version: 66.06
glider: 139
mission: 8
dive: 611
start: 10 5 110 22 48 39
data:
$ID,139
$MISSION,8
$DIVE,611
$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,-2163880.8
$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,1550
$C_ROLL_CLIMB,1550
$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
$GPS1,223936,2105.083,-15752.997,31,1.0,31,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-71.7
$GPS2,224819,2105.123,-15753.035,13,1.0,18,9.8
$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,76.0,17528,-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,-64.55,0.000,2,0.000,0.000,427,1548,2777,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.7,-4.2,12,110,12.68,0.00,-5.95,0.000,6,0.133,0.000,2786,1550,3109,0,0,0,0,0,0
$GC,307,-0.93,-116.8,48.1,-17.1,46,312,0.25,2.33,0.00,0.000,4,0.091,0.019,2841,2973,3110,0,0,0,0,0,0
$GC,328,-0.79,-116.8,51.4,-15.9,47,335,0.15,2.45,0.00,0.000,6,0.065,0.033,2879,1551,3110,0,0,0,0,0,0
$GC,587,-0.79,-116.8,77.4,-8.8,68,591,0.00,2.25,0.00,0.000,4,0.000,0.046,2879,232,3112,0,0,0,0,0,0
$GC,640,-0.79,-116.8,82.3,-8.7,72,644,0.00,2.15,0.00,0.000,6,0.000,0.018,2879,1614,3112,0,0,0,0,0,0
$GC,907,-0.88,-116.8,101.0,-6.0,93,911,0.00,2.38,0.00,0.000,4,0.000,0.045,2879,230,3112,0,0,0,0,0,0
$GC,983,-0.98,-116.8,107.0,-9.0,98,990,0.15,2.17,0.00,0.000,6,0.028,0.018,2821,1615,3112,0,0,0,0,0,0
$GC,1245,-0.98,-116.8,135.6,-11.1,119,1246,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1616,3113,0,0,0,0,0,0
$GC,1496,-0.98,-116.8,159.9,-9.0,139,1503,0.00,2.17,0.00,0.000,4,0.000,0.021,2821,2972,3113,0,0,0,0,0,0
$GC,1532,-1.06,-116.8,163.4,-9.9,141,1536,0.00,2.38,0.00,0.000,6,0.000,0.032,2820,1552,3113,0,0,0,0,0,0
$GC,1793,-1.06,-116.8,185.7,-8.9,161,1797,0.00,2.22,0.00,0.000,4,0.000,0.046,2820,235,3114,0,0,0,0,0,0
$GC,1808,-1.06,-116.8,187.3,-8.5,162,1812,0.00,2.12,0.00,0.000,6,0.000,0.020,2821,1611,3114,0,0,0,0,0,0
$GC,2072,-1.06,-116.8,208.8,-8.4,179,2076,0.00,2.40,0.00,0.000,4,0.000,0.047,2820,227,3113,0,0,0,0,0,0
$GC,2137,-1.06,-116.8,215.1,-9.0,182,2141,0.00,2.17,0.00,0.000,6,0.000,0.020,2821,1602,3113,0,0,0,0,0,0
$GC,2476,-1.06,-116.8,240.1,-7.0,198,2477,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1606,3112,0,0,0,0,0,0
$GC,2782,-1.06,-116.8,263.1,-7.5,213,2785,0.00,2.38,0.00,0.000,4,0.000,0.048,2820,235,3112,0,0,0,0,0,0
$GC,2815,-1.06,-116.8,265.9,-7.6,214,2820,0.00,2.15,0.00,0.000,6,0.000,0.021,2820,1599,3112,0,0,0,0,0,0
$GC,3136,-1.10,-116.8,292.3,-9.4,230,3140,0.00,2.38,0.00,0.000,4,0.000,0.050,2820,237,3111,0,0,0,0,0,0
$GC,3161,-1.10,-116.8,294.6,-9.9,231,3165,0.00,2.08,0.00,0.000,6,0.000,0.022,2820,1557,3111,0,0,0,0,0,0
$GC,3513,-1.15,-116.8,328.1,-9.3,241,3517,0.00,2.30,0.00,0.000,4,0.000,0.050,2820,229,3109,0,0,0,0,0,0
$GC,3545,-1.15,-116.8,331.2,-9.4,241,3549,0.00,2.10,0.00,0.000,6,0.000,0.023,2820,1548,3109,0,0,0,0,0,0
$GC,3883,-1.19,-116.8,355.8,-7.4,250,3887,0.15,2.30,0.00,0.000,4,0.057,0.053,2772,232,3107,0,0,0,0,0,0
$GC,3944,-1.09,-116.8,362.5,-10.6,251,3949,0.17,2.10,0.00,0.000,6,0.085,0.023,2810,1547,3106,0,0,0,0,0,0
$GC,4294,-1.09,-116.8,391.1,-7.9,260,4295,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1552,3104,0,0,0,0,0,0
$GC,4622,-1.12,-116.8,415.4,-7.6,268,4626,0.00,2.30,0.00,0.000,4,0.000,0.055,2810,231,3102,0,0,0,0,0,0
$GC,4640,-1.12,-116.8,417.2,-8.0,268,4644,0.00,2.10,0.00,0.000,6,0.000,0.025,2810,1546,3103,0,0,0,0,0,0
$GC,4987,-1.16,-116.8,445.0,-8.5,277,4991,0.00,2.33,0.00,0.000,4,0.000,0.030,2810,2930,3100,0,0,0,0,0,0
$GC,5007,-1.22,-116.8,446.6,-7.6,277,5012,0.12,2.35,0.00,0.000,6,0.064,0.041,2767,1552,3100,0,0,0,0,0,0
$STATE,5066,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5066,begin apogee
$GC,5072,-0.31,0.0,452.5,9.5,279,5172,1.00,0.00,96.22,0.831,6,0.069,0.000,2982,1552,2630,0,0,0,0,0,0
$STATE,5173,end apogee,CONTROL_FINISHED_OK
$STATE,5173,begin climb
$GC,5177,1.18,116.8,455.3,0.0,281,5289,1.42,2.40,101.25,0.815,4,0.037,0.030,3313,2925,2152,0,0,0,0,0,0
$GC,5372,1.01,130.5,451.4,7.3,285,5392,0.22,2.38,12.98,0.732,6,0.097,0.041,3269,1551,2097,0,0,0,0,0,0
$GC,5726,0.93,160.9,427.0,6.5,294,5758,0.00,2.40,26.95,0.785,4,0.000,0.031,3269,2928,1973,0,0,0,0,0,0
$GC,5945,0.87,160.9,409.4,8.4,298,5950,0.15,2.42,0.00,0.000,6,0.104,0.043,3240,1549,1971,0,0,0,0,0,0
$GC,6276,0.87,160.9,381.8,8.3,306,6280,0.00,2.35,0.00,0.000,4,0.000,0.031,3240,2931,1965,0,0,0,0,0,0
$GC,6323,0.90,182.0,378.4,6.9,307,6348,0.00,2.40,19.02,0.756,6,0.000,0.043,3240,1548,1886,0,0,0,0,0,0
$GC,6691,0.94,215.6,353.3,6.4,316,6723,0.00,0.00,30.62,0.765,6,0.000,0.000,3240,1548,1751,0,0,0,0,0,0
$GC,7015,0.94,215.6,326.3,8.7,324,7019,0.00,2.35,0.00,0.000,4,0.000,0.059,3240,232,1745,0,0,0,0,0,0
$GC,7082,0.88,215.6,319.5,10.5,325,7086,0.00,2.17,0.00,0.000,6,0.000,0.028,3240,1549,1742,0,0,0,0,0,0
$GC,7408,0.88,215.6,289.0,9.2,336,7412,0.00,2.30,0.00,0.000,4,0.000,0.029,3240,2936,1742,0,0,0,0,0,0
$GC,7435,0.95,215.6,286.8,8.6,337,7439,0.00,2.40,0.00,0.000,6,0.000,0.041,3240,1549,1741,0,0,0,0,0,0
$GC,7765,1.00,256.7,263.6,6.0,353,7810,0.12,2.42,35.70,0.713,4,0.070,0.058,3276,232,1582,0,0,0,0,0,0
$GC,7843,0.88,256.7,257.5,10.0,356,7848,0.17,2.17,0.00,0.000,6,0.096,0.026,3242,1559,1578,0,0,0,0,0,0
$GC,8168,0.92,258.1,235.0,7.8,372,8172,0.00,2.35,0.00,0.000,4,0.000,0.054,3241,228,1576,0,0,0,0,0,0
$GC,8210,0.92,258.1,230.8,9.8,374,8214,0.00,2.15,0.00,0.000,6,0.000,0.026,3242,1554,1574,0,0,0,0,0,0
$GC,8541,0.98,272.9,204.6,7.2,390,8564,0.00,2.42,13.82,0.621,4,0.000,0.054,3241,231,1516,0,0,0,0,0,0
$GC,8602,0.98,272.9,199.3,9.0,392,8606,0.00,2.15,0.00,0.000,6,0.000,0.025,3241,1557,1514,0,0,0,0,0,0
$GC,8928,1.02,272.9,171.8,9.1,417,8933,0.15,2.38,0.00,0.000,4,0.060,0.054,3286,227,1513,0,0,0,0,0,0
$GC,8975,0.90,272.9,165.5,13.0,420,8982,0.15,2.17,0.00,0.000,6,0.074,0.024,3250,1558,1512,0,0,0,0,0,0
$GC,9239,0.98,290.6,143.8,7.1,441,9260,0.00,2.38,16.15,0.581,4,0.000,0.052,3250,228,1445,0,0,0,0,0,0
$GC,9304,0.98,290.6,138.0,9.3,445,9308,0.00,2.12,0.00,0.000,6,0.000,0.023,3250,1558,1442,0,0,0,0,0,0
$GC,9571,1.07,303.9,117.9,7.3,466,9589,0.15,2.38,12.62,0.541,4,0.058,0.050,3296,232,1391,0,0,0,0,0,0
$GC,9604,1.01,303.9,114.5,10.2,468,9609,0.12,2.12,0.00,0.000,6,0.097,0.022,3270,1555,1389,0,0,0,0,0,0
$GC,9865,1.07,306.7,93.5,7.8,488,9874,0.00,2.35,3.88,0.361,4,0.000,0.051,3270,226,1379,0,0,0,0,0,0
$GC,9934,1.07,306.7,86.7,9.3,492,9938,0.00,2.10,0.00,0.000,6,0.000,0.021,3270,1557,1377,0,0,0,0,0,0
$GC,10197,1.17,312.7,65.3,7.6,512,10213,0.15,2.28,6.50,0.436,4,0.056,0.022,3320,2922,1354,0,0,0,0,0,0
$GC,10273,1.22,312.7,58.7,8.8,517,10277,0.00,2.33,0.00,0.000,6,0.000,0.034,3319,1545,1355,0,0,0,0,0,0
$GC,10541,1.26,343.6,39.7,6.5,538,10573,0.00,0.00,27.92,0.501,6,0.000,0.000,3320,1546,1228,0,0,0,0,0,0
$GC,10829,1.26,343.6,15.9,9.9,585,10836,0.00,2.30,0.00,0.000,4,0.000,0.050,3320,235,1226,0,0,0,0,0,0
$GC,10865,1.19,343.6,12.2,9.9,592,10872,0.00,2.10,0.00,0.000,6,0.000,0.020,3320,1560,1224,0,0,0,0,0,0
$STATE,10958,end climb,SURFACE_DEPTH_REACHED
$STATE,10958,begin surface coast
$FINISH,0.8,1.009619
$STATE,10992,end surface coast,CONTROL_FINISHED_OK
$STATE,10992,begin surface
$SM_CCo,11014,40.10,0.469,0,0,957,410.14
$SM_GC,1.72,0.00,0.00,40.10,0.000,0.000,0.469,425,1557,957,-12.07,0.25,410.14
$IRIDIUM_FIX,2057.14,-15751.76,301299,191917
$TT8_MAMPS,0.029146
$HUMID,58.46
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.3,55.912
$10V_AH,10.0,45.866
$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,29.875,118.300,403.650,40.100,0.000,24.751,33.246,324.688,4.500,0.000,18.187,1210.365,7365.908,483.867,1824.153,689.875,0.000,1314.176,0.000,1796.321,0.000,29.258,0.000
$DEVICE_MAMPS,132.691,59.059,831.428,469.404,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,417.746,396.906,891.909,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,35035,620
$CAP_FILE_SIZE,121225,0
$CFSIZE,260165632,180289536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061010,015405,2105.170,-15753.671,13,2.3,32,9.8