version: 66.06
glider: 139
mission: 8
dive: 644
start: 10 10 110 9 8 47
data:
$ID,139
$MISSION,8
$DIVE,644
$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,-2164651
$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
$GPS1,085824,2107.117,-15749.913,26,1.0,43,9.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-67.5
$GPS2,090826,2107.117,-15749.935,14,1.4,14,9.8
$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,91.5,12361,-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,16,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.25,0.000,2,0.000,0.000,427,1555,2761,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.3,-3.3,12,110,12.68,2.35,-6.55,0.000,4,0.133,0.032,2785,2973,3107,0,0,0,0,0,0
$GC,124,0.08,-116.8,14.6,-26.3,18,131,1.25,2.47,0.00,0.000,6,0.067,0.035,3063,1549,3109,0,0,0,0,0,0
$GC,326,-0.47,-116.8,29.8,-8.8,64,333,0.50,2.35,0.00,0.000,4,0.043,0.021,2940,2974,3111,0,0,0,0,0,0
$GC,362,-0.95,-116.8,33.0,-8.1,67,373,0.43,2.40,0.00,0.000,6,0.035,0.028,2830,1535,3110,0,0,0,0,0,0
$GC,627,-0.89,-116.8,64.1,-11.9,88,632,0.12,2.25,0.00,0.000,4,0.095,0.047,2857,238,3111,0,0,0,0,0,0
$GC,715,-0.89,-116.8,73.0,-8.5,94,719,0.00,2.15,0.00,0.000,6,0.000,0.018,2856,1615,3111,0,0,0,0,0,0
$GC,975,-0.89,-116.8,97.2,-10.0,114,979,0.00,2.38,0.00,0.000,4,0.000,0.044,2857,241,3112,0,0,0,0,0,0
$GC,1013,-0.92,-116.8,101.2,-9.9,117,1017,0.00,2.12,0.00,0.000,6,0.000,0.018,2857,1612,3112,0,0,0,0,0,0
$GC,1280,-0.98,-116.8,121.2,-6.6,138,1284,0.00,2.35,0.00,0.000,4,0.000,0.046,2856,243,3112,0,0,0,0,0,0
$GC,1313,-0.98,-116.8,123.8,-7.2,140,1319,0.00,2.15,0.00,0.000,6,0.000,0.018,2857,1608,3112,0,0,0,0,0,0
$GC,1577,-1.07,-116.8,140.8,-6.9,161,1583,0.17,0.00,0.00,0.000,6,0.049,0.000,2798,1609,3112,0,0,0,0,0,0
$GC,1838,-1.02,-116.8,169.6,-11.7,182,1843,0.12,2.35,0.00,0.000,4,0.094,0.047,2825,243,3112,0,0,0,0,0,0
$GC,1899,-1.02,-116.8,176.6,-10.8,186,1906,0.00,2.17,0.00,0.000,6,0.000,0.019,2825,1609,3112,0,0,0,0,0,0
$GC,2159,-1.02,-116.8,198.5,-7.4,207,2164,0.00,2.35,0.00,0.000,4,0.000,0.045,2825,243,3113,0,0,0,0,0,0
$GC,2208,-1.02,-116.8,202.1,-7.6,210,2212,0.00,2.12,0.00,0.000,6,0.000,0.020,2825,1606,3112,0,0,0,0,0,0
$GC,2533,-1.06,-116.8,219.0,-5.3,226,2537,0.00,2.35,0.00,0.000,4,0.000,0.047,2825,235,3113,0,0,0,0,0,0
$GC,2612,-1.06,-116.8,225.8,-9.7,229,2616,0.00,2.15,0.00,0.000,6,0.000,0.020,2825,1606,3112,0,0,0,0,0,0
$GC,2928,-1.09,-116.8,248.4,-7.4,244,2932,0.00,2.35,0.00,0.000,4,0.000,0.048,2825,238,3112,0,0,0,0,0,0
$GC,2949,-1.09,-116.8,250.2,-9.1,245,2953,0.00,2.15,0.00,0.000,6,0.000,0.021,2824,1609,3112,0,0,0,0,0,0
$GC,3281,-1.13,-116.8,276.8,-8.5,261,3282,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1613,3111,0,0,0,0,0,0
$GC,3607,-1.18,-116.8,308.6,-9.2,275,3612,0.15,2.38,0.00,0.000,4,0.057,0.050,2776,242,3109,0,0,0,0,0,0
$GC,3670,-1.10,-116.8,315.0,-10.2,276,3675,0.15,2.15,0.00,0.000,6,0.091,0.022,2808,1601,3109,0,0,0,0,0,0
$GC,4021,-1.10,-116.8,341.7,-7.4,285,4025,0.00,2.35,0.00,0.000,4,0.000,0.051,2808,241,3107,0,0,0,0,0,0
$GC,4088,-1.10,-116.8,346.5,-7.5,286,4092,0.00,2.15,0.00,0.000,6,0.000,0.022,2808,1599,3107,0,0,0,0,0,0
$GC,4433,-1.14,-116.8,367.5,-6.0,295,4437,0.00,2.38,0.00,0.000,4,0.000,0.051,2808,240,3105,0,0,0,0,0,0
$GC,4475,-1.14,-116.8,370.4,-6.9,295,4480,0.00,2.08,0.00,0.000,6,0.000,0.024,2808,1550,3105,0,0,0,0,0,0
$GC,4807,-1.14,-116.8,395.1,-7.8,304,4809,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1554,3103,0,0,0,0,0,0
$GC,5132,-1.17,-116.8,415.3,-5.7,312,5136,0.00,2.28,0.00,0.000,4,0.000,0.028,2808,2925,3101,0,0,0,0,0,0
$GC,5169,-1.29,-116.8,417.3,-5.0,312,5176,0.17,2.33,0.00,0.000,6,0.050,0.040,2754,1557,3100,0,0,0,0,0,0
$GC,5502,-1.20,-116.8,443.9,-8.6,321,5507,0.17,2.35,0.00,0.000,4,0.089,0.057,2790,229,3098,0,0,0,0,0,0
$GC,5527,-1.13,-116.8,446.2,-8.8,321,5531,0.00,2.12,0.00,0.000,6,0.000,0.025,2790,1545,3098,0,0,0,0,0,0
$STATE,5581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5581,begin apogee
$GC,5589,-0.31,0.0,450.3,7.5,323,5688,0.88,0.00,95.97,0.828,6,0.067,0.000,2980,1549,2630,0,0,0,0,0,0
$STATE,5689,end apogee,CONTROL_FINISHED_OK
$STATE,5689,begin climb
$GC,5691,1.18,116.8,452.1,0.0,325,5803,1.42,2.42,101.28,0.814,4,0.036,0.030,3313,2931,2152,0,0,0,0,0,0
$GC,5880,1.01,122.3,447.3,7.6,329,5893,0.22,2.42,5.90,0.604,6,0.098,0.041,3268,1551,2130,0,0,0,0,0,0
$GC,6240,0.89,122.3,417.8,8.3,338,6245,0.12,2.33,0.00,0.000,4,0.112,0.031,3245,2930,2123,0,0,0,0,0,0
$GC,6298,0.91,135.8,413.0,7.3,339,6315,0.00,2.40,11.98,0.722,6,0.000,0.041,3245,1546,2076,0,0,0,0,0,0
$GC,6652,0.91,181.5,390.1,5.8,348,6696,0.00,0.00,41.78,0.788,6,0.000,0.000,3245,1547,1890,0,0,0,0,0,0
$GC,7018,0.94,205.9,365.7,6.8,357,7046,0.00,2.42,22.20,0.755,4,0.000,0.030,3245,2928,1789,0,0,0,0,0,0
$GC,7080,1.01,232.3,361.5,6.7,358,7112,0.10,2.45,24.62,0.751,6,0.077,0.044,3275,1544,1683,0,0,0,0,0,0
$GC,7436,0.93,232.3,332.6,7.9,367,7441,0.12,2.35,0.00,0.000,4,0.101,0.059,3251,234,1676,0,0,0,0,0,0
$GC,7511,0.83,235.1,326.5,7.8,368,7515,0.00,2.17,0.00,0.000,6,0.000,0.028,3251,1546,1673,0,0,0,0,0,0
$GC,7848,0.84,243.2,301.8,7.5,377,7864,0.00,2.38,9.40,0.655,4,0.000,0.057,3251,227,1638,0,0,0,0,0,0
$GC,7904,0.78,243.2,297.2,7.9,378,7909,0.15,2.20,0.00,0.000,6,0.104,0.028,3222,1557,1635,0,0,0,0,0,0
$GC,8228,0.89,274.8,277.6,6.5,394,8262,0.00,2.40,28.48,0.711,4,0.000,0.057,3222,233,1509,0,0,0,0,0,0
$GC,8315,0.89,274.8,270.7,8.7,397,8321,0.10,2.17,0.00,0.000,6,0.081,0.027,3250,1554,1505,0,0,0,0,0,0
$GC,8632,0.89,274.8,245.1,8.0,413,8636,0.00,2.33,0.00,0.000,4,0.000,0.056,3250,233,1503,0,0,0,0,0,0
$GC,8656,0.85,274.8,242.4,9.8,414,8660,0.00,2.15,0.00,0.000,6,0.000,0.027,3250,1558,1502,0,0,0,0,0,0
$GC,8981,0.89,274.8,212.8,8.9,430,8982,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1560,1501,0,0,0,0,0,0
$GC,9295,0.96,299.0,190.1,6.8,449,9323,0.00,2.40,21.20,0.634,4,0.000,0.053,3250,226,1410,0,0,0,0,0,0
$GC,9369,0.96,299.0,183.8,9.3,454,9373,0.00,2.17,0.00,0.000,6,0.000,0.025,3250,1556,1407,0,0,0,0,0,0
$GC,9631,0.99,299.0,162.8,8.1,474,9635,0.00,2.35,0.00,0.000,4,0.000,0.053,3249,229,1406,0,0,0,0,0,0
$GC,9696,0.99,299.0,156.0,10.1,478,9703,0.00,2.17,0.00,0.000,6,0.000,0.024,3250,1559,1404,0,0,0,0,0,0
$GC,9958,1.03,299.0,135.0,8.6,499,9963,0.10,2.33,0.00,0.000,4,0.076,0.052,3284,233,1404,0,0,0,0,0,0
$GC,10005,0.93,299.0,129.4,11.0,502,10012,0.12,2.15,0.00,0.000,6,0.073,0.023,3253,1550,1403,0,0,0,0,0,0
$GC,10269,1.03,328.8,110.5,6.6,523,10297,0.00,0.00,25.90,0.568,6,0.000,0.000,3253,1550,1289,0,0,0,0,0,0
$GC,10550,1.13,338.5,87.0,7.5,545,10567,0.17,2.40,9.70,0.495,4,0.051,0.050,3307,225,1247,0,0,0,0,0,0
$GC,10663,1.06,338.5,74.1,11.8,553,10668,0.12,2.12,0.00,0.000,6,0.094,0.021,3281,1563,1244,0,0,0,0,0,0
$GC,10925,1.15,345.8,53.6,7.6,573,10941,0.00,2.40,7.15,0.441,4,0.000,0.049,3281,229,1219,0,0,0,0,0,0
$GC,11036,1.19,347.9,44.0,7.8,580,11042,0.08,2.12,0.00,0.000,6,0.038,0.021,3319,1557,1216,0,0,0,0,0,0
$GC,11298,1.19,347.9,24.3,8.1,611,11305,0.00,2.25,0.00,0.000,4,0.000,0.021,3319,2917,1217,0,0,0,0,0,0
$GC,11325,1.19,347.9,22.2,8.0,616,11332,0.00,2.38,0.00,0.000,6,0.000,0.034,3319,1542,1216,0,0,0,0,0,0
$GC,11530,1.19,347.9,4.9,10.1,662,11536,0.00,2.30,0.00,0.000,4,0.000,0.051,3319,232,1217,0,0,0,0,0,0
$STATE,11546,end climb,SURFACE_DEPTH_REACHED
$STATE,11546,begin surface coast
$FINISH,0.9,1.011397
$STATE,11573,end surface coast,CONTROL_FINISHED_OK
$STATE,11573,begin surface
$SM_CCo,11597,39.33,0.474,0,0,958,410.14
$SM_GC,1.77,0.00,0.00,39.33,0.000,0.000,0.474,427,1566,958,-12.07,0.45,410.14
$IRIDIUM_FIX,2059.45,-15750.89,040100,090924
$TT8_MAMPS,0.028379
$HUMID,60.15
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.3,59.594
$10V_AH,10.0,48.658
$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,32.000,127.800,405.550,39.325,0.000,59.592,72.637,270.003,4.500,0.000,14.275,1289.395,7753.488,501.239,1962.589,732.711,0.000,1381.507,0.000,1941.021,0.000,29.251,0.000
$DEVICE_MAMPS,132.691,59.059,828.360,474.006,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,451.418,428.939,984.750,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,38077,671
$CAP_FILE_SIZE,131588,0
$CFSIZE,260165632,178302976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101010,122406,2107.247,-15749.240,36,0.9,42,9.8