version: 66.06
glider: 139
mission: 8
dive: 631
start: 10 8 110 15 0 14
data:
$ID,139
$MISSION,8
$DIVE,631
$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,-2164365.2
$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
$GPS1,145337,2106.436,-15751.350,30,1.8,30,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-73.9
$GPS2,145955,2106.502,-15751.346,12,1.7,17,9.8
$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,85.2,14617,-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,-116.8,0.0,0.0,0,82,0.00,0.00,-64.15,0.000,2,0.000,0.000,425,1558,2736,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.3,-3.2,12,109,12.68,0.00,-6.97,0.000,6,0.132,0.000,2787,1559,3110,0,0,0,0,0,0
$GC,313,-0.96,-116.8,46.2,-15.9,47,318,0.25,2.30,0.00,0.000,4,0.089,0.019,2842,2972,3112,0,0,0,0,0,0
$GC,333,-0.86,-116.8,49.3,-14.2,48,339,0.00,2.42,0.00,0.000,6,0.000,0.032,2842,1555,3112,0,0,0,0,0,0
$GC,594,-0.80,-116.8,82.5,-13.0,69,599,0.15,2.28,0.00,0.000,4,0.089,0.046,2874,237,3112,0,0,0,0,0,0
$GC,627,-0.80,-116.8,87.3,-14.2,71,631,0.00,2.12,0.00,0.000,6,0.000,0.018,2874,1606,3113,0,0,0,0,0,0
$GC,893,-0.85,-116.8,114.0,-8.5,92,897,0.00,2.38,0.00,0.000,4,0.000,0.044,2874,233,3113,0,0,0,0,0,0
$GC,964,-0.93,-116.8,121.0,-9.4,97,969,0.12,2.15,0.00,0.000,6,0.061,0.018,2828,1615,3114,0,0,0,0,0,0
$GC,1227,-0.93,-116.8,144.3,-8.4,117,1231,0.00,2.20,0.00,0.000,4,0.000,0.021,2827,2972,3114,0,0,0,0,0,0
$GC,1269,-1.05,-116.8,148.0,-7.5,120,1274,0.00,2.38,0.00,0.000,6,0.000,0.031,2828,1549,3114,0,0,0,0,0,0
$GC,1530,-1.05,-116.8,166.4,-7.3,140,1534,0.00,2.22,0.00,0.000,4,0.000,0.045,2827,234,3115,0,0,0,0,0,0
$GC,1570,-1.05,-116.8,169.8,-8.9,143,1574,0.00,2.15,0.00,0.000,6,0.000,0.018,2827,1608,3115,0,0,0,0,0,0
$GC,1837,-1.05,-116.8,194.3,-9.8,164,1841,0.00,2.35,0.00,0.000,4,0.000,0.045,2827,235,3115,0,0,0,0,0,0
$GC,1879,-1.05,-116.8,198.1,-9.8,167,1883,0.00,2.15,0.00,0.000,6,0.000,0.019,2827,1606,3115,0,0,0,0,0,0
$GC,2134,-1.08,-116.8,219.0,-6.9,180,2135,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1610,3115,0,0,0,0,0,0
$GC,2445,-1.08,-116.8,239.3,-6.3,195,2446,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1610,3114,0,0,0,0,0,0
$GC,2754,-1.13,-116.8,262.6,-7.6,210,2759,0.10,2.38,0.00,0.000,4,0.072,0.048,2790,237,3114,0,0,0,0,0,0
$GC,2787,-1.04,-116.8,266.0,-10.3,211,2792,0.15,2.17,0.00,0.000,6,0.086,0.021,2823,1604,3114,0,0,0,0,0,0
$GC,3106,-1.09,-116.8,289.7,-7.2,226,3111,0.00,2.35,0.00,0.000,4,0.000,0.049,2823,238,3113,0,0,0,0,0,0
$GC,3175,-1.12,-116.8,295.5,-8.4,229,3179,0.00,2.15,0.00,0.000,6,0.000,0.022,2823,1596,3113,0,0,0,0,0,0
$GC,3498,-1.16,-116.8,321.0,-8.4,239,3503,0.12,2.38,0.00,0.000,4,0.064,0.051,2782,236,3111,0,0,0,0,0,0
$GC,3551,-1.09,-116.8,327.1,-11.8,240,3555,0.15,2.10,0.00,0.000,6,0.087,0.023,2814,1551,3110,0,0,0,0,0,0
$GC,3872,-1.09,-116.8,352.2,-7.0,248,3877,0.00,2.25,0.00,0.000,4,0.000,0.026,2814,2930,3108,0,0,0,0,0,0
$GC,3892,-1.15,-116.8,353.8,-7.0,248,3896,0.00,2.33,0.00,0.000,6,0.000,0.037,2814,1553,3108,0,0,0,0,0,0
$GC,4237,-1.15,-116.8,375.6,-5.5,257,4241,0.00,2.28,0.00,0.000,4,0.000,0.053,2814,235,3106,0,0,0,0,0,0
$GC,4290,-1.15,-116.8,379.1,-6.4,258,4294,0.00,2.08,0.00,0.000,6,0.000,0.024,2814,1546,3106,0,0,0,0,0,0
$GC,4616,-1.18,-116.8,402.5,-7.7,266,4620,0.10,2.30,0.00,0.000,4,0.076,0.054,2780,237,3104,0,0,0,0,0,0
$GC,4649,-1.10,-116.8,406.0,-10.1,266,4654,0.15,2.12,0.00,0.000,6,0.089,0.025,2812,1556,3104,0,0,0,0,0,0
$GC,4982,-1.14,-116.8,432.1,-7.5,274,4986,0.00,2.30,0.00,0.000,4,0.000,0.055,2812,237,3102,0,0,0,0,0,0
$GC,5006,-1.14,-116.8,434.2,-8.1,274,5010,0.00,2.10,0.00,0.000,6,0.000,0.025,2812,1550,3102,0,0,0,0,0,0
$STATE,5221,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5221,begin apogee
$GC,5229,-0.31,0.0,451.3,7.8,280,5329,0.77,0.00,96.62,0.838,6,0.065,0.000,2980,1555,2630,0,0,0,0,0,0
$STATE,5329,end apogee,CONTROL_FINISHED_OK
$STATE,5329,begin climb
$GC,5332,1.18,116.8,453.6,0.0,282,5444,1.42,2.40,101.50,0.820,4,0.038,0.030,3309,2929,2153,0,0,0,0,0,0
$GC,5488,1.00,122.5,450.9,7.6,285,5501,0.20,2.42,6.32,0.623,6,0.097,0.041,3271,1550,2129,0,0,0,0,0,0
$GC,5833,0.88,122.5,419.9,9.2,294,5838,0.15,2.35,0.00,0.000,4,0.104,0.031,3241,2928,2121,0,0,0,0,0,0
$GC,5958,0.90,135.7,410.2,7.3,296,5974,0.00,2.42,11.45,0.724,6,0.000,0.041,3241,1543,2076,0,0,0,0,0,0
$GC,6304,0.86,136.5,384.9,7.9,305,6308,0.00,2.33,0.00,0.000,4,0.000,0.058,3241,235,2072,0,0,0,0,0,0
$GC,6352,0.76,136.5,380.0,10.1,306,6357,0.12,2.15,0.00,0.000,6,0.113,0.027,3218,1554,2069,0,0,0,0,0,0
$GC,6675,0.76,136.5,352.9,8.4,314,6680,0.00,2.30,0.00,0.000,4,0.000,0.030,3218,2937,2068,0,0,0,0,0,0
$GC,6786,0.88,184.7,346.0,5.7,316,6835,0.10,2.40,43.72,0.776,6,0.078,0.041,3247,1550,1876,0,0,0,0,0,0
$GC,7178,0.92,241.7,323.8,5.3,326,7235,0.00,2.42,50.40,0.761,4,0.000,0.059,3247,237,1644,0,0,0,0,0,0
$GC,7247,0.90,271.1,319.8,6.6,327,7280,0.00,2.17,26.80,0.729,6,0.000,0.028,3247,1553,1523,0,0,0,0,0,0
$GC,7595,0.90,271.1,290.1,9.0,338,7599,0.00,2.35,0.00,0.000,4,0.000,0.058,3247,231,1516,0,0,0,0,0,0
$GC,7668,0.83,271.1,282.1,11.2,341,7672,0.00,2.20,0.00,0.000,6,0.000,0.028,3247,1560,1512,0,0,0,0,0,0
$GC,7997,0.84,280.0,253.9,7.5,357,8009,0.00,2.42,7.05,0.586,4,0.000,0.057,3247,238,1488,0,0,0,0,0,0
$GC,8079,0.85,287.6,247.0,7.6,360,8093,0.00,2.15,8.10,0.601,6,0.000,0.026,3248,1566,1456,0,0,0,0,0,0
$GC,8427,0.91,310.5,224.4,6.9,377,8455,0.00,2.40,21.17,0.663,4,0.000,0.054,3247,231,1363,0,0,0,0,0,0
$GC,8506,0.91,310.5,217.0,10.1,380,8510,0.00,2.17,0.00,0.000,6,0.000,0.025,3248,1555,1360,0,0,0,0,0,0
$GC,8830,0.98,327.6,193.3,7.1,398,8852,0.00,2.42,15.48,0.617,4,0.000,0.053,3247,237,1293,0,0,0,0,0,0
$GC,8912,0.98,327.6,185.6,10.1,404,8916,0.00,2.15,0.00,0.000,6,0.000,0.025,3247,1555,1290,0,0,0,0,0,0
$GC,9185,1.04,327.6,161.2,9.2,425,9189,0.12,2.38,0.00,0.000,4,0.064,0.053,3287,227,1290,0,0,0,0,0,0
$GC,9254,0.98,327.6,152.8,11.5,430,9259,0.12,2.15,0.00,0.000,6,0.097,0.023,3262,1560,1288,0,0,0,0,0,0
$GC,9523,1.02,327.6,129.7,8.4,451,9527,0.00,2.30,0.00,0.000,4,0.000,0.049,3262,235,1288,0,0,0,0,0,0
$GC,9541,1.03,330.3,127.8,7.8,452,9548,0.00,2.12,0.00,0.000,6,0.000,0.023,3262,1557,1288,0,0,0,0,0,0
$GC,9802,1.08,330.3,106.4,9.0,473,9806,0.10,2.33,0.00,0.000,4,0.074,0.050,3298,235,1287,0,0,0,0,0,0
$GC,9836,1.02,330.3,102.3,12.5,475,9842,0.12,2.10,0.00,0.000,6,0.096,0.021,3272,1551,1287,0,0,0,0,0,0
$GC,10097,1.10,330.3,79.7,8.8,496,10098,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1556,1287,0,0,0,0,0,0
$GC,10350,1.19,330.3,57.9,8.3,516,10355,0.15,2.30,0.00,0.000,4,0.055,0.048,3321,234,1287,0,0,0,0,0,0
$GC,10417,1.11,330.3,49.9,12.1,521,10422,0.15,2.10,0.00,0.000,6,0.090,0.020,3290,1565,1287,0,0,0,0,0,0
$GC,10683,1.19,346.2,29.2,7.2,543,10707,0.00,2.38,16.58,0.477,4,0.000,0.048,3290,241,1217,0,0,0,0,0,0
$GC,10749,1.19,346.2,23.5,9.0,556,10756,0.00,2.10,0.00,0.000,6,0.000,0.020,3289,1561,1214,0,0,0,0,0,0
$GC,10953,1.29,362.7,8.5,7.2,602,10978,0.17,2.38,14.98,0.454,4,0.049,0.048,3346,235,1150,0,0,0,0,0,0
$GC,11000,1.21,362.7,3.7,10.7,610,11007,0.12,2.10,0.00,0.000,6,0.067,0.019,3315,1554,1148,0,0,0,0,0,0
$STATE,11012,end climb,SURFACE_DEPTH_REACHED
$STATE,11013,begin surface coast
$FINISH,0.8,1.002247
$STATE,11040,end surface coast,CONTROL_FINISHED_OK
$STATE,11040,begin surface
$SM_CCo,11063,30.00,0.467,0,0,958,410.14
$SM_GC,1.56,0.00,0.00,30.00,0.000,0.000,0.467,426,1553,958,-12.07,0.08,410.14
$IRIDIUM_FIX,2059.45,-15750.89,020100,111152
$TT8_MAMPS,0.029146
$HUMID,58.50
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.3,58.170
$10V_AH,10.0,47.550
$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,30.325,126.750,420.175,30.000,0.000,24.236,42.809,176.791,4.500,0.000,17.107,1220.136,7342.900,466.518,1886.454,552.758,0.000,1341.981,0.000,1855.561,0.000,29.250,0.000
$DEVICE_MAMPS,131.924,59.059,838.331,467.103,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,415.831,390.560,885.299,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,34894,618
$CAP_FILE_SIZE,126427,0
$CFSIZE,260165632,179101696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081010,180625,2106.378,-15750.948,40,2.0,40,9.8