version: 66.06
glider: 139
mission: 8
dive: 625
start: 10 7 110 19 47 24
data:
$ID,139
$MISSION,8
$DIVE,625
$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,-2164245.5
$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
$GPS1,193216,2106.654,-15751.715,11,3.7,30,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-73.0
$GPS2,194706,2106.534,-15751.707,14,1.6,30,9.8
$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,85.2,15245,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.18,-116.8,0.0,0.0,0,83,0.00,0.00,-64.20,0.000,2,0.000,0.000,428,1554,2766,0,0,0,0,0,0
$GC,87,-1.18,-116.8,3.6,-4.3,12,111,12.60,2.35,-6.30,0.000,4,0.131,0.031,2783,2977,3108,0,0,0,0,0,0
$GC,124,0.05,-116.8,15.4,-27.8,18,131,1.25,2.45,0.00,0.000,6,0.070,0.032,3058,1552,3109,0,0,0,0,0,0
$GC,336,-0.52,-116.8,33.8,-9.9,60,341,0.52,2.25,0.00,0.000,4,0.044,0.042,2931,230,3111,0,0,0,0,0,0
$GC,364,-0.88,-116.8,37.0,-9.4,62,369,0.32,2.15,0.00,0.000,6,0.035,0.018,2837,1634,3111,0,0,0,0,0,0
$GC,627,-0.82,-116.8,67.4,-10.8,82,632,0.17,2.20,0.00,0.000,4,0.082,0.021,2875,2974,3111,0,0,0,0,0,0
$GC,644,-0.82,-116.8,69.3,-10.1,83,648,0.00,2.42,0.00,0.000,6,0.000,0.031,2874,1540,3110,0,0,0,0,0,0
$GC,911,-0.89,-116.8,87.1,-5.7,104,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1540,3111,0,0,0,0,0,0
$GC,1160,-1.01,-116.8,98.3,-4.4,124,1164,0.20,2.25,0.00,0.000,4,0.044,0.045,2808,229,3112,0,0,0,0,0,0
$GC,1246,-0.91,-116.8,105.9,-10.3,130,1250,0.20,2.15,0.00,0.000,6,0.082,0.018,2850,1611,3112,0,0,0,0,0,0
$GC,1519,-0.96,-116.8,127.1,-8.5,151,1523,0.00,2.35,0.00,0.000,4,0.000,0.044,2850,237,3112,0,0,0,0,0,0
$GC,1586,-1.04,-116.8,133.7,-9.5,156,1591,0.12,2.12,0.00,0.000,6,0.061,0.018,2805,1605,3112,0,0,0,0,0,0
$GC,1851,-1.00,-116.8,162.7,-10.5,177,1856,0.12,2.38,0.00,0.000,4,0.092,0.046,2833,238,3112,0,0,0,0,0,0
$GC,1899,-1.00,-116.8,167.8,-10.5,180,1903,0.00,2.12,0.00,0.000,6,0.000,0.019,2833,1608,3112,0,0,0,0,0,0
$GC,2160,-1.04,-116.8,188.1,-6.7,200,2164,0.00,2.35,0.00,0.000,4,0.000,0.047,2833,239,3112,0,0,0,0,0,0
$GC,2194,-1.04,-116.8,190.7,-7.7,202,2201,0.00,2.17,0.00,0.000,6,0.000,0.020,2833,1613,3112,0,0,0,0,0,0
$GC,2464,-1.07,-116.8,209.8,-7.6,220,2467,0.00,2.22,0.00,0.000,4,0.000,0.023,2833,2975,3111,0,0,0,0,0,0
$GC,2486,-1.14,-116.8,211.4,-8.0,221,2491,0.15,2.40,0.00,0.000,6,0.054,0.033,2779,1550,3111,0,0,0,0,0,0
$GC,2821,-1.07,-116.8,245.0,-9.6,237,2826,0.17,2.25,0.00,0.000,4,0.083,0.048,2817,238,3110,0,0,0,0,0,0
$GC,2867,-1.07,-116.8,249.2,-8.0,239,2871,0.00,2.12,0.00,0.000,6,0.000,0.020,2816,1602,3111,0,0,0,0,0,0
$GC,3200,-1.07,-116.8,271.1,-6.7,255,3204,0.00,2.38,0.00,0.000,4,0.000,0.048,2817,234,3110,0,0,0,0,0,0
$GC,3223,-1.07,-116.8,273.3,-8.3,256,3227,0.00,2.17,0.00,0.000,6,0.000,0.021,2816,1608,3110,0,0,0,0,0,0
$GC,3554,-1.10,-116.8,298.2,-7.1,272,3558,0.00,2.38,0.00,0.000,4,0.000,0.048,2817,231,3108,0,0,0,0,0,0
$GC,3603,-1.10,-116.8,302.3,-8.9,274,3607,0.00,2.17,0.00,0.000,6,0.000,0.021,2817,1597,3109,0,0,0,0,0,0
$GC,3933,-1.15,-116.8,327.4,-7.4,282,3937,0.00,2.35,0.00,0.000,4,0.000,0.050,2817,235,3106,0,0,0,0,0,0
$GC,3990,-1.15,-116.8,331.2,-6.0,283,3994,0.00,2.08,0.00,0.000,6,0.000,0.022,2817,1553,3107,0,0,0,0,0,0
$GC,4304,-1.19,-116.8,351.0,-6.6,291,4309,0.12,2.28,0.00,0.000,4,0.064,0.027,2775,2928,3104,0,0,0,0,0,0
$GC,4330,-1.19,-116.8,352.9,-8.1,291,4334,0.00,2.33,0.00,0.000,6,0.000,0.038,2775,1553,3104,0,0,0,0,0,0
$GC,4676,-1.14,-116.8,385.8,-10.0,300,4681,0.12,2.30,0.00,0.000,4,0.097,0.054,2801,230,3102,0,0,0,0,0,0
$GC,4701,-1.11,-116.8,388.5,-9.4,300,4705,0.00,2.10,0.00,0.000,6,0.000,0.024,2801,1552,3102,0,0,0,0,0,0
$GC,5043,-1.11,-116.8,413.3,-6.9,309,5044,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1556,3099,0,0,0,0,0,0
$GC,5366,-1.11,-116.8,434.7,-6.8,317,5370,0.00,2.30,0.00,0.000,4,0.000,0.055,2801,234,3097,0,0,0,0,0,0
$GC,5450,-1.11,-116.8,442.3,-9.3,318,5456,0.00,2.10,0.00,0.000,6,0.000,0.025,2801,1546,3097,0,0,0,0,0,0
$STATE,5535,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5535,begin apogee
$GC,5541,-0.31,0.0,450.2,8.9,321,5640,0.82,0.00,95.57,0.831,6,0.066,0.000,2980,1550,2630,0,0,0,0,0,0
$STATE,5641,end apogee,CONTROL_FINISHED_OK
$STATE,5641,begin climb
$GC,5643,1.18,116.8,453.4,0.0,323,5757,1.45,2.42,101.22,0.817,4,0.037,0.031,3313,2935,2152,0,0,0,0,0,0
$GC,5790,1.07,187.1,455.1,4.7,327,5863,0.15,2.42,61.83,0.802,6,0.110,0.041,3285,1546,1866,0,0,0,0,0,0
$GC,6200,0.94,187.1,419.9,9.0,337,6205,0.15,2.35,0.00,0.000,4,0.106,0.058,3256,233,1856,0,0,0,0,0,0
$GC,6244,0.79,187.1,415.7,9.4,338,6249,0.17,2.17,0.00,0.000,6,0.103,0.027,3223,1549,1853,0,0,0,0,0,0
$GC,6574,0.82,214.0,393.4,6.7,346,6599,0.00,0.00,23.15,0.769,6,0.000,0.000,3223,1553,1757,0,0,0,0,0,0
$GC,6897,0.84,231.5,370.2,7.1,354,6915,0.00,0.00,16.23,0.739,6,0.000,0.000,3222,1553,1686,0,0,0,0,0,0
$GC,7223,0.92,264.8,348.6,6.4,362,7260,0.12,2.45,30.12,0.760,4,0.069,0.059,3259,235,1549,0,0,0,0,0,0
$GC,7363,0.81,264.8,334.6,11.2,365,7368,0.15,2.17,0.00,0.000,6,0.103,0.028,3230,1547,1544,0,0,0,0,0,0
$GC,7689,0.86,274.8,309.6,7.4,373,7705,0.00,2.38,9.18,0.657,4,0.000,0.057,3230,228,1508,0,0,0,0,0,0
$GC,7716,0.86,274.8,307.1,8.1,373,7720,0.00,2.20,0.00,0.000,6,0.000,0.028,3230,1552,1506,0,0,0,0,0,0
$GC,8039,0.93,287.9,284.5,7.3,386,8061,0.00,2.38,12.57,0.673,4,0.000,0.055,3230,229,1455,0,0,0,0,0,0
$GC,8157,0.93,287.9,273.2,10.2,391,8161,0.00,2.17,0.00,0.000,6,0.000,0.027,3230,1564,1451,0,0,0,0,0,0
$GC,8488,0.99,287.9,240.0,11.1,407,8493,0.15,2.35,0.00,0.000,4,0.060,0.055,3274,234,1450,0,0,0,0,0,0
$GC,8582,0.89,287.9,227.6,13.9,411,8587,0.15,2.12,0.00,0.000,6,0.097,0.026,3244,1552,1449,0,0,0,0,0,0
$GC,8904,0.94,287.9,197.0,9.6,427,8908,0.00,2.33,0.00,0.000,4,0.000,0.054,3244,225,1449,0,0,0,0,0,0
$GC,8992,0.94,287.9,187.8,9.6,433,8997,0.00,2.15,0.00,0.000,6,0.000,0.025,3244,1555,1447,0,0,0,0,0,0
$GC,9253,1.00,296.4,168.0,7.5,454,9269,0.10,2.38,7.88,0.543,4,0.077,0.053,3276,235,1421,0,0,0,0,0,0
$GC,9314,0.92,296.4,161.3,11.9,458,9318,0.12,2.15,0.00,0.000,6,0.099,0.024,3251,1554,1419,0,0,0,0,0,0
$GC,9581,0.97,296.4,139.5,8.5,479,9585,0.00,2.33,0.00,0.000,4,0.000,0.051,3251,232,1419,0,0,0,0,0,0
$GC,9636,0.97,296.4,134.5,8.9,483,9640,0.00,2.12,0.00,0.000,6,0.000,0.024,3251,1557,1418,0,0,0,0,0,0
$GC,9906,1.03,303.8,111.3,7.6,504,9916,0.10,0.00,7.82,0.497,6,0.076,0.000,3287,1561,1390,0,0,0,0,0,0
$GC,10173,1.07,341.4,94.4,6.2,525,10213,0.00,2.35,33.72,0.559,4,0.000,0.049,3286,232,1236,0,0,0,0,0,0
$GC,10258,1.07,341.4,87.1,9.4,531,10262,0.00,2.10,0.00,0.000,6,0.000,0.021,3286,1555,1233,0,0,0,0,0,0
$GC,10526,1.15,354.6,69.8,7.3,552,10548,0.00,2.33,12.23,0.495,4,0.000,0.022,3286,2927,1183,0,0,0,0,0,0
$GC,10559,1.27,372.9,67.1,7.1,554,10583,0.15,2.40,16.95,0.508,6,0.030,0.034,3342,1547,1107,0,0,0,0,0,0
$GC,10848,1.21,372.9,36.3,10.4,577,10852,0.12,2.30,0.00,0.000,4,0.094,0.049,3315,234,1105,0,0,0,0,0,0
$GC,10943,1.16,372.9,26.9,10.1,588,10950,0.00,2.10,0.00,0.000,6,0.000,0.020,3315,1557,1102,0,0,0,0,0,0
$GC,11146,1.16,372.9,8.5,8.9,634,11153,0.00,2.33,0.00,0.000,4,0.000,0.048,3315,235,1102,0,0,0,0,0,0
$GC,11195,1.09,372.9,3.1,11.8,644,11203,0.10,2.08,0.00,0.000,6,0.071,0.020,3289,1544,1102,0,0,0,0,0,0
$STATE,11208,end climb,SURFACE_DEPTH_REACHED
$STATE,11208,begin surface coast
$FINISH,0.9,1.003858
$STATE,11235,end surface coast,CONTROL_FINISHED_OK
$STATE,11235,begin surface
$SM_CCo,11257,23.25,0.463,0,0,958,410.14
$SM_GC,1.47,0.00,0.00,23.25,0.000,0.000,0.463,428,1548,958,-12.06,-0.06,410.14
$IRIDIUM_FIX,2059.45,-15750.89,010100,191909
$TT8_MAMPS,0.029146
$HUMID,59.13
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.00
$XPDR_PINGS,1
$24V_AH,23.3,57.499
$10V_AH,10.1,47.054
$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,32.375,126.675,428.475,23.250,0.000,54.156,65.411,548.729,4.750,0.000,30.901,1281.828,7431.912,493.012,1939.890,1020.383,0.000,1371.593,0.000,1912.672,0.000,29.253,0.000
$DEVICE_MAMPS,131.157,59.059,830.661,463.268,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,438.954,419.821,945.299,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355932
$DATA_FILE_SIZE,34864,652
$CAP_FILE_SIZE,135310,0
$CFSIZE,260165632,179441664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071010,225637,2106.496,-15751.406,32,0.9,32,9.8