version: 66.06
glider: 139
mission: 8
dive: 645
start: 10 10 110 12 30 46
data:
$ID,139
$MISSION,8
$DIVE,645
$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,-2164666
$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
$GPS1,122406,2107.247,-15749.240,36,0.9,42,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-70.5
$GPS2,123026,2107.262,-15749.333,14,1.9,14,9.8
$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,93.8,11404,-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,-64.62,0.000,2,0.000,0.000,426,1567,2778,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.8,-4.2,12,110,12.65,2.33,-5.95,0.000,4,0.132,0.031,2787,2978,3108,0,0,0,0,0,0
$GC,157,-1.06,-116.8,21.5,-15.2,26,164,0.10,2.47,0.00,0.000,6,0.081,0.035,2811,1550,3109,0,0,0,0,0,0
$GC,359,-0.92,-116.8,50.1,-15.5,50,361,0.17,0.00,0.00,0.000,6,0.091,0.000,2848,1550,3111,0,0,0,0,0,0
$GC,610,-0.92,-116.8,79.5,-8.6,70,614,0.00,2.28,0.00,0.000,4,0.000,0.047,2848,225,3112,0,0,0,0,0,0
$GC,668,-0.96,-116.8,84.4,-8.0,74,671,0.00,2.17,0.00,0.000,6,0.000,0.018,2848,1604,3112,0,0,0,0,0,0
$GC,939,-0.96,-116.8,105.6,-8.6,95,943,0.00,2.22,0.00,0.000,4,0.000,0.021,2848,2972,3113,0,0,0,0,0,0
$GC,965,-1.03,-116.8,108.2,-9.5,97,970,0.10,2.42,0.00,0.000,6,0.071,0.031,2805,1540,3113,0,0,0,0,0,0
$GC,1232,-0.96,-116.8,134.9,-10.6,118,1237,0.17,2.22,0.00,0.000,4,0.082,0.046,2843,239,3113,0,0,0,0,0,0
$GC,1257,-0.96,-116.8,137.8,-10.0,120,1261,0.00,2.12,0.00,0.000,6,0.000,0.018,2843,1606,3114,0,0,0,0,0,0
$GC,1523,-1.02,-116.8,161.1,-9.4,141,1527,0.00,2.35,0.00,0.000,4,0.000,0.045,2843,238,3114,0,0,0,0,0,0
$GC,1571,-1.06,-116.8,166.2,-10.1,144,1575,0.10,2.12,0.00,0.000,6,0.072,0.019,2803,1610,3114,0,0,0,0,0,0
$GC,1833,-1.02,-116.8,193.4,-10.4,164,1835,0.10,0.00,0.00,0.000,6,0.101,0.000,2826,1614,3114,0,0,0,0,0,0
$GC,2093,-1.02,-116.8,214.9,-7.0,179,2097,0.00,2.35,0.00,0.000,4,0.000,0.047,2826,240,3114,0,0,0,0,0,0
$GC,2176,-1.02,-116.8,221.2,-7.2,182,2183,0.00,2.17,0.00,0.000,6,0.000,0.020,2826,1600,3114,0,0,0,0,0,0
$GC,2496,-1.05,-116.8,240.4,-7.1,198,2497,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1603,3113,0,0,0,0,0,0
$GC,2804,-1.10,-116.8,264.8,-7.6,213,2808,0.00,2.35,0.00,0.000,4,0.000,0.049,2827,234,3113,0,0,0,0,0,0
$GC,2842,-1.10,-116.8,268.0,-7.9,214,2849,0.00,2.10,0.00,0.000,6,0.000,0.021,2826,1559,3113,0,0,0,0,0,0
$GC,3158,-1.14,-116.8,288.2,-6.0,230,3160,0.12,0.00,0.00,0.000,6,0.064,0.000,2783,1559,3112,0,0,0,0,0,0
$GC,3486,-1.10,-116.8,314.5,-8.4,242,3490,0.12,2.30,0.00,0.000,4,0.091,0.051,2811,235,3111,0,0,0,0,0,0
$GC,3507,-1.06,-116.8,316.4,-9.1,242,3511,0.00,2.05,0.00,0.000,6,0.000,0.023,2810,1541,3111,0,0,0,0,0,0
$GC,3851,-1.06,-116.8,347.4,-9.2,251,3852,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1546,3109,0,0,0,0,0,0
$GC,4176,-1.06,-116.8,376.2,-9.0,259,4177,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1546,3106,0,0,0,0,0,0
$GC,4504,-1.06,-116.8,402.2,-7.8,267,4508,0.00,2.28,0.00,0.000,4,0.000,0.028,2810,2920,3104,0,0,0,0,0,0
$GC,4541,-1.19,-116.8,405.1,-7.2,267,4547,0.00,2.35,0.00,0.000,6,0.000,0.039,2811,1550,3104,0,0,0,0,0,0
$GC,4874,-1.22,-116.8,430.3,-7.9,276,4879,0.12,2.33,0.00,0.000,4,0.066,0.057,2771,234,3102,0,0,0,0,0,0
$GC,4913,-1.12,-116.8,434.2,-10.1,276,4919,0.15,2.12,0.00,0.000,6,0.091,0.025,2803,1547,3102,0,0,0,0,0,0
$STATE,5119,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5119,begin apogee
$GC,5125,-0.31,0.0,450.9,7.9,282,5225,0.82,0.00,96.55,0.834,6,0.065,0.000,2982,1551,2630,0,0,0,0,0,0
$STATE,5226,end apogee,CONTROL_FINISHED_OK
$STATE,5226,begin climb
$GC,5230,1.18,116.8,453.3,0.0,284,5342,1.40,2.42,101.45,0.817,4,0.036,0.031,3309,2929,2153,0,0,0,0,0,0
$GC,5434,1.00,116.8,447.4,8.4,288,5439,0.20,2.42,0.00,0.000,6,0.097,0.042,3270,1549,2149,0,0,0,0,0,0
$GC,5776,0.96,184.4,427.6,4.8,297,5842,0.00,2.45,59.58,0.808,4,0.000,0.060,3270,232,1877,0,0,0,0,0,0
$GC,5878,0.79,195.8,422.2,7.4,299,5895,0.25,2.17,11.18,0.713,6,0.097,0.027,3222,1556,1831,0,0,0,0,0,0
$GC,6232,0.86,255.2,405.1,5.2,308,6290,0.00,2.40,52.92,0.802,4,0.000,0.059,3221,234,1589,0,0,0,0,0,0
$GC,6306,0.86,255.2,399.8,8.1,309,6310,0.00,2.17,0.00,0.000,6,0.000,0.028,3221,1553,1586,0,0,0,0,0,0
$GC,6637,0.90,255.2,370.4,9.4,317,6642,0.10,2.40,0.00,0.000,4,0.080,0.060,3252,229,1582,0,0,0,0,0,0
$GC,6681,0.80,255.2,365.1,12.9,318,6686,0.15,2.17,0.00,0.000,6,0.107,0.028,3224,1553,1579,0,0,0,0,0,0
$GC,7011,0.84,255.2,337.4,8.0,326,7015,0.00,2.38,0.00,0.000,4,0.000,0.058,3223,231,1578,0,0,0,0,0,0
$GC,7072,0.84,255.2,332.0,8.1,327,7076,0.00,2.17,0.00,0.000,6,0.000,0.028,3223,1549,1576,0,0,0,0,0,0
$GC,7424,0.93,280.7,307.2,6.7,336,7452,0.12,2.45,21.35,0.729,4,0.070,0.058,3261,234,1484,0,0,0,0,0,0
$GC,7483,0.82,280.7,302.3,9.3,337,7488,0.15,2.17,0.00,0.000,6,0.102,0.028,3232,1561,1481,0,0,0,0,0,0
$GC,7805,0.91,298.7,280.0,7.1,352,7829,0.00,2.40,16.67,0.693,4,0.000,0.055,3232,234,1411,0,0,0,0,0,0
$GC,7905,0.91,298.7,271.3,9.0,356,7909,0.00,2.15,0.00,0.000,6,0.000,0.027,3231,1557,1407,0,0,0,0,0,0
$GC,8231,0.97,298.7,244.2,9.1,372,8236,0.12,2.38,0.00,0.000,4,0.067,0.057,3270,234,1406,0,0,0,0,0,0
$GC,8279,0.90,298.7,237.7,13.3,374,8284,0.12,2.15,0.00,0.000,6,0.104,0.026,3246,1557,1405,0,0,0,0,0,0
$GC,8611,0.95,298.7,204.7,9.1,390,8615,0.00,2.33,0.00,0.000,4,0.000,0.054,3246,232,1405,0,0,0,0,0,0
$GC,8690,0.95,298.7,196.9,9.5,394,8695,0.00,2.12,0.00,0.000,6,0.000,0.025,3246,1553,1403,0,0,0,0,0,0
$GC,8957,1.02,298.7,174.8,8.4,415,8962,0.12,2.35,0.00,0.000,4,0.065,0.053,3285,226,1402,0,0,0,0,0,0
$GC,9006,0.94,298.7,169.4,11.0,418,9013,0.12,2.17,0.00,0.000,6,0.074,0.024,3255,1557,1403,0,0,0,0,0,0
$GC,9268,0.99,298.7,148.6,9.2,439,9272,0.00,2.33,0.00,0.000,4,0.000,0.051,3255,233,1402,0,0,0,0,0,0
$GC,9322,0.99,298.7,142.7,11.0,443,9326,0.00,2.12,0.00,0.000,6,0.000,0.023,3255,1553,1402,0,0,0,0,0,0
$GC,9587,1.07,306.8,118.9,7.5,464,9598,0.12,0.00,7.05,0.489,6,0.064,0.000,3297,1558,1379,0,0,0,0,0,0
$GC,9855,1.12,345.5,98.3,6.1,485,9895,0.00,2.38,34.75,0.561,4,0.000,0.049,3297,232,1219,0,0,0,0,0,0
$GC,9935,1.15,374.0,92.9,6.6,490,9968,0.00,2.15,25.05,0.544,6,0.000,0.022,3297,1560,1104,0,0,0,0,0,0
$GC,10222,1.22,393.5,74.2,7.0,513,10244,0.00,2.38,17.25,0.512,4,0.000,0.050,3297,234,1024,0,0,0,0,0,0
$GC,10303,1.22,393.5,65.7,11.5,518,10307,0.00,2.08,0.00,0.000,6,0.000,0.021,3297,1552,1021,0,0,0,0,0,0
$GC,10570,1.29,393.5,44.5,8.2,539,10575,0.15,2.25,0.00,0.000,4,0.054,0.021,3347,2928,1021,0,0,0,0,0,0
$GC,10588,1.33,395.5,43.1,7.8,540,10592,0.00,2.38,0.00,0.000,6,0.000,0.033,3346,1539,1021,0,0,0,0,0,0
$GC,10852,1.27,395.5,13.8,12.3,582,10858,0.00,2.28,0.00,0.000,4,0.000,0.050,3346,242,1021,0,0,0,0,0,0
$GC,10934,1.11,395.5,3.5,14.6,599,10940,0.20,2.08,0.00,0.000,6,0.076,0.018,3293,1552,1019,0,0,0,0,0,0
$STATE,10946,end climb,SURFACE_DEPTH_REACHED
$STATE,10946,begin surface coast
$FINISH,0.9,1.011452
$STATE,10964,end surface coast,CONTROL_FINISHED_OK
$STATE,10964,begin surface
$SM_CCo,10987,12.68,0.438,0,0,957,410.14
$SM_GC,1.65,0.00,0.00,12.68,0.000,0.000,0.438,425,1552,957,-12.08,0.03,410.14
$IRIDIUM_FIX,2059.45,-15748.75,040100,090905
$TT8_MAMPS,0.029146
$HUMID,59.88
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.20
$XPDR_PINGS,1
$24V_AH,23.3,59.704
$10V_AH,10.0,48.737
$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,30.450,113.375,443.800,12.675,0.000,24.037,43.156,178.124,4.750,0.000,14.270,1173.675,7433.563,490.825,1722.865,554.996,0.000,1287.515,0.000,1711.392,0.000,29.245,0.000
$DEVICE_MAMPS,131.924,59.826,833.729,437.957,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,407.185,386.427,842.254,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,34993,605
$CAP_FILE_SIZE,118422,0
$CFSIZE,260165632,178257920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101010,153516,2106.854,-15749.351,12,3.3,31,9.8