version: 66.06
glider: 139
mission: 8
dive: 648
start: 10 10 110 21 59 52
data:
$ID,139
$MISSION,8
$DIVE,648
$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,-2164778.5
$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
$GPS1,215246,2107.035,-15747.838,14,2.2,33,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-71.7
$GPS2,215934,2107.036,-15747.805,12,2.3,31,9.8
$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,95.2,8741,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.18,-116.8,0.0,0.0,0,78,0.00,0.00,-58.97,0.000,2,0.000,0.000,425,1554,2585,0,0,0,0,0,0
$GC,82,-1.18,-116.8,3.0,-2.7,11,112,12.65,2.30,-10.32,0.000,4,0.131,0.056,2785,234,3108,0,0,0,0,0,0
$GC,134,-0.50,-116.8,15.0,-21.9,20,141,0.70,2.20,0.00,0.000,6,0.082,0.019,2934,1610,3109,0,0,0,0,0,0
$GC,341,-0.62,-116.8,33.0,-7.3,61,345,0.00,2.38,0.00,0.000,4,0.000,0.044,2935,227,3110,0,0,0,0,0,0
$GC,381,-0.77,-116.8,36.2,-8.1,64,385,0.22,2.17,0.00,0.000,6,0.041,0.018,2864,1622,3110,0,0,0,0,0,0
$GC,647,-0.77,-116.8,63.4,-9.4,85,651,0.00,2.40,0.00,0.000,4,0.000,0.044,2864,237,3111,0,0,0,0,0,0
$GC,715,-0.77,-116.8,70.9,-11.0,90,719,0.00,2.15,0.00,0.000,6,0.000,0.018,2864,1613,3110,0,0,0,0,0,0
$GC,974,-0.77,-116.8,91.7,-6.5,110,978,0.00,2.35,0.00,0.000,4,0.000,0.044,2864,238,3111,0,0,0,0,0,0
$GC,1071,-0.84,-116.8,99.0,-7.3,117,1075,0.00,2.15,0.00,0.000,6,0.000,0.018,2864,1607,3112,0,0,0,0,0,0
$GC,1337,-0.94,-116.8,120.6,-7.8,138,1338,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1611,3112,0,0,0,0,0,0
$GC,1590,-1.03,-116.8,140.5,-5.6,158,1595,0.17,2.38,0.00,0.000,4,0.048,0.045,2805,230,3113,0,0,0,0,0,0
$GC,1665,-0.98,-116.8,146.4,-7.5,163,1671,0.15,2.17,0.00,0.000,6,0.086,0.018,2837,1611,3114,0,0,0,0,0,0
$GC,1927,-1.02,-116.8,163.3,-8.1,184,1931,0.00,2.35,0.00,0.000,4,0.000,0.045,2837,237,3113,0,0,0,0,0,0
$GC,1968,-1.06,-116.8,167.4,-9.1,187,1972,0.00,2.15,0.00,0.000,6,0.000,0.019,2837,1605,3114,0,0,0,0,0,0
$GC,2232,-1.11,-116.8,189.6,-7.2,207,2237,0.12,0.00,0.00,0.000,6,0.062,0.000,2791,1609,3113,0,0,0,0,0,0
$GC,2497,-1.06,-116.8,214.7,-9.8,224,2501,0.12,2.38,0.00,0.000,4,0.091,0.048,2819,232,3114,0,0,0,0,0,0
$GC,2558,-1.06,-116.8,220.6,-9.7,226,2565,0.00,2.17,0.00,0.000,6,0.000,0.020,2819,1596,3114,0,0,0,0,0,0
$GC,2874,-1.06,-116.8,248.0,-8.6,242,2878,0.00,2.33,0.00,0.000,4,0.000,0.048,2819,240,3113,0,0,0,0,0,0
$GC,2916,-1.06,-116.8,252.0,-9.4,244,2920,0.00,2.08,0.00,0.000,6,0.000,0.021,2819,1556,3112,0,0,0,0,0,0
$GC,3248,-1.06,-116.8,281.0,-8.7,260,3252,0.00,2.20,0.00,0.000,4,0.000,0.025,2819,2918,3111,0,0,0,0,0,0
$GC,3300,-1.16,-116.8,285.2,-7.7,262,3304,0.10,2.33,0.00,0.000,6,0.072,0.035,2781,1549,3111,0,0,0,0,0,0
$GC,3640,-1.11,-116.8,315.4,-8.6,275,3645,0.12,2.28,0.00,0.000,4,0.093,0.051,2807,232,3109,0,0,0,0,0,0
$GC,3678,-1.11,-116.8,318.7,-7.6,275,3684,0.00,2.10,0.00,0.000,6,0.000,0.022,2807,1556,3109,0,0,0,0,0,0
$GC,4012,-1.11,-116.8,340.2,-6.7,284,4016,0.00,2.28,0.00,0.000,4,0.000,0.051,2807,237,3107,0,0,0,0,0,0
$GC,4030,-1.11,-116.8,341.8,-7.3,284,4035,0.00,2.10,0.00,0.000,6,0.000,0.023,2807,1553,3107,0,0,0,0,0,0
$GC,4375,-1.11,-116.8,371.2,-8.7,293,4379,0.00,2.28,0.00,0.000,4,0.000,0.053,2807,240,3105,0,0,0,0,0,0
$GC,4395,-1.11,-116.8,373.1,-9.5,293,4399,0.00,2.08,0.00,0.000,6,0.000,0.024,2807,1556,3105,0,0,0,0,0,0
$GC,4744,-1.11,-116.8,399.2,-6.9,302,4745,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1560,3103,0,0,0,0,0,0
$GC,5070,-1.14,-116.8,419.7,-6.3,310,5075,0.00,2.30,0.00,0.000,4,0.000,0.055,2807,238,3101,0,0,0,0,0,0
$GC,5123,-1.14,-116.8,423.4,-6.7,311,5127,0.00,2.10,0.00,0.000,6,0.000,0.025,2807,1545,3100,0,0,0,0,0,0
$GC,5447,-1.18,-116.8,443.7,-6.3,319,5451,0.00,2.30,0.00,0.000,4,0.000,0.056,2807,240,3098,0,0,0,0,0,0
$GC,5490,-1.18,-116.8,446.8,-6.7,320,5494,0.00,2.12,0.00,0.000,6,0.000,0.025,2807,1553,3098,0,0,0,0,0,0
$STATE,5570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5571,begin apogee
$GC,5578,-0.31,0.0,452.3,6.4,322,5677,0.80,0.00,96.10,0.836,6,0.065,0.000,2981,1557,2630,0,0,0,0,0,0
$STATE,5678,end apogee,CONTROL_FINISHED_OK
$STATE,5678,begin climb
$GC,5681,1.18,116.8,453.9,0.0,324,5794,1.42,2.38,101.78,0.820,4,0.036,0.030,3312,2930,2152,0,0,0,0,0,0
$GC,5860,1.01,135.4,450.6,7.1,328,5885,0.20,2.42,17.15,0.758,6,0.097,0.041,3273,1552,2078,0,0,0,0,0,0
$GC,6228,0.93,164.4,425.1,6.6,337,6261,0.00,2.45,25.58,0.784,4,0.000,0.058,3273,234,1958,0,0,0,0,0,0
$GC,6322,0.74,164.4,417.5,9.6,339,6326,0.30,2.17,0.00,0.000,6,0.094,0.026,3214,1550,1954,0,0,0,0,0,0
$GC,6652,0.84,223.5,399.0,5.2,347,6707,0.00,0.00,53.12,0.802,6,0.000,0.000,3213,1554,1718,0,0,0,0,0,0
$GC,7015,0.91,242.8,375.1,7.0,356,7040,0.15,2.42,17.10,0.746,4,0.064,0.058,3255,230,1639,0,0,0,0,0,0
$GC,7062,0.78,242.8,370.5,11.1,357,7067,0.17,2.17,0.00,0.000,6,0.100,0.028,3221,1549,1637,0,0,0,0,0,0
$GC,7393,0.83,249.2,344.0,7.6,365,7405,0.00,2.40,6.25,0.607,4,0.000,0.058,3221,244,1613,0,0,0,0,0,0
$GC,7490,0.83,249.2,334.9,9.2,367,7494,0.00,2.15,0.00,0.000,6,0.000,0.028,3221,1558,1610,0,0,0,0,0,0
$GC,7813,0.92,274.4,311.5,6.8,375,7842,0.12,2.42,22.98,0.731,4,0.070,0.058,3258,236,1511,0,0,0,0,0,0
$GC,7928,0.84,274.4,300.2,10.7,377,7932,0.12,2.17,0.00,0.000,6,0.106,0.028,3234,1552,1506,0,0,0,0,0,0
$GC,8261,0.88,274.4,274.0,8.0,393,8265,0.00,2.33,0.00,0.000,4,0.000,0.056,3234,236,1505,0,0,0,0,0,0
$GC,8322,0.88,274.4,267.9,10.4,395,8328,0.00,2.15,0.00,0.000,6,0.000,0.027,3234,1561,1503,0,0,0,0,0,0
$GC,8639,0.94,283.6,242.7,7.5,411,8654,0.00,2.38,8.60,0.608,4,0.000,0.054,3234,227,1472,0,0,0,0,0,0
$GC,8725,0.94,283.6,235.3,10.4,414,8732,0.00,2.20,0.00,0.000,6,0.000,0.026,3234,1557,1469,0,0,0,0,0,0
$GC,9041,1.01,283.6,209.6,8.3,430,9046,0.15,2.35,0.00,0.000,4,0.060,0.054,3277,235,1469,0,0,0,0,0,0
$GC,9117,0.93,283.6,201.4,11.4,433,9122,0.12,2.12,0.00,0.000,6,0.101,0.025,3253,1556,1467,0,0,0,0,0,0
$GC,9440,0.96,284.9,175.1,7.8,458,9443,0.00,2.35,0.00,0.000,4,0.000,0.053,3252,227,1467,0,0,0,0,0,0
$GC,9496,0.96,284.9,169.6,10.1,462,9500,0.00,2.15,0.00,0.000,6,0.000,0.024,3252,1559,1466,0,0,0,0,0,0
$GC,9767,1.06,327.2,150.2,6.0,483,9814,0.12,2.38,38.38,0.613,4,0.067,0.051,3292,232,1294,0,0,0,0,0,0
$GC,9861,0.94,327.2,140.9,10.8,490,9866,0.17,2.12,0.00,0.000,6,0.091,0.024,3256,1554,1292,0,0,0,0,0,0
$GC,10129,1.03,335.5,120.3,7.5,511,10143,0.00,2.35,7.97,0.501,4,0.000,0.051,3256,235,1262,0,0,0,0,0,0
$GC,10201,1.09,335.5,113.1,10.8,516,10205,0.12,2.10,0.00,0.000,6,0.064,0.022,3300,1553,1259,0,0,0,0,0,0
$GC,10467,1.09,335.5,85.7,9.4,537,10468,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,1557,1259,0,0,0,0,0,0
$GC,10719,1.09,335.5,61.6,8.8,557,10723,0.00,2.30,0.00,0.000,4,0.000,0.048,3299,228,1259,0,0,0,0,0,0
$GC,10785,1.03,335.5,55.1,11.1,562,10790,0.12,2.12,0.00,0.000,6,0.095,0.021,3273,1563,1257,0,0,0,0,0,0
$GC,11055,1.14,343.0,36.2,7.6,583,11071,0.12,2.38,7.62,0.434,4,0.062,0.048,3317,233,1231,0,0,0,0,0,0
$GC,11116,1.07,343.0,29.7,11.2,587,11123,0.12,2.10,0.00,0.000,6,0.067,0.020,3285,1557,1229,0,0,0,0,0,0
$GC,11321,1.17,350.5,12.7,7.6,633,11335,0.00,2.30,7.95,0.420,4,0.000,0.044,3285,233,1200,0,0,0,0,0,0
$GC,11405,1.21,355.4,5.8,7.7,650,11418,0.08,2.10,5.60,0.375,6,0.035,0.019,3327,1556,1180,0,0,0,0,0,0
$STATE,11433,end climb,SURFACE_DEPTH_REACHED
$STATE,11434,begin surface coast
$FINISH,0.9,1.008247
$STATE,11471,end surface coast,CONTROL_FINISHED_OK
$STATE,11471,begin surface
$SM_CCo,11493,34.08,0.472,0,0,958,410.14
$SM_GC,1.67,0.00,0.00,34.08,0.000,0.000,0.472,426,1555,958,-12.07,0.14,410.14
$IRIDIUM_FIX,2057.14,-15748.75,040100,191908
$TT8_MAMPS,0.029146
$HUMID,58.97
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,21.70
$XPDR_PINGS,1
$24V_AH,23.3,60.033
$10V_AH,10.0,48.994
$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,31.300,126.000,416.175,34.075,0.000,28.089,37.926,192.866,4.750,0.000,32.580,1304.405,7535.707,497.284,2023.664,570.593,0.000,1395.967,0.000,1978.677,0.000,29.261,0.000
$DEVICE_MAMPS,131.157,58.292,836.030,472.472,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,446.684,421.029,970.290,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,38124,663
$CAP_FILE_SIZE,131358,0
$CFSIZE,260165632,178061312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111010,011401,2106.651,-15747.562,82,1.0,82,9.8