version: 66.06
glider: 139
mission: 8
dive: 650
start: 10 11 110 4 37 40
data:
$ID,139
$MISSION,8
$DIVE,650
$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,-2164806.5
$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
$GPS1,043006,2106.204,-15748.400,43,1.3,43,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-69.5
$GPS2,043720,2106.243,-15748.544,15,1.3,15,9.8
$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,84.9,9753,-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,-116.8,0.0,0.0,0,83,0.00,0.00,-64.22,0.000,2,0.000,0.000,427,1561,2764,0,0,0,0,0,0
$GC,88,-1.18,-116.8,3.7,-3.9,12,113,12.62,2.33,-6.25,0.000,4,0.131,0.031,2785,2976,3109,0,0,0,0,0,0
$GC,137,-0.56,-116.8,18.2,-26.1,21,145,0.60,2.47,0.00,0.000,6,0.068,0.034,2926,1547,3110,0,0,0,0,0,0
$GC,345,-0.67,-116.8,35.1,-7.9,58,349,0.00,2.25,0.00,0.000,4,0.000,0.044,2926,230,3111,0,0,0,0,0,0
$GC,363,-0.76,-116.8,37.1,-9.1,59,368,0.20,2.15,0.00,0.000,6,0.044,0.019,2863,1614,3112,0,0,0,0,0,0
$GC,623,-0.76,-116.8,64.5,-11.2,79,627,0.00,2.38,0.00,0.000,4,0.000,0.044,2863,234,3111,0,0,0,0,0,0
$GC,664,-0.76,-116.8,69.7,-11.9,82,668,0.00,2.15,0.00,0.000,6,0.000,0.018,2863,1607,3112,0,0,0,0,0,0
$GC,923,-0.76,-116.8,98.6,-11.2,102,928,0.10,2.25,0.00,0.000,4,0.099,0.021,2885,2977,3113,0,0,0,0,0,0
$GC,984,-0.96,-116.8,104.3,-8.1,106,992,0.17,2.42,0.00,0.000,6,0.025,0.029,2818,1546,3113,0,0,0,0,0,0
$GC,1246,-0.89,-116.8,131.9,-10.6,127,1251,0.17,2.25,0.00,0.000,4,0.081,0.044,2856,238,3113,0,0,0,0,0,0
$GC,1294,-0.93,-116.8,136.4,-8.9,130,1301,0.00,2.17,0.00,0.000,6,0.000,0.018,2856,1618,3113,0,0,0,0,0,0
$GC,1557,-0.99,-116.8,156.3,-8.1,151,1561,0.00,2.38,0.00,0.000,4,0.000,0.044,2856,237,3114,0,0,0,0,0,0
$GC,1598,-1.05,-116.8,160.5,-9.2,154,1603,0.15,2.12,0.00,0.000,6,0.054,0.018,2804,1617,3113,0,0,0,0,0,0
$GC,1860,-1.01,-116.8,186.7,-9.3,174,1865,0.12,2.38,0.00,0.000,4,0.093,0.045,2832,238,3113,0,0,0,0,0,0
$GC,1884,-1.01,-116.8,189.3,-9.1,176,1888,0.00,2.15,0.00,0.000,6,0.000,0.018,2832,1601,3114,0,0,0,0,0,0
$GC,2156,-1.05,-116.8,213.2,-8.3,193,2160,0.00,2.22,0.00,0.000,4,0.000,0.022,2831,2969,3114,0,0,0,0,0,0
$GC,2191,-1.18,-116.8,215.8,-7.1,194,2196,0.17,2.38,0.00,0.000,6,0.048,0.031,2772,1548,3114,0,0,0,0,0,0
$GC,2511,-1.09,-116.8,246.5,-10.6,209,2515,0.17,2.25,0.00,0.000,4,0.083,0.047,2809,232,3114,0,0,0,0,0,0
$GC,2560,-1.09,-116.8,251.8,-9.3,211,2564,0.00,2.15,0.00,0.000,6,0.000,0.020,2810,1605,3114,0,0,0,0,0,0
$GC,2892,-1.09,-116.8,280.4,-9.3,227,2896,0.00,2.38,0.00,0.000,4,0.000,0.048,2809,234,3113,0,0,0,0,0,0
$GC,2943,-1.09,-116.8,286.1,-10.6,229,2947,0.00,2.15,0.00,0.000,6,0.000,0.021,2810,1598,3113,0,0,0,0,0,0
$GC,3286,-1.09,-116.8,311.3,-6.2,242,3290,0.00,2.35,0.00,0.000,4,0.000,0.049,2809,237,3112,0,0,0,0,0,0
$GC,3352,-1.09,-116.8,316.0,-7.3,243,3356,0.00,2.05,0.00,0.000,6,0.000,0.021,2810,1552,3112,0,0,0,0,0,0
$GC,3702,-1.12,-116.8,339.6,-6.9,252,3703,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1557,3110,0,0,0,0,0,0
$GC,4026,-1.12,-116.8,364.5,-8.1,260,4030,0.00,2.28,0.00,0.000,4,0.000,0.051,2809,238,3108,0,0,0,0,0,0
$GC,4046,-1.12,-116.8,366.3,-8.9,260,4050,0.00,2.10,0.00,0.000,6,0.000,0.024,2809,1551,3108,0,0,0,0,0,0
$GC,4391,-1.16,-116.8,393.5,-7.7,269,4392,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1555,3105,0,0,0,0,0,0
$GC,4718,-1.20,-116.8,417.5,-7.3,277,4722,0.00,2.30,0.00,0.000,4,0.000,0.054,2809,231,3103,0,0,0,0,0,0
$GC,4755,-1.20,-116.8,420.5,-8.1,277,4760,0.00,2.12,0.00,0.000,6,0.000,0.025,2809,1552,3103,0,0,0,0,0,0
$GC,5087,-1.25,-116.8,443.8,-7.1,286,5091,0.15,2.30,0.00,0.000,4,0.060,0.056,2765,241,3100,0,0,0,0,0,0
$GC,5103,-1.25,-116.8,445.1,-7.4,286,5107,0.00,2.12,0.00,0.000,6,0.000,0.026,2765,1556,3100,0,0,0,0,0,0
$STATE,5170,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5170,begin apogee
$GC,5176,-0.31,0.0,451.4,8.7,288,5276,1.00,0.00,96.75,0.834,6,0.068,0.000,2980,1560,2630,0,0,0,0,0,0
$STATE,5277,end apogee,CONTROL_FINISHED_OK
$STATE,5277,begin climb
$GC,5280,1.18,116.8,453.6,0.0,290,5395,1.45,2.35,101.82,0.816,4,0.036,0.029,3313,2937,2152,0,0,0,0,0,0
$GC,5438,1.00,132.1,451.3,7.2,294,5459,0.22,2.42,14.55,0.742,6,0.097,0.041,3270,1554,2090,0,0,0,0,0,0
$GC,5794,0.88,132.1,422.7,8.5,303,5798,0.15,2.33,0.00,0.000,4,0.104,0.030,3241,2938,2081,0,0,0,0,0,0
$GC,5891,0.88,132.1,413.5,8.8,305,5896,0.00,2.40,0.00,0.000,6,0.000,0.041,3241,1550,2081,0,0,0,0,0,0
$GC,6211,0.84,132.1,383.8,9.5,313,6215,0.00,2.33,0.00,0.000,4,0.000,0.031,3241,2937,2077,0,0,0,0,0,0
$GC,6253,0.84,132.1,380.1,8.1,313,6258,0.00,2.42,0.00,0.000,6,0.000,0.042,3241,1548,2077,0,0,0,0,0,0
$GC,6584,0.86,181.6,359.1,5.7,322,6633,0.00,2.42,42.30,0.782,4,0.000,0.058,3241,235,1889,0,0,0,0,0,0
$GC,6665,0.77,181.6,354.1,8.0,323,6670,0.12,2.17,0.00,0.000,6,0.111,0.028,3218,1553,1885,0,0,0,0,0,0
$GC,6996,0.88,229.8,334.6,5.7,331,7046,0.10,2.42,43.08,0.763,4,0.081,0.058,3246,233,1692,0,0,0,0,0,0
$GC,7065,0.79,229.8,328.6,10.1,332,7070,0.12,2.17,0.00,0.000,6,0.110,0.028,3224,1553,1689,0,0,0,0,0,0
$GC,7407,0.84,229.8,298.5,8.9,341,7411,0.00,2.35,0.00,0.000,4,0.000,0.058,3223,234,1685,0,0,0,0,0,0
$GC,7469,0.84,229.8,292.3,10.1,343,7475,0.00,2.15,0.00,0.000,6,0.000,0.028,3224,1553,1682,0,0,0,0,0,0
$GC,7786,0.96,271.0,269.6,6.0,359,7830,0.15,2.42,35.28,0.717,4,0.062,0.058,3266,244,1524,0,0,0,0,0,0
$GC,7902,0.88,271.0,258.2,11.6,364,7907,0.12,2.15,0.00,0.000,6,0.107,0.027,3242,1548,1519,0,0,0,0,0,0
$GC,8234,0.95,292.6,233.4,6.9,380,8260,0.00,2.45,19.12,0.665,4,0.000,0.055,3241,230,1436,0,0,0,0,0,0
$GC,8351,0.95,292.6,222.4,10.5,385,8355,0.00,2.17,0.00,0.000,6,0.000,0.026,3242,1552,1433,0,0,0,0,0,0
$GC,8669,1.01,292.6,195.1,8.5,402,8673,0.12,2.35,0.00,0.000,4,0.067,0.054,3280,235,1432,0,0,0,0,0,0
$GC,8726,0.92,292.6,188.8,11.9,406,8730,0.15,2.15,0.00,0.000,6,0.097,0.025,3251,1556,1430,0,0,0,0,0,0
$GC,8987,1.03,320.6,170.0,6.6,426,9017,0.10,2.38,24.65,0.621,4,0.077,0.053,3283,235,1322,0,0,0,0,0,0
$GC,9053,0.95,320.6,163.7,11.4,430,9061,0.10,2.17,0.00,0.000,6,0.073,0.025,3259,1553,1319,0,0,0,0,0,0
$GC,9315,1.02,320.6,142.1,8.6,451,9319,0.00,2.33,0.00,0.000,4,0.000,0.051,3258,232,1318,0,0,0,0,0,0
$GC,9371,1.06,320.6,136.5,10.0,455,9376,0.10,2.15,0.00,0.000,6,0.077,0.023,3293,1564,1316,0,0,0,0,0,0
$GC,9634,1.09,342.9,115.6,6.9,475,9661,0.00,2.42,19.90,0.559,4,0.000,0.051,3293,234,1230,0,0,0,0,0,0
$GC,9695,1.04,342.9,110.3,9.6,479,9699,0.00,2.12,0.00,0.000,6,0.000,0.021,3292,1554,1227,0,0,0,0,0,0
$GC,9959,1.09,342.9,89.5,8.3,500,9960,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,1559,1227,0,0,0,0,0,0
$GC,10214,1.19,382.9,70.8,6.1,520,10256,0.00,2.40,34.20,0.529,4,0.000,0.049,3293,231,1068,0,0,0,0,0,0
$GC,10315,1.23,382.9,63.3,8.6,527,10320,0.10,2.10,0.00,0.000,6,0.071,0.020,3332,1559,1064,0,0,0,0,0,0
$GC,10580,1.19,384.9,42.7,7.8,547,10585,0.00,2.30,0.00,0.000,4,0.000,0.046,3331,227,1064,0,0,0,0,0,0
$GC,10621,1.09,384.9,38.5,10.5,550,10626,0.22,2.08,0.00,0.000,6,0.083,0.020,3285,1561,1063,0,0,0,0,0,0
$GC,10885,1.20,397.9,18.5,7.3,594,10906,0.12,2.30,13.40,0.450,4,0.061,0.044,3329,238,1006,0,0,0,0,0,0
$GC,10968,1.13,397.9,9.0,14.4,610,10975,0.12,2.08,0.00,0.000,6,0.071,0.020,3299,1542,1004,0,0,0,0,0,0
$STATE,11014,end climb,SURFACE_DEPTH_REACHED
$STATE,11014,begin surface coast
$FINISH,1.1,1.023096
$STATE,11047,end surface coast,CONTROL_FINISHED_OK
$STATE,11047,begin surface
$SM_CCo,11069,9.75,0.418,0,0,957,410.14
$SM_GC,1.70,0.00,0.00,9.75,0.000,0.000,0.418,428,1541,957,-12.07,-0.25,410.14
$IRIDIUM_FIX,2059.45,-15748.75,050100,010100
$TT8_MAMPS,0.029146
$HUMID,58.78
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.3,60.252
$10V_AH,10.0,49.162
$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,31.575,131.475,445.050,9.750,0.000,31.227,49.625,216.673,4.500,0.000,15.941,1227.965,7328.556,472.577,1865.234,615.848,0.000,1346.048,0.000,1842.245,0.000,29.263,0.000
$DEVICE_MAMPS,131.157,58.292,833.729,418.015,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,420.974,397.083,915.314,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,34913,627
$CAP_FILE_SIZE,127892,0
$CFSIZE,260165632,177942528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111010,074340,2106.329,-15748.372,21,2.1,40,9.8