version: 66.06
glider: 139
mission: 8
dive: 633
start: 10 8 110 21 27 16
data:
$ID,139
$MISSION,8
$DIVE,633
$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,-2164420.5
$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
$GPS1,212040,2106.647,-15750.176,10,2.4,29,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-72.9
$GPS2,212658,2106.611,-15750.208,16,2.7,35,9.8
$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,86.9,12683,-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,-64.53,0.000,2,0.000,0.000,424,1555,2761,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.6,-3.8,12,111,12.68,2.35,-6.43,0.000,4,0.132,0.032,2787,2972,3109,0,0,0,0,0,0
$GC,164,-1.06,-116.8,21.1,-14.9,27,171,0.12,2.45,0.00,0.000,6,0.081,0.034,2817,1557,3111,0,0,0,0,0,0
$GC,370,-0.92,-116.8,47.3,-11.9,52,374,0.15,2.30,0.00,0.000,4,0.094,0.047,2848,234,3112,0,0,0,0,0,0
$GC,398,-0.79,-116.8,50.6,-12.1,54,403,0.15,2.17,0.00,0.000,6,0.091,0.018,2879,1616,3113,0,0,0,0,0,0
$GC,667,-0.83,-116.8,73.2,-8.4,75,671,0.00,2.40,0.00,0.000,4,0.000,0.045,2879,227,3113,0,0,0,0,0,0
$GC,707,-0.83,-116.8,77.0,-10.0,78,710,0.00,2.15,0.00,0.000,6,0.000,0.018,2879,1607,3113,0,0,0,0,0,0
$GC,973,-0.94,-116.8,98.5,-7.6,99,978,0.15,2.38,0.00,0.000,4,0.054,0.044,2825,232,3114,0,0,0,0,0,0
$GC,1077,-0.89,-116.8,109.0,-10.3,106,1084,0.10,2.17,0.00,0.000,6,0.065,0.018,2852,1600,3114,0,0,0,0,0,0
$GC,1339,-0.95,-116.8,130.9,-8.5,127,1343,0.00,2.35,0.00,0.000,4,0.000,0.045,2852,227,3115,0,0,0,0,0,0
$GC,1382,-1.00,-116.8,134.9,-8.8,130,1387,0.00,2.08,0.00,0.000,6,0.000,0.018,2852,1557,3115,0,0,0,0,0,0
$GC,1643,-1.07,-116.8,153.6,-7.4,150,1648,0.15,2.30,0.00,0.000,4,0.054,0.047,2798,234,3115,0,0,0,0,0,0
$GC,1681,-0.97,-116.8,157.9,-11.1,152,1687,0.15,2.08,0.00,0.000,6,0.063,0.019,2837,1550,3115,0,0,0,0,0,0
$GC,1944,-1.00,-116.8,181.9,-8.7,173,1948,0.00,2.22,0.00,0.000,4,0.000,0.022,2837,2920,3115,0,0,0,0,0,0
$GC,1958,-1.06,-116.8,183.6,-8.7,174,1963,0.00,2.30,0.00,0.000,6,0.000,0.031,2836,1542,3115,0,0,0,0,0,0
$GC,2238,-1.10,-116.8,203.6,-7.4,194,2243,0.12,2.22,0.00,0.000,4,0.061,0.047,2791,238,3115,0,0,0,0,0,0
$GC,2307,-1.03,-116.8,211.0,-10.3,197,2311,0.15,2.05,0.00,0.000,6,0.087,0.020,2824,1545,3116,0,0,0,0,0,0
$GC,2641,-1.03,-116.8,238.2,-8.7,213,2642,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1549,3114,0,0,0,0,0,0
$GC,2947,-1.06,-116.8,259.8,-6.3,228,2948,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1549,3113,0,0,0,0,0,0
$GC,3259,-1.10,-116.8,280.0,-7.0,243,3263,0.00,2.25,0.00,0.000,4,0.000,0.048,2824,238,3113,0,0,0,0,0,0
$GC,3278,-1.10,-116.8,281.8,-7.6,243,3284,0.00,2.05,0.00,0.000,6,0.000,0.022,2824,1554,3113,0,0,0,0,0,0
$GC,3613,-1.14,-116.8,306.6,-8.1,258,3617,0.00,2.28,0.00,0.000,4,0.000,0.049,2824,230,3112,0,0,0,0,0,0
$GC,3680,-1.17,-116.8,312.2,-8.7,259,3685,0.12,2.08,0.00,0.000,6,0.064,0.022,2781,1549,3112,0,0,0,0,0,0
$GC,4027,-1.13,-116.8,343.2,-8.9,268,4032,0.10,2.28,0.00,0.000,4,0.105,0.025,2803,2924,3109,0,0,0,0,0,0
$GC,4072,-1.22,-116.8,346.9,-7.7,269,4077,0.00,2.33,0.00,0.000,6,0.000,0.036,2803,1545,3110,0,0,0,0,0,0
$GC,4400,-1.22,-116.8,371.0,-7.2,277,4404,0.00,2.25,0.00,0.000,4,0.000,0.051,2803,235,3107,0,0,0,0,0,0
$GC,4480,-1.22,-116.8,377.6,-8.5,278,4484,0.00,2.10,0.00,0.000,6,0.000,0.024,2803,1557,3108,0,0,0,0,0,0
$GC,4818,-1.22,-116.8,401.5,-7.2,287,4822,0.00,2.25,0.00,0.000,4,0.000,0.028,2803,2920,3105,0,0,0,0,0,0
$GC,4870,-1.31,-116.8,405.6,-7.6,288,4875,0.17,2.35,0.00,0.000,6,0.051,0.039,2748,1543,3104,0,0,0,0,0,0
$GC,5190,-1.20,-116.8,437.1,-10.2,296,5195,0.17,2.28,0.00,0.000,4,0.087,0.055,2785,237,3103,0,0,0,0,0,0
$GC,5238,-1.16,-116.8,442.3,-10.0,297,5242,0.00,2.10,0.00,0.000,6,0.000,0.025,2785,1544,3103,0,0,0,0,0,0
$STATE,5320,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5320,begin apogee
$GC,5328,-0.31,0.0,450.3,9.5,299,5428,0.90,0.00,96.85,0.831,6,0.067,0.000,2980,1549,2630,0,0,0,0,0,0
$STATE,5429,end apogee,CONTROL_FINISHED_OK
$STATE,5429,begin climb
$GC,5431,1.18,116.8,454.0,0.0,301,5544,1.45,2.42,101.45,0.815,4,0.035,0.030,3314,2934,2153,0,0,0,0,0,0
$GC,5551,1.11,218.4,457.4,3.3,304,5652,0.12,2.42,88.80,0.805,6,0.109,0.039,3291,1543,1739,0,0,0,0,0,0
$GC,5976,0.96,218.4,412.1,12.1,315,5981,0.15,2.33,0.00,0.000,4,0.104,0.058,3261,238,1730,0,0,0,0,0,0
$GC,6014,0.81,218.4,406.4,15.2,315,6021,0.17,2.17,0.00,0.000,6,0.102,0.027,3228,1553,1728,0,0,0,0,0,0
$GC,6347,0.81,218.4,369.9,11.2,324,6351,0.00,2.30,0.00,0.000,4,0.000,0.030,3228,2933,1726,0,0,0,0,0,0
$GC,6393,0.89,218.4,364.9,10.2,325,6398,0.00,2.40,0.00,0.000,6,0.000,0.044,3228,1549,1726,0,0,0,0,0,0
$GC,6717,0.92,245.3,340.3,6.7,333,6745,0.10,2.42,22.15,0.744,4,0.077,0.058,3259,235,1630,0,0,0,0,0,0
$GC,6855,0.81,245.3,327.9,9.9,336,6859,0.15,2.15,0.00,0.000,6,0.102,0.028,3230,1550,1625,0,0,0,0,0,0
$GC,7183,0.85,245.3,302.3,8.1,344,7187,0.00,2.35,0.00,0.000,4,0.000,0.058,3229,233,1624,0,0,0,0,0,0
$GC,7250,0.85,245.3,295.6,10.2,346,7254,0.00,2.15,0.00,0.000,6,0.000,0.028,3229,1548,1622,0,0,0,0,0,0
$GC,7580,0.90,245.3,265.3,8.2,362,7581,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1553,1621,0,0,0,0,0,0
$GC,7892,1.04,316.3,247.1,4.7,377,7964,0.22,2.40,61.88,0.706,4,0.049,0.054,3291,233,1339,0,0,0,0,0,0
$GC,8021,0.91,316.3,237.0,9.5,382,8029,0.17,2.20,0.00,0.000,6,0.077,0.026,3251,1554,1334,0,0,0,0,0,0
$GC,8337,0.97,339.3,217.8,6.9,398,8364,0.00,2.42,20.02,0.641,4,0.000,0.055,3251,235,1246,0,0,0,0,0,0
$GC,8392,0.93,339.3,212.9,10.3,400,8397,0.00,2.17,0.00,0.000,6,0.000,0.025,3251,1563,1242,0,0,0,0,0,0
$GC,8716,0.96,339.3,183.9,9.8,421,8720,0.00,2.35,0.00,0.000,4,0.000,0.053,3251,226,1242,0,0,0,0,0,0
$GC,8790,0.96,339.3,175.4,10.6,426,8796,0.00,2.20,0.00,0.000,6,0.000,0.024,3251,1568,1239,0,0,0,0,0,0
$GC,9051,1.01,339.3,151.0,9.5,447,9056,0.00,2.35,0.00,0.000,4,0.000,0.052,3251,232,1239,0,0,0,0,0,0
$GC,9089,1.01,339.3,146.6,11.0,450,9094,0.00,2.10,0.00,0.000,6,0.000,0.024,3251,1547,1238,0,0,0,0,0,0
$GC,9357,1.05,339.3,124.6,8.1,471,9363,0.12,0.00,0.00,0.000,6,0.065,0.000,3292,1553,1238,0,0,0,0,0,0
$GC,9616,1.05,339.3,98.6,10.7,492,9620,0.00,2.30,0.00,0.000,4,0.000,0.051,3291,227,1238,0,0,0,0,0,0
$GC,9725,1.00,339.3,87.3,10.7,500,9730,0.12,2.12,0.00,0.000,6,0.096,0.022,3265,1558,1237,0,0,0,0,0,0
$GC,9994,1.14,356.1,68.0,7.1,521,10016,0.15,2.35,14.55,0.509,4,0.057,0.048,3315,232,1177,0,0,0,0,0,0
$GC,10068,1.10,356.1,60.7,10.8,526,10073,0.12,2.10,0.00,0.000,6,0.095,0.021,3290,1554,1175,0,0,0,0,0,0
$GC,10336,1.19,369.2,40.5,7.3,547,10354,0.00,2.38,12.38,0.473,4,0.000,0.048,3290,234,1123,0,0,0,0,0,0
$GC,10382,1.19,369.2,36.5,10.6,550,10386,0.00,2.10,0.00,0.000,6,0.000,0.021,3290,1565,1121,0,0,0,0,0,0
$GC,10646,1.28,373.1,15.4,7.7,598,10660,0.17,2.38,4.62,0.351,4,0.049,0.048,3347,233,1107,0,0,0,0,0,0
$GC,10710,1.15,373.1,7.3,13.5,611,10718,0.20,2.10,0.00,0.000,6,0.067,0.021,3301,1553,1106,0,0,0,0,0,0
$STATE,10748,end climb,SURFACE_DEPTH_REACHED
$STATE,10748,begin surface coast
$FINISH,1.0,1.005697
$STATE,10782,end surface coast,CONTROL_FINISHED_OK
$STATE,10783,begin surface
$SM_CCo,10805,25.17,0.466,0,0,957,410.14
$SM_GC,1.74,0.00,0.00,25.17,0.000,0.000,0.466,430,1552,957,-12.05,0.06,410.14
$IRIDIUM_FIX,2059.45,-15748.75,020100,181816
$TT8_MAMPS,0.028379
$HUMID,60.67
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.3,58.383
$10V_AH,10.0,47.716
$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,31.150,121.700,422.700,25.175,0.000,29.916,31.382,164.620,4.500,0.000,36.116,1226.740,7054.459,472.979,1911.586,538.491,0.000,1339.969,0.000,1868.805,0.000,29.257,0.000
$DEVICE_MAMPS,131.924,58.292,831.428,465.569,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,421.154,402.672,916.577,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355740
$DATA_FILE_SIZE,34950,626
$CAP_FILE_SIZE,125241,0
$CFSIZE,260165632,178982912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091010,002907,2106.435,-15750.440,42,1.2,42,9.8