version: 66.06
glider: 139
mission: 8
dive: 651
start: 10 11 110 7 50 22
data:
$ID,139
$MISSION,8
$DIVE,651
$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,-2164839
$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
$GPS1,074340,2106.329,-15748.372,21,2.1,40,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-72.7
$GPS2,075004,2106.418,-15748.381,11,2.1,30,9.8
$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,87.0,9505,-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,13,begin dive
$GC,15,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.12,0.000,2,0.000,0.000,427,1542,2762,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.6,-3.8,12,109,12.60,0.00,-6.43,0.000,6,0.130,0.000,2785,1543,3109,0,0,0,0,0,0
$GC,305,-0.93,-116.8,43.5,-14.8,47,310,0.25,2.35,0.00,0.000,4,0.089,0.020,2840,2979,3111,0,0,0,0,0,0
$GC,332,-0.85,-116.8,46.9,-11.8,49,337,0.10,2.42,0.00,0.000,6,0.106,0.033,2862,1544,3112,0,0,0,0,0,0
$GC,598,-0.85,-116.8,71.8,-9.3,70,599,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1543,3112,0,0,0,0,0,0
$GC,848,-0.85,-116.8,98.9,-12.0,90,852,0.00,2.33,0.00,0.000,4,0.000,0.021,2862,2976,3113,0,0,0,0,0,0
$GC,868,-0.88,-116.8,101.2,-11.6,91,874,0.00,2.38,0.00,0.000,6,0.000,0.031,2862,1550,3113,0,0,0,0,0,0
$GC,1128,-0.94,-116.8,126.5,-9.1,112,1132,0.00,2.25,0.00,0.000,4,0.000,0.045,2862,234,3113,0,0,0,0,0,0
$GC,1202,-1.02,-116.8,133.5,-8.4,117,1208,0.15,2.12,0.00,0.000,6,0.053,0.018,2809,1610,3113,0,0,0,0,0,0
$GC,1464,-0.97,-116.8,156.9,-8.8,138,1468,0.15,2.22,0.00,0.000,4,0.087,0.021,2843,2974,3114,0,0,0,0,0,0
$GC,1493,-1.08,-116.8,159.4,-6.8,140,1498,0.12,2.38,0.00,0.000,6,0.060,0.031,2793,1543,3114,0,0,0,0,0,0
$GC,1755,-1.02,-116.8,184.8,-10.2,160,1756,0.15,0.00,0.00,0.000,6,0.086,0.000,2826,1542,3114,0,0,0,0,0,0
$GC,2002,-1.02,-116.8,206.3,-8.9,178,2006,0.00,2.22,0.00,0.000,4,0.000,0.046,2826,231,3114,0,0,0,0,0,0
$GC,2024,-1.02,-116.8,208.1,-9.6,179,2028,0.00,2.15,0.00,0.000,6,0.000,0.019,2826,1615,3114,0,0,0,0,0,0
$GC,2354,-1.02,-116.8,237.3,-7.6,195,2358,0.00,2.40,0.00,0.000,4,0.000,0.047,2826,229,3114,0,0,0,0,0,0
$GC,2382,-1.02,-116.8,239.7,-8.1,196,2387,0.00,2.15,0.00,0.000,6,0.000,0.020,2826,1601,3114,0,0,0,0,0,0
$GC,2709,-1.05,-116.8,263.2,-8.6,212,2713,0.00,2.35,0.00,0.000,4,0.000,0.048,2826,232,3113,0,0,0,0,0,0
$GC,2736,-1.05,-116.8,266.0,-9.4,213,2740,0.00,2.15,0.00,0.000,6,0.000,0.021,2826,1606,3113,0,0,0,0,0,0
$GC,3059,-1.10,-116.8,294.6,-8.2,229,3063,0.00,2.35,0.00,0.000,4,0.000,0.048,2826,237,3113,0,0,0,0,0,0
$GC,3092,-1.16,-116.8,297.6,-7.8,230,3097,0.12,2.15,0.00,0.000,6,0.062,0.021,2783,1604,3113,0,0,0,0,0,0
$GC,3426,-1.12,-116.8,323.7,-7.0,239,3430,0.10,2.25,0.00,0.000,4,0.104,0.025,2804,2974,3111,0,0,0,0,0,0
$GC,3475,-1.19,-116.8,326.3,-5.0,240,3479,0.00,2.42,0.00,0.000,6,0.000,0.035,2804,1549,3111,0,0,0,0,0,0
$GC,3802,-1.19,-116.8,344.5,-6.4,248,3806,0.00,2.25,0.00,0.000,4,0.000,0.051,2804,239,3109,0,0,0,0,0,0
$GC,3846,-1.19,-116.8,348.0,-8.4,249,3850,0.00,2.15,0.00,0.000,6,0.000,0.023,2804,1594,3108,0,0,0,0,0,0
$GC,4175,-1.19,-116.8,372.8,-7.0,257,4179,0.00,2.35,0.00,0.000,4,0.000,0.050,2804,235,3106,0,0,0,0,0,0
$GC,4191,-1.19,-116.8,374.0,-6.4,257,4195,0.00,2.10,0.00,0.000,6,0.000,0.024,2804,1561,3106,0,0,0,0,0,0
$GC,4540,-1.19,-116.8,399.4,-7.8,266,4542,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1565,3104,0,0,0,0,0,0
$GC,4867,-1.19,-116.8,425.0,-7.6,274,4871,0.00,2.30,0.00,0.000,4,0.000,0.054,2804,240,3102,0,0,0,0,0,0
$GC,4929,-1.19,-116.8,429.7,-6.9,275,4933,0.00,2.08,0.00,0.000,6,0.000,0.025,2804,1542,3101,0,0,0,0,0,0
$STATE,5235,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5235,begin apogee
$GC,5241,-0.31,0.0,450.1,6.7,283,5341,0.82,0.00,96.47,0.832,6,0.065,0.000,2983,1546,2630,0,0,0,0,0,0
$STATE,5342,end apogee,CONTROL_FINISHED_OK
$STATE,5342,begin climb
$GC,5344,1.18,116.8,452.1,0.0,285,5454,1.42,0.00,101.70,0.817,6,0.035,0.000,3311,1547,2153,0,0,0,0,0,0
$GC,5764,1.01,153.3,433.4,6.3,296,5802,0.20,2.40,31.88,0.789,4,0.097,0.029,3272,2938,2004,0,0,0,0,0,0
$GC,5878,0.99,195.3,426.7,6.0,297,5923,0.00,2.42,38.75,0.789,6,0.000,0.041,3272,1547,1832,0,0,0,0,0,0
$GC,6265,0.90,195.3,396.9,8.0,307,6270,0.12,2.35,0.00,0.000,4,0.107,0.057,3248,232,1824,0,0,0,0,0,0
$GC,6345,0.79,195.3,389.6,9.0,308,6350,0.12,2.17,0.00,0.000,6,0.110,0.027,3225,1545,1821,0,0,0,0,0,0
$GC,6676,0.81,208.4,366.0,7.3,316,6692,0.00,2.42,10.82,0.704,4,0.000,0.058,3224,234,1780,0,0,0,0,0,0
$GC,6708,0.81,208.4,363.5,8.0,316,6712,0.00,2.20,0.00,0.000,6,0.000,0.028,3225,1560,1778,0,0,0,0,0,0
$GC,7044,0.87,235.3,340.6,6.7,325,7076,0.00,2.42,25.38,0.754,4,0.000,0.057,3224,234,1668,0,0,0,0,0,0
$GC,7120,0.87,235.3,334.8,9.1,326,7124,0.00,2.17,0.00,0.000,6,0.000,0.028,3225,1557,1665,0,0,0,0,0,0
$GC,7455,0.92,235.3,306.4,8.2,335,7460,0.10,2.40,0.00,0.000,4,0.079,0.058,3256,229,1663,0,0,0,0,0,0
$GC,7489,0.82,235.3,303.1,10.6,335,7494,0.12,2.17,0.00,0.000,6,0.107,0.028,3231,1551,1661,0,0,0,0,0,0
$GC,7807,0.89,252.3,280.0,7.1,349,7829,0.00,2.42,14.98,0.690,4,0.000,0.058,3231,241,1600,0,0,0,0,0,0
$GC,7909,0.89,252.3,271.0,8.3,353,7913,0.00,2.15,0.00,0.000,6,0.000,0.027,3231,1558,1597,0,0,0,0,0,0
$GC,8234,0.97,269.0,248.6,7.1,369,8256,0.12,2.42,15.52,0.667,4,0.067,0.056,3269,227,1532,0,0,0,0,0,0
$GC,8295,0.89,269.0,242.3,11.5,371,8300,0.12,2.17,0.00,0.000,6,0.102,0.027,3245,1561,1529,0,0,0,0,0,0
$GC,8613,0.94,269.0,213.7,9.8,386,8617,0.00,2.35,0.00,0.000,4,0.000,0.054,3245,233,1528,0,0,0,0,0,0
$GC,8704,0.94,269.0,204.2,10.5,390,8708,0.00,2.15,0.00,0.000,6,0.000,0.025,3245,1557,1526,0,0,0,0,0,0
$GC,9029,1.02,288.5,179.6,7.0,414,9057,0.12,2.40,17.98,0.618,4,0.066,0.052,3285,227,1451,0,0,0,0,0,0
$GC,9120,0.91,288.5,171.0,9.8,420,9125,0.17,2.12,0.00,0.000,6,0.091,0.025,3249,1553,1448,0,0,0,0,0,0
$GC,9387,0.98,288.5,149.7,8.6,441,9391,0.00,2.33,0.00,0.000,4,0.000,0.051,3248,233,1448,0,0,0,0,0,0
$GC,9406,1.01,288.5,147.5,9.8,442,9412,0.00,2.15,0.00,0.000,6,0.000,0.024,3248,1553,1447,0,0,0,0,0,0
$GC,9670,1.11,312.8,127.0,6.8,463,9697,0.20,2.35,21.80,0.578,4,0.049,0.049,3307,232,1353,0,0,0,0,0,0
$GC,9751,1.02,312.8,118.8,10.7,468,9757,0.15,2.15,0.00,0.000,6,0.069,0.022,3271,1552,1350,0,0,0,0,0,0
$GC,10014,1.11,334.7,99.8,6.9,489,10042,0.00,2.40,19.58,0.546,4,0.000,0.051,3271,231,1264,0,0,0,0,0,0
$GC,10087,1.15,334.7,94.2,8.3,494,10091,0.12,2.10,0.00,0.000,6,0.062,0.022,3312,1557,1261,0,0,0,0,0,0
$GC,10353,1.15,334.7,72.5,8.6,515,10358,0.00,2.33,0.00,0.000,4,0.000,0.048,3312,227,1261,0,0,0,0,0,0
$GC,10427,1.10,334.7,65.4,9.7,520,10435,0.08,2.12,0.00,0.000,6,0.072,0.021,3292,1557,1259,0,0,0,0,0,0
$GC,10690,1.15,335.0,46.3,7.9,541,10694,0.00,2.30,0.00,0.000,4,0.000,0.047,3291,232,1259,0,0,0,0,0,0
$GC,10715,1.15,335.0,43.8,9.7,543,10719,0.00,2.08,0.00,0.000,6,0.000,0.020,3292,1553,1259,0,0,0,0,0,0
$GC,10978,1.22,335.0,22.1,8.3,577,10985,0.10,2.33,0.00,0.000,4,0.071,0.047,3331,238,1259,0,0,0,0,0,0
$GC,10997,1.22,335.0,20.3,8.8,580,11004,0.00,2.08,0.00,0.000,6,0.000,0.020,3331,1553,1259,0,0,0,0,0,0
$STATE,11169,end climb,SURFACE_DEPTH_REACHED
$STATE,11169,begin surface coast
$FINISH,0.9,1.015914
$STATE,11200,end surface coast,CONTROL_FINISHED_OK
$STATE,11200,begin surface
$SM_CCo,11222,45.10,0.471,0,0,957,410.14
$SM_GC,1.53,0.00,0.00,45.10,0.000,0.000,0.471,427,1553,957,-12.07,0.08,410.14
$IRIDIUM_FIX,2059.45,-15753.90,050100,040420
$TT8_MAMPS,0.028379
$HUMID,59.52
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.20
$XPDR_PINGS,1
$24V_AH,23.3,60.357
$10V_AH,10.0,49.245
$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,30.250,122.325,394.850,45.100,0.000,27.174,35.225,171.396,4.750,0.000,31.818,1217.502,7564.879,484.022,1844.069,537.513,0.000,1312.361,0.000,1807.084,0.000,29.262,0.000
$DEVICE_MAMPS,130.390,58.292,832.195,470.938,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,421.407,399.537,894.221,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,34903,626
$CAP_FILE_SIZE,123297,0
$CFSIZE,260165632,177885184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111010,105930,2106.642,-15747.338,40,1.2,40,9.8