version: 66.06
glider: 139
mission: 8
dive: 601
start: 10 4 110 14 32 20
data:
$ID,139
$MISSION,8
$DIVE,601
$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,-2163637.2
$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,1650
$C_ROLL_CLIMB,1650
$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
$GPS1,142524,2104.885,-15751.099,28,1.0,46,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-72.1
$GPS2,143202,2104.868,-15751.125,18,1.1,18,9.8
$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,73.2,14288,-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,15,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.18,0.000,2,0.000,0.000,428,1676,2756,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.5,-4.0,12,110,12.68,2.30,-6.55,0.000,4,0.133,0.033,2786,3067,3108,0,0,0,0,0,0
$GC,128,-0.12,-116.8,16.2,-28.7,19,135,1.05,2.45,0.00,0.000,6,0.069,0.035,3020,1651,3109,0,0,0,0,0,0
$GC,339,-0.68,-116.8,32.5,-9.6,63,347,0.52,2.42,0.00,0.000,4,0.046,0.043,2894,241,3110,0,0,0,0,0,0
$GC,381,-0.91,-116.8,36.9,-8.8,66,386,0.17,2.33,0.00,0.000,6,0.049,0.018,2837,1704,3111,0,0,0,0,0,0
$GC,649,-0.81,-116.8,71.9,-13.7,87,654,0.17,2.22,0.00,0.000,4,0.082,0.021,2875,3069,3111,0,0,0,0,0,0
$GC,664,-0.81,-116.8,73.9,-11.8,88,669,0.00,2.40,0.00,0.000,6,0.000,0.030,2875,1640,3111,0,0,0,0,0,0
$GC,923,-0.87,-116.8,97.4,-9.5,108,927,0.00,2.38,0.00,0.000,4,0.000,0.045,2874,245,3112,0,0,0,0,0,0
$GC,985,-0.98,-116.8,103.5,-9.7,112,992,0.12,2.33,0.00,0.000,6,0.030,0.018,2823,1704,3112,0,0,0,0,0,0
$GC,1247,-0.98,-116.8,128.1,-8.2,133,1251,0.00,2.50,0.00,0.000,4,0.000,0.042,2823,240,3112,0,0,0,0,0,0
$GC,1369,-0.98,-116.8,140.6,-9.7,142,1374,0.00,2.30,0.00,0.000,6,0.000,0.018,2823,1701,3113,0,0,0,0,0,0
$GC,1634,-0.98,-116.8,164.1,-8.9,163,1638,0.00,2.53,0.00,0.000,4,0.000,0.045,2823,245,3113,0,0,0,0,0,0
$GC,1677,-0.98,-116.8,168.7,-10.5,166,1681,0.00,2.30,0.00,0.000,6,0.000,0.018,2822,1701,3113,0,0,0,0,0,0
$GC,1935,-0.98,-116.8,192.0,-8.4,186,1940,0.00,2.50,0.00,0.000,4,0.000,0.046,2823,246,3113,0,0,0,0,0,0
$GC,1968,-0.98,-116.8,195.1,-8.8,188,1974,0.00,2.33,0.00,0.000,6,0.000,0.019,2823,1690,3113,0,0,0,0,0,0
$GC,2225,-0.98,-116.8,216.0,-8.5,203,2229,0.00,2.47,0.00,0.000,4,0.000,0.047,2823,246,3114,0,0,0,0,0,0
$GC,2272,-0.98,-116.8,220.4,-9.1,205,2276,0.00,2.20,0.00,0.000,6,0.000,0.020,2823,1652,3114,0,0,0,0,0,0
$GC,2599,-1.01,-116.8,247.9,-9.0,221,2603,0.00,2.45,0.00,0.000,4,0.000,0.047,2823,239,3113,0,0,0,0,0,0
$GC,2645,-1.01,-116.8,252.2,-9.5,223,2649,0.00,2.25,0.00,0.000,6,0.000,0.021,2823,1648,3113,0,0,0,0,0,0
$GC,2977,-1.06,-116.8,282.1,-8.5,239,2981,0.00,2.42,0.00,0.000,4,0.000,0.048,2823,242,3113,0,0,0,0,0,0
$GC,3016,-1.06,-116.8,285.9,-9.5,240,3023,0.00,2.28,0.00,0.000,6,0.000,0.021,2823,1648,3112,0,0,0,0,0,0
$GC,3330,-1.12,-116.8,309.0,-7.0,253,3334,0.00,2.42,0.00,0.000,4,0.000,0.049,2823,245,3111,0,0,0,0,0,0
$GC,3378,-1.16,-116.8,312.6,-7.5,254,3383,0.12,2.22,0.00,0.000,6,0.064,0.021,2780,1650,3111,0,0,0,0,0,0
$GC,3706,-1.11,-116.8,342.5,-9.2,262,3708,0.12,0.00,0.00,0.000,6,0.095,0.000,2806,1654,3109,0,0,0,0,0,0
$GC,4028,-1.11,-116.8,371.1,-9.0,270,4032,0.00,2.47,0.00,0.000,4,0.000,0.052,2805,238,3107,0,0,0,0,0,0
$GC,4103,-1.11,-116.8,378.8,-9.5,271,4108,0.00,2.25,0.00,0.000,6,0.000,0.023,2806,1643,3107,0,0,0,0,0,0
$GC,4441,-1.11,-116.8,406.3,-7.9,280,4445,0.00,2.42,0.00,0.000,4,0.000,0.053,2806,247,3104,0,0,0,0,0,0
$GC,4493,-1.11,-116.8,410.6,-8.1,281,4497,0.00,2.25,0.00,0.000,6,0.000,0.024,2806,1650,3104,0,0,0,0,0,0
$GC,4812,-1.14,-116.8,431.0,-6.3,289,4813,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1654,3103,0,0,0,0,0,0
$STATE,5134,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5134,begin apogee
$GC,5140,-0.31,0.0,451.6,6.5,297,5239,0.80,0.00,96.55,0.831,6,0.067,0.000,2979,1654,2630,0,0,0,0,0,0
$STATE,5240,end apogee,CONTROL_FINISHED_OK
$STATE,5240,begin climb
$GC,5244,1.18,116.8,453.0,0.0,299,5356,1.42,2.35,101.53,0.814,4,0.040,0.031,3307,3027,2153,0,0,0,0,0,0
$GC,5469,1.00,116.8,443.1,9.5,304,5475,0.20,2.38,0.00,0.000,6,0.100,0.040,3269,1654,2149,0,0,0,0,0,0
$GC,5800,0.91,131.3,417.0,7.2,312,5816,0.00,0.00,12.60,0.730,6,0.000,0.000,3269,1654,2093,0,0,0,0,0,0
$GC,6132,0.87,184.9,397.1,5.5,320,6187,0.15,2.40,48.20,0.796,4,0.105,0.030,3239,3036,1875,0,0,0,0,0,0
$GC,6284,0.96,230.6,389.0,5.8,323,6332,0.00,2.45,40.90,0.782,6,0.000,0.042,3239,1643,1690,0,0,0,0,0,0
$GC,6678,0.96,230.6,356.2,9.8,333,6683,0.00,2.50,0.00,0.000,4,0.000,0.059,3239,239,1682,0,0,0,0,0,0
$GC,6807,0.89,230.6,341.2,11.5,335,6811,0.00,2.35,0.00,0.000,6,0.000,0.028,3239,1652,1678,0,0,0,0,0,0
$GC,7138,0.91,243.4,313.5,7.3,343,7155,0.00,2.60,10.60,0.677,4,0.000,0.058,3239,244,1637,0,0,0,0,0,0
$GC,7251,0.85,243.4,304.4,7.9,345,7255,0.00,2.35,0.00,0.000,6,0.000,0.027,3239,1657,1633,0,0,0,0,0,0
$GC,7584,0.85,243.4,279.2,8.0,360,7589,0.00,2.53,0.00,0.000,4,0.000,0.056,3239,244,1632,0,0,0,0,0,0
$GC,7687,0.82,243.4,269.5,9.2,364,7691,0.00,2.33,0.00,0.000,6,0.000,0.026,3239,1651,1630,0,0,0,0,0,0
$GC,8004,0.87,243.4,242.8,8.1,379,8008,0.00,2.50,0.00,0.000,4,0.000,0.054,3239,242,1630,0,0,0,0,0,0
$GC,8073,0.87,243.4,235.7,10.4,382,8078,0.00,2.33,0.00,0.000,6,0.000,0.025,3239,1657,1628,0,0,0,0,0,0
$GC,8401,0.92,243.4,209.3,8.0,398,8405,0.00,2.50,0.00,0.000,4,0.000,0.054,3239,243,1628,0,0,0,0,0,0
$GC,8447,0.92,243.4,205.0,8.8,400,8451,0.00,2.30,0.00,0.000,6,0.000,0.025,3239,1651,1627,0,0,0,0,0,0
$GC,8780,1.01,268.4,180.7,6.8,424,8804,0.12,0.00,21.83,0.630,6,0.067,0.000,3278,1656,1535,0,0,0,0,0,0
$GC,9055,1.01,268.4,154.5,10.2,446,9059,0.00,2.50,0.00,0.000,4,0.000,0.052,3278,243,1532,0,0,0,0,0,0
$GC,9138,0.91,268.4,144.6,12.3,452,9143,0.15,2.30,0.00,0.000,6,0.096,0.022,3248,1661,1529,0,0,0,0,0,0
$GC,9399,1.01,288.3,124.3,7.0,472,9427,0.10,2.53,18.12,0.571,4,0.076,0.050,3282,243,1452,0,0,0,0,0,0
$GC,9505,0.94,288.3,112.8,11.1,479,9512,0.12,2.30,0.00,0.000,6,0.100,0.022,3257,1656,1449,0,0,0,0,0,0
$GC,9768,1.10,326.9,93.7,6.2,500,9809,0.15,2.58,33.55,0.559,4,0.057,0.051,3304,248,1296,0,0,0,0,0,0
$GC,9907,1.06,326.9,80.0,10.4,510,9912,0.10,2.25,0.00,0.000,6,0.105,0.021,3284,1659,1292,0,0,0,0,0,0
$GC,10175,1.19,350.3,58.6,6.8,531,10205,0.10,2.58,20.35,0.510,4,0.073,0.049,3319,243,1201,0,0,0,0,0,0
$GC,10266,1.14,350.3,50.1,12.1,537,10271,0.10,2.28,0.00,0.000,6,0.105,0.020,3298,1663,1198,0,0,0,0,0,0
$GC,10529,1.20,358.1,28.2,7.5,561,10543,0.00,2.53,7.82,0.426,4,0.000,0.047,3298,236,1169,0,0,0,0,0,0
$GC,10625,1.20,358.1,19.4,11.4,581,10632,0.00,2.28,0.00,0.000,6,0.000,0.020,3298,1652,1166,0,0,0,0,0,0
$STATE,10817,end climb,SURFACE_DEPTH_REACHED
$STATE,10817,begin surface coast
$FINISH,0.9,1.023007
$STATE,10856,end surface coast,CONTROL_FINISHED_OK
$STATE,10857,begin surface
$SM_CCo,10880,32.17,0.468,0,0,958,410.14
$SM_GC,1.47,0.00,0.00,32.17,0.000,0.000,0.468,423,1654,958,-12.08,0.11,410.14
$IRIDIUM_FIX,2054.83,-15749.62,291299,111159
$TT8_MAMPS,0.029146
$HUMID,58.58
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.20
$XPDR_PINGS,4
$24V_AH,23.3,54.671
$10V_AH,10.1,45.007
$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,30.750,119.350,412.050,32.175,0.000,29.540,37.591,187.979,5.500,0.000,19.036,1237.821,7058.090,470.690,1978.637,561.334,0.000,1354.599,0.000,1947.781,0.000,29.255,0.000
$DEVICE_MAMPS,132.691,59.059,831.428,467.870,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,426.410,410.241,942.581,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,34920,634
$CAP_FILE_SIZE,120772,0
$CFSIZE,260165632,180891648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041010,173528,2104.966,-15750.967,17,2.6,36,9.8