version: 66.06
glider: 139
mission: 8
dive: 649
start: 10 11 110 1 20 46
data:
$ID,139
$MISSION,8
$DIVE,649
$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,-2164789.8
$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
$GPS1,011401,2106.651,-15747.562,82,1.0,82,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-70.8
$GPS2,012026,2106.605,-15747.694,10,1.8,10,9.8
$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,90.3,8382,-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,-64.60,0.000,2,0.000,0.000,425,1555,2768,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.6,-3.9,12,109,12.65,0.00,-6.28,0.000,6,0.132,0.000,2785,1556,3108,0,0,0,0,0,0
$GC,305,-0.97,-116.8,43.7,-14.7,47,310,0.25,2.28,0.00,0.000,4,0.088,0.044,2840,235,3111,0,0,0,0,0,0
$GC,318,-0.78,-116.8,45.6,-15.0,48,323,0.20,2.17,0.00,0.000,6,0.087,0.020,2881,1616,3111,0,0,0,0,0,0
$GC,586,-0.83,-116.8,70.5,-8.6,69,590,0.00,2.38,0.00,0.000,4,0.000,0.045,2881,238,3112,0,0,0,0,0,0
$GC,630,-0.91,-116.8,74.7,-8.1,72,635,0.12,2.15,0.00,0.000,6,0.061,0.018,2835,1611,3113,0,0,0,0,0,0
$GC,903,-0.87,-116.8,99.5,-9.0,93,910,0.12,2.38,0.00,0.000,4,0.091,0.046,2863,241,3113,0,0,0,0,0,0
$GC,925,-0.87,-116.8,101.8,-8.0,94,929,0.00,2.12,0.00,0.000,6,0.000,0.018,2862,1617,3113,0,0,0,0,0,0
$GC,1186,-0.91,-116.8,120.0,-6.8,114,1191,0.00,2.40,0.00,0.000,4,0.000,0.045,2862,229,3113,0,0,0,0,0,0
$GC,1265,-0.96,-116.8,125.8,-7.0,119,1270,0.00,2.15,0.00,0.000,6,0.000,0.018,2862,1615,3114,0,0,0,0,0,0
$GC,1527,-1.05,-116.8,146.6,-8.9,140,1532,0.17,2.38,0.00,0.000,4,0.049,0.044,2804,234,3114,0,0,0,0,0,0
$GC,1560,-0.97,-116.8,150.7,-12.1,142,1567,0.12,2.17,0.00,0.000,6,0.064,0.018,2837,1601,3114,0,0,0,0,0,0
$GC,1824,-1.00,-116.8,172.7,-7.5,163,1828,0.00,2.35,0.00,0.000,4,0.000,0.045,2837,229,3114,0,0,0,0,0,0
$GC,1885,-1.06,-116.8,178.3,-8.5,167,1891,0.00,2.15,0.00,0.000,6,0.000,0.018,2837,1604,3114,0,0,0,0,0,0
$GC,2146,-1.10,-116.8,196.7,-7.3,188,2151,0.12,2.22,0.00,0.000,4,0.062,0.023,2792,2971,3114,0,0,0,0,0,0
$GC,2185,-1.10,-116.8,200.3,-9.4,190,2192,0.00,2.42,0.00,0.000,6,0.000,0.033,2792,1551,3114,0,0,0,0,0,0
$GC,2441,-1.05,-116.8,227.5,-11.0,203,2445,0.12,2.25,0.00,0.000,4,0.094,0.048,2820,238,3114,0,0,0,0,0,0
$GC,2480,-1.05,-116.8,232.0,-11.1,204,2486,0.00,2.17,0.00,0.000,6,0.000,0.020,2820,1603,3113,0,0,0,0,0,0
$GC,2797,-1.05,-116.8,261.6,-8.6,220,2801,0.00,2.35,0.00,0.000,4,0.000,0.047,2820,232,3113,0,0,0,0,0,0
$GC,2834,-1.05,-116.8,265.0,-8.4,221,2839,0.00,2.15,0.00,0.000,6,0.000,0.021,2820,1600,3113,0,0,0,0,0,0
$GC,3153,-1.08,-116.8,287.2,-7.4,237,3157,0.00,2.35,0.00,0.000,4,0.000,0.048,2820,234,3112,0,0,0,0,0,0
$GC,3185,-1.08,-116.8,290.1,-8.7,238,3189,0.00,2.05,0.00,0.000,6,0.000,0.021,2820,1555,3112,0,0,0,0,0,0
$GC,3500,-1.11,-116.8,311.4,-6.3,249,3504,0.00,2.30,0.00,0.000,4,0.000,0.049,2821,233,3112,0,0,0,0,0,0
$GC,3533,-1.11,-116.8,313.7,-6.9,249,3537,0.00,2.08,0.00,0.000,6,0.000,0.021,2820,1545,3111,0,0,0,0,0,0
$GC,3864,-1.15,-116.8,339.6,-8.3,257,3865,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1550,3110,0,0,0,0,0,0
$GC,4192,-1.19,-116.8,361.8,-6.5,265,4196,0.15,2.28,0.00,0.000,4,0.057,0.052,2772,238,3108,0,0,0,0,0,0
$GC,4230,-1.11,-116.8,365.1,-8.5,265,4236,0.17,2.08,0.00,0.000,6,0.085,0.023,2810,1556,3108,0,0,0,0,0,0
$GC,4561,-1.11,-116.8,387.9,-7.3,274,4562,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1560,3106,0,0,0,0,0,0
$GC,4888,-1.14,-116.8,413.4,-7.8,282,4892,0.00,2.30,0.00,0.000,4,0.000,0.054,2810,236,3104,0,0,0,0,0,0
$GC,4931,-1.14,-116.8,417.3,-8.9,283,4935,0.00,2.10,0.00,0.000,6,0.000,0.025,2810,1547,3104,0,0,0,0,0,0
$GC,5260,-1.19,-116.8,443.2,-8.1,291,5264,0.00,2.30,0.00,0.000,4,0.000,0.056,2810,232,3102,0,0,0,0,0,0
$GC,5297,-1.19,-116.8,447.0,-10.1,291,5301,0.00,2.12,0.00,0.000,6,0.000,0.025,2810,1550,3102,0,0,0,0,0,0
$STATE,5341,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5341,begin apogee
$GC,5347,-0.31,0.0,451.2,9.2,292,5447,0.80,0.00,96.72,0.833,6,0.064,0.000,2984,1555,2630,0,0,0,0,0,0
$STATE,5448,end apogee,CONTROL_FINISHED_OK
$STATE,5448,begin climb
$GC,5452,1.18,116.8,454.8,0.0,294,5566,1.42,2.38,101.65,0.819,4,0.034,0.028,3314,2934,2152,0,0,0,0,0,0
$GC,5676,1.04,155.4,452.8,6.2,299,5717,0.20,2.42,34.55,0.794,6,0.099,0.041,3275,1552,1995,0,0,0,0,0,0
$GC,6054,0.92,155.4,423.6,8.5,309,6059,0.12,2.35,0.00,0.000,4,0.112,0.030,3253,2933,1987,0,0,0,0,0,0
$GC,6126,0.93,164.6,418.0,7.5,310,6138,0.00,2.42,7.82,0.670,6,0.000,0.042,3252,1550,1959,0,0,0,0,0,0
$GC,6465,0.89,177.2,391.3,7.3,318,6484,0.00,2.38,12.45,0.732,4,0.000,0.058,3252,230,1906,0,0,0,0,0,0
$GC,6511,0.75,177.2,387.9,8.2,319,6516,0.20,2.15,0.00,0.000,6,0.097,0.028,3213,1542,1904,0,0,0,0,0,0
$GC,6842,0.85,217.4,368.0,6.1,327,6885,0.10,2.38,36.88,0.782,4,0.083,0.028,3242,2935,1742,0,0,0,0,0,0
$GC,6951,0.91,217.4,358.8,9.2,329,6955,0.00,2.45,0.00,0.000,6,0.000,0.044,3242,1549,1741,0,0,0,0,0,0
$GC,7300,0.91,217.4,326.7,9.4,338,7304,0.00,2.35,0.00,0.000,4,0.000,0.058,3242,229,1736,0,0,0,0,0,0
$GC,7404,0.86,217.4,316.2,9.8,340,7408,0.00,2.17,0.00,0.000,6,0.000,0.028,3242,1559,1733,0,0,0,0,0,0
$GC,7720,0.90,251.0,293.1,6.4,350,7754,0.00,2.42,29.23,0.732,4,0.000,0.056,3242,228,1606,0,0,0,0,0,0
$GC,7799,0.85,251.0,286.9,10.5,353,7804,0.00,2.17,0.00,0.000,6,0.000,0.027,3242,1556,1601,0,0,0,0,0,0
$GC,8121,0.89,251.0,259.8,8.4,369,8125,0.00,2.35,0.00,0.000,4,0.000,0.055,3242,235,1599,0,0,0,0,0,0
$GC,8166,0.89,251.0,256.1,8.5,371,8170,0.00,2.17,0.00,0.000,6,0.000,0.027,3243,1557,1597,0,0,0,0,0,0
$GC,8500,0.97,275.5,234.0,6.8,387,8528,0.00,2.38,21.08,0.673,4,0.000,0.053,3243,234,1506,0,0,0,0,0,0
$GC,8619,0.97,275.5,222.9,9.9,392,8623,0.00,2.15,0.00,0.000,6,0.000,0.025,3242,1554,1501,0,0,0,0,0,0
$GC,8939,1.04,287.0,196.5,7.4,409,8953,0.15,0.00,10.62,0.592,6,0.060,0.000,3286,1559,1460,0,0,0,0,0,0
$GC,9202,1.07,312.3,176.5,6.7,430,9233,0.00,2.45,23.45,0.620,4,0.000,0.052,3287,228,1356,0,0,0,0,0,0
$GC,9282,0.98,312.3,169.6,10.0,435,9289,0.12,2.15,0.00,0.000,6,0.098,0.024,3262,1570,1352,0,0,0,0,0,0
$GC,9544,1.03,312.3,149.0,8.6,456,9548,0.00,2.33,0.00,0.000,4,0.000,0.051,3261,233,1352,0,0,0,0,0,0
$GC,9590,1.03,312.3,143.9,10.6,459,9595,0.00,2.12,0.00,0.000,6,0.000,0.023,3262,1554,1350,0,0,0,0,0,0
$GC,9849,1.12,329.2,123.9,7.1,480,9871,0.15,2.40,14.95,0.549,4,0.057,0.050,3308,232,1287,0,0,0,0,0,0
$GC,9942,1.05,329.2,113.8,10.7,486,9949,0.12,2.15,0.00,0.000,6,0.072,0.021,3278,1560,1284,0,0,0,0,0,0
$GC,10205,1.13,358.8,95.7,6.6,507,10238,0.00,2.38,26.45,0.545,4,0.000,0.048,3278,229,1165,0,0,0,0,0,0
$GC,10295,1.13,358.8,87.7,10.4,513,10301,0.00,2.10,0.00,0.000,6,0.000,0.021,3278,1554,1162,0,0,0,0,0,0
$GC,10557,1.21,358.8,67.2,8.3,534,10561,0.15,2.22,0.00,0.000,4,0.056,0.021,3327,2923,1162,0,0,0,0,0,0
$GC,10570,1.29,365.2,66.2,7.6,535,10585,0.00,2.38,6.25,0.419,6,0.000,0.035,3326,1538,1140,0,0,0,0,0,0
$GC,10838,1.29,365.2,41.3,9.1,556,10842,0.00,2.25,0.00,0.000,4,0.000,0.048,3327,235,1140,0,0,0,0,0,0
$GC,11016,1.24,365.2,22.9,10.6,578,11022,0.00,2.10,0.00,0.000,6,0.000,0.019,3327,1561,1137,0,0,0,0,0,0
$STATE,11204,end climb,SURFACE_DEPTH_REACHED
$STATE,11204,begin surface coast
$FINISH,0.9,1.019584
$STATE,11227,end surface coast,CONTROL_FINISHED_OK
$STATE,11227,begin surface
$SM_CCo,11250,28.50,0.463,0,0,958,410.14
$SM_GC,1.51,0.00,0.00,28.50,0.000,0.000,0.463,428,1561,958,-12.07,0.31,410.14
$IRIDIUM_FIX,2059.45,-15748.75,040100,222243
$TT8_MAMPS,0.029146
$HUMID,59.25
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.3,60.141
$10V_AH,10.0,49.078
$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,30.225,126.725,422.100,28.500,0.000,31.063,35.045,188.111,4.500,0.000,10.586,1224.868,7483.447,487.536,1892.541,571.448,0.000,1365.853,0.000,1873.195,0.000,29.268,0.000
$DEVICE_MAMPS,131.924,58.292,832.962,462.501,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,420.809,398.999,884.856,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,34894,626
$CAP_FILE_SIZE,126734,0
$CFSIZE,260165632,178008064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111010,043006,2106.204,-15748.400,43,1.3,43,9.8