version: 66.06
glider: 139
mission: 8
dive: 639
start: 10 9 110 16 36 46
data:
$ID,139
$MISSION,8
$DIVE,639
$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,-2164535.2
$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
$GPS1,163001,2107.230,-15750.624,43,1.2,43,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-72.7
$GPS2,163626,2107.279,-15750.619,13,1.2,13,9.8
$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,91.7,13581,-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,13,begin dive
$GC,15,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.25,0.000,2,0.000,0.000,428,1560,2780,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.8,-4.5,12,110,12.62,2.30,-5.97,0.000,4,0.132,0.054,2785,232,3109,0,0,0,0,0,0
$GC,119,0.24,-116.8,15.3,-26.5,17,126,1.45,2.20,0.00,0.000,6,0.078,0.020,3099,1608,3109,0,0,0,0,0,0
$GC,329,-0.32,-116.8,36.6,-10.4,55,336,0.50,2.38,0.00,0.000,4,0.041,0.041,2975,234,3111,0,0,0,0,0,0
$GC,366,-0.80,-116.8,39.8,-7.4,57,373,0.43,2.17,0.00,0.000,6,0.035,0.018,2868,1622,3111,0,0,0,0,0,0
$GC,625,-0.80,-116.8,62.1,-8.9,78,629,0.00,2.22,0.00,0.000,4,0.000,0.021,2867,2974,3111,0,0,0,0,0,0
$GC,657,-0.85,-116.8,64.6,-8.6,80,661,0.00,2.40,0.00,0.000,6,0.000,0.031,2867,1550,3111,0,0,0,0,0,0
$GC,921,-0.85,-116.8,89.6,-10.0,101,925,0.00,2.25,0.00,0.000,4,0.000,0.045,2867,232,3112,0,0,0,0,0,0
$GC,953,-0.85,-116.8,93.3,-11.3,103,959,0.00,2.12,0.00,0.000,6,0.000,0.018,2867,1610,3112,0,0,0,0,0,0
$GC,1214,-0.89,-116.8,118.5,-10.2,124,1218,0.00,2.38,0.00,0.000,4,0.000,0.044,2867,237,3112,0,0,0,0,0,0
$GC,1281,-0.93,-116.8,125.7,-11.4,129,1285,0.00,2.15,0.00,0.000,6,0.000,0.018,2867,1613,3113,0,0,0,0,0,0
$GC,1552,-1.03,-116.8,149.1,-6.5,150,1557,0.17,2.20,0.00,0.000,4,0.048,0.021,2807,2971,3113,0,0,0,0,0,0
$GC,1572,-1.07,-116.8,150.8,-6.8,151,1577,0.00,2.38,0.00,0.000,6,0.000,0.031,2807,1550,3113,0,0,0,0,0,0
$GC,1832,-1.07,-116.8,174.5,-9.5,172,1836,0.00,2.25,0.00,0.000,4,0.000,0.045,2807,234,3113,0,0,0,0,0,0
$GC,1883,-1.03,-116.8,179.4,-9.3,176,1887,0.00,2.12,0.00,0.000,6,0.000,0.018,2807,1606,3114,0,0,0,0,0,0
$GC,2151,-1.03,-116.8,201.0,-7.6,197,2155,0.00,2.35,0.00,0.000,4,0.000,0.045,2807,233,3113,0,0,0,0,0,0
$GC,2184,-0.96,-116.8,203.9,-7.6,198,2189,0.15,2.17,0.00,0.000,6,0.087,0.019,2840,1619,3113,0,0,0,0,0,0
$GC,2504,-1.04,-116.8,224.1,-6.7,213,2508,0.00,2.38,0.00,0.000,4,0.000,0.047,2840,234,3113,0,0,0,0,0,0
$GC,2604,-1.10,-116.8,231.3,-6.9,217,2609,0.15,2.15,0.00,0.000,6,0.054,0.020,2790,1603,3113,0,0,0,0,0,0
$GC,2930,-1.10,-116.8,259.4,-9.8,233,2936,0.10,2.38,0.00,0.000,4,0.103,0.048,2811,226,3113,0,0,0,0,0,0
$GC,2988,-1.10,-116.8,265.3,-10.2,235,2992,0.00,2.15,0.00,0.000,6,0.000,0.021,2811,1597,3113,0,0,0,0,0,0
$GC,3315,-1.10,-116.8,288.2,-6.3,251,3320,0.00,2.38,0.00,0.000,4,0.000,0.049,2811,233,3111,0,0,0,0,0,0
$GC,3354,-1.10,-116.8,291.0,-6.9,252,3361,0.00,2.12,0.00,0.000,6,0.000,0.022,2811,1556,3112,0,0,0,0,0,0
$GC,3668,-1.10,-116.8,312.9,-7.3,264,3672,0.00,2.25,0.00,0.000,4,0.000,0.026,2811,2923,3109,0,0,0,0,0,0
$GC,3687,-1.16,-116.8,314.3,-7.2,264,3691,0.00,2.33,0.00,0.000,6,0.000,0.036,2811,1544,3109,0,0,0,0,0,0
$GC,4034,-1.20,-116.8,341.6,-8.0,273,4038,0.00,2.25,0.00,0.000,4,0.000,0.052,2811,234,3107,0,0,0,0,0,0
$GC,4096,-1.20,-116.8,347.3,-9.1,274,4100,0.00,2.10,0.00,0.000,6,0.000,0.023,2811,1554,3107,0,0,0,0,0,0
$GC,4447,-1.23,-116.8,378.0,-8.8,283,4452,0.12,2.33,0.00,0.000,4,0.064,0.054,2770,226,3105,0,0,0,0,0,0
$GC,4480,-1.10,-116.8,381.6,-11.2,283,4485,0.17,2.12,0.00,0.000,6,0.086,0.024,2808,1548,3104,0,0,0,0,0,0
$GC,4813,-1.10,-116.8,408.5,-7.8,291,4817,0.00,2.33,0.00,0.000,4,0.000,0.055,2808,228,3102,0,0,0,0,0,0
$GC,4842,-1.10,-116.8,411.1,-8.8,291,4846,0.00,2.12,0.00,0.000,6,0.000,0.025,2808,1556,3101,0,0,0,0,0,0
$GC,5178,-1.14,-116.8,438.0,-7.9,300,5182,0.00,2.30,0.00,0.000,4,0.000,0.056,2808,237,3099,0,0,0,0,0,0
$GC,5205,-1.14,-116.8,440.5,-8.9,300,5209,0.00,2.12,0.00,0.000,6,0.000,0.025,2808,1552,3099,0,0,0,0,0,0
$STATE,5335,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5335,begin apogee
$GC,5342,-0.31,0.0,451.6,8.5,304,5441,0.80,0.00,96.32,0.834,6,0.065,0.000,2981,1556,2630,0,0,0,0,0,0
$STATE,5442,end apogee,CONTROL_FINISHED_OK
$STATE,5442,begin climb
$GC,5445,1.18,116.8,454.5,0.0,306,5558,1.42,2.35,101.70,0.818,4,0.037,0.030,3312,2929,2152,0,0,0,0,0,0
$GC,5688,1.02,134.3,448.1,7.1,311,5711,0.20,2.42,15.95,0.750,6,0.097,0.042,3273,1549,2082,0,0,0,0,0,0
$GC,6039,0.90,134.4,421.2,7.9,320,6044,0.12,2.38,0.00,0.000,4,0.112,0.031,3250,2933,2074,0,0,0,0,0,0
$GC,6096,0.92,146.2,416.5,7.4,321,6112,0.00,2.42,10.70,0.715,6,0.000,0.042,3250,1543,2033,0,0,0,0,0,0
$GC,6454,0.86,146.2,385.2,9.3,330,6455,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1543,2028,0,0,0,0,0,0
$GC,6778,0.83,166.7,360.8,7.0,338,6802,0.00,2.40,18.85,0.750,4,0.000,0.058,3249,242,1949,0,0,0,0,0,0
$GC,6837,0.70,166.7,356.4,8.7,339,6842,0.25,2.15,0.00,0.000,6,0.094,0.027,3201,1549,1946,0,0,0,0,0,0
$GC,7152,0.85,237.3,340.6,4.7,347,7223,0.15,2.40,63.00,0.774,4,0.065,0.031,3243,2939,1661,0,0,0,0,0,0
$GC,7249,0.90,237.3,333.8,8.3,349,7253,0.00,2.47,0.00,0.000,6,0.000,0.044,3242,1545,1660,0,0,0,0,0,0
$GC,7568,0.90,237.3,304.4,9.5,357,7572,0.00,2.35,0.00,0.000,4,0.000,0.059,3242,231,1655,0,0,0,0,0,0
$GC,7630,0.85,237.3,297.5,11.1,358,7637,0.00,2.20,0.00,0.000,6,0.000,0.028,3242,1548,1652,0,0,0,0,0,0
$GC,7947,0.85,237.3,268.5,8.8,374,7951,0.00,2.35,0.00,0.000,4,0.000,0.057,3242,226,1651,0,0,0,0,0,0
$GC,8007,0.81,237.3,262.2,10.2,376,8011,0.00,2.20,0.00,0.000,6,0.000,0.028,3242,1562,1649,0,0,0,0,0,0
$GC,8325,0.89,274.5,239.8,6.2,391,8362,0.00,2.45,31.45,0.693,4,0.000,0.056,3242,227,1509,0,0,0,0,0,0
$GC,8422,0.89,274.5,232.1,8.0,395,8426,0.00,2.17,0.00,0.000,6,0.000,0.027,3242,1556,1505,0,0,0,0,0,0
$GC,8749,0.96,285.0,207.9,7.4,411,8765,0.00,2.45,9.50,0.594,4,0.000,0.054,3242,227,1468,0,0,0,0,0,0
$GC,8847,0.96,285.0,199.5,8.7,416,8851,0.00,2.15,0.00,0.000,6,0.000,0.025,3242,1556,1464,0,0,0,0,0,0
$GC,9115,1.07,320.9,181.8,6.3,437,9155,0.17,2.42,32.12,0.638,4,0.054,0.054,3293,238,1320,0,0,0,0,0,0
$GC,9192,0.95,320.9,174.5,11.9,442,9197,0.17,2.15,0.00,0.000,6,0.092,0.025,3257,1560,1317,0,0,0,0,0,0
$GC,9454,1.01,328.4,152.7,7.6,462,9469,0.00,2.40,7.10,0.502,4,0.000,0.052,3258,232,1290,0,0,0,0,0,0
$GC,9547,1.01,328.4,145.1,8.3,468,9554,0.00,2.15,0.00,0.000,6,0.000,0.023,3258,1550,1288,0,0,0,0,0,0
$GC,9811,1.12,335.5,127.7,7.6,489,9821,0.15,0.00,7.45,0.495,6,0.058,0.000,3305,1551,1261,0,0,0,0,0,0
$GC,10072,1.12,335.5,101.4,11.2,510,10076,0.00,2.30,0.00,0.000,4,0.000,0.053,3305,232,1261,0,0,0,0,0,0
$GC,10140,1.03,335.5,91.7,15.6,515,10145,0.15,2.12,0.00,0.000,6,0.091,0.021,3273,1570,1259,0,0,0,0,0,0
$GC,10412,1.12,335.5,67.0,8.8,536,10413,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1575,1259,0,0,0,0,0,0
$GC,10664,1.23,342.3,46.2,7.6,556,10680,0.20,2.40,7.45,0.435,4,0.047,0.049,3337,229,1233,0,0,0,0,0,0
$GC,10742,1.14,342.3,37.1,13.1,561,10746,0.20,2.08,0.00,0.000,6,0.083,0.020,3295,1558,1231,0,0,0,0,0,0
$GC,11006,1.21,342.3,15.3,7.9,609,11013,0.00,2.33,0.00,0.000,4,0.000,0.048,3295,237,1231,0,0,0,0,0,0
$GC,11093,1.21,342.3,7.1,9.6,628,11100,0.00,2.08,0.00,0.000,6,0.000,0.019,3295,1556,1231,0,0,0,0,0,0
$STATE,11134,end climb,SURFACE_DEPTH_REACHED
$STATE,11134,begin surface coast
$FINISH,0.9,1.023417
$STATE,11170,end surface coast,CONTROL_FINISHED_OK
$STATE,11172,begin surface
$SM_CCo,11194,40.62,0.471,0,0,957,410.14
$SM_GC,1.67,0.00,0.00,40.62,0.000,0.000,0.471,424,1555,957,-12.08,0.14,410.14
$IRIDIUM_FIX,2059.45,-15748.75,030100,131350
$TT8_MAMPS,0.028379
$HUMID,59.21
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.00
$XPDR_PINGS,1
$24V_AH,23.3,59.026
$10V_AH,10.0,48.218
$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,32.150,131.600,401.600,40.625,0.000,31.148,34.696,187.533,4.750,0.000,14.030,1268.939,7361.839,478.931,1939.277,569.845,0.000,1362.660,0.000,1915.538,0.000,29.267,0.000
$DEVICE_MAMPS,131.924,59.059,833.729,470.938,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,434.059,417.635,952.347,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,34918,645
$CAP_FILE_SIZE,127786,0
$CFSIZE,260165632,178618368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091010,194516,2107.381,-15749.904,15,3.3,34,9.8