version: 66.06
glider: 139
mission: 8
dive: 608
start: 10 5 110 13 6 9
data:
$ID,139
$MISSION,8
$DIVE,608
$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,-2163828.5
$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
$GPS1,125307,2104.722,-15752.890,38,0.9,38,9.8
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-72.9
$GPS2,130549,2104.709,-15752.975,13,0.9,18,9.8
$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,73.5,17496,-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,-64.65,0.000,2,0.000,0.000,426,1608,2771,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.6,-3.9,12,110,12.68,0.00,-6.12,0.000,6,0.133,0.000,2785,1609,3108,0,0,0,0,0,0
$GC,307,-0.95,-116.8,48.2,-16.7,46,312,0.25,2.33,0.00,0.000,4,0.091,0.019,2841,3027,3111,0,0,0,0,0,0
$GC,323,-0.77,-116.8,50.8,-15.7,47,328,0.20,2.40,0.00,0.000,6,0.081,0.032,2884,1598,3111,0,0,0,0,0,0
$GC,583,-0.77,-116.8,77.0,-9.7,67,587,0.00,2.35,0.00,0.000,4,0.000,0.045,2884,234,3111,0,0,0,0,0,0
$GC,644,-0.77,-116.8,83.6,-10.4,71,649,0.00,2.22,0.00,0.000,6,0.000,0.018,2885,1659,3111,0,0,0,0,0,0
$GC,905,-0.86,-116.8,106.0,-7.6,92,909,0.00,2.45,0.00,0.000,4,0.000,0.044,2884,234,3112,0,0,0,0,0,0
$GC,957,-0.95,-116.8,109.7,-6.1,96,961,0.20,2.22,0.00,0.000,6,0.044,0.018,2821,1661,3112,0,0,0,0,0,0
$GC,1224,-0.95,-116.8,136.5,-10.9,117,1229,0.00,2.45,0.00,0.000,4,0.000,0.045,2821,234,3113,0,0,0,0,0,0
$GC,1297,-0.95,-116.8,146.0,-12.3,122,1304,0.00,2.25,0.00,0.000,6,0.000,0.018,2821,1642,3113,0,0,0,0,0,0
$GC,1558,-0.95,-116.8,170.9,-8.8,143,1559,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1647,3113,0,0,0,0,0,0
$GC,1810,-0.95,-116.8,194.1,-9.3,163,1815,0.10,2.45,0.00,0.000,4,0.101,0.047,2843,230,3113,0,0,0,0,0,0
$GC,1873,-0.99,-116.8,199.3,-8.1,167,1879,0.00,2.17,0.00,0.000,6,0.000,0.019,2843,1612,3113,0,0,0,0,0,0
$GC,2142,-1.05,-116.8,220.3,-8.2,181,2144,0.10,0.00,0.00,0.000,6,0.074,0.000,2805,1616,3113,0,0,0,0,0,0
$GC,2450,-1.05,-116.8,251.7,-9.9,196,2454,0.00,2.38,0.00,0.000,4,0.000,0.048,2805,232,3112,0,0,0,0,0,0
$GC,2478,-1.00,-116.8,254.6,-9.6,197,2482,0.12,2.12,0.00,0.000,6,0.091,0.021,2832,1595,3112,0,0,0,0,0,0
$GC,2804,-1.05,-116.8,281.0,-8.9,213,2805,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1599,3112,0,0,0,0,0,0
$GC,3129,-1.12,-116.8,305.7,-6.9,227,3134,0.12,2.38,0.00,0.000,4,0.063,0.050,2789,229,3110,0,0,0,0,0,0
$GC,3181,-1.05,-116.8,310.1,-8.3,228,3186,0.15,2.15,0.00,0.000,6,0.087,0.022,2822,1594,3110,0,0,0,0,0,0
$GC,3505,-1.09,-116.8,328.3,-5.7,236,3510,0.00,2.35,0.00,0.000,4,0.000,0.051,2822,234,3109,0,0,0,0,0,0
$GC,3591,-1.13,-116.8,335.8,-8.4,237,3596,0.00,2.20,0.00,0.000,6,0.000,0.022,2822,1603,3108,0,0,0,0,0,0
$GC,3924,-1.18,-116.8,364.5,-8.3,246,3928,0.12,2.40,0.00,0.000,4,0.064,0.052,2779,232,3106,0,0,0,0,0,0
$GC,3948,-1.10,-116.8,366.9,-9.6,246,3953,0.15,2.20,0.00,0.000,6,0.089,0.023,2812,1602,3106,0,0,0,0,0,0
$GC,4289,-1.10,-116.8,391.4,-6.7,255,4294,0.00,2.38,0.00,0.000,4,0.000,0.053,2812,239,3103,0,0,0,0,0,0
$GC,4310,-1.10,-116.8,392.8,-7.2,255,4314,0.00,2.20,0.00,0.000,6,0.000,0.024,2812,1608,3103,0,0,0,0,0,0
$GC,4660,-1.14,-116.8,414.1,-5.8,264,4661,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1613,3101,0,0,0,0,0,0
$GC,4986,-1.18,-116.8,436.9,-7.7,272,4991,0.00,2.40,0.00,0.000,4,0.000,0.056,2812,238,3099,0,0,0,0,0,0
$GC,5047,-1.18,-116.8,442.3,-7.9,273,5051,0.00,2.20,0.00,0.000,6,0.000,0.025,2812,1593,3099,0,0,0,0,0,0
$STATE,5150,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5150,begin apogee
$GC,5156,-0.31,0.0,450.1,7.5,276,5255,0.77,0.00,96.20,0.828,6,0.065,0.000,2980,1597,2630,0,0,0,0,0,0
$STATE,5256,end apogee,CONTROL_FINISHED_OK
$STATE,5256,begin climb
$GC,5260,1.18,116.8,452.4,0.0,278,5372,1.42,2.38,101.82,0.811,4,0.038,0.031,3309,2982,2152,0,0,0,0,0,0
$GC,5431,1.00,116.8,449.1,8.4,281,5438,0.20,2.40,0.00,0.000,6,0.099,0.041,3270,1601,2150,0,0,0,0,0,0
$GC,5763,0.87,116.8,421.1,8.4,290,5768,0.15,2.33,0.00,0.000,4,0.108,0.030,3241,2985,2142,0,0,0,0,0,0
$GC,5847,0.93,161.1,415.5,5.9,291,5894,0.00,2.40,38.83,0.790,6,0.000,0.041,3241,1599,1972,0,0,0,0,0,0
$GC,6222,0.95,204.7,394.1,5.9,301,6267,0.00,2.42,38.97,0.785,4,0.000,0.031,3241,2976,1794,0,0,0,0,0,0
$GC,6294,1.01,249.3,389.8,5.9,302,6343,0.12,2.42,40.53,0.776,6,0.068,0.043,3277,1594,1612,0,0,0,0,0,0
$GC,6679,0.92,249.3,351.9,10.6,312,6684,0.12,2.45,0.00,0.000,4,0.102,0.060,3252,228,1605,0,0,0,0,0,0
$GC,6743,0.83,249.3,345.0,11.5,313,6748,0.12,2.28,0.00,0.000,6,0.113,0.028,3229,1601,1601,0,0,0,0,0,0
$GC,7093,0.83,249.3,315.1,8.3,322,7098,0.00,2.45,0.00,0.000,4,0.000,0.058,3229,235,1601,0,0,0,0,0,0
$GC,7192,0.80,249.3,305.4,9.7,324,7196,0.00,2.22,0.00,0.000,6,0.000,0.027,3229,1601,1598,0,0,0,0,0,0
$GC,7514,0.85,249.3,276.2,8.4,338,7518,0.00,2.42,0.00,0.000,4,0.000,0.057,3229,232,1598,0,0,0,0,0,0
$GC,7560,0.85,249.3,271.6,10.3,340,7565,0.00,2.25,0.00,0.000,6,0.000,0.027,3229,1612,1596,0,0,0,0,0,0
$GC,7887,0.94,273.0,247.5,6.8,356,7913,0.10,2.55,19.05,0.676,4,0.077,0.056,3261,234,1516,0,0,0,0,0,0
$GC,7962,0.88,273.0,240.7,9.3,359,7966,0.00,2.25,0.00,0.000,6,0.000,0.026,3261,1600,1512,0,0,0,0,0,0
$GC,8290,0.88,273.0,216.3,8.1,375,8291,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1603,1511,0,0,0,0,0,0
$GC,8608,0.88,273.0,186.5,10.2,394,8612,0.00,2.40,0.00,0.000,4,0.000,0.054,3261,233,1511,0,0,0,0,0,0
$GC,8726,0.83,273.0,172.9,10.8,402,8733,0.12,2.25,0.00,0.000,6,0.081,0.025,3232,1610,1508,0,0,0,0,0,0
$GC,8989,0.97,309.1,154.4,6.3,423,9029,0.12,2.53,31.38,0.610,4,0.066,0.052,3272,232,1369,0,0,0,0,0,0
$GC,9080,0.91,309.1,145.8,11.0,429,9087,0.12,2.22,0.00,0.000,6,0.102,0.024,3248,1605,1366,0,0,0,0,0,0
$GC,9341,0.99,309.1,125.6,8.1,450,9345,0.00,2.42,0.00,0.000,4,0.000,0.051,3248,228,1366,0,0,0,0,0,0
$GC,9409,1.03,309.1,119.5,9.4,455,9414,0.12,2.22,0.00,0.000,6,0.066,0.022,3290,1604,1363,0,0,0,0,0,0
$GC,9679,1.03,309.1,96.0,8.6,476,9684,0.00,2.40,0.00,0.000,4,0.000,0.050,3290,229,1363,0,0,0,0,0,0
$GC,9732,1.03,309.1,90.9,10.0,480,9736,0.00,2.17,0.00,0.000,6,0.000,0.021,3290,1600,1362,0,0,0,0,0,0
$GC,9996,1.09,309.1,69.3,8.9,501,10001,0.00,2.38,0.00,0.000,4,0.000,0.049,3290,233,1362,0,0,0,0,0,0
$GC,10025,1.09,309.1,66.5,9.6,503,10029,0.00,2.17,0.00,0.000,6,0.000,0.021,3290,1609,1362,0,0,0,0,0,0
$GC,10287,1.17,324.5,47.3,7.2,523,10307,0.00,0.00,13.73,0.479,6,0.000,0.000,3291,1615,1307,0,0,0,0,0,0
$GC,10564,1.26,336.9,27.7,7.3,549,10584,0.15,2.45,12.15,0.456,4,0.054,0.048,3341,226,1255,0,0,0,0,0,0
$GC,10630,1.12,336.9,20.3,12.3,562,10637,0.20,2.20,0.00,0.000,6,0.067,0.019,3295,1610,1252,0,0,0,0,0,0
$GC,10834,1.21,363.5,4.0,6.7,608,10853,0.00,0.00,16.15,0.449,2,0.000,0.000,3295,1610,1183,0,0,0,0,0,0
$STATE,10853,end climb,SURFACE_DEPTH_REACHED
$STATE,10853,begin surface coast
$FINISH,0.9,1.011184
$STATE,10901,end surface coast,CONTROL_FINISHED_OK
$STATE,10901,begin surface
$SM_CCo,10925,32.35,0.462,0,0,957,410.14
$SM_GC,1.64,0.00,0.00,32.35,0.000,0.000,0.462,427,1610,957,-12.07,0.28,410.14
$IRIDIUM_FIX,2057.14,-15748.75,301299,131305
$TT8_MAMPS,0.029146
$HUMID,58.46
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.30
$XPDR_PINGS,1
$24V_AH,23.3,55.548
$10V_AH,10.0,45.607
$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,30.425,111.700,408.800,32.350,0.000,52.779,77.770,423.716,4.750,0.000,18.637,1198.650,7345.377,469.301,1838.178,865.350,0.000,1303.613,0.000,1813.163,0.000,29.259,0.000
$DEVICE_MAMPS,132.691,59.826,827.593,461.734,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,417.784,400.389,904.916,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355760
$DATA_FILE_SIZE,34898,622
$CAP_FILE_SIZE,124557,0
$CFSIZE,260165632,180465664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051010,161007,2104.818,-15753.046,41,1.5,41,9.8