version: 66.06
glider: 139
mission: 8
dive: 609
start: 10 5 110 16 28 3
data:
$ID,139
$MISSION,8
$DIVE,609
$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,-2163843.5
$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
$GPS1,161007,2104.818,-15753.046,41,1.5,41,9.8
$_CALLS,3
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-72.6
$GPS2,162743,2104.819,-15753.067,14,1.2,14,9.8
$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,74.2,17634,-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,-116.8,0.0,0.0,0,81,0.00,0.00,-64.10,0.000,2,0.000,0.000,426,1611,2773,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.8,-4.5,12,110,12.68,0.00,-6.07,0.000,6,0.132,0.000,2786,1612,3108,0,0,0,0,0,0
$GC,307,-0.94,-116.8,47.9,-17.7,46,309,0.28,0.00,0.00,0.000,6,0.087,0.000,2843,1611,3110,0,0,0,0,0,0
$GC,559,-0.85,-116.8,84.1,-14.7,66,561,0.10,0.00,0.00,0.000,6,0.107,0.000,2864,1612,3110,0,0,0,0,0,0
$GC,811,-0.91,-116.8,107.2,-5.6,86,815,0.00,2.35,0.00,0.000,4,0.000,0.045,2864,238,3111,0,0,0,0,0,0
$GC,893,-0.97,-116.8,111.9,-6.0,92,898,0.12,2.22,0.00,0.000,6,0.061,0.018,2817,1665,3111,0,0,0,0,0,0
$GC,1159,-0.97,-116.8,135.9,-9.5,113,1164,0.10,2.50,0.00,0.000,4,0.100,0.047,2839,235,3112,0,0,0,0,0,0
$GC,1266,-0.97,-116.8,147.3,-11.9,120,1272,0.00,2.25,0.00,0.000,6,0.000,0.018,2840,1644,3111,0,0,0,0,0,0
$GC,1528,-1.01,-116.8,175.8,-10.2,141,1532,0.00,2.42,0.00,0.000,4,0.000,0.046,2839,231,3111,0,0,0,0,0,0
$GC,1583,-1.05,-116.8,181.2,-9.3,145,1587,0.00,2.15,0.00,0.000,6,0.000,0.019,2839,1608,3112,0,0,0,0,0,0
$GC,1848,-1.09,-116.8,198.7,-5.4,166,1853,0.12,2.22,0.00,0.000,4,0.061,0.022,2795,2969,3111,0,0,0,0,0,0
$GC,1879,-1.14,-116.8,200.7,-7.0,168,1883,0.00,2.28,0.00,0.000,6,0.000,0.033,2794,1600,3111,0,0,0,0,0,0
$GC,2204,-1.08,-116.8,236.9,-13.4,184,2208,0.00,2.33,0.00,0.000,4,0.000,0.047,2794,235,3111,0,0,0,0,0,0
$GC,2261,-1.02,-116.8,244.6,-13.9,186,2265,0.15,2.15,0.00,0.000,6,0.088,0.020,2827,1601,3111,0,0,0,0,0,0
$GC,2582,-1.07,-116.8,275.2,-8.5,202,2586,0.00,2.35,0.00,0.000,4,0.000,0.048,2828,232,3111,0,0,0,0,0,0
$GC,2614,-1.07,-116.8,278.0,-8.8,203,2618,0.00,2.17,0.00,0.000,6,0.000,0.021,2828,1607,3110,0,0,0,0,0,0
$GC,2930,-1.14,-116.8,297.6,-5.5,218,2935,0.12,2.38,0.00,0.000,4,0.062,0.049,2783,238,3109,0,0,0,0,0,0
$GC,2991,-1.07,-116.8,302.6,-8.0,220,2996,0.15,2.15,0.00,0.000,6,0.087,0.021,2817,1595,3109,0,0,0,0,0,0
$GC,3345,-1.11,-116.8,324.6,-6.3,229,3350,0.00,2.35,0.00,0.000,4,0.000,0.051,2816,238,3107,0,0,0,0,0,0
$GC,3407,-1.11,-116.8,329.4,-7.7,230,3412,0.00,2.17,0.00,0.000,6,0.000,0.022,2816,1595,3107,0,0,0,0,0,0
$GC,3759,-1.15,-116.8,361.2,-9.8,239,3763,0.00,2.35,0.00,0.000,4,0.000,0.052,2816,239,3104,0,0,0,0,0,0
$GC,3796,-1.15,-116.8,365.6,-11.2,239,3802,0.00,2.15,0.00,0.000,6,0.000,0.024,2816,1601,3103,0,0,0,0,0,0
$GC,4128,-1.19,-116.8,397.3,-9.1,248,4133,0.12,2.28,0.00,0.000,4,0.066,0.028,2775,2976,3101,0,0,0,0,0,0
$GC,4144,-1.22,-116.8,398.8,-9.0,248,4148,0.00,2.35,0.00,0.000,6,0.000,0.038,2775,1599,3101,0,0,0,0,0,0
$GC,4458,-1.19,-116.8,430.9,-10.1,256,4462,0.00,2.38,0.00,0.000,4,0.000,0.055,2775,232,3099,0,0,0,0,0,0
$GC,4501,-1.13,-116.8,435.5,-10.9,257,4506,0.12,2.20,0.00,0.000,6,0.099,0.025,2801,1594,3098,0,0,0,0,0,0
$STATE,4705,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4705,begin apogee
$GC,4712,-0.31,0.0,452.8,8.2,262,4811,0.82,0.00,96.03,0.828,6,0.064,0.000,2981,1598,2630,0,0,0,0,0,0
$STATE,4812,end apogee,CONTROL_FINISHED_OK
$STATE,4812,begin climb
$GC,4815,1.18,116.8,455.9,0.0,264,4928,1.40,2.42,101.70,0.812,4,0.035,0.030,3309,2983,2152,0,0,0,0,0,0
$GC,5077,1.01,116.8,447.0,8.7,269,5083,0.20,2.42,0.00,0.000,6,0.099,0.041,3270,1597,2147,0,0,0,0,0,0
$GC,5410,0.89,116.8,417.1,10.2,278,5415,0.12,2.33,0.00,0.000,4,0.113,0.031,3247,2979,2141,0,0,0,0,0,0
$GC,5457,0.89,116.8,411.7,11.3,279,5461,0.00,2.40,0.00,0.000,6,0.000,0.041,3247,1593,2141,0,0,0,0,0,0
$GC,5781,0.84,116.8,380.4,9.3,287,5785,0.00,2.35,0.00,0.000,4,0.000,0.031,3247,2979,2138,0,0,0,0,0,0
$GC,5931,0.90,168.7,369.8,5.6,290,5983,0.00,2.38,44.53,0.782,6,0.000,0.041,3247,1598,1942,0,0,0,0,0,0
$GC,6292,0.96,214.3,347.7,5.8,299,6340,0.00,2.50,40.92,0.767,4,0.000,0.058,3247,232,1754,0,0,0,0,0,0
$GC,6357,0.87,214.3,343.4,8.3,300,6361,0.00,2.28,0.00,0.000,6,0.000,0.028,3247,1595,1751,0,0,0,0,0,0
$GC,6703,0.87,214.3,314.6,8.6,309,6707,0.00,2.42,0.00,0.000,4,0.000,0.058,3247,232,1747,0,0,0,0,0,0
$GC,6741,0.77,214.3,310.6,11.2,309,6747,0.15,2.25,0.00,0.000,6,0.107,0.028,3218,1604,1744,0,0,0,0,0,0
$GC,7057,0.84,225.9,286.8,7.4,321,7073,0.00,2.53,9.55,0.651,4,0.000,0.056,3218,231,1708,0,0,0,0,0,0
$GC,7138,0.84,225.9,279.9,8.6,324,7142,0.00,2.28,0.00,0.000,6,0.000,0.027,3218,1605,1705,0,0,0,0,0,0
$GC,7457,1.04,299.9,264.1,4.6,339,7530,0.25,2.47,65.03,0.720,4,0.048,0.056,3289,237,1406,0,0,0,0,0,0
$GC,7595,0.90,299.9,247.6,14.5,345,7600,0.20,2.28,0.00,0.000,6,0.091,0.026,3249,1609,1401,0,0,0,0,0,0
$GC,7918,0.90,299.9,217.0,8.8,361,7923,0.00,2.42,0.00,0.000,4,0.000,0.055,3249,237,1399,0,0,0,0,0,0
$GC,7938,0.90,299.9,215.0,9.4,362,7942,0.00,2.25,0.00,0.000,6,0.000,0.026,3249,1602,1397,0,0,0,0,0,0
$GC,8266,0.90,302.7,187.5,7.8,382,8270,0.00,2.42,0.00,0.000,4,0.000,0.054,3249,228,1396,0,0,0,0,0,0
$GC,8353,0.90,302.7,178.2,10.5,388,8360,0.00,2.28,0.00,0.000,6,0.000,0.025,3249,1607,1395,0,0,0,0,0,0
$GC,8615,0.94,302.7,156.8,8.3,409,8619,0.00,2.40,0.00,0.000,4,0.000,0.053,3249,234,1394,0,0,0,0,0,0
$GC,8654,0.91,302.7,152.6,10.8,412,8658,0.00,2.22,0.00,0.000,6,0.000,0.024,3249,1604,1393,0,0,0,0,0,0
$GC,8920,0.99,318.2,132.8,7.2,433,8941,0.00,2.47,14.90,0.568,4,0.000,0.051,3249,241,1332,0,0,0,0,0,0
$GC,8990,0.99,318.2,127.1,8.0,438,8994,0.00,2.20,0.00,0.000,6,0.000,0.022,3250,1612,1328,0,0,0,0,0,0
$GC,9257,1.06,318.2,109.6,7.9,459,9261,0.15,2.42,0.00,0.000,4,0.058,0.051,3297,234,1328,0,0,0,0,0,0
$GC,9341,0.97,318.2,98.3,14.2,465,9346,0.17,2.20,0.00,0.000,6,0.090,0.021,3261,1613,1327,0,0,0,0,0,0
$GC,9604,1.11,340.5,74.4,6.9,485,9633,0.12,2.50,19.80,0.528,4,0.064,0.049,3303,236,1241,0,0,0,0,0,0
$GC,9694,1.11,340.5,66.4,9.8,491,9698,0.00,2.20,0.00,0.000,6,0.000,0.021,3303,1602,1237,0,0,0,0,0,0
$GC,9960,1.16,343.7,43.6,7.7,512,9965,0.00,2.40,0.00,0.000,4,0.000,0.048,3303,227,1237,0,0,0,0,0,0
$GC,10028,1.16,343.7,37.3,8.4,517,10032,0.00,2.17,0.00,0.000,6,0.000,0.020,3303,1601,1237,0,0,0,0,0,0
$GC,10293,1.25,378.9,19.3,6.3,563,10333,0.00,2.42,32.95,0.486,4,0.000,0.047,3303,235,1084,0,0,0,0,0,0
$GC,10397,1.20,378.9,10.1,10.6,584,10404,0.00,2.20,0.00,0.000,6,0.000,0.019,3303,1601,1081,0,0,0,0,0,0
$STATE,10474,end climb,SURFACE_DEPTH_REACHED
$STATE,10474,begin surface coast
$FINISH,0.9,1.022896
$STATE,10508,end surface coast,CONTROL_FINISHED_OK
$STATE,10508,begin surface
$SM_CCo,10530,21.05,0.456,0,0,958,410.14
$SM_GC,1.91,0.00,0.00,21.05,0.000,0.000,0.456,426,1606,958,-12.07,0.14,410.14
$IRIDIUM_FIX,2054.83,-15753.90,301299,161620
$TT8_MAMPS,0.029146
$HUMID,58.50
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.3,55.686
$10V_AH,10.1,45.696
$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,30.000,120.650,425.400,21.050,0.000,83.772,99.667,603.408,4.500,0.000,14.238,1188.863,6959.483,459.974,1892.163,1104.882,0.000,1329.118,0.000,1867.622,0.000,29.253,0.000
$DEVICE_MAMPS,131.924,57.525,827.593,456.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,408.714,388.728,885.269,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355856
$DATA_FILE_SIZE,34906,608
$CAP_FILE_SIZE,130121,0
$CFSIZE,260165632,180404224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051010,192525,2105.041,-15752.817,52,1.0,52,9.8