version: 66.06
glider: 139
mission: 8
dive: 632
start: 10 8 110 18 12 57
data:
$ID,139
$MISSION,8
$DIVE,632
$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,-2164383.8
$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
$GPS1,180625,2106.378,-15750.948,40,2.0,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-72.3
$GPS2,181237,2106.392,-15750.964,12,1.3,17,9.8
$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,84.6,13943,-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,-64.07,0.000,2,0.000,0.000,426,1554,2737,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.4,-3.5,12,109,12.65,0.00,-6.97,0.000,6,0.131,0.000,2786,1555,3110,0,0,0,0,0,0
$GC,309,-0.96,-116.8,44.4,-16.7,48,311,0.25,0.00,0.00,0.000,6,0.091,0.000,2837,1555,3113,0,0,0,0,0,0
$GC,561,-0.88,-116.8,77.6,-11.8,68,565,0.00,2.28,0.00,0.000,4,0.000,0.045,2837,238,3114,0,0,0,0,0,0
$GC,594,-0.78,-116.8,81.7,-11.7,70,599,0.20,2.12,0.00,0.000,6,0.081,0.019,2880,1609,3114,0,0,0,0,0,0
$GC,855,-0.82,-116.8,105.1,-9.0,90,859,0.00,2.35,0.00,0.000,4,0.000,0.044,2880,237,3114,0,0,0,0,0,0
$GC,896,-0.85,-116.8,108.5,-8.3,93,900,0.00,2.15,0.00,0.000,6,0.000,0.018,2880,1613,3114,0,0,0,0,0,0
$GC,1166,-0.95,-116.8,127.6,-7.3,114,1171,0.15,2.38,0.00,0.000,4,0.054,0.046,2827,237,3115,0,0,0,0,0,0
$GC,1214,-0.87,-116.8,132.6,-10.4,117,1220,0.15,2.15,0.00,0.000,6,0.085,0.018,2860,1606,3115,0,0,0,0,0,0
$GC,1474,-0.94,-116.8,156.8,-8.4,138,1479,0.00,2.35,0.00,0.000,4,0.000,0.044,2860,232,3116,0,0,0,0,0,0
$GC,1560,-1.02,-116.8,164.7,-9.1,144,1565,0.15,2.12,0.00,0.000,6,0.054,0.018,2808,1609,3116,0,0,0,0,0,0
$GC,1821,-0.99,-116.8,187.3,-8.4,164,1826,0.12,2.38,0.00,0.000,4,0.091,0.047,2835,234,3116,0,0,0,0,0,0
$GC,1841,-0.99,-116.8,189.3,-8.6,165,1847,0.00,2.15,0.00,0.000,6,0.000,0.019,2835,1605,3116,0,0,0,0,0,0
$GC,2113,-1.03,-116.8,210.1,-7.7,183,2118,0.00,2.35,0.00,0.000,4,0.000,0.046,2835,233,3116,0,0,0,0,0,0
$GC,2146,-1.03,-116.8,213.0,-7.9,184,2150,0.00,2.17,0.00,0.000,6,0.000,0.019,2835,1611,3116,0,0,0,0,0,0
$GC,2465,-1.08,-116.8,238.4,-8.3,199,2469,0.00,2.38,0.00,0.000,4,0.000,0.047,2835,238,3116,0,0,0,0,0,0
$GC,2521,-1.12,-116.8,243.5,-8.8,201,2526,0.12,2.15,0.00,0.000,6,0.061,0.020,2790,1606,3116,0,0,0,0,0,0
$GC,2838,-1.12,-116.8,276.0,-10.8,216,2839,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1610,3116,0,0,0,0,0,0
$GC,3145,-1.12,-116.8,304.1,-8.1,230,3149,0.00,2.38,0.00,0.000,4,0.000,0.049,2790,230,3115,0,0,0,0,0,0
$GC,3169,-1.06,-116.8,306.2,-8.9,230,3174,0.15,2.17,0.00,0.000,6,0.086,0.021,2824,1604,3115,0,0,0,0,0,0
$GC,3512,-1.11,-116.8,327.4,-6.4,239,3516,0.00,2.38,0.00,0.000,4,0.000,0.050,2824,238,3114,0,0,0,0,0,0
$GC,3563,-1.15,-116.8,331.6,-8.1,240,3568,0.12,2.15,0.00,0.000,6,0.064,0.023,2781,1600,3114,0,0,0,0,0,0
$GC,3891,-1.12,-116.8,361.3,-9.2,248,3893,0.12,0.00,0.00,0.000,6,0.094,0.000,2809,1604,3112,0,0,0,0,0,0
$GC,4212,-1.12,-116.8,386.1,-7.5,256,4213,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1604,3109,0,0,0,0,0,0
$GC,4537,-1.15,-116.8,410.7,-7.6,264,4542,0.00,2.40,0.00,0.000,4,0.000,0.054,2808,238,3107,0,0,0,0,0,0
$GC,4582,-1.15,-116.8,414.4,-8.6,265,4586,0.00,2.10,0.00,0.000,6,0.000,0.025,2809,1551,3106,0,0,0,0,0,0
$GC,4910,-1.18,-116.8,438.5,-7.0,273,4914,0.00,2.30,0.00,0.000,4,0.000,0.056,2808,235,3104,0,0,0,0,0,0
$GC,4929,-1.18,-116.8,440.0,-7.2,273,4933,0.00,2.10,0.00,0.000,6,0.000,0.026,2808,1549,3103,0,0,0,0,0,0
$STATE,5113,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5113,begin apogee
$GC,5120,-0.31,0.0,451.7,6.2,278,5221,0.80,0.00,97.00,0.838,6,0.064,0.000,2981,1553,2630,0,0,0,0,0,0
$STATE,5222,end apogee,CONTROL_FINISHED_OK
$STATE,5222,begin climb
$GC,5224,1.18,116.8,452.9,0.0,280,5337,1.42,2.35,101.65,0.818,4,0.038,0.031,3311,2922,2153,0,0,0,0,0,0
$GC,5486,1.00,116.8,442.8,8.2,285,5493,0.22,2.40,0.00,0.000,6,0.097,0.041,3267,1555,2147,0,0,0,0,0,0
$GC,5820,0.92,146.1,421.4,6.6,294,5847,0.00,0.00,25.38,0.786,6,0.000,0.000,3266,1554,2034,0,0,0,0,0,0
$GC,6143,0.84,166.0,398.4,7.0,302,6168,0.17,2.42,18.25,0.765,4,0.101,0.031,3233,2930,1953,0,0,0,0,0,0
$GC,6194,0.93,212.1,395.3,5.8,303,6242,0.00,2.42,42.50,0.792,6,0.000,0.043,3232,1544,1765,0,0,0,0,0,0
$GC,6562,0.93,212.1,368.8,8.0,312,6566,0.00,2.35,0.00,0.000,4,0.000,0.060,3232,232,1757,0,0,0,0,0,0
$GC,6610,0.87,212.1,364.6,8.6,313,6614,0.00,2.15,0.00,0.000,6,0.000,0.028,3232,1545,1754,0,0,0,0,0,0
$GC,6933,0.87,212.1,338.2,8.2,321,6934,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1550,1754,0,0,0,0,0,0
$GC,7258,0.90,233.1,314.2,7.0,329,7283,0.00,2.45,17.60,0.729,4,0.000,0.058,3232,228,1679,0,0,0,0,0,0
$GC,7313,0.86,233.1,310.1,8.6,330,7317,0.00,2.20,0.00,0.000,6,0.000,0.028,3232,1551,1675,0,0,0,0,0,0
$GC,7634,0.89,233.1,286.3,8.1,342,7638,0.00,2.35,0.00,0.000,4,0.000,0.057,3233,234,1674,0,0,0,0,0,0
$GC,7704,0.89,233.1,280.0,9.2,345,7708,0.00,2.17,0.00,0.000,6,0.000,0.028,3232,1551,1672,0,0,0,0,0,0
$GC,8030,0.95,236.2,254.7,7.8,361,8035,0.10,2.33,0.00,0.000,4,0.079,0.029,3263,2938,1671,0,0,0,0,0,0
$GC,8054,1.00,236.2,252.4,8.3,362,8059,0.00,2.40,0.00,0.000,6,0.000,0.041,3263,1549,1671,0,0,0,0,0,0
$GC,8382,1.01,247.8,225.1,7.4,378,8405,0.00,2.35,12.95,0.644,4,0.000,0.055,3263,229,1618,0,0,0,0,0,0
$GC,8467,0.97,247.8,217.8,9.0,381,8472,0.00,2.17,0.00,0.000,6,0.000,0.026,3262,1558,1615,0,0,0,0,0,0
$GC,8794,0.99,262.9,195.3,7.2,398,8810,0.00,0.00,14.20,0.623,6,0.000,0.000,3263,1563,1558,0,0,0,0,0,0
$GC,9057,0.99,262.9,174.6,8.4,419,9062,0.00,2.33,0.00,0.000,4,0.000,0.052,3263,232,1555,0,0,0,0,0,0
$GC,9112,0.94,262.9,169.3,10.0,423,9117,0.00,2.15,0.00,0.000,6,0.000,0.025,3263,1559,1553,0,0,0,0,0,0
$GC,9380,0.94,262.9,143.7,9.3,444,9384,0.00,2.33,0.00,0.000,4,0.000,0.051,3263,232,1553,0,0,0,0,0,0
$GC,9409,0.88,262.9,141.0,9.8,446,9414,0.10,2.12,0.00,0.000,6,0.110,0.024,3243,1559,1552,0,0,0,0,0,0
$GC,9676,0.98,281.5,119.1,7.1,467,9703,0.00,2.38,16.85,0.564,4,0.000,0.049,3243,226,1480,0,0,0,0,0,0
$GC,9744,1.06,301.0,114.2,7.0,471,9768,0.17,2.12,18.27,0.555,6,0.053,0.022,3297,1562,1402,0,0,0,0,0,0
$GC,10027,1.06,301.0,90.8,9.2,494,10031,0.00,2.33,0.00,0.000,4,0.000,0.049,3297,232,1400,0,0,0,0,0,0
$GC,10107,0.98,301.0,82.3,10.9,500,10112,0.17,2.10,0.00,0.000,6,0.087,0.021,3260,1550,1397,0,0,0,0,0,0
$GC,10376,1.16,352.3,65.3,5.6,521,10428,0.17,2.35,44.28,0.533,4,0.051,0.047,3314,225,1192,0,0,0,0,0,0
$GC,10437,1.16,352.3,60.4,9.3,526,10441,0.00,2.12,0.00,0.000,6,0.000,0.021,3314,1560,1190,0,0,0,0,0,0
$GC,10701,1.16,352.3,38.2,8.1,547,10705,0.00,2.33,0.00,0.000,4,0.000,0.048,3314,232,1189,0,0,0,0,0,0
$GC,10755,1.10,352.3,33.4,9.5,551,10760,0.12,2.08,0.00,0.000,6,0.094,0.020,3288,1555,1186,0,0,0,0,0,0
$GC,11021,1.20,363.0,12.7,7.4,605,11040,0.10,2.35,9.38,0.429,4,0.072,0.047,3327,237,1149,0,0,0,0,0,0
$GC,11101,1.13,363.0,4.6,10.6,621,11108,0.12,2.10,0.00,0.000,6,0.067,0.020,3295,1556,1146,0,0,0,0,0,0
$STATE,11113,end climb,SURFACE_DEPTH_REACHED
$STATE,11114,begin surface coast
$FINISH,1.0,1.023025
$STATE,11141,end surface coast,CONTROL_FINISHED_OK
$STATE,11141,begin surface
$SM_CCo,11164,30.23,0.467,0,0,957,410.14
$SM_GC,1.51,0.00,0.00,30.23,0.000,0.000,0.467,424,1555,957,-12.08,0.14,410.14
$IRIDIUM_FIX,2057.14,-15751.76,020100,151531
$TT8_MAMPS,0.029146
$HUMID,59.25
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.3,58.275
$10V_AH,10.1,47.632
$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,30.250,113.150,418.300,30.225,0.000,26.124,32.732,174.481,4.500,0.000,17.731,1217.427,7497.061,480.882,1825.253,542.283,0.000,1310.321,0.000,1808.826,0.000,29.267,0.000
$DEVICE_MAMPS,131.157,59.826,837.564,467.103,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,423.439,398.546,902.777,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355724
$DATA_FILE_SIZE,34888,629
$CAP_FILE_SIZE,120638,0
$CFSIZE,260165632,179044352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081010,212040,2106.647,-15750.176,10,2.4,29,9.8