version: 66.06
glider: 139
mission: 8
dive: 641
start: 10 9 110 23 22 4
data:
$ID,139
$MISSION,8
$DIVE,641
$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,-2164581.8
$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
$GPS1,230254,2107.173,-15749.273,44,0.9,62,9.8
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-70.9
$GPS2,232144,2107.004,-15749.413,11,2.0,11,9.8
$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,91.3,11436,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.18,-116.8,0.0,0.0,0,84,0.00,0.00,-63.88,0.000,2,0.000,0.000,425,1552,2756,0,0,0,0,0,0
$GC,88,-1.18,-116.8,3.5,-3.5,12,112,12.65,2.28,-6.55,0.000,4,0.132,0.053,2786,225,3108,0,0,0,0,0,0
$GC,133,-0.27,-116.8,16.6,-27.5,20,141,0.93,2.20,0.00,0.000,6,0.078,0.019,2988,1598,3110,0,0,0,0,0,0
$GC,337,-0.74,-116.8,29.5,-6.2,66,344,0.43,2.38,0.00,0.000,4,0.040,0.041,2878,240,3111,0,0,0,0,0,0
$GC,371,-0.83,-116.8,32.0,-8.5,70,375,0.00,2.05,0.00,0.000,6,0.000,0.019,2878,1561,3111,0,0,0,0,0,0
$GC,639,-0.89,-116.8,53.1,-7.2,91,643,0.00,2.20,0.00,0.000,4,0.000,0.021,2878,2915,3111,0,0,0,0,0,0
$GC,662,-1.04,-116.8,55.0,-6.9,92,669,0.20,2.33,0.00,0.000,6,0.025,0.031,2805,1550,3111,0,0,0,0,0,0
$GC,925,-0.97,-116.8,81.6,-10.4,113,930,0.15,2.25,0.00,0.000,4,0.087,0.044,2838,233,3112,0,0,0,0,0,0
$GC,996,-0.97,-116.8,89.3,-9.3,118,1000,0.00,2.03,0.00,0.000,6,0.000,0.018,2838,1552,3112,0,0,0,0,0,0
$GC,1261,-0.97,-116.8,113.7,-8.7,139,1265,0.00,2.25,0.00,0.000,4,0.000,0.045,2838,234,3112,0,0,0,0,0,0
$GC,1287,-0.97,-116.8,116.2,-9.4,141,1291,0.00,2.05,0.00,0.000,6,0.000,0.018,2838,1556,3112,0,0,0,0,0,0
$GC,1553,-1.00,-116.8,139.2,-8.0,162,1557,0.00,2.25,0.00,0.000,4,0.000,0.045,2838,237,3112,0,0,0,0,0,0
$GC,1599,-1.00,-116.8,143.4,-8.3,165,1603,0.00,2.05,0.00,0.000,6,0.000,0.019,2838,1554,3112,0,0,0,0,0,0
$GC,1864,-1.04,-116.8,161.6,-7.1,186,1865,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1559,3112,0,0,0,0,0,0
$GC,2117,-1.09,-116.8,181.8,-8.5,206,2122,0.12,2.28,0.00,0.000,4,0.061,0.047,2793,235,3112,0,0,0,0,0,0
$GC,2146,-0.99,-116.8,185.3,-11.4,208,2151,0.20,2.05,0.00,0.000,6,0.081,0.020,2836,1548,3112,0,0,0,0,0,0
$GC,2415,-1.04,-116.8,207.5,-8.2,226,2419,0.00,2.28,0.00,0.000,4,0.000,0.048,2836,234,3111,0,0,0,0,0,0
$GC,2458,-1.04,-116.8,212.0,-10.0,228,2462,0.00,2.05,0.00,0.000,6,0.000,0.021,2836,1556,3111,0,0,0,0,0,0
$GC,2791,-1.09,-116.8,242.4,-8.6,244,2795,0.10,2.30,0.00,0.000,4,0.072,0.048,2798,238,3110,0,0,0,0,0,0
$GC,2824,-1.02,-116.8,246.1,-10.3,245,2828,0.15,2.05,0.00,0.000,6,0.087,0.021,2830,1552,3110,0,0,0,0,0,0
$GC,3143,-1.05,-116.8,271.9,-8.5,260,3147,0.00,2.28,0.00,0.000,4,0.000,0.048,2830,228,3109,0,0,0,0,0,0
$GC,3164,-1.05,-116.8,274.1,-9.5,261,3168,0.00,2.10,0.00,0.000,6,0.000,0.021,2830,1556,3109,0,0,0,0,0,0
$GC,3498,-1.12,-116.8,301.1,-7.2,277,3500,0.10,0.00,0.00,0.000,6,0.073,0.000,2793,1561,3107,0,0,0,0,0,0
$GC,3819,-1.12,-116.8,325.6,-7.3,285,3823,0.00,2.28,0.00,0.000,4,0.000,0.050,2793,235,3105,0,0,0,0,0,0
$GC,3843,-1.07,-116.8,327.8,-8.7,285,3848,0.12,2.08,0.00,0.000,6,0.093,0.022,2820,1546,3105,0,0,0,0,0,0
$GC,4186,-1.12,-116.8,352.5,-6.7,294,4190,0.00,2.25,0.00,0.000,4,0.000,0.026,2820,2921,3103,0,0,0,0,0,0
$GC,4230,-1.25,-116.8,355.2,-5.8,295,4235,0.20,2.35,0.00,0.000,6,0.047,0.037,2759,1545,3103,0,0,0,0,0,0
$GC,4560,-1.16,-116.8,385.5,-9.6,303,4562,0.17,0.00,0.00,0.000,6,0.088,0.000,2795,1544,3101,0,0,0,0,0,0
$GC,4884,-1.16,-116.8,413.3,-8.7,311,4885,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1544,3099,0,0,0,0,0,0
$GC,5209,-1.16,-116.8,442.6,-9.3,319,5213,0.00,2.30,0.00,0.000,4,0.000,0.057,2795,234,3097,0,0,0,0,0,0
$GC,5246,-1.16,-116.8,446.1,-9.0,319,5251,0.00,2.08,0.00,0.000,6,0.000,0.025,2795,1541,3097,0,0,0,0,0,0
$STATE,5290,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5290,begin apogee
$GC,5297,-0.31,0.0,450.1,8.7,321,5396,0.85,0.00,95.72,0.831,6,0.067,0.000,2979,1545,2630,0,0,0,0,0,0
$STATE,5397,end apogee,CONTROL_FINISHED_OK
$STATE,5397,begin climb
$GC,5400,1.18,116.8,452.7,0.0,323,5513,1.42,2.40,101.20,0.815,4,0.037,0.031,3310,2923,2152,0,0,0,0,0,0
$GC,5551,1.01,127.9,450.9,7.4,326,5568,0.20,2.40,10.90,0.710,6,0.097,0.041,3270,1546,2108,0,0,0,0,0,0
$GC,5902,0.89,127.9,416.1,10.6,335,5904,0.12,0.00,0.00,0.000,6,0.108,0.000,3246,1546,2100,0,0,0,0,0,0
$GC,6226,0.84,127.9,385.6,8.5,343,6228,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1546,2096,0,0,0,0,0,0
$GC,6550,0.88,199.2,368.3,4.7,351,6619,0.00,2.42,62.12,0.791,4,0.000,0.031,3246,2924,1816,0,0,0,0,0,0
$GC,6642,0.93,240.8,363.5,6.0,353,6686,0.00,2.42,37.47,0.765,6,0.000,0.042,3246,1543,1648,0,0,0,0,0,0
$GC,7009,0.93,240.8,334.7,8.0,362,7013,0.00,2.33,0.00,0.000,4,0.000,0.058,3246,229,1639,0,0,0,0,0,0
$GC,7039,0.85,240.8,332.1,10.1,362,7043,0.00,2.17,0.00,0.000,6,0.000,0.028,3246,1554,1637,0,0,0,0,0,0
$GC,7379,0.86,244.8,304.9,7.7,371,7383,0.00,2.35,0.00,0.000,4,0.000,0.057,3246,233,1635,0,0,0,0,0,0
$GC,7428,0.81,244.8,300.9,9.0,372,7432,0.00,2.15,0.00,0.000,6,0.000,0.028,3246,1550,1633,0,0,0,0,0,0
$GC,7763,0.81,248.4,273.6,7.7,387,7775,0.00,2.35,5.38,0.544,4,0.000,0.055,3246,228,1616,0,0,0,0,0,0
$GC,7812,0.78,248.4,269.5,9.3,389,7816,0.15,2.17,0.00,0.000,6,0.100,0.027,3217,1562,1615,0,0,0,0,0,0
$GC,8151,0.92,289.3,250.2,6.1,405,8195,0.15,2.42,36.60,0.698,4,0.061,0.054,3261,229,1450,0,0,0,0,0,0
$GC,8280,0.85,289.3,237.5,10.6,410,8285,0.12,2.17,0.00,0.000,6,0.104,0.025,3238,1562,1445,0,0,0,0,0,0
$GC,8601,0.92,289.3,212.2,7.9,426,8605,0.00,2.35,0.00,0.000,4,0.000,0.054,3237,227,1444,0,0,0,0,0,0
$GC,8661,0.92,289.3,206.0,11.0,428,8668,0.00,2.17,0.00,0.000,6,0.000,0.025,3237,1554,1442,0,0,0,0,0,0
$GC,8985,0.99,289.3,179.1,8.4,452,8990,0.12,2.30,0.00,0.000,4,0.065,0.052,3277,231,1442,0,0,0,0,0,0
$GC,9097,0.88,289.3,166.4,12.6,460,9101,0.17,2.10,0.00,0.000,6,0.091,0.024,3241,1551,1440,0,0,0,0,0,0
$GC,9364,0.95,289.3,143.2,8.8,481,9368,0.00,2.30,0.00,0.000,4,0.000,0.051,3241,228,1439,0,0,0,0,0,0
$GC,9429,0.95,289.3,136.9,9.0,486,9433,0.00,2.12,0.00,0.000,6,0.000,0.023,3241,1553,1439,0,0,0,0,0,0
$GC,9697,1.08,315.5,118.4,6.7,507,9726,0.17,2.35,22.58,0.569,4,0.053,0.048,3294,233,1342,0,0,0,0,0,0
$GC,9789,1.01,315.5,109.0,11.4,513,9794,0.12,2.12,0.00,0.000,6,0.094,0.022,3269,1551,1339,0,0,0,0,0,0
$GC,10055,1.09,315.5,85.8,8.4,534,10059,0.00,2.30,0.00,0.000,4,0.000,0.050,3268,230,1339,0,0,0,0,0,0
$GC,10106,1.09,315.5,81.1,9.7,538,10110,0.00,2.10,0.00,0.000,6,0.000,0.021,3268,1562,1337,0,0,0,0,0,0
$GC,10374,1.26,380.3,65.1,5.0,559,10437,0.25,2.25,54.83,0.535,4,0.041,0.019,3347,2921,1078,0,0,0,0,0,0
$GC,10450,1.22,380.3,58.7,9.9,564,10455,0.15,2.38,0.00,0.000,6,0.092,0.035,3316,1541,1078,0,0,0,0,0,0
$GC,10711,1.22,380.3,35.0,9.4,584,10715,0.00,2.25,0.00,0.000,4,0.000,0.048,3316,236,1076,0,0,0,0,0,0
$GC,10790,1.22,380.3,26.0,11.8,593,10797,0.00,2.10,0.00,0.000,6,0.000,0.019,3317,1553,1072,0,0,0,0,0,0
$GC,10993,1.22,380.3,4.3,10.3,639,11000,0.00,2.30,0.00,0.000,4,0.000,0.045,3316,241,1072,0,0,0,0,0,0
$STATE,11007,end climb,SURFACE_DEPTH_REACHED
$STATE,11007,begin surface coast
$FINISH,0.9,1.010170
$STATE,11038,end surface coast,CONTROL_FINISHED_OK
$STATE,11038,begin surface
$SM_CCo,11064,19.25,0.456,0,0,957,410.14
$SM_GC,1.86,0.00,0.00,19.25,0.000,0.000,0.456,426,1558,957,-12.07,0.23,410.14
$IRIDIUM_FIX,2059.45,-15748.75,030100,232337
$TT8_MAMPS,0.029146
$HUMID,59.68
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.3,59.267
$10V_AH,10.1,48.401
$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,32.000,120.375,426.800,19.250,0.000,120.589,142.036,528.164,4.500,0.000,11.621,1245.066,7480.990,457.971,1876.651,1148.469,0.000,1313.104,0.000,1859.829,0.000,29.254,0.000
$DEVICE_MAMPS,131.924,57.525,831.428,455.598,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,436.534,415.250,964.975,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,34991,648
$CAP_FILE_SIZE,133761,0
$CFSIZE,260165632,178487296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101010,022837,2106.714,-15750.096,71,0.8,71,9.8