version: 66.06
glider: 139
mission: 8
dive: 652
start: 10 11 110 11 9 46
data:
$ID,139
$MISSION,8
$DIVE,652
$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,-2164854.2
$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
$GPS1,105930,2106.642,-15747.338,40,1.2,40,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-67.6
$GPS2,110926,2106.670,-15747.283,14,1.2,14,9.8
$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,92.1,7707,-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,12,begin dive
$GC,15,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.62,0.000,2,0.000,0.000,426,1553,2779,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.7,-4.3,12,110,12.65,2.35,-6.03,0.000,4,0.131,0.033,2788,2969,3109,0,0,0,0,0,0
$GC,144,-0.87,-116.8,19.1,-20.0,23,151,0.30,2.45,0.00,0.000,6,0.074,0.035,2855,1555,3110,0,0,0,0,0,0
$GC,348,-0.81,-116.8,42.6,-11.8,54,352,0.00,2.38,0.00,0.000,4,0.000,0.021,2855,2981,3111,0,0,0,0,0,0
$GC,379,-0.81,-116.8,46.5,-12.9,56,383,0.00,2.42,0.00,0.000,6,0.000,0.031,2855,1540,3112,0,0,0,0,0,0
$GC,645,-0.77,-116.8,76.7,-11.3,77,649,0.12,2.28,0.00,0.000,4,0.094,0.046,2882,229,3112,0,0,0,0,0,0
$GC,760,-0.81,-116.8,87.7,-8.8,85,764,0.00,2.17,0.00,0.000,6,0.000,0.018,2882,1617,3112,0,0,0,0,0,0
$GC,1030,-0.92,-116.8,106.7,-6.5,106,1035,0.15,2.40,0.00,0.000,4,0.053,0.044,2829,227,3113,0,0,0,0,0,0
$GC,1133,-0.92,-116.8,116.3,-10.0,113,1139,0.10,2.15,0.00,0.000,6,0.101,0.018,2850,1611,3113,0,0,0,0,0,0
$GC,1394,-0.98,-116.8,134.0,-5.6,134,1397,0.00,2.35,0.00,0.000,4,0.000,0.044,2850,238,3113,0,0,0,0,0,0
$GC,1461,-1.06,-116.8,138.6,-7.3,138,1467,0.10,2.17,0.00,0.000,6,0.032,0.018,2803,1611,3114,0,0,0,0,0,0
$GC,1722,-1.03,-116.8,162.2,-9.1,159,1727,0.10,2.38,0.00,0.000,4,0.103,0.046,2825,232,3113,0,0,0,0,0,0
$GC,1784,-1.03,-116.8,167.9,-8.1,163,1789,0.00,2.15,0.00,0.000,6,0.000,0.019,2825,1613,3114,0,0,0,0,0,0
$GC,2042,-1.03,-116.8,189.6,-8.9,184,2043,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1618,3114,0,0,0,0,0,0
$GC,2292,-1.03,-116.8,210.1,-7.7,200,2297,0.00,2.38,0.00,0.000,4,0.000,0.048,2825,231,3113,0,0,0,0,0,0
$GC,2345,-1.03,-116.8,214.2,-7.5,202,2349,0.00,2.17,0.00,0.000,6,0.000,0.020,2825,1602,3113,0,0,0,0,0,0
$GC,2666,-1.06,-116.8,239.0,-8.8,218,2670,0.00,2.38,0.00,0.000,4,0.000,0.048,2825,230,3113,0,0,0,0,0,0
$GC,2704,-1.06,-116.8,242.6,-9.6,219,2708,0.00,2.17,0.00,0.000,6,0.000,0.020,2825,1596,3113,0,0,0,0,0,0
$GC,3019,-1.06,-116.8,269.5,-8.9,234,3024,0.00,2.35,0.00,0.000,4,0.000,0.048,2825,229,3112,0,0,0,0,0,0
$GC,3040,-1.06,-116.8,271.3,-8.8,235,3044,0.00,2.08,0.00,0.000,6,0.000,0.021,2825,1558,3112,0,0,0,0,0,0
$GC,3374,-1.10,-116.8,294.5,-5.6,251,3376,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1562,3110,0,0,0,0,0,0
$GC,3696,-1.15,-116.8,316.6,-7.9,262,3701,0.12,2.25,0.00,0.000,4,0.064,0.026,2782,2919,3109,0,0,0,0,0,0
$GC,3731,-1.19,-116.8,319.9,-9.7,262,3738,0.00,2.30,0.00,0.000,6,0.000,0.037,2782,1551,3108,0,0,0,0,0,0
$GC,4076,-1.14,-116.8,354.8,-10.0,271,4080,0.00,2.28,0.00,0.000,4,0.000,0.052,2781,229,3106,0,0,0,0,0,0
$GC,4105,-1.05,-116.8,358.0,-10.9,271,4109,0.17,2.10,0.00,0.000,6,0.084,0.023,2820,1544,3106,0,0,0,0,0,0
$GC,4447,-1.10,-116.8,384.2,-7.5,280,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1548,3104,0,0,0,0,0,0
$GC,4771,-1.14,-116.8,410.6,-8.2,288,4775,0.00,2.28,0.00,0.000,4,0.000,0.054,2819,235,3102,0,0,0,0,0,0
$GC,4798,-1.14,-116.8,413.1,-9.1,288,4802,0.00,2.10,0.00,0.000,6,0.000,0.025,2819,1556,3102,0,0,0,0,0,0
$GC,5141,-1.19,-116.8,434.7,-5.7,297,5145,0.12,2.35,0.00,0.000,4,0.066,0.055,2779,231,3099,0,0,0,0,0,0
$GC,5185,-1.14,-116.8,437.9,-7.0,298,5190,0.10,2.12,0.00,0.000,6,0.104,0.025,2800,1546,3099,0,0,0,0,0,0
$STATE,5429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5429,begin apogee
$GC,5436,-0.31,0.0,452.0,5.5,304,5536,0.82,0.00,96.32,0.832,6,0.066,0.000,2979,1551,2630,0,0,0,0,0,0
$STATE,5537,end apogee,CONTROL_FINISHED_OK
$STATE,5537,begin climb
$GC,5539,1.18,116.8,452.7,0.0,306,5653,1.42,2.38,101.75,0.815,4,0.037,0.030,3309,2938,2153,0,0,0,0,0,0
$GC,5659,1.04,156.6,451.4,6.1,308,5701,0.15,2.42,36.00,0.785,6,0.104,0.040,3280,1547,1991,0,0,0,0,0,0
$GC,6034,0.91,156.6,418.8,8.6,318,6039,0.15,2.33,0.00,0.000,4,0.104,0.057,3251,237,1982,0,0,0,0,0,0
$GC,6097,0.77,156.6,413.6,8.1,319,6102,0.17,2.15,0.00,0.000,6,0.104,0.026,3217,1555,1977,0,0,0,0,0,0
$GC,6447,0.84,214.6,394.6,5.3,328,6504,0.00,2.45,50.35,0.793,4,0.000,0.058,3217,238,1753,0,0,0,0,0,0
$GC,6584,0.87,237.2,385.6,6.9,331,6610,0.10,2.15,20.48,0.752,6,0.081,0.028,3245,1552,1662,0,0,0,0,0,0
$GC,6949,0.87,237.2,356.9,8.0,340,6953,0.00,2.35,0.00,0.000,4,0.000,0.058,3245,238,1656,0,0,0,0,0,0
$GC,7011,0.80,237.2,350.1,11.9,341,7015,0.00,2.12,0.00,0.000,6,0.000,0.028,3245,1548,1654,0,0,0,0,0,0
$GC,7360,0.80,237.2,316.7,9.2,350,7364,0.00,2.35,0.00,0.000,4,0.000,0.058,3245,233,1653,0,0,0,0,0,0
$GC,7442,0.73,237.2,309.3,9.7,351,7447,0.17,2.17,0.00,0.000,6,0.099,0.028,3211,1556,1651,0,0,0,0,0,0
$GC,7756,0.88,281.4,288.5,5.9,362,7797,0.12,0.00,38.58,0.733,6,0.070,0.000,3248,1556,1482,0,0,0,0,0,0
$GC,8107,0.88,281.4,259.1,9.1,379,8111,0.00,2.33,0.00,0.000,4,0.000,0.055,3248,236,1476,0,0,0,0,0,0
$GC,8199,0.83,281.4,249.5,10.3,383,8203,0.00,2.15,0.00,0.000,6,0.000,0.027,3249,1551,1473,0,0,0,0,0,0
$GC,8535,0.87,281.4,219.9,8.5,399,8539,0.00,2.35,0.00,0.000,4,0.000,0.055,3249,229,1472,0,0,0,0,0,0
$GC,8595,0.87,281.4,213.8,9.7,401,8600,0.00,2.15,0.00,0.000,6,0.000,0.025,3248,1566,1471,0,0,0,0,0,0
$GC,8916,0.92,290.8,189.6,7.5,421,8930,0.00,2.38,7.82,0.562,4,0.000,0.054,3249,235,1444,0,0,0,0,0,0
$GC,8976,0.92,290.8,184.0,9.1,425,8980,0.00,2.12,0.00,0.000,6,0.000,0.025,3248,1547,1442,0,0,0,0,0,0
$GC,9239,0.98,290.8,163.4,8.9,445,9243,0.00,2.30,0.00,0.000,4,0.000,0.052,3249,228,1442,0,0,0,0,0,0
$GC,9305,0.98,290.8,156.4,10.2,450,9309,0.00,2.12,0.00,0.000,6,0.000,0.024,3249,1554,1440,0,0,0,0,0,0
$GC,9573,1.04,292.1,135.9,7.8,471,9578,0.12,0.00,0.00,0.000,6,0.064,0.000,3289,1559,1440,0,0,0,0,0,0
$GC,9831,1.04,292.1,111.4,8.7,492,9836,0.00,2.33,0.00,0.000,4,0.000,0.050,3289,228,1440,0,0,0,0,0,0
$GC,9926,1.00,292.1,101.6,10.0,499,9930,0.10,2.12,0.00,0.000,6,0.106,0.022,3268,1560,1439,0,0,0,0,0,0
$GC,10198,1.08,303.5,83.4,7.4,520,10215,0.00,2.38,12.23,0.512,4,0.000,0.049,3268,241,1391,0,0,0,0,0,0
$GC,10287,1.12,303.5,75.4,9.1,526,10292,0.12,2.08,0.00,0.000,6,0.063,0.021,3310,1560,1389,0,0,0,0,0,0
$GC,10549,1.14,319.8,54.6,7.2,546,10570,0.00,2.35,15.12,0.500,4,0.000,0.047,3309,224,1325,0,0,0,0,0,0
$GC,10673,1.09,319.8,43.7,9.2,555,10678,0.12,2.08,0.00,0.000,6,0.095,0.021,3284,1554,1322,0,0,0,0,0,0
$GC,10936,1.20,347.0,29.1,6.7,577,10966,0.12,0.00,24.20,0.490,6,0.062,0.000,3327,1557,1214,0,0,0,0,0,0
$GC,11163,1.20,347.0,9.9,9.7,627,11170,0.00,2.33,0.00,0.000,4,0.000,0.047,3327,234,1212,0,0,0,0,0,0
$GC,11213,1.10,347.0,5.3,10.5,637,11219,0.15,2.10,0.00,0.000,6,0.063,0.020,3290,1558,1209,0,0,0,0,0,0
$STATE,11233,end climb,SURFACE_DEPTH_REACHED
$STATE,11233,begin surface coast
$FINISH,0.8,1.022941
$STATE,11260,end surface coast,CONTROL_FINISHED_OK
$STATE,11260,begin surface
$SM_CCo,11282,37.20,0.469,0,0,957,410.14
$SM_GC,1.74,0.00,0.00,37.20,0.000,0.000,0.469,427,1555,957,-12.07,0.20,410.14
$IRIDIUM_FIX,2059.45,-15745.74,050100,111121
$TT8_MAMPS,0.029146
$HUMID,59.72
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.3,60.470
$10V_AH,10.1,49.332
$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,30.275,117.475,402.850,37.200,0.000,56.609,67.341,260.600,4.500,0.000,14.496,1257.773,7556.240,472.775,1916.279,711.390,0.000,1336.308,0.000,1897.152,0.000,29.265,0.000
$DEVICE_MAMPS,131.157,58.292,832.195,469.404,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,435.508,417.249,941.324,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,34900,647
$CAP_FILE_SIZE,126979,0
$CFSIZE,260165632,177823744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111010,141937,2106.352,-15746.976,31,2.0,31,9.8