version: 66.06
glider: 139
mission: 8
dive: 634
start: 10 9 110 0 35 27
data:
$ID,139
$MISSION,8
$DIVE,634
$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,-2164437.2
$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
$GPS1,002907,2106.435,-15750.440,42,1.2,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-71.4
$GPS2,003507,2106.466,-15750.536,10,1.2,15,9.8
$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,85.4,13218,-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,-64.72,0.000,2,0.000,0.000,430,1553,2777,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.9,-4.3,12,109,12.62,0.00,-6.05,0.000,6,0.132,0.000,2783,1553,3109,0,0,0,0,0,0
$GC,310,-0.94,-116.8,47.5,-16.7,47,315,0.25,2.33,0.00,0.000,4,0.090,0.020,2839,2971,3112,0,0,0,0,0,0
$GC,337,-0.86,-116.8,51.0,-12.2,49,342,0.12,2.42,0.00,0.000,6,0.094,0.033,2866,1548,3112,0,0,0,0,0,0
$GC,605,-0.86,-116.8,74.6,-7.6,70,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1548,3113,0,0,0,0,0,0
$GC,854,-0.91,-116.8,96.5,-8.8,90,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1548,3114,0,0,0,0,0,0
$GC,1108,-0.99,-116.8,116.8,-6.9,110,1112,0.15,2.28,0.00,0.000,4,0.054,0.046,2814,234,3115,0,0,0,0,0,0
$GC,1230,-0.95,-116.8,129.7,-10.2,119,1235,0.12,2.15,0.00,0.000,6,0.090,0.018,2842,1613,3115,0,0,0,0,0,0
$GC,1497,-0.99,-116.8,151.5,-8.3,140,1501,0.00,2.38,0.00,0.000,4,0.000,0.045,2842,230,3115,0,0,0,0,0,0
$GC,1570,-1.04,-116.8,157.8,-8.2,145,1574,0.00,2.17,0.00,0.000,6,0.000,0.018,2842,1612,3115,0,0,0,0,0,0
$GC,1833,-1.09,-116.8,178.8,-8.3,165,1839,0.12,0.00,0.00,0.000,6,0.062,0.000,2796,1616,3115,0,0,0,0,0,0
$GC,2093,-1.04,-116.8,208.2,-11.4,184,2098,0.12,2.38,0.00,0.000,4,0.092,0.048,2823,238,3115,0,0,0,0,0,0
$GC,2150,-1.04,-116.8,214.8,-11.0,186,2154,0.00,2.12,0.00,0.000,6,0.000,0.020,2824,1601,3115,0,0,0,0,0,0
$GC,2467,-1.04,-116.8,243.6,-8.3,201,2468,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1606,3115,0,0,0,0,0,0
$GC,2777,-1.07,-116.8,264.2,-6.8,216,2781,0.00,2.35,0.00,0.000,4,0.000,0.048,2824,235,3115,0,0,0,0,0,0
$GC,2855,-1.07,-116.8,269.9,-7.4,219,2859,0.00,2.17,0.00,0.000,6,0.000,0.021,2824,1610,3114,0,0,0,0,0,0
$GC,3178,-1.10,-116.8,292.1,-7.5,235,3182,0.00,2.40,0.00,0.000,4,0.000,0.049,2824,232,3114,0,0,0,0,0,0
$GC,3223,-1.10,-116.8,296.0,-8.7,237,3227,0.00,2.15,0.00,0.000,6,0.000,0.021,2824,1597,3113,0,0,0,0,0,0
$GC,3570,-1.15,-116.8,321.2,-6.8,247,3575,0.10,2.38,0.00,0.000,4,0.074,0.050,2785,234,3112,0,0,0,0,0,0
$GC,3642,-1.08,-116.8,327.3,-8.5,248,3647,0.12,2.10,0.00,0.000,6,0.091,0.022,2813,1557,3112,0,0,0,0,0,0
$GC,3982,-1.08,-116.8,353.2,-8.3,257,3987,0.00,2.28,0.00,0.000,4,0.000,0.051,2812,238,3110,0,0,0,0,0,0
$GC,3996,-1.08,-116.8,354.4,-8.2,257,4000,0.00,2.08,0.00,0.000,6,0.000,0.023,2812,1555,3110,0,0,0,0,0,0
$GC,4347,-1.12,-116.8,384.4,-8.2,266,4351,0.00,2.28,0.00,0.000,4,0.000,0.052,2812,238,3108,0,0,0,0,0,0
$GC,4403,-1.12,-116.8,389.3,-8.5,267,4407,0.00,2.10,0.00,0.000,6,0.000,0.023,2813,1555,3107,0,0,0,0,0,0
$GC,4718,-1.17,-116.8,410.7,-6.8,275,4722,0.00,2.28,0.00,0.000,4,0.000,0.028,2813,2933,3106,0,0,0,0,0,0
$GC,4761,-1.27,-116.8,413.4,-5.5,275,4767,0.17,2.38,0.00,0.000,6,0.051,0.038,2757,1547,3105,0,0,0,0,0,0
$GC,5095,-1.19,-116.8,438.3,-7.4,284,5100,0.15,2.33,0.00,0.000,4,0.091,0.056,2789,230,3103,0,0,0,0,0,0
$GC,5139,-1.15,-116.8,441.6,-6.6,285,5143,0.00,2.10,0.00,0.000,6,0.000,0.025,2788,1544,3103,0,0,0,0,0,0
$STATE,5303,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5303,begin apogee
$GC,5309,-0.31,0.0,452.2,6.4,289,5409,0.90,0.00,96.47,0.833,6,0.065,0.000,2983,1549,2630,0,0,0,0,0,0
$STATE,5410,end apogee,CONTROL_FINISHED_OK
$STATE,5410,begin climb
$GC,5413,1.18,116.8,453.5,0.0,291,5525,1.40,2.40,101.40,0.815,4,0.035,0.030,3311,2924,2152,0,0,0,0,0,0
$GC,5627,1.03,137.1,447.9,7.0,295,5652,0.17,2.42,18.58,0.759,6,0.099,0.041,3277,1542,2070,0,0,0,0,0,0
$GC,5968,0.94,175.3,427.0,6.2,304,6005,0.12,0.00,33.80,0.793,6,0.110,0.000,3253,1542,1915,0,0,0,0,0,0
$GC,6335,0.89,192.8,402.8,7.1,312,6353,0.00,0.00,16.02,0.752,6,0.000,0.000,3253,1542,1843,0,0,0,0,0,0
$GC,6657,0.84,197.8,379.0,7.7,320,6669,0.00,2.42,5.50,0.594,4,0.000,0.030,3253,2929,1822,0,0,0,0,0,0
$GC,6728,0.84,197.8,373.1,8.1,321,6732,0.00,2.42,0.00,0.000,6,0.000,0.044,3253,1550,1821,0,0,0,0,0,0
$GC,7073,0.80,197.8,341.9,9.0,330,7075,0.15,0.00,0.00,0.000,6,0.100,0.000,3223,1550,1820,0,0,0,0,0,0
$GC,7399,0.88,230.2,319.0,6.4,338,7431,0.00,0.00,29.80,0.749,6,0.000,0.000,3223,1550,1691,0,0,0,0,0,0
$GC,7723,0.97,260.4,298.1,6.5,346,7757,0.17,2.42,27.00,0.730,4,0.058,0.058,3271,237,1567,0,0,0,0,0,0
$GC,7818,0.86,260.4,289.4,10.0,350,7823,0.17,2.15,0.00,0.000,6,0.096,0.027,3237,1552,1563,0,0,0,0,0,0
$GC,8146,0.91,260.4,262.2,8.5,366,8150,0.00,2.33,0.00,0.000,4,0.000,0.055,3237,234,1561,0,0,0,0,0,0
$GC,8178,0.91,260.4,259.0,9.9,367,8182,0.00,2.17,0.00,0.000,6,0.000,0.027,3237,1557,1559,0,0,0,0,0,0
$GC,8495,1.04,322.8,238.2,5.1,382,8555,0.17,2.45,53.58,0.695,4,0.055,0.057,3286,238,1313,0,0,0,0,0,0
$GC,8651,0.92,322.8,224.7,9.3,388,8658,0.15,2.17,0.00,0.000,6,0.074,0.026,3251,1549,1308,0,0,0,0,0,0
$GC,8967,0.96,322.8,201.0,7.9,404,8971,0.00,2.35,0.00,0.000,4,0.000,0.054,3251,226,1307,0,0,0,0,0,0
$GC,9026,0.96,322.8,195.5,9.5,408,9030,0.00,2.17,0.00,0.000,6,0.000,0.025,3251,1558,1304,0,0,0,0,0,0
$GC,9291,1.00,322.8,172.4,8.7,429,9296,0.00,2.33,0.00,0.000,4,0.000,0.051,3251,232,1304,0,0,0,0,0,0
$GC,9305,1.00,322.8,170.8,8.9,430,9309,0.00,2.12,0.00,0.000,6,0.000,0.025,3251,1551,1304,0,0,0,0,0,0
$GC,9567,1.07,322.8,149.3,7.9,450,9572,0.15,2.30,0.00,0.000,4,0.058,0.051,3298,233,1304,0,0,0,0,0,0
$GC,9635,0.98,322.8,142.6,10.3,455,9639,0.17,2.12,0.00,0.000,6,0.088,0.023,3261,1569,1303,0,0,0,0,0,0
$GC,9902,1.10,333.9,124.4,7.4,476,9918,0.12,2.38,9.45,0.518,4,0.064,0.048,3303,227,1267,0,0,0,0,0,0
$GC,9942,1.04,333.9,120.2,10.1,478,9950,0.10,2.15,0.00,0.000,6,0.068,0.023,3278,1546,1266,0,0,0,0,0,0
$GC,10206,1.11,333.9,100.2,8.3,499,10210,0.00,2.28,0.00,0.000,4,0.000,0.049,3278,229,1266,0,0,0,0,0,0
$GC,10261,1.14,333.9,94.5,9.6,503,10265,0.00,2.10,0.00,0.000,6,0.000,0.021,3278,1563,1264,0,0,0,0,0,0
$GC,10524,1.22,333.9,70.9,8.8,523,10529,0.17,2.33,0.00,0.000,4,0.050,0.048,3333,230,1264,0,0,0,0,0,0
$GC,10552,1.13,333.9,67.7,12.4,525,10557,0.17,2.08,0.00,0.000,6,0.087,0.021,3297,1561,1264,0,0,0,0,0,0
$GC,10822,1.13,333.9,42.9,8.1,546,10826,0.00,2.30,0.00,0.000,4,0.000,0.047,3298,224,1264,0,0,0,0,0,0
$GC,10893,1.13,333.9,34.8,11.6,551,10900,0.00,2.10,0.00,0.000,6,0.000,0.019,3298,1554,1264,0,0,0,0,0,0
$GC,11158,1.21,351.0,14.8,7.1,604,11182,0.00,2.25,15.73,0.457,4,0.000,0.021,3298,2904,1198,0,0,0,0,0,0
$GC,11202,1.31,351.0,10.5,9.4,612,11209,0.12,2.35,0.00,0.000,6,0.029,0.033,3350,1543,1198,0,0,0,0,0,0
$STATE,11286,end climb,SURFACE_DEPTH_REACHED
$STATE,11286,begin surface coast
$FINISH,0.8,1.010218
$STATE,11320,end surface coast,CONTROL_FINISHED_OK
$STATE,11320,begin surface
$SM_CCo,11343,34.67,0.463,0,0,958,410.14
$SM_GC,1.67,0.00,0.00,34.67,0.000,0.000,0.463,427,1539,958,-12.07,-0.31,410.14
$IRIDIUM_FIX,2059.45,-15748.75,020100,212132
$TT8_MAMPS,0.029146
$HUMID,58.23
$INTERNAL_PRESSURE,9.30354
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.3,58.489
$10V_AH,10.0,47.799
$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,31.050,108.650,407.325,34.675,0.000,31.362,31.999,163.812,4.500,0.000,15.948,1247.201,7621.217,474.516,1868.950,523.328,0.000,1312.120,0.000,1844.117,0.000,29.248,0.000
$DEVICE_MAMPS,131.924,58.292,832.962,462.501,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,429.807,403.111,912.059,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,34928,638
$CAP_FILE_SIZE,122278,0
$CFSIZE,260165632,178925568
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091010,034556,2106.462,-15751.366,13,1.6,13,9.8