version: 66.06
glider: 139
mission: 8
dive: 670
start: 10 13 110 22 1 40
data:
$ID,139
$MISSION,8
$DIVE,670
$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,-2165319.2
$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,1530
$C_ROLL_CLIMB,1500
$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
$GPS1,215407,2104.395,-15745.859,35,1.7,35,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-73.3
$GPS2,220122,2104.445,-15745.826,13,2.3,32,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$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,200.2,13958,-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,-64.15,0.000,2,0.000,0.000,426,1499,2728,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.3,-3.3,12,115,12.60,2.22,-7.30,0.000,4,0.130,0.059,2784,239,3110,0,0,0,0,0,0
$GC,242,-0.95,-116.8,34.4,-15.0,41,247,0.28,2.10,0.00,0.000,6,0.087,0.018,2840,1583,3112,0,0,0,0,0,0
$GC,511,-0.88,-116.8,65.2,-11.6,62,514,0.00,2.33,0.00,0.000,4,0.000,0.044,2840,235,3113,0,0,0,0,0,0
$GC,574,-0.88,-116.8,73.6,-12.0,66,580,0.00,2.15,0.00,0.000,6,0.000,0.018,2841,1588,3113,0,0,0,0,0,0
$GC,836,-0.85,-116.8,99.8,-9.2,87,841,0.10,2.33,0.00,0.000,4,0.107,0.044,2862,237,3114,0,0,0,0,0,0
$GC,867,-0.85,-116.8,102.8,-9.4,89,871,0.00,2.12,0.00,0.000,6,0.000,0.018,2862,1595,3114,0,0,0,0,0,0
$GC,1132,-0.88,-116.8,126.4,-8.9,110,1133,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1600,3114,0,0,0,0,0,0
$GC,1384,-0.95,-116.8,146.7,-7.0,130,1388,0.00,2.33,0.00,0.000,4,0.000,0.045,2861,237,3115,0,0,0,0,0,0
$GC,1423,-1.00,-116.8,149.8,-8.3,133,1428,0.12,2.12,0.00,0.000,6,0.060,0.018,2815,1602,3115,0,0,0,0,0,0
$GC,1695,-1.00,-116.8,176.1,-7.7,154,1699,0.00,2.20,0.00,0.000,4,0.000,0.021,2815,2958,3116,0,0,0,0,0,0
$GC,1713,-1.00,-116.8,177.7,-7.2,155,1717,0.00,2.40,0.00,0.000,6,0.000,0.032,2815,1526,3116,0,0,0,0,0,0
$GC,1974,-1.00,-116.8,196.4,-9.0,175,1978,0.00,2.20,0.00,0.000,4,0.000,0.045,2814,237,3116,0,0,0,0,0,0
$GC,2039,-1.00,-116.8,203.2,-10.0,180,2043,0.00,2.12,0.00,0.000,6,0.000,0.019,2815,1590,3116,0,0,0,0,0,0
$GC,2368,-1.00,-116.8,228.5,-7.8,196,2372,0.00,2.33,0.00,0.000,4,0.000,0.046,2814,232,3115,0,0,0,0,0,0
$GC,2402,-1.00,-116.8,231.5,-9.2,197,2406,0.00,2.12,0.00,0.000,6,0.000,0.020,2815,1585,3116,0,0,0,0,0,0
$GC,2718,-1.00,-116.8,258.7,-7.8,212,2722,0.00,2.35,0.00,0.000,4,0.000,0.048,2814,231,3116,0,0,0,0,0,0
$GC,2812,-1.00,-116.8,266.5,-8.6,216,2816,0.00,2.15,0.00,0.000,6,0.000,0.021,2814,1584,3115,0,0,0,0,0,0
$GC,3141,-1.04,-116.8,294.1,-8.9,232,3145,0.00,2.35,0.00,0.000,4,0.000,0.048,2814,232,3114,0,0,0,0,0,0
$GC,3178,-1.04,-116.8,297.4,-8.8,233,3182,0.00,2.15,0.00,0.000,6,0.000,0.021,2815,1584,3114,0,0,0,0,0,0
$GC,3512,-1.08,-116.8,321.0,-7.2,242,3517,0.00,2.33,0.00,0.000,4,0.000,0.050,2814,238,3113,0,0,0,0,0,0
$GC,3559,-1.08,-116.8,325.0,-8.3,243,3563,0.00,2.15,0.00,0.000,6,0.000,0.022,2814,1580,3113,0,0,0,0,0,0
$GC,3885,-1.12,-116.8,352.1,-8.8,251,3889,0.00,2.33,0.00,0.000,4,0.000,0.051,2814,239,3111,0,0,0,0,0,0
$GC,3940,-1.12,-116.8,357.4,-8.7,252,3944,0.00,2.05,0.00,0.000,6,0.000,0.024,2814,1530,3110,0,0,0,0,0,0
$GC,4256,-1.17,-116.8,381.8,-7.5,260,4260,0.00,2.28,0.00,0.000,4,0.000,0.054,2814,235,3107,0,0,0,0,0,0
$GC,4293,-1.17,-116.8,384.9,-7.9,260,4297,0.00,2.08,0.00,0.000,6,0.000,0.025,2814,1530,3108,0,0,0,0,0,0
$GC,4625,-1.21,-116.8,410.3,-8.4,268,4629,0.12,2.28,0.00,0.000,4,0.065,0.055,2773,239,3105,0,0,0,0,0,0
$GC,4674,-1.14,-116.8,415.6,-11.0,269,4678,0.12,2.08,0.00,0.000,6,0.095,0.025,2800,1528,3104,0,0,0,0,0,0
$GC,4997,-1.14,-116.8,445.8,-9.2,277,5001,0.00,2.30,0.00,0.000,4,0.000,0.029,2801,2912,3102,0,0,0,0,0,0
$GC,5027,-1.22,-116.8,448.6,-9.9,277,5031,0.00,2.40,0.00,0.000,6,0.000,0.042,2800,1526,3101,0,0,0,0,0,0
$STATE,5075,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5075,begin apogee
$GC,5083,-0.31,0.0,453.4,9.3,279,5183,0.82,0.00,96.80,0.845,6,0.064,0.000,2979,1526,2630,0,0,0,0,0,0
$STATE,5184,end apogee,CONTROL_FINISHED_OK
$STATE,5184,begin climb
$GC,5186,1.18,116.8,457.6,0.0,281,5300,1.42,2.35,101.88,0.827,4,0.038,0.031,3309,2879,2152,0,0,0,0,0,0
$GC,5382,1.06,169.4,458.4,5.5,285,5435,0.15,2.42,46.75,0.810,6,0.104,0.041,3281,1497,1938,0,0,0,0,0,0
$GC,5776,0.92,169.4,427.7,8.1,295,5781,0.15,2.35,0.00,0.000,4,0.105,0.029,3252,2879,1929,0,0,0,0,0,0
$GC,5856,0.92,169.4,421.0,8.1,296,5860,0.00,2.42,0.00,0.000,6,0.000,0.043,3252,1500,1928,0,0,0,0,0,0
$GC,6188,0.85,169.4,393.6,8.3,304,6189,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1500,1925,0,0,0,0,0,0
$GC,6512,0.80,173.6,368.5,7.7,312,6517,0.15,2.28,0.00,0.000,4,0.101,0.059,3222,231,1923,0,0,0,0,0,0
$GC,6569,0.74,173.6,364.1,8.0,313,6573,0.00,2.08,0.00,0.000,6,0.000,0.028,3223,1498,1920,0,0,0,0,0,0
$GC,6884,0.81,227.1,345.3,5.5,321,6940,0.00,2.38,49.05,0.786,4,0.000,0.029,3223,2888,1703,0,0,0,0,0,0
$GC,6957,0.90,252.1,340.6,6.8,322,6986,0.10,2.47,23.33,0.747,6,0.077,0.043,3252,1495,1602,0,0,0,0,0,0
$GC,7296,0.87,252.1,309.2,10.2,331,7300,0.00,2.25,0.00,0.000,4,0.000,0.059,3252,234,1595,0,0,0,0,0,0
$GC,7341,0.78,252.1,304.3,11.0,332,7345,0.15,2.08,0.00,0.000,6,0.104,0.028,3224,1502,1592,0,0,0,0,0,0
$GC,7677,0.92,309.7,281.5,5.3,346,7733,0.12,2.33,49.50,0.741,4,0.070,0.059,3260,235,1367,0,0,0,0,0,0
$GC,7770,0.84,309.7,273.8,10.1,350,7775,0.12,2.10,0.00,0.000,6,0.105,0.028,3236,1508,1363,0,0,0,0,0,0
$GC,8102,0.90,317.5,247.4,7.5,366,8114,0.00,2.33,7.05,0.578,4,0.000,0.058,3235,236,1335,0,0,0,0,0,0
$GC,8185,0.90,317.5,240.4,9.0,369,8189,0.00,2.08,0.00,0.000,6,0.000,0.028,3235,1504,1332,0,0,0,0,0,0
$GC,8508,0.97,317.5,215.3,8.3,385,8512,0.12,2.28,0.00,0.000,4,0.067,0.056,3273,233,1331,0,0,0,0,0,0
$GC,8559,0.90,317.5,209.4,11.3,387,8564,0.15,2.05,0.00,0.000,6,0.100,0.025,3244,1503,1329,0,0,0,0,0,0
$GC,8888,0.95,317.5,181.3,8.5,410,8892,0.00,2.25,0.00,0.000,4,0.000,0.054,3243,230,1329,0,0,0,0,0,0
$GC,8918,0.95,317.5,178.8,9.9,412,8922,0.00,2.08,0.00,0.000,6,0.000,0.025,3244,1510,1329,0,0,0,0,0,0
$GC,9187,1.06,354.5,158.8,6.2,433,9227,0.17,2.35,32.33,0.623,4,0.054,0.053,3295,206,1183,0,0,0,0,0,0
$GC,9284,0.96,354.5,148.7,12.0,440,9288,0.17,2.10,0.00,0.000,6,0.090,0.023,3259,1513,1179,0,0,0,0,0,0
$GC,9552,1.03,354.5,124.7,10.2,461,9556,0.00,2.25,0.00,0.000,4,0.000,0.052,3259,229,1179,0,0,0,0,0,0
$GC,9612,1.07,354.5,117.1,11.8,465,9618,0.10,2.03,0.00,0.000,6,0.076,0.023,3296,1506,1177,0,0,0,0,0,0
$GC,9873,1.07,354.5,88.7,9.5,486,9877,0.00,2.22,0.00,0.000,4,0.000,0.022,3296,2875,1177,0,0,0,0,0,0
$GC,9901,1.13,354.5,86.0,8.2,488,9905,0.00,2.38,0.00,0.000,6,0.000,0.036,3296,1495,1177,0,0,0,0,0,0
$GC,10162,1.13,354.5,63.2,8.8,508,10166,0.00,2.17,0.00,0.000,4,0.000,0.049,3295,229,1177,0,0,0,0,0,0
$GC,10207,1.13,354.5,58.3,10.1,511,10211,0.00,2.03,0.00,0.000,6,0.000,0.021,3295,1498,1176,0,0,0,0,0,0
$GC,10475,1.21,368.5,39.5,7.3,532,10492,0.00,2.30,12.15,0.479,4,0.000,0.048,3295,230,1126,0,0,0,0,0,0
$GC,10562,1.25,368.5,32.6,8.2,538,10567,0.12,2.00,0.00,0.000,6,0.061,0.021,3340,1517,1124,0,0,0,0,0,0
$GC,10826,1.20,368.5,6.5,12.0,594,10834,0.15,2.28,0.00,0.000,4,0.088,0.048,3308,232,1124,0,0,0,0,0,0
$STATE,10853,end climb,SURFACE_DEPTH_REACHED
$STATE,10853,begin surface coast
$FINISH,2.6,1.023089
$STATE,10860,end surface coast,CONTROL_FINISHED_OK
$STATE,10860,begin surface
$SM_CCo,10886,28.15,0.476,0,0,957,410.14
$SM_GC,1.45,0.00,0.00,28.15,0.000,0.000,0.476,430,1529,957,-12.05,-0.03,410.14
$IRIDIUM_FIX,2057.14,-15743.60,070100,181815
$TT8_MAMPS,0.029146
$HUMID,60.59
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.3,62.527
$10V_AH,10.0,50.864
$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,29.950,129.050,418.825,28.150,0.000,23.146,39.633,220.213,4.500,0.000,33.732,1205.382,7206.801,461.856,1873.816,597.721,0.000,1325.813,0.000,1829.946,0.000,29.265,0.000
$DEVICE_MAMPS,130.390,59.059,845.234,475.540,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,404.551,381.521,850.313,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355828
$DATA_FILE_SIZE,34979,600
$CAP_FILE_SIZE,124733,0
$CFSIZE,260165632,176742400
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141010,010500,2103.275,-15747.062,41,1.5,47,9.8