version: 66.06
glider: 139
mission: 8
dive: 607
start: 10 5 110 9 56 57
data:
$ID,139
$MISSION,8
$DIVE,607
$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,-2163809
$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
$GPS1,094110,2104.955,-15752.106,34,4.6,53,9.8
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-72.6
$GPS2,095639,2104.989,-15752.205,10,4.6,29,9.8
$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,74.8,16119,-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,17,-1.18,-116.8,0.0,0.0,0,83,0.00,0.00,-64.12,0.000,2,0.000,0.000,426,1604,2774,0,0,0,0,0,0
$GC,87,-1.18,-116.8,3.7,-4.1,12,111,12.70,2.40,-6.10,0.000,4,0.134,0.057,2782,228,3108,0,0,0,0,0,0
$GC,120,0.22,-116.8,15.1,-26.4,17,128,1.45,2.30,0.00,0.000,6,0.081,0.020,3093,1651,3109,0,0,0,0,0,0
$GC,331,-0.36,-116.8,31.6,-10.0,63,338,0.52,2.45,0.00,0.000,4,0.045,0.040,2964,230,3111,0,0,0,0,0,0
$GC,414,-0.87,-116.8,38.6,-7.9,69,419,0.47,2.25,0.00,0.000,6,0.036,0.018,2843,1666,3111,0,0,0,0,0,0
$GC,683,-0.79,-116.8,70.8,-12.2,90,685,0.17,0.00,0.00,0.000,6,0.084,0.000,2879,1670,3111,0,0,0,0,0,0
$GC,933,-0.79,-116.8,95.3,-9.1,110,937,0.00,2.47,0.00,0.000,4,0.000,0.045,2879,237,3111,0,0,0,0,0,0
$GC,1060,-0.85,-116.8,106.7,-7.9,119,1064,0.00,2.22,0.00,0.000,6,0.000,0.018,2880,1667,3112,0,0,0,0,0,0
$GC,1323,-0.96,-116.8,125.0,-6.4,139,1328,0.17,2.50,0.00,0.000,4,0.049,0.045,2821,234,3112,0,0,0,0,0,0
$GC,1384,-0.90,-116.8,130.3,-8.4,143,1390,0.15,2.22,0.00,0.000,6,0.088,0.018,2854,1661,3112,0,0,0,0,0,0
$GC,1646,-0.98,-116.8,149.8,-9.0,164,1650,0.00,2.45,0.00,0.000,4,0.000,0.045,2853,237,3113,0,0,0,0,0,0
$GC,1678,-1.05,-116.8,153.2,-10.0,166,1687,0.10,2.25,0.00,0.000,6,0.031,0.018,2808,1655,3113,0,0,0,0,0,0
$GC,1942,-1.05,-116.8,178.7,-8.4,187,1943,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1655,3113,0,0,0,0,0,0
$GC,2190,-1.05,-116.8,195.4,-6.1,207,2191,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1655,3113,0,0,0,0,0,0
$GC,2450,-1.05,-116.8,215.1,-8.7,222,2455,0.00,2.47,0.00,0.000,4,0.000,0.049,2807,230,3113,0,0,0,0,0,0
$GC,2480,-0.99,-116.8,218.0,-10.7,223,2484,0.12,2.25,0.00,0.000,6,0.093,0.020,2834,1655,3113,0,0,0,0,0,0
$GC,2804,-1.06,-116.8,245.6,-8.3,239,2808,0.00,2.45,0.00,0.000,4,0.000,0.048,2834,234,3113,0,0,0,0,0,0
$GC,2861,-1.12,-116.8,251.0,-9.3,241,2866,0.12,2.25,0.00,0.000,6,0.063,0.021,2792,1647,3112,0,0,0,0,0,0
$GC,3185,-1.12,-116.8,281.5,-10.0,257,3189,0.00,2.15,0.00,0.000,4,0.000,0.024,2791,2972,3111,0,0,0,0,0,0
$GC,3211,-1.12,-116.8,284.1,-9.1,258,3215,0.00,2.30,0.00,0.000,6,0.000,0.035,2791,1602,3111,0,0,0,0,0,0
$GC,3538,-1.12,-116.8,309.5,-7.2,271,3542,0.00,2.35,0.00,0.000,4,0.000,0.050,2791,233,3109,0,0,0,0,0,0
$GC,3619,-1.07,-116.8,315.5,-7.7,272,3624,0.12,2.17,0.00,0.000,6,0.094,0.021,2818,1600,3109,0,0,0,0,0,0
$GC,3951,-1.12,-116.8,337.5,-7.0,280,3955,0.00,2.38,0.00,0.000,4,0.000,0.051,2818,228,3107,0,0,0,0,0,0
$GC,3998,-1.17,-116.8,341.6,-8.8,281,4002,0.00,2.17,0.00,0.000,6,0.000,0.023,2818,1597,3106,0,0,0,0,0,0
$GC,4323,-1.22,-116.8,369.6,-9.1,289,4328,0.15,2.28,0.00,0.000,4,0.057,0.028,2772,2974,3104,0,0,0,0,0,0
$GC,4367,-1.22,-116.8,374.3,-10.4,290,4371,0.00,2.35,0.00,0.000,6,0.000,0.038,2770,1600,3104,0,0,0,0,0,0
$GC,4696,-1.17,-116.8,409.8,-10.9,298,4698,0.10,0.00,0.00,0.000,6,0.105,0.000,2792,1600,3102,0,0,0,0,0,0
$GC,5019,-1.17,-116.8,438.2,-8.4,306,5023,0.00,2.38,0.00,0.000,4,0.000,0.056,2792,235,3100,0,0,0,0,0,0
$GC,5062,-1.17,-116.8,442.1,-9.3,307,5066,0.00,2.17,0.00,0.000,6,0.000,0.025,2792,1593,3100,0,0,0,0,0,0
$STATE,5184,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5184,begin apogee
$GC,5191,-0.31,0.0,452.5,8.4,310,5291,0.88,0.00,96.53,0.828,6,0.067,0.000,2981,1596,2629,0,0,0,0,0,0
$STATE,5292,end apogee,CONTROL_FINISHED_OK
$STATE,5292,begin climb
$GC,5294,1.18,116.8,454.9,0.0,312,5408,1.42,2.38,101.95,0.811,4,0.040,0.031,3310,2979,2152,0,0,0,0,0,0
$GC,5522,1.05,152.0,449.7,6.3,317,5561,0.15,2.40,31.33,0.783,6,0.107,0.041,3282,1601,2010,0,0,0,0,0,0
$GC,5886,0.97,197.7,426.0,5.8,326,5934,0.00,2.38,41.00,0.792,4,0.000,0.029,3282,2985,1821,0,0,0,0,0,0
$GC,5951,0.91,227.2,422.0,6.6,327,5984,0.17,2.45,27.20,0.769,6,0.099,0.044,3247,1602,1703,0,0,0,0,0,0
$GC,6304,0.88,231.5,396.6,7.7,336,6309,0.00,0.00,3.90,0.483,6,0.000,0.000,3247,1602,1686,0,0,0,0,0,0
$GC,6628,0.88,231.5,362.4,11.5,344,6632,0.00,2.45,0.00,0.000,4,0.000,0.060,3247,232,1684,0,0,0,0,0,0
$GC,6662,0.77,231.5,358.2,13.2,344,6667,0.15,2.28,0.00,0.000,6,0.107,0.028,3219,1606,1680,0,0,0,0,0,0
$GC,6994,0.82,231.5,325.5,9.9,352,6998,0.00,2.45,0.00,0.000,4,0.000,0.058,3219,234,1680,0,0,0,0,0,0
$GC,7101,0.82,231.5,314.6,10.4,354,7105,0.00,2.25,0.00,0.000,6,0.000,0.028,3218,1609,1677,0,0,0,0,0,0
$GC,7432,1.02,342.8,298.0,2.9,364,7541,0.22,2.58,96.28,0.744,4,0.051,0.058,3278,231,1231,0,0,0,0,0,0
$GC,7642,0.90,342.8,280.1,13.3,373,7647,0.17,2.25,0.00,0.000,6,0.096,0.028,3244,1601,1224,0,0,0,0,0,0
$GC,7974,0.94,342.8,249.9,9.1,389,7978,0.00,2.42,0.00,0.000,4,0.000,0.054,3244,231,1222,0,0,0,0,0,0
$GC,8113,0.94,342.8,229.9,14.3,395,8117,0.00,2.22,0.00,0.000,6,0.000,0.025,3244,1606,1219,0,0,0,0,0,0
$GC,8444,0.98,342.8,193.2,10.6,413,8448,0.00,2.42,0.00,0.000,4,0.000,0.055,3244,232,1219,0,0,0,0,0,0
$GC,8558,0.98,342.8,179.1,11.3,421,8563,0.00,2.22,0.00,0.000,6,0.000,0.025,3244,1608,1217,0,0,0,0,0,0
$GC,8818,1.04,342.8,155.8,10.3,442,8823,0.15,2.42,0.00,0.000,4,0.059,0.054,3289,225,1218,0,0,0,0,0,0
$GC,8915,0.95,342.8,142.4,13.2,449,8920,0.15,2.22,0.00,0.000,6,0.096,0.023,3257,1602,1216,0,0,0,0,0,0
$GC,9182,1.01,342.8,118.7,10.3,470,9186,0.00,2.42,0.00,0.000,4,0.000,0.051,3258,226,1216,0,0,0,0,0,0
$GC,9228,1.06,342.8,112.8,11.8,473,9235,0.10,2.22,0.00,0.000,6,0.076,0.022,3295,1616,1216,0,0,0,0,0,0
$GC,9490,1.12,342.8,85.4,9.4,494,9494,0.00,2.42,0.00,0.000,4,0.000,0.051,3295,231,1216,0,0,0,0,0,0
$GC,9588,1.12,342.8,76.2,8.8,501,9592,0.00,2.15,0.00,0.000,6,0.000,0.021,3295,1599,1216,0,0,0,0,0,0
$GC,9854,1.18,342.8,56.5,8.1,522,9858,0.00,2.38,0.00,0.000,4,0.000,0.049,3295,230,1215,0,0,0,0,0,0
$GC,9946,1.18,342.8,46.3,10.3,529,9951,0.00,2.17,0.00,0.000,6,0.000,0.020,3295,1603,1215,0,0,0,0,0,0
$GC,10210,1.28,377.1,24.1,6.3,561,10245,0.15,2.45,27.65,0.488,4,0.055,0.048,3347,226,1090,0,0,0,0,0,0
$GC,10276,1.15,377.1,17.4,11.7,573,10283,0.20,2.20,0.00,0.000,6,0.070,0.020,3301,1607,1088,0,0,0,0,0,0
$STATE,10419,end climb,SURFACE_DEPTH_REACHED
$STATE,10419,begin surface coast
$FINISH,0.9,1.023187
$STATE,10446,end surface coast,CONTROL_FINISHED_OK
$STATE,10446,begin surface
$SM_CCo,10468,24.38,0.464,0,0,957,410.14
$SM_GC,1.63,0.00,0.00,24.38,0.000,0.000,0.464,427,1607,957,-12.07,0.20,410.14
$IRIDIUM_FIX,2057.14,-15748.75,301299,090902
$TT8_MAMPS,0.029146
$HUMID,60.08
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.00
$XPDR_PINGS,2
$24V_AH,23.3,55.426
$10V_AH,10.1,45.521
$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,32.575,111.875,425.825,24.375,0.000,61.811,65.667,587.838,5.000,0.000,30.062,1198.689,6805.048,463.418,1929.016,1021.565,0.000,1331.672,0.000,1888.142,0.000,29.263,0.000
$DEVICE_MAMPS,134.225,59.826,827.593,464.035,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,410.656,392.990,907.352,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355800
$DATA_FILE_SIZE,34789,611
$CAP_FILE_SIZE,126353,0
$CFSIZE,260165632,180527104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051010,125307,2104.722,-15752.890,38,0.9,38,9.8