version: 66.06
glider: 139
mission: 8
dive: 606
start: 10 5 110 6 36 28
data:
$ID,139
$MISSION,8
$DIVE,606
$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,-2163778.2
$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,1600
$C_ROLL_CLIMB,1600
$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
$GPS1,062725,2105.029,-15751.948,40,1.6,40,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-71.4
$GPS2,063608,2105.028,-15751.957,12,1.3,12,9.8
$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,74.9,15686,-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,-64.38,0.000,2,0.000,0.000,426,1602,2741,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.2,-3.2,12,112,12.68,2.38,-6.78,0.000,4,0.133,0.054,2783,234,3107,0,0,0,0,0,0
$GC,120,0.19,-116.8,14.5,-24.9,17,127,1.42,2.30,0.00,0.000,6,0.079,0.020,3090,1657,3108,0,0,0,0,0,0
$GC,322,-0.38,-116.8,30.1,-9.0,63,329,0.52,2.45,0.00,0.000,4,0.048,0.041,2962,232,3111,0,0,0,0,0,0
$GC,365,-0.85,-116.8,33.5,-7.2,66,370,0.43,2.25,0.00,0.000,6,0.035,0.018,2852,1675,3111,0,0,0,0,0,0
$GC,634,-0.79,-116.8,60.0,-10.7,87,636,0.12,0.00,0.00,0.000,6,0.091,0.000,2879,1676,3111,0,0,0,0,0,0
$GC,884,-0.87,-116.8,83.6,-9.1,107,888,0.00,2.50,0.00,0.000,4,0.000,0.044,2878,230,3111,0,0,0,0,0,0
$GC,972,-0.97,-116.8,91.6,-7.9,113,978,0.17,2.22,0.00,0.000,6,0.049,0.018,2820,1662,3112,0,0,0,0,0,0
$GC,1232,-0.97,-116.8,117.4,-9.5,134,1236,0.00,2.20,0.00,0.000,4,0.000,0.021,2819,3025,3112,0,0,0,0,0,0
$GC,1256,-1.00,-116.8,119.8,-9.1,135,1262,0.00,2.40,0.00,0.000,6,0.000,0.031,2819,1599,3112,0,0,0,0,0,0
$GC,1516,-1.00,-116.8,143.0,-9.0,156,1520,0.00,2.33,0.00,0.000,4,0.000,0.046,2820,234,3113,0,0,0,0,0,0
$GC,1555,-1.00,-116.8,146.8,-10.0,159,1559,0.00,2.22,0.00,0.000,6,0.000,0.018,2819,1655,3113,0,0,0,0,0,0
$GC,1819,-1.00,-116.8,172.5,-9.4,180,1823,0.00,2.45,0.00,0.000,4,0.000,0.045,2819,228,3113,0,0,0,0,0,0
$GC,1837,-1.00,-116.8,174.3,-9.0,181,1841,0.00,2.22,0.00,0.000,6,0.000,0.019,2820,1657,3113,0,0,0,0,0,0
$GC,2100,-1.00,-116.8,193.7,-7.3,201,2104,0.00,2.47,0.00,0.000,4,0.000,0.046,2819,232,3113,0,0,0,0,0,0
$GC,2128,-0.96,-116.8,196.2,-8.2,203,2132,0.00,2.25,0.00,0.000,6,0.000,0.020,2820,1654,3113,0,0,0,0,0,0
$GC,2392,-0.96,-116.8,218.9,-10.3,217,2397,0.10,2.47,0.00,0.000,4,0.100,0.047,2842,238,3113,0,0,0,0,0,0
$GC,2439,-1.03,-116.8,223.7,-10.2,219,2443,0.00,2.22,0.00,0.000,6,0.000,0.020,2842,1648,3113,0,0,0,0,0,0
$GC,2772,-1.12,-116.8,254.2,-7.8,235,2777,0.15,2.45,0.00,0.000,4,0.056,0.048,2790,238,3112,0,0,0,0,0,0
$GC,2841,-1.06,-116.8,260.1,-7.9,238,2846,0.12,2.17,0.00,0.000,6,0.094,0.021,2817,1603,3112,0,0,0,0,0,0
$GC,3173,-1.06,-116.8,276.0,-4.3,254,3177,0.00,2.25,0.00,0.000,4,0.000,0.024,2818,2980,3111,0,0,0,0,0,0
$GC,3222,-1.18,-116.8,278.3,-4.6,256,3227,0.12,2.35,0.00,0.000,6,0.061,0.035,2772,1593,3111,0,0,0,0,0,0
$GC,3553,-1.13,-116.8,305.8,-9.5,271,3558,0.15,2.35,0.00,0.000,4,0.089,0.050,2805,234,3109,0,0,0,0,0,0
$GC,3634,-1.13,-116.8,314.9,-11.5,272,3638,0.00,2.17,0.00,0.000,6,0.000,0.021,2805,1608,3109,0,0,0,0,0,0
$GC,3965,-1.13,-116.8,351.2,-10.9,280,3969,0.00,2.38,0.00,0.000,4,0.000,0.051,2804,236,3106,0,0,0,0,0,0
$GC,4012,-1.13,-116.8,356.3,-10.8,281,4016,0.00,2.15,0.00,0.000,6,0.000,0.023,2805,1597,3106,0,0,0,0,0,0
$GC,4337,-1.13,-116.8,382.0,-6.8,289,4338,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1602,3104,0,0,0,0,0,0
$GC,4661,-1.16,-116.8,400.8,-6.1,297,4662,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1602,3102,0,0,0,0,0,0
$GC,4986,-1.19,-116.8,424.7,-7.5,305,4990,0.00,2.38,0.00,0.000,4,0.000,0.054,2805,236,3100,0,0,0,0,0,0
$GC,5037,-1.19,-116.8,429.4,-8.4,306,5041,0.00,2.17,0.00,0.000,6,0.000,0.025,2805,1592,3100,0,0,0,0,0,0
$STATE,5312,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5312,begin apogee
$GC,5318,-0.31,0.0,452.8,8.7,313,5418,0.82,0.00,96.60,0.834,6,0.066,0.000,2983,1597,2630,0,0,0,0,0,0
$STATE,5419,end apogee,CONTROL_FINISHED_OK
$STATE,5419,begin climb
$GC,5423,1.18,116.8,456.1,0.0,315,5535,1.40,2.38,102.10,0.818,4,0.038,0.031,3309,2983,2152,0,0,0,0,0,0
$GC,5607,1.03,140.2,454.9,6.8,319,5636,0.17,2.42,21.50,0.770,6,0.100,0.041,3275,1604,2057,0,0,0,0,0,0
$GC,5969,0.90,140.2,426.4,8.4,328,5974,0.15,2.33,0.00,0.000,4,0.106,0.031,3246,2987,2049,0,0,0,0,0,0
$GC,6022,0.90,140.2,422.0,8.5,329,6027,0.00,2.45,0.00,0.000,6,0.000,0.043,3246,1594,2048,0,0,0,0,0,0
$GC,6341,0.85,140.2,396.1,8.1,337,6342,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1594,2045,0,0,0,0,0,0
$GC,6666,0.82,157.8,371.3,7.1,345,6686,0.00,2.45,14.43,0.740,4,0.000,0.031,3246,2988,1986,0,0,0,0,0,0
$GC,6764,0.89,211.3,365.1,5.5,347,6821,0.00,2.45,49.28,0.782,6,0.000,0.043,3246,1593,1767,0,0,0,0,0,0
$GC,7132,0.92,232.0,340.1,7.0,356,7156,0.00,2.53,18.42,0.734,4,0.000,0.060,3246,233,1683,0,0,0,0,0,0
$GC,7233,0.83,232.0,330.5,10.7,358,7237,0.00,2.28,0.00,0.000,6,0.000,0.028,3246,1608,1679,0,0,0,0,0,0
$GC,7552,0.83,232.0,301.7,8.7,366,7556,0.00,2.47,0.00,0.000,4,0.000,0.058,3246,229,1677,0,0,0,0,0,0
$GC,7649,0.77,232.0,292.8,9.0,369,7654,0.15,2.28,0.00,0.000,6,0.105,0.028,3217,1606,1673,0,0,0,0,0,0
$GC,7975,0.86,248.0,270.6,7.2,385,7997,0.00,2.53,13.77,0.677,4,0.000,0.056,3217,235,1617,0,0,0,0,0,0
$GC,8048,0.86,248.0,264.1,8.8,388,8052,0.00,2.25,0.00,0.000,6,0.000,0.027,3217,1608,1615,0,0,0,0,0,0
$GC,8377,0.99,280.4,241.7,6.4,404,8413,0.20,2.53,29.40,0.690,4,0.054,0.056,3272,242,1485,0,0,0,0,0,0
$GC,8434,0.89,280.4,236.5,11.5,406,8439,0.15,2.28,0.00,0.000,6,0.100,0.026,3242,1611,1482,0,0,0,0,0,0
$GC,8751,0.93,280.4,210.3,8.7,421,8755,0.00,2.45,0.00,0.000,4,0.000,0.054,3243,234,1481,0,0,0,0,0,0
$GC,8790,0.93,280.4,206.8,9.2,422,8797,0.00,2.28,0.00,0.000,6,0.000,0.025,3243,1608,1478,0,0,0,0,0,0
$GC,9120,0.98,280.4,179.1,10.0,446,9125,0.00,2.42,0.00,0.000,4,0.000,0.054,3243,226,1478,0,0,0,0,0,0
$GC,9209,0.98,280.4,168.5,12.4,452,9215,0.00,2.25,0.00,0.000,6,0.000,0.025,3243,1605,1477,0,0,0,0,0,0
$GC,9471,1.13,360.5,150.9,4.3,473,9547,0.22,2.47,68.95,0.620,4,0.048,0.052,3306,234,1158,0,0,0,0,0,0
$GC,9567,0.99,360.5,144.6,8.8,480,9572,0.20,2.22,0.00,0.000,6,0.091,0.024,3266,1597,1156,0,0,0,0,0,0
$GC,9834,1.04,360.5,118.8,16.5,501,9838,0.00,2.42,0.00,0.000,4,0.000,0.051,3265,226,1154,0,0,0,0,0,0
$GC,9904,1.04,360.5,106.6,15.8,506,9909,0.00,2.22,0.00,0.000,6,0.000,0.021,3265,1608,1150,0,0,0,0,0,0
$GC,10165,1.24,405.7,85.2,5.9,526,10210,0.22,2.50,37.30,0.551,4,0.044,0.050,3332,234,976,0,0,0,0,0,0
$GC,10286,1.16,405.7,71.0,14.3,534,10294,0.10,2.22,0.00,0.000,6,0.071,0.021,3306,1603,972,0,0,0,0,0,0
$GC,10548,1.20,405.7,45.4,10.0,555,10552,0.00,2.40,0.00,0.000,4,0.000,0.049,3306,232,971,0,0,0,0,0,0
$GC,10631,1.20,405.7,35.1,11.8,561,10635,0.00,2.20,0.00,0.000,6,0.000,0.020,3306,1616,970,0,0,0,0,0,0
$GC,10896,1.25,405.7,7.6,9.6,613,10902,0.00,2.45,0.00,0.000,4,0.000,0.051,3306,239,970,0,0,0,0,0,0
$STATE,10933,end climb,SURFACE_DEPTH_REACHED
$STATE,10933,begin surface coast
$FINISH,0.9,1.022244
$STATE,10959,end surface coast,CONTROL_FINISHED_OK
$STATE,10960,begin surface
$SM_CCo,10984,3.60,0.295,0,0,957,410.14
$SM_GC,1.82,0.00,0.00,3.60,0.000,0.000,0.295,427,1603,957,-12.07,0.08,410.14
$IRIDIUM_FIX,2057.14,-15748.75,301299,030335
$TT8_MAMPS,0.029146
$HUMID,59.45
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,21.90
$XPDR_PINGS,1
$24V_AH,23.3,55.288
$10V_AH,10.0,45.431
$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,32.200,126.500,451.750,3.600,0.000,30.792,32.715,328.709,4.750,0.000,13.092,1216.870,7201.780,482.335,1898.747,710.802,0.000,1350.892,0.000,1884.192,0.000,29.261,0.000
$DEVICE_MAMPS,132.691,59.826,834.496,295.295,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,421.985,406.453,912.409,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355740
$DATA_FILE_SIZE,34920,627
$CAP_FILE_SIZE,123710,0
$CFSIZE,260165632,180588544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051010,094110,2104.955,-15752.106,34,4.6,53,9.8