version: 66.06
glider: 139
mission: 8
dive: 643
start: 10 10 110 5 54 10
data:
$ID,139
$MISSION,8
$DIVE,643
$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,-2164636
$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
$GPS1,054658,2106.873,-15750.701,13,3.1,32,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-71.9
$GPS2,055352,2106.940,-15750.761,13,2.4,32,9.8
$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,89.0,13710,-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,-64.12,0.000,2,0.000,0.000,424,1554,2749,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.3,-3.2,12,110,12.68,2.35,-6.82,0.000,4,0.133,0.058,2784,235,3110,0,0,0,0,0,0
$GC,153,-0.88,-116.8,20.4,-18.9,25,161,0.30,2.17,0.00,0.000,6,0.079,0.018,2852,1580,3112,0,0,0,0,0,0
$GC,359,-0.82,-116.8,45.1,-10.0,50,361,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1585,3113,0,0,0,0,0,0
$GC,611,-0.78,-116.8,71.2,-10.4,70,616,0.12,2.35,0.00,0.000,4,0.097,0.045,2878,234,3113,0,0,0,0,0,0
$GC,645,-0.78,-116.8,74.9,-9.3,72,652,0.00,2.12,0.00,0.000,6,0.000,0.018,2879,1585,3114,0,0,0,0,0,0
$GC,906,-0.78,-116.8,96.3,-8.4,93,910,0.00,2.15,0.00,0.000,4,0.000,0.021,2879,2914,3114,0,0,0,0,0,0
$GC,933,-0.87,-116.8,98.6,-7.6,95,937,0.00,2.28,0.00,0.000,6,0.000,0.031,2878,1549,3114,0,0,0,0,0,0
$GC,1198,-0.94,-116.8,121.4,-9.5,116,1203,0.15,2.25,0.00,0.000,4,0.054,0.045,2826,231,3114,0,0,0,0,0,0
$GC,1332,-0.94,-116.8,138.3,-12.6,126,1336,0.00,2.03,0.00,0.000,6,0.000,0.018,2826,1545,3115,0,0,0,0,0,0
$GC,1599,-0.94,-116.8,163.7,-8.0,147,1603,0.00,2.22,0.00,0.000,4,0.000,0.021,2826,2919,3115,0,0,0,0,0,0
$GC,1646,-1.05,-116.8,167.5,-6.4,150,1653,0.00,2.33,0.00,0.000,6,0.000,0.031,2826,1551,3115,0,0,0,0,0,0
$GC,1906,-1.05,-116.8,185.1,-7.9,171,1910,0.00,2.22,0.00,0.000,4,0.000,0.045,2827,234,3115,0,0,0,0,0,0
$GC,1949,-1.05,-116.8,189.2,-9.5,174,1952,0.00,2.03,0.00,0.000,6,0.000,0.018,2826,1538,3116,0,0,0,0,0,0
$GC,2218,-1.09,-116.8,214.2,-8.9,191,2222,0.00,2.20,0.00,0.000,4,0.000,0.021,2827,2927,3116,0,0,0,0,0,0
$GC,2240,-1.16,-116.8,216.3,-10.2,192,2244,0.12,2.30,0.00,0.000,6,0.061,0.033,2783,1551,3116,0,0,0,0,0,0
$GC,2572,-1.09,-116.8,251.8,-9.8,208,2576,0.15,2.25,0.00,0.000,4,0.090,0.048,2815,238,3116,0,0,0,0,0,0
$GC,2594,-1.03,-116.8,253.9,-9.3,209,2598,0.00,2.05,0.00,0.000,6,0.000,0.020,2815,1562,3116,0,0,0,0,0,0
$GC,2927,-1.07,-116.8,278.7,-8.1,225,2931,0.00,2.28,0.00,0.000,4,0.000,0.048,2815,238,3115,0,0,0,0,0,0
$GC,2978,-1.07,-116.8,283.5,-8.8,227,2982,0.00,2.08,0.00,0.000,6,0.000,0.021,2815,1555,3115,0,0,0,0,0,0
$GC,3302,-1.07,-116.8,310.4,-8.2,240,3306,0.00,2.28,0.00,0.000,4,0.000,0.050,2815,234,3114,0,0,0,0,0,0
$GC,3344,-1.07,-116.8,314.2,-9.0,241,3348,0.00,2.08,0.00,0.000,6,0.000,0.022,2815,1552,3114,0,0,0,0,0,0
$GC,3673,-1.07,-116.8,338.2,-7.0,249,3674,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1557,3112,0,0,0,0,0,0
$GC,4000,-1.11,-116.8,361.9,-7.7,257,4001,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1557,3109,0,0,0,0,0,0
$GC,4322,-1.15,-116.8,384.1,-6.5,265,4326,0.00,2.25,0.00,0.000,4,0.000,0.028,2815,2921,3107,0,0,0,0,0,0
$GC,4352,-1.25,-116.8,386.1,-6.6,265,4357,0.17,2.30,0.00,0.000,6,0.052,0.038,2760,1553,3107,0,0,0,0,0,0
$GC,4693,-1.17,-116.8,418.0,-9.6,274,4698,0.17,2.30,0.00,0.000,4,0.086,0.054,2796,235,3105,0,0,0,0,0,0
$GC,4736,-1.17,-116.8,422.1,-8.6,274,4742,0.00,2.08,0.00,0.000,6,0.000,0.025,2796,1547,3104,0,0,0,0,0,0
$STATE,5066,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5066,begin apogee
$GC,5073,-0.31,0.0,450.4,8.5,283,5174,0.85,0.00,96.93,0.831,6,0.066,0.000,2980,1548,2629,0,0,0,0,0,0
$STATE,5175,end apogee,CONTROL_FINISHED_OK
$STATE,5175,begin climb
$GC,5177,1.18,116.8,453.3,0.0,285,5291,1.42,2.40,101.10,0.815,4,0.036,0.030,3312,2922,2153,0,0,0,0,0,0
$GC,5421,1.02,136.5,446.8,7.0,290,5446,0.20,2.40,18.10,0.762,6,0.097,0.041,3273,1550,2072,0,0,0,0,0,0
$GC,5775,0.92,149.2,421.4,7.3,299,5789,0.12,0.00,11.38,0.726,6,0.110,0.000,3249,1550,2021,0,0,0,0,0,0
$GC,6100,0.88,166.6,399.0,7.1,307,6123,0.00,2.40,16.62,0.759,4,0.000,0.057,3249,232,1949,0,0,0,0,0,0
$GC,6162,0.75,166.6,393.6,9.7,308,6167,0.17,2.15,0.00,0.000,6,0.102,0.027,3215,1543,1946,0,0,0,0,0,0
$GC,6513,0.80,187.7,368.8,6.9,317,6537,0.00,2.38,19.10,0.762,4,0.000,0.031,3215,2935,1864,0,0,0,0,0,0
$GC,6608,0.90,198.1,362.3,7.4,319,6625,0.15,2.45,10.90,0.704,6,0.061,0.043,3257,1544,1822,0,0,0,0,0,0
$GC,6941,0.86,206.7,336.1,7.5,327,6956,0.00,2.38,8.65,0.667,4,0.000,0.057,3258,228,1786,0,0,0,0,0,0
$GC,7000,0.73,206.7,331.0,8.5,328,7005,0.22,2.20,0.00,0.000,6,0.095,0.028,3213,1552,1783,0,0,0,0,0,0
$GC,7315,0.89,280.7,315.9,4.6,336,7384,0.15,0.00,66.05,0.762,6,0.064,0.000,3254,1556,1485,0,0,0,0,0,0
$GC,7663,0.89,280.7,286.7,8.8,348,7667,0.00,2.38,0.00,0.000,4,0.000,0.058,3255,229,1478,0,0,0,0,0,0
$GC,7784,0.80,280.7,273.4,10.9,353,7789,0.15,2.15,0.00,0.000,6,0.103,0.028,3225,1552,1474,0,0,0,0,0,0
$GC,8110,0.88,283.2,247.7,7.8,369,8114,0.00,2.35,0.00,0.000,4,0.000,0.056,3225,228,1473,0,0,0,0,0,0
$GC,8165,0.91,283.2,242.6,8.2,371,8170,0.10,2.17,0.00,0.000,6,0.081,0.027,3254,1552,1471,0,0,0,0,0,0
$GC,8490,0.92,287.0,217.6,7.7,387,8501,0.00,2.35,4.68,0.482,4,0.000,0.054,3254,226,1459,0,0,0,0,0,0
$GC,8525,0.87,287.0,213.8,10.9,388,8529,0.00,2.15,0.00,0.000,6,0.000,0.026,3254,1552,1458,0,0,0,0,0,0
$GC,8846,0.90,287.0,188.5,8.0,407,8850,0.00,2.30,0.00,0.000,4,0.000,0.053,3254,233,1457,0,0,0,0,0,0
$GC,8926,0.90,287.0,181.7,8.0,413,8930,0.00,2.15,0.00,0.000,6,0.000,0.025,3254,1562,1456,0,0,0,0,0,0
$GC,9192,0.99,332.4,165.5,5.8,434,9238,0.00,2.40,40.00,0.629,4,0.000,0.052,3254,226,1273,0,0,0,0,0,0
$GC,9281,0.99,332.4,158.5,10.9,440,9285,0.00,2.12,0.00,0.000,6,0.000,0.023,3254,1552,1269,0,0,0,0,0,0
$GC,9543,1.06,332.4,134.5,9.2,460,9545,0.12,0.00,0.00,0.000,6,0.065,0.000,3295,1557,1269,0,0,0,0,0,0
$GC,9792,1.06,332.4,109.4,9.5,480,9793,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1557,1269,0,0,0,0,0,0
$GC,10044,1.06,332.4,83.6,10.9,500,10048,0.00,2.30,0.00,0.000,4,0.000,0.048,3294,225,1269,0,0,0,0,0,0
$GC,10091,1.00,332.4,77.4,14.7,503,10098,0.10,2.15,0.00,0.000,6,0.068,0.021,3269,1560,1267,0,0,0,0,0,0
$GC,10355,1.10,332.4,51.5,8.6,524,10359,0.00,2.30,0.00,0.000,4,0.000,0.048,3268,225,1267,0,0,0,0,0,0
$GC,10415,1.15,332.4,45.2,9.9,528,10422,0.10,2.12,0.00,0.000,6,0.035,0.021,3310,1556,1266,0,0,0,0,0,0
$GC,10677,1.15,332.4,20.7,8.8,563,10683,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,1556,1266,0,0,0,0,0,0
$STATE,10868,end climb,SURFACE_DEPTH_REACHED
$STATE,10868,begin surface coast
$FINISH,1.0,1.010188
$STATE,10904,end surface coast,CONTROL_FINISHED_OK
$STATE,10904,begin surface
$SM_CCo,10926,45.40,0.479,0,0,957,410.14
$SM_GC,1.64,0.00,0.00,45.40,0.000,0.000,0.479,428,1555,957,-12.07,0.14,410.14
$IRIDIUM_FIX,2101.76,-15748.75,040100,020227
$TT8_MAMPS,0.029146
$HUMID,60.27
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,21.70
$XPDR_PINGS,1
$24V_AH,23.3,59.480
$10V_AH,10.0,48.567
$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,30.075,103.075,393.500,45.400,0.000,27.948,37.130,193.217,4.750,0.000,33.576,1193.185,7335.986,483.230,1812.030,555.987,0.000,1283.417,0.000,1774.986,0.000,29.255,0.000
$DEVICE_MAMPS,132.691,58.292,830.661,478.608,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,414.586,388.515,876.769,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,34960,615
$CAP_FILE_SIZE,115832,0
$CFSIZE,260165632,178380800
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101010,085824,2107.117,-15749.913,26,1.0,43,9.8