version: 66.06
glider: 139
mission: 8
dive: 635
start: 10 9 110 3 52 50
data:
$ID,139
$MISSION,8
$DIVE,635
$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,-2164475.2
$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
$GPS1,034556,2106.462,-15751.366,13,1.6,13,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-71.4
$GPS2,035232,2106.521,-15751.439,37,1.6,37,9.8
$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,85.3,14783,-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,-64.72,0.000,2,0.000,0.000,427,1539,2784,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.8,-4.4,12,110,12.60,0.00,-5.78,0.000,6,0.130,0.000,2785,1539,3109,0,0,0,0,0,0
$GC,307,-0.97,-116.8,51.5,-18.9,44,312,0.25,2.35,0.00,0.000,4,0.088,0.019,2840,2976,3111,0,0,0,0,0,0
$GC,334,-0.93,-116.8,56.0,-16.0,46,338,0.00,2.40,0.00,0.000,6,0.000,0.032,2840,1548,3111,0,0,0,0,0,0
$GC,600,-0.86,-116.8,92.7,-14.5,67,604,0.10,2.25,0.00,0.000,4,0.108,0.045,2861,235,3112,0,0,0,0,0,0
$GC,654,-0.86,-116.8,99.7,-11.5,71,659,0.00,2.15,0.00,0.000,6,0.000,0.018,2861,1611,3112,0,0,0,0,0,0
$GC,923,-0.86,-116.8,126.3,-8.6,92,928,0.00,2.35,0.00,0.000,4,0.000,0.044,2861,237,3113,0,0,0,0,0,0
$GC,963,-0.86,-116.8,129.6,-8.2,95,967,0.00,2.12,0.00,0.000,6,0.000,0.018,2861,1612,3113,0,0,0,0,0,0
$GC,1229,-0.92,-116.8,151.6,-9.2,116,1233,0.00,2.35,0.00,0.000,4,0.000,0.044,2861,238,3113,0,0,0,0,0,0
$GC,1257,-0.98,-116.8,154.4,-9.1,118,1262,0.12,2.12,0.00,0.000,6,0.060,0.018,2814,1615,3114,0,0,0,0,0,0
$GC,1517,-0.98,-116.8,179.1,-9.2,138,1522,0.10,2.38,0.00,0.000,4,0.103,0.045,2836,238,3114,0,0,0,0,0,0
$GC,1548,-0.98,-116.8,181.7,-7.8,140,1552,0.00,2.12,0.00,0.000,6,0.000,0.018,2836,1605,3114,0,0,0,0,0,0
$GC,1810,-1.02,-116.8,200.8,-7.9,160,1814,0.00,2.20,0.00,0.000,4,0.000,0.022,2836,2975,3114,0,0,0,0,0,0
$GC,1834,-1.11,-116.8,202.8,-7.3,161,1839,0.12,2.38,0.00,0.000,6,0.059,0.031,2786,1549,3114,0,0,0,0,0,0
$GC,2163,-1.06,-116.8,232.4,-8.0,177,2168,0.15,2.25,0.00,0.000,4,0.086,0.048,2819,237,3113,0,0,0,0,0,0
$GC,2225,-1.06,-116.8,237.1,-6.7,179,2230,0.00,2.15,0.00,0.000,6,0.000,0.020,2819,1601,3114,0,0,0,0,0,0
$GC,2542,-1.06,-116.8,257.0,-6.9,195,2546,0.00,2.35,0.00,0.000,4,0.000,0.048,2819,234,3114,0,0,0,0,0,0
$GC,2562,-1.06,-116.8,258.7,-7.5,196,2566,0.00,2.17,0.00,0.000,6,0.000,0.021,2819,1607,3114,0,0,0,0,0,0
$GC,2895,-1.09,-116.8,283.5,-7.9,212,2896,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1611,3112,0,0,0,0,0,0
$GC,3221,-1.13,-116.8,305.9,-5.9,226,3225,0.00,2.38,0.00,0.000,4,0.000,0.049,2819,232,3111,0,0,0,0,0,0
$GC,3311,-1.13,-116.8,311.4,-6.5,228,3315,0.00,2.15,0.00,0.000,6,0.000,0.022,2819,1591,3111,0,0,0,0,0,0
$GC,3640,-1.13,-116.8,332.8,-7.0,236,3644,0.00,2.17,0.00,0.000,4,0.000,0.026,2819,2931,3109,0,0,0,0,0,0
$GC,3669,-1.23,-116.8,335.3,-8.8,236,3673,0.17,2.33,0.00,0.000,6,0.050,0.037,2762,1549,3109,0,0,0,0,0,0
$GC,4006,-1.14,-116.8,368.9,-9.6,245,4011,0.17,2.28,0.00,0.000,4,0.084,0.051,2799,238,3106,0,0,0,0,0,0
$GC,4027,-1.07,-116.8,370.6,-7.9,245,4031,0.00,2.10,0.00,0.000,6,0.000,0.024,2799,1555,3106,0,0,0,0,0,0
$GC,4373,-1.07,-116.8,395.7,-7.3,254,4377,0.00,2.30,0.00,0.000,4,0.000,0.054,2799,234,3104,0,0,0,0,0,0
$GC,4396,-1.03,-116.8,397.7,-8.2,254,4401,0.12,2.10,0.00,0.000,6,0.094,0.025,2826,1551,3103,0,0,0,0,0,0
$GC,4740,-1.10,-116.8,420.8,-6.7,263,4741,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1556,3102,0,0,0,0,0,0
$GC,5064,-1.16,-116.8,441.3,-6.2,271,5068,0.12,2.33,0.00,0.000,4,0.066,0.057,2786,234,3099,0,0,0,0,0,0
$GC,5116,-1.12,-116.8,445.9,-8.5,272,5120,0.00,2.10,0.00,0.000,6,0.000,0.026,2786,1546,3099,0,0,0,0,0,0
$STATE,5187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5187,begin apogee
$GC,5195,-0.31,0.0,451.8,8.3,274,5294,0.90,0.00,95.95,0.834,6,0.067,0.000,2980,1550,2630,0,0,0,0,0,0
$STATE,5295,end apogee,CONTROL_FINISHED_OK
$STATE,5295,begin climb
$GC,5297,1.18,116.8,454.0,0.0,276,5412,1.45,2.38,101.85,0.820,4,0.035,0.030,3314,2934,2152,0,0,0,0,0,0
$GC,5464,1.01,138.7,452.4,6.9,280,5490,0.22,2.42,20.00,0.766,6,0.095,0.041,3270,1554,2064,0,0,0,0,0,0
$GC,5811,0.90,138.7,425.2,8.4,289,5815,0.12,2.35,0.00,0.000,4,0.110,0.031,3247,2938,2055,0,0,0,0,0,0
$GC,5831,0.85,146.8,423.6,7.5,289,5843,0.00,2.42,7.10,0.651,6,0.000,0.042,3246,1545,2031,0,0,0,0,0,0
$GC,6180,0.82,165.2,398.0,7.1,298,6204,0.00,2.45,17.48,0.761,4,0.000,0.029,3246,2931,1955,0,0,0,0,0,0
$GC,6226,0.86,200.4,394.8,6.3,299,6267,0.00,2.45,32.62,0.782,6,0.000,0.042,3247,1546,1811,0,0,0,0,0,0
$GC,6595,0.84,210.3,366.2,7.4,308,6611,0.00,2.35,9.25,0.686,4,0.000,0.057,3246,233,1772,0,0,0,0,0,0
$GC,6655,0.74,210.3,361.4,8.4,309,6659,0.17,2.15,0.00,0.000,6,0.099,0.028,3213,1546,1768,0,0,0,0,0,0
$GC,6969,0.88,277.9,345.1,4.8,317,7038,0.12,2.42,59.55,0.777,4,0.071,0.060,3248,228,1497,0,0,0,0,0,0
$GC,7086,0.80,277.9,335.9,9.5,319,7090,0.12,2.20,0.00,0.000,6,0.107,0.028,3225,1560,1492,0,0,0,0,0,0
$GC,7422,0.84,277.9,308.9,8.3,328,7426,0.00,2.38,0.00,0.000,4,0.000,0.058,3225,225,1488,0,0,0,0,0,0
$GC,7489,0.84,277.9,302.8,9.2,329,7493,0.00,2.17,0.00,0.000,6,0.000,0.028,3225,1556,1486,0,0,0,0,0,0
$GC,7819,0.93,305.2,281.7,6.7,344,7849,0.12,2.45,23.40,0.716,4,0.068,0.058,3262,234,1385,0,0,0,0,0,0
$GC,7952,0.87,305.2,267.6,11.4,349,7958,0.12,2.17,0.00,0.000,6,0.104,0.028,3238,1566,1380,0,0,0,0,0,0
$GC,8270,0.92,305.2,240.0,8.3,365,8274,0.00,2.35,0.00,0.000,4,0.000,0.056,3238,234,1379,0,0,0,0,0,0
$GC,8360,0.92,305.2,231.5,8.7,369,8364,0.00,2.15,0.00,0.000,6,0.000,0.027,3238,1546,1377,0,0,0,0,0,0
$GC,8693,1.00,318.7,206.1,7.3,385,8710,0.12,2.38,11.88,0.617,4,0.066,0.055,3276,233,1330,0,0,0,0,0,0
$GC,8804,0.93,318.7,194.2,10.7,390,8809,0.12,2.17,0.00,0.000,6,0.098,0.025,3252,1557,1326,0,0,0,0,0,0
$GC,9066,0.98,318.7,170.5,9.3,410,9067,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1561,1326,0,0,0,0,0,0
$GC,9315,1.04,318.7,146.6,9.2,430,9320,0.12,2.35,0.00,0.000,4,0.065,0.054,3291,229,1326,0,0,0,0,0,0
$GC,9421,0.97,318.7,134.1,12.2,437,9427,0.15,2.15,0.00,0.000,6,0.091,0.023,3260,1558,1324,0,0,0,0,0,0
$GC,9682,1.07,347.5,115.5,6.6,458,9712,0.10,2.38,25.23,0.572,4,0.075,0.051,3295,228,1212,0,0,0,0,0,0
$GC,9757,1.07,347.5,108.4,10.4,463,9761,0.00,2.15,0.00,0.000,6,0.000,0.022,3295,1562,1210,0,0,0,0,0,0
$GC,10017,1.07,347.5,86.2,8.1,483,10021,0.00,2.33,0.00,0.000,4,0.000,0.049,3295,226,1209,0,0,0,0,0,0
$GC,10083,1.07,347.5,79.8,9.8,488,10087,0.00,2.10,0.00,0.000,6,0.000,0.021,3295,1558,1208,0,0,0,0,0,0
$GC,10350,1.10,347.5,55.6,9.6,509,10354,0.00,2.30,0.00,0.000,4,0.000,0.048,3295,231,1208,0,0,0,0,0,0
$GC,10395,1.10,347.5,50.4,11.1,512,10399,0.00,2.08,0.00,0.000,6,0.000,0.021,3295,1558,1208,0,0,0,0,0,0
$GC,10658,1.16,352.2,29.8,7.7,532,10671,0.00,2.35,5.10,0.374,4,0.000,0.049,3295,237,1194,0,0,0,0,0,0
$GC,10754,1.16,353.5,22.0,7.8,552,10761,0.00,2.10,0.00,0.000,6,0.000,0.019,3295,1557,1193,0,0,0,0,0,0
$GC,10957,1.26,376.2,7.5,6.9,598,10987,0.12,2.38,21.55,0.464,4,0.061,0.048,3341,231,1095,0,0,0,0,0,0
$STATE,11001,end climb,SURFACE_DEPTH_REACHED
$STATE,11001,begin surface coast
$FINISH,1.1,1.022955
$STATE,11014,end surface coast,CONTROL_FINISHED_OK
$STATE,11014,begin surface
$SM_CCo,11039,24.12,0.462,0,0,957,410.14
$SM_GC,1.82,0.00,0.00,24.12,0.000,0.000,0.462,426,1538,957,-12.07,-0.34,410.14
$IRIDIUM_FIX,2057.14,-15750.89,030100,000001
$TT8_MAMPS,0.029146
$HUMID,58.78
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.20
$XPDR_PINGS,1
$24V_AH,23.3,58.598
$10V_AH,10.0,47.879
$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,31.050,126.925,430.950,24.125,0.000,30.459,37.589,169.108,4.750,0.000,37.253,1203.380,7368.891,476.734,1858.384,546.120,0.000,1334.981,0.000,1813.297,0.000,29.258,0.000
$DEVICE_MAMPS,130.390,59.826,834.496,461.734,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,409.332,383.158,850.272,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,34978,608
$CAP_FILE_SIZE,126222,0
$CFSIZE,260165632,178864128
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091010,065831,2106.680,-15751.018,39,2.0,39,9.8