,277,4695,0.00,2.33,0.00,0.000,4,0.000,0.056,2810,229,3102,0,0,0,0,0,0
$GC,4734,-1.14,-116.8,422.5,-7.9,278,4738,0.00,2.12,0.00,0.000,6,0.000,0.025,2810,1547,3102,0,0,0,0,0,0
$GC,5062,-1.18,-116.8,445.4,-7.0,286,5063,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1551,3100,0,0,0,0,0,0
$STATE,5139,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5140,begin apogee
$GC,5147,-0.31,0.0,451.2,7.0,288,5246,0.77,0.00,96.18,0.832,6,0.064,0.000,2979,1551,2630,0,0,0,0,0,0
$STATE,5247,end apogee,CONTROL_FINISHED_OK
$STATE,5247,begin climb
$GC,5250,1.18,116.8,453.1,0.0,290,5359,1.42,0.00,101.55,0.815,6,0.038,0.000,3309,1552,2153,0,0,0,0,0,0
$GC,5658,0.97,116.8,428.0,8.7,300,5663,0.22,2.35,0.00,0.000,4,0.096,0.030,3264,2931,2142,0,0,0,0,0,0
$GC,5777,0.93,138.9,419.1,6.9,302,5801,0.00,2.40,19.12,0.763,6,0.000,0.041,3264,1553,2062,0,0,0,0,0,0
$GC,6128,0.89,181.1,396.6,6.0,311,6173,0.00,2.42,37.90,0.789,4,0.000,0.031,3264,2925,1890,0,0,0,0,0,0
$GC,6227,0.89,181.1,388.9,8.8,313,6231,0.00,2.42,0.00,0.000,6,0.000,0.042,3264,1549,1890,0,0,0,0,0,0
$GC,6546,0.82,181.1,361.1,8.8,321,6551,0.17,2.35,0.00,0.000,4,0.101,0.057,3229,233,1885,0,0,0,0,0,0
$GC,6598,0.75,182.2,356.7,7.8,322,6602,0.00,2.15,0.00,0.000,6,0.000,0.028,3229,1544,1881,0,0,0,0,0,0
$GC,6918,0.78,206.0,335.5,6.8,330,6946,0.00,2.42,21.88,0.746,4,0.000,0.058,3229,235,1790,0,0,0,0,0,0
$GC,6995,0.74,206.0,329.1,9.9,331,6999,0.00,2.20,0.00,0.000,6,0.000,0.028,3229,1562,1785,0,0,0,0,0,0
$GC,7336,0.74,206.0,298.6,8.8,340,7340,0.00,2.35,0.00,0.000,4,0.000,0.056,3229,232,1784,0,0,0,0,0,0
$GC,7350,0.74,206.0,297.1,8.8,340,7354,0.00,2.15,0.00,0.000,6,0.000,0.028,3229,1549,1782,0,0,0,0,0,0
$GC,7667,0.80,233.6,271.8,6.6,355,7699,0.00,2.38,24.88,0.713,4,0.000,0.055,3229,233,1675,0,0,0,0,0,0
$GC,7753,0.80,233.6,265.5,8.0,358,7760,0.00,2.20,0.00,0.000,6,0.000,0.027,3229,1548,1672,0,0,0,0,0,0
$GC,8069,0.87,255.4,244.6,6.9,374,8091,0.00,0.00,19.75,0.680,6,0.000,0.000,3229,1549,1587,0,0,0,0,0,0
$GC,8400,0.97,283.7,219.9,6.6,390,8431,0.15,2.40,25.23,0.667,4,0.061,0.054,3272,228,1472,0,0,0,0,0,0
$GC,8469,0.86,283.7,213.9,12.0,393,8474,0.17,2.17,0.00,0.000,6,0.094,0.026,3238,1563,1469,0,0,0,0,0,0
$GC,8794,0.99,347.6,195.0,5.0,411,8853,0.12,0.00,55.90,0.657,6,0.066,0.000,3276,1568,1212,0,0,0,0,0,0
$GC,9101,0.99,347.6,167.6,9.4,436,9105,0.00,2.38,0.00,0.000,4,0.000,0.054,3275,229,1207,0,0,0,0,0,0
$GC,9149,0.90,347.6,162.4,11.5,439,9155,0.15,2.15,0.00,0.000,6,0.094,0.025,3246,1558,1204,0,0,0,0,0,0
$GC,9409,0.95,347.6,140.0,8.9,460,9413,0.00,2.35,0.00,0.000,4,0.000,0.053,3246,232,1204,0,0,0,0,0,0
$GC,9447,0.95,347.6,136.0,10.6,462,9454,0.00,2.15,0.00,0.000,6,0.000,0.024,3245,1554,1203,0,0,0,0,0,0
$GC,9708,1.00,347.6,113.9,9.5,483,9712,0.10,2.33,0.00,0.000,4,0.074,0.051,3280,225,1203,0,0,0,0,0,0
$GC,9767,0.91,347.6,106.8,14.0,487,9772,0.15,2.12,0.00,0.000,6,0.093,0.023,3250,1560,1202,0,0,0,0,0,0
$GC,10033,1.09,399.1,86.1,5.6,508,10083,0.17,2.42,42.78,0.560,4,0.052,0.050,3302,234,1001,0,0,0,0,0,0
$GC,10126,1.03,399.1,78.7,11.3,515,10131,0.15,2.10,0.00,0.000,6,0.090,0.022,3271,1556,998,0,0,0,0,0,0
$GC,10394,1.16,417.9,61.1,7.0,536,10417,0.15,2.40,16.33,0.507,4,0.056,0.050,3319,227,925,0,0,0,0,0,0
$GC,10487,1.11,417.9,50.5,12.7,542,10494,0.10,2.15,0.00,0.000,6,0.071,0.021,3294,1560,922,0,0,0,0,0,0
$GC,10749,1.18,417.9,28.5,8.4,565,10756,0.00,2.35,0.00,0.000,4,0.000,0.048,3293,229,922,0,0,0,0,0,0
$GC,10816,1.23,417.9,21.7,10.3,579,10823,0.00,2.12,0.00,0.000,6,0.000,0.020,3293,1557,920,0,0,0,0,0,0
$GC,11021,1.28,417.9,3.3,9.5,625,11028,0.15,2.35,0.00,0.000,4,0.054,0.048,3345,231,920,0,0,0,0,0,0
$STATE,11033,end climb,SURFACE_DEPTH_REACHED
$STATE,11033,begin surface coast
$FINISH,0.9,1.010234
$STATE,11064,end surface coast,CONTROL_FINISHED_OK
$STATE,11064,begin surface
$SM_CCo,11150,0.00,0.000,0,0,917,420.20
$SM_GC,1.75,12.57,0.00,0.00,0.027,0.000,0.000,427,1555,917,-11.99,0.17,420.20
$IRIDIUM_FIX,2057.14,-15748.75,020100,080843
$TT8_MAMPS,0.028379
$HUMID,60.04
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.3,57.954
$10V_AH,10.0,47.388
$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,30.575,113.275,461.475,0.000,0.000,61.525,87.323,256.373,4.500,0.000,17.012,1216.919,7484.391,495.562,1823.157,732.795,0.000,1322.036,0.000,1805.802,0.000,32.077,0.000
$DEVICE_MAMPS,132.691,57.525,832.195,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,426.417,408.187,909.781,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355724
$DATA_FILE_SIZE,34970,634
$CAP_FILE_SIZE,122651,0
$CFSIZE,260165632,179220480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081010,114358,2106.569,-15751.222,14,2.3,33,9.8