version: 66.06
glider: 139
mission: 8
dive: 647
start: 10 10 110 18 55 2
data:
$ID,139
$MISSION,8
$DIVE,647
$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,-2164745.2
$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
$GPS1,184807,2106.981,-15749.043,43,1.3,43,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-67.9
$GPS2,185444,2107.055,-15749.021,23,1.5,23,9.8
$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,92.5,10791,-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,14,begin dive
$GC,17,-1.18,-116.8,0.0,0.0,0,79,0.00,0.00,-58.85,0.000,2,0.000,0.000,429,1555,2593,0,0,0,0,0,0
$GC,82,-1.18,-116.8,3.2,-3.0,11,112,12.60,2.35,-10.18,0.000,4,0.132,0.034,2784,2969,3109,0,0,0,0,0,0
$GC,134,-0.57,-116.8,15.3,-22.8,20,141,0.60,2.45,0.00,0.000,6,0.067,0.033,2926,1553,3110,0,0,0,0,0,0
$GC,336,-0.67,-116.8,34.2,-9.7,60,341,0.00,2.25,0.00,0.000,4,0.000,0.045,2925,234,3110,0,0,0,0,0,0
$GC,363,-0.77,-116.8,37.1,-10.6,62,368,0.20,2.17,0.00,0.000,6,0.044,0.018,2861,1616,3111,0,0,0,0,0,0
$GC,629,-0.77,-116.8,67.9,-11.0,83,634,0.10,2.22,0.00,0.000,4,0.099,0.021,2884,2981,3111,0,0,0,0,0,0
$GC,649,-0.83,-116.8,70.0,-9.8,84,654,0.00,2.40,0.00,0.000,6,0.000,0.031,2884,1545,3111,0,0,0,0,0,0
$GC,908,-0.88,-116.8,94.5,-9.5,104,913,0.12,2.28,0.00,0.000,4,0.061,0.045,2838,230,3112,0,0,0,0,0,0
$GC,949,-0.79,-116.8,98.9,-12.3,107,954,0.17,2.17,0.00,0.000,6,0.083,0.018,2875,1612,3112,0,0,0,0,0,0
$GC,1213,-0.86,-116.8,123.6,-8.8,128,1217,0.00,2.20,0.00,0.000,4,0.000,0.021,2875,2974,3113,0,0,0,0,0,0
$GC,1234,-0.97,-116.8,125.1,-7.8,129,1240,0.17,2.40,0.00,0.000,6,0.048,0.030,2815,1539,3113,0,0,0,0,0,0
$GC,1495,-0.97,-116.8,153.4,-10.1,150,1500,0.10,2.38,0.00,0.000,4,0.101,0.021,2837,2975,3113,0,0,0,0,0,0
$GC,1535,-1.09,-116.8,157.3,-9.4,153,1541,0.12,2.40,0.00,0.000,6,0.059,0.031,2787,1551,3113,0,0,0,0,0,0
$GC,1800,-1.02,-116.8,186.2,-9.9,174,1805,0.17,2.25,0.00,0.000,4,0.082,0.046,2826,234,3114,0,0,0,0,0,0
$GC,1819,-0.99,-116.8,188.0,-9.1,175,1824,0.00,2.12,0.00,0.000,6,0.000,0.018,2826,1612,3114,0,0,0,0,0,0
$GC,2094,-0.99,-116.8,208.8,-8.1,194,2098,0.00,2.38,0.00,0.000,4,0.000,0.046,2826,238,3114,0,0,0,0,0,0
$GC,2126,-0.99,-116.8,211.8,-9.1,195,2129,0.00,2.15,0.00,0.000,6,0.000,0.019,2826,1606,3114,0,0,0,0,0,0
$GC,2443,-1.02,-116.8,239.8,-8.2,210,2444,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1610,3114,0,0,0,0,0,0
$GC,2752,-1.08,-116.8,263.2,-8.2,225,2756,0.00,2.35,0.00,0.000,4,0.000,0.048,2826,238,3114,0,0,0,0,0,0
$GC,2812,-1.15,-116.8,269.0,-9.9,227,2819,0.12,2.15,0.00,0.000,6,0.062,0.021,2782,1602,3114,0,0,0,0,0,0
$GC,3133,-1.12,-116.8,300.9,-9.3,243,3135,0.12,0.00,0.00,0.000,6,0.094,0.000,2809,1606,3113,0,0,0,0,0,0
$GC,3454,-1.12,-116.8,322.1,-6.6,251,3458,0.00,2.38,0.00,0.000,4,0.000,0.051,2809,231,3111,0,0,0,0,0,0
$GC,3517,-1.12,-116.8,327.5,-9.1,252,3521,0.00,2.17,0.00,0.000,6,0.000,0.023,2809,1599,3110,0,0,0,0,0,0
$GC,3867,-1.15,-116.8,359.6,-9.2,261,3871,0.00,2.38,0.00,0.000,4,0.000,0.054,2809,235,3108,0,0,0,0,0,0
$GC,3895,-1.15,-116.8,362.6,-10.3,261,3899,0.00,2.10,0.00,0.000,6,0.000,0.024,2808,1550,3108,0,0,0,0,0,0
$GC,4237,-1.18,-116.8,390.2,-7.7,270,4241,0.00,2.28,0.00,0.000,4,0.000,0.028,2809,2927,3105,0,0,0,0,0,0
$GC,4266,-1.28,-116.8,392.4,-7.2,270,4271,0.17,2.33,0.00,0.000,6,0.050,0.039,2754,1553,3105,0,0,0,0,0,0
$GC,4604,-1.19,-116.8,424.7,-10.0,279,4609,0.17,2.33,0.00,0.000,4,0.087,0.056,2790,227,3102,0,0,0,0,0,0
$GC,4633,-1.13,-116.8,428.0,-9.9,279,4637,0.00,2.12,0.00,0.000,6,0.000,0.025,2790,1555,3102,0,0,0,0,0,0
$STATE,4887,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4887,begin apogee
$GC,4893,-0.31,0.0,451.3,9.2,286,4993,0.88,0.00,96.65,0.833,6,0.068,0.000,2979,1560,2629,0,0,0,0,0,0
$STATE,4993,end apogee,CONTROL_FINISHED_OK
$STATE,4993,begin climb
$GC,4997,1.18,116.8,454.7,0.0,288,5109,1.42,2.40,101.30,0.818,4,0.037,0.030,3310,2931,2152,0,0,0,0,0,0
$GC,5173,1.05,158.4,455.6,6.0,292,5216,0.15,2.40,36.92,0.793,6,0.104,0.041,3282,1550,1984,0,0,0,0,0,0
$GC,5541,0.93,170.7,428.9,7.3,301,5558,0.15,2.40,10.95,0.716,4,0.105,0.030,3253,2937,1933,0,0,0,0,0,0
$GC,5597,0.95,190.8,424.8,7.0,302,5621,0.00,2.45,19.00,0.761,6,0.000,0.043,3252,1549,1852,0,0,0,0,0,0
$GC,5960,0.89,190.8,395.9,8.0,311,5964,0.00,2.35,0.00,0.000,4,0.000,0.058,3252,232,1847,0,0,0,0,0,0
$GC,6012,0.76,190.8,391.2,8.8,312,6017,0.17,2.17,0.00,0.000,6,0.101,0.027,3218,1545,1844,0,0,0,0,0,0
$GC,6336,0.85,262.0,375.0,4.7,320,6404,0.00,2.42,62.75,0.791,4,0.000,0.030,3218,2938,1561,0,0,0,0,0,0
$GC,6427,1.02,312.3,370.0,5.6,322,6480,0.22,2.47,44.85,0.769,6,0.048,0.044,3279,1545,1355,0,0,0,0,0,0
$GC,6794,0.93,312.3,332.9,10.4,331,6799,0.12,2.35,0.00,0.000,4,0.104,0.061,3254,232,1348,0,0,0,0,0,0
$GC,6916,0.84,312.3,318.5,11.6,333,6921,0.10,2.20,0.00,0.000,6,0.116,0.027,3235,1562,1344,0,0,0,0,0,0
$GC,7235,0.87,312.3,289.2,8.3,344,7239,0.00,2.38,0.00,0.000,4,0.000,0.058,3234,234,1344,0,0,0,0,0,0
$GC,7314,0.87,312.3,281.7,9.7,347,7318,0.00,2.15,0.00,0.000,6,0.000,0.027,3235,1554,1342,0,0,0,0,0,0
$GC,7629,0.93,312.3,254.2,10.3,362,7634,0.00,2.35,0.00,0.000,4,0.000,0.057,3235,233,1342,0,0,0,0,0,0
$GC,7724,0.93,312.3,242.5,12.7,366,7728,0.00,2.15,0.00,0.000,6,0.000,0.027,3235,1557,1340,0,0,0,0,0,0
$GC,8049,1.00,312.3,211.6,9.5,382,8054,0.15,2.33,0.00,0.000,4,0.060,0.055,3278,234,1340,0,0,0,0,0,0
$GC,8119,0.92,312.3,202.7,13.9,385,8123,0.15,2.15,0.00,0.000,6,0.096,0.025,3249,1556,1339,0,0,0,0,0,0
$GC,8442,0.97,312.3,171.9,8.3,410,8446,0.00,2.33,0.00,0.000,4,0.000,0.054,3249,232,1339,0,0,0,0,0,0
$GC,8573,0.97,312.3,159.7,10.0,419,8578,0.00,2.15,0.00,0.000,6,0.000,0.025,3248,1560,1338,0,0,0,0,0,0
$GC,8834,1.04,313.1,139.5,7.9,440,8838,0.12,2.33,0.00,0.000,4,0.066,0.053,3288,233,1338,0,0,0,0,0,0
$GC,8875,0.94,313.1,135.2,11.5,443,8880,0.17,2.10,0.00,0.000,6,0.090,0.025,3252,1553,1338,0,0,0,0,0,0
$GC,9146,1.06,333.1,115.6,7.0,464,9168,0.12,2.40,15.85,0.561,4,0.065,0.051,3293,231,1271,0,0,0,0,0,0
$GC,9205,1.02,333.1,110.6,9.7,468,9209,0.00,2.15,0.00,0.000,6,0.000,0.022,3293,1560,1269,0,0,0,0,0,0
$GC,9472,1.06,333.1,89.4,8.4,489,9476,0.00,2.33,0.00,0.000,4,0.000,0.049,3293,232,1269,0,0,0,0,0,0
$GC,9526,1.06,333.1,83.9,10.3,493,9530,0.00,2.10,0.00,0.000,6,0.000,0.021,3293,1562,1267,0,0,0,0,0,0
$GC,9797,1.11,333.1,62.3,7.9,514,9801,0.00,2.30,0.00,0.000,4,0.000,0.048,3293,232,1267,0,0,0,0,0,0
$GC,9851,1.11,333.1,57.3,9.5,518,9855,0.00,2.10,0.00,0.000,6,0.000,0.021,3293,1559,1267,0,0,0,0,0,0
$GC,10117,1.18,338.3,37.0,7.7,539,10135,0.00,2.38,5.60,0.395,4,0.000,0.047,3293,232,1250,0,0,0,0,0,0
$GC,10180,1.18,338.3,31.2,10.0,543,10184,0.00,2.05,0.00,0.000,6,0.000,0.020,3293,1554,1248,0,0,0,0,0,0
$GC,10447,1.29,369.4,10.1,6.5,603,10482,0.17,2.35,27.92,0.475,4,0.049,0.048,3349,232,1122,0,0,0,0,0,0
$GC,10503,1.16,369.4,5.2,9.3,613,10509,0.17,2.10,0.00,0.000,6,0.071,0.019,3309,1550,1119,0,0,0,0,0,0
$STATE,10514,end climb,SURFACE_DEPTH_REACHED
$STATE,10515,begin surface coast
$FINISH,1.2,1.023072
$STATE,10542,end surface coast,CONTROL_FINISHED_OK
$STATE,10542,begin surface
$SM_CCo,10565,26.15,0.464,0,0,958,410.14
$SM_GC,1.50,0.00,0.00,26.15,0.000,0.000,0.464,426,1553,958,-12.07,0.08,410.14
$IRIDIUM_FIX,2059.45,-15750.89,040100,151507
$TT8_MAMPS,0.029146
$HUMID,59.41
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.3,59.924
$10V_AH,10.0,48.905
$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,31.750,127.425,421.800,26.150,0.000,30.899,38.646,183.640,4.500,0.000,23.213,1220.376,6857.371,465.621,1872.719,567.115,0.000,1321.141,0.000,1843.249,0.000,29.265,0.000
$DEVICE_MAMPS,131.924,60.593,832.962,464.035,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,417.705,397.254,927.019,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,34953,621
$CAP_FILE_SIZE,124644,0
$CFSIZE,260165632,178135040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,4
$GPS,101010,215246,2107.035,-15747.838,14,2.2,33,9.8