version: 66.06
glider: 139
mission: 8
dive: 615
start: 10 6 110 12 2 25
data:
$ID,139
$MISSION,8
$DIVE,615
$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,-2164029.5
$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,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
$GPS1,115526,2105.623,-15753.274,11,1.9,11,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-73.2
$GPS2,120207,2105.678,-15753.328,38,1.2,38,9.8
$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,79.4,17990,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.18,-116.8,0.0,0.0,0,83,0.00,0.00,-64.68,0.000,2,0.000,0.000,426,1550,2786,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.8,-4.5,12,111,12.60,2.30,-5.85,0.000,4,0.130,0.057,2787,228,3110,0,0,0,0,0,0
$GC,141,-0.59,-116.8,19.8,-26.5,22,148,0.57,2.20,0.00,0.000,6,0.079,0.019,2918,1587,3111,0,0,0,0,0,0
$GC,341,-0.67,-116.8,41.5,-10.8,50,344,0.00,2.35,0.00,0.000,4,0.000,0.044,2918,233,3112,0,0,0,0,0,0
$GC,364,-0.75,-116.8,44.1,-10.6,51,371,0.12,2.10,0.00,0.000,6,0.030,0.019,2868,1571,3112,0,0,0,0,0,0
$GC,624,-0.75,-116.8,76.4,-12.1,72,628,0.00,2.28,0.00,0.000,4,0.000,0.045,2867,238,3113,0,0,0,0,0,0
$GC,643,-0.70,-116.8,79.0,-13.3,73,650,0.10,2.05,0.00,0.000,6,0.068,0.019,2894,1547,3113,0,0,0,0,0,0
$GC,905,-0.80,-116.8,101.4,-7.0,94,909,0.00,2.25,0.00,0.000,4,0.000,0.044,2894,229,3113,0,0,0,0,0,0
$GC,933,-0.90,-116.8,103.7,-7.8,96,938,0.17,2.03,0.00,0.000,6,0.048,0.018,2835,1556,3114,0,0,0,0,0,0
$GC,1195,-0.90,-116.8,130.6,-9.4,116,1198,0.00,2.20,0.00,0.000,4,0.000,0.021,2835,2911,3114,0,0,0,0,0,0
$GC,1311,-1.00,-116.8,139.3,-5.6,124,1318,0.00,2.33,0.00,0.000,6,0.000,0.031,2835,1547,3114,0,0,0,0,0,0
$GC,1574,-1.04,-116.8,159.5,-8.8,145,1579,0.00,2.22,0.00,0.000,4,0.000,0.045,2835,234,3115,0,0,0,0,0,0
$GC,1605,-1.04,-116.8,162.8,-10.2,147,1609,0.00,2.03,0.00,0.000,6,0.000,0.019,2835,1552,3115,0,0,0,0,0,0
$GC,1871,-1.10,-116.8,185.6,-8.5,168,1876,0.12,2.28,0.00,0.000,4,0.061,0.046,2789,234,3115,0,0,0,0,0,0
$GC,1891,-1.06,-116.8,187.7,-9.5,169,1897,0.15,2.03,0.00,0.000,6,0.087,0.019,2822,1553,3115,0,0,0,0,0,0
$GC,2148,-1.06,-116.8,211.1,-8.7,186,2152,0.00,2.20,0.00,0.000,4,0.000,0.021,2822,2912,3115,0,0,0,0,0,0
$GC,2176,-1.14,-116.8,213.7,-8.9,187,2180,0.00,2.28,0.00,0.000,6,0.000,0.033,2822,1550,3115,0,0,0,0,0,0
$GC,2506,-1.17,-116.8,243.0,-8.9,203,2511,0.12,2.25,0.00,0.000,4,0.063,0.048,2778,238,3115,0,0,0,0,0,0
$GC,2568,-1.07,-116.8,250.6,-13.1,205,2574,0.17,2.05,0.00,0.000,6,0.084,0.020,2816,1542,3115,0,0,0,0,0,0
$GC,2888,-1.10,-116.8,278.1,-8.4,221,2892,0.00,2.25,0.00,0.000,4,0.000,0.048,2816,234,3114,0,0,0,0,0,0
$GC,2942,-1.10,-116.8,283.1,-9.0,223,2945,0.00,2.05,0.00,0.000,6,0.000,0.021,2816,1549,3113,0,0,0,0,0,0
$GC,3282,-1.14,-116.8,308.5,-6.9,237,3286,0.00,2.22,0.00,0.000,4,0.000,0.025,2816,2923,3113,0,0,0,0,0,0
$GC,3308,-1.21,-116.8,310.4,-6.9,237,3313,0.12,2.33,0.00,0.000,6,0.061,0.035,2771,1543,3113,0,0,0,0,0,0
$GC,3651,-1.13,-116.8,341.3,-9.1,246,3656,0.15,2.28,0.00,0.000,4,0.087,0.025,2804,2921,3111,0,0,0,0,0,0
$GC,3685,-1.21,-116.8,344.2,-6.8,246,3689,0.00,2.33,0.00,0.000,6,0.000,0.037,2804,1549,3111,0,0,0,0,0,0
$GC,4024,-1.21,-116.8,370.5,-8.3,255,4025,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1549,3109,0,0,0,0,0,0
$GC,4346,-1.21,-116.8,399.0,-8.5,263,4350,0.00,2.30,0.00,0.000,4,0.000,0.054,2803,233,3107,0,0,0,0,0,0
$GC,4406,-1.21,-116.8,404.9,-9.5,264,4410,0.00,2.08,0.00,0.000,6,0.000,0.024,2803,1540,3106,0,0,0,0,0,0
$GC,4759,-1.21,-116.8,440.4,-10.3,273,4763,0.00,2.28,0.00,0.000,4,0.000,0.054,2803,233,3104,0,0,0,0,0,0
$GC,4810,-1.21,-116.8,445.4,-8.4,274,4814,0.00,2.10,0.00,0.000,6,0.000,0.025,2803,1550,3103,0,0,0,0,0,0
$STATE,4882,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4882,begin apogee
$GC,4889,-0.31,0.0,451.0,7.5,276,4989,0.82,0.00,97.07,0.823,6,0.065,0.000,2982,1554,2630,0,0,0,0,0,0
$STATE,4990,end apogee,CONTROL_FINISHED_OK
$STATE,4990,begin climb
$GC,4993,1.18,116.8,452.9,0.0,278,5106,1.42,2.40,101.22,0.808,4,0.035,0.028,3312,2932,2152,0,0,0,0,0,0
$GC,5207,1.00,116.8,444.5,9.2,283,5212,0.22,2.42,0.00,0.000,6,0.095,0.040,3268,1548,2149,0,0,0,0,0,0
$GC,5549,0.89,123.1,418.2,7.6,292,5561,0.12,2.35,5.03,0.564,4,0.110,0.028,3244,2935,2127,0,0,0,0,0,0
$GC,5660,0.90,128.6,409.2,7.6,294,5672,0.00,2.40,6.68,0.634,6,0.000,0.041,3244,1551,2105,0,0,0,0,0,0
$GC,6013,0.90,160.1,385.3,6.5,303,6049,0.00,2.38,29.05,0.775,4,0.000,0.056,3244,232,1975,0,0,0,0,0,0
$GC,6120,0.78,160.1,376.8,9.5,305,6125,0.12,2.15,0.00,0.000,6,0.109,0.027,3221,1544,1970,0,0,0,0,0,0
$GC,6472,0.88,236.1,358.6,4.5,314,6545,0.00,2.38,66.90,0.777,4,0.000,0.029,3221,2934,1666,0,0,0,0,0,0
$GC,6571,1.03,278.5,353.4,6.0,316,6617,0.22,2.42,37.92,0.749,6,0.049,0.042,3281,1550,1493,0,0,0,0,0,0
$GC,6931,0.94,278.5,314.6,12.0,325,6936,0.12,2.38,0.00,0.000,4,0.100,0.061,3257,228,1486,0,0,0,0,0,0
$GC,6997,0.86,278.5,305.7,12.7,326,7001,0.00,2.15,0.00,0.000,6,0.000,0.027,3257,1550,1482,0,0,0,0,0,0
$GC,7329,0.91,318.8,279.0,6.1,341,7372,0.00,2.45,34.08,0.712,4,0.000,0.056,3257,232,1329,0,0,0,0,0,0
$GC,7408,0.84,318.8,272.7,9.6,344,7412,0.12,2.15,0.00,0.000,6,0.106,0.027,3233,1551,1325,0,0,0,0,0,0
$GC,7731,0.91,318.8,244.7,9.6,360,7735,0.00,2.33,0.00,0.000,4,0.000,0.056,3232,234,1324,0,0,0,0,0,0
$GC,7828,0.91,318.8,233.2,11.8,364,7832,0.00,2.15,0.00,0.000,6,0.000,0.026,3232,1562,1321,0,0,0,0,0,0
$GC,8149,0.98,318.8,203.1,8.2,380,8154,0.15,2.33,0.00,0.000,4,0.060,0.054,3277,233,1321,0,0,0,0,0,0
$GC,8255,0.88,318.8,191.8,11.8,386,8262,0.15,2.17,0.00,0.000,6,0.074,0.025,3242,1558,1320,0,0,0,0,0,0
$GC,8518,0.95,318.8,171.0,8.3,407,8523,0.00,2.35,0.00,0.000,4,0.000,0.053,3241,227,1319,0,0,0,0,0,0
$GC,8551,0.95,318.8,167.0,11.9,409,8556,0.00,2.15,0.00,0.000,6,0.000,0.024,3241,1558,1318,0,0,0,0,0,0
$GC,8811,1.02,318.8,141.1,9.7,430,8816,0.15,2.33,0.00,0.000,4,0.058,0.052,3287,230,1319,0,0,0,0,0,0
$GC,8885,0.92,318.8,131.3,12.9,435,8891,0.17,2.12,0.00,0.000,6,0.088,0.023,3251,1561,1318,0,0,0,0,0,0
$GC,9147,1.05,356.4,112.8,6.2,456,9189,0.12,2.42,31.42,0.573,4,0.065,0.052,3292,232,1176,0,0,0,0,0,0
$GC,9215,0.97,356.4,105.9,12.4,460,9222,0.12,2.15,0.00,0.000,6,0.069,0.022,3261,1553,1174,0,0,0,0,0,0
$GC,9479,1.07,356.4,85.9,8.1,481,9483,0.10,2.33,0.00,0.000,4,0.074,0.051,3297,227,1173,0,0,0,0,0,0
$GC,9600,1.07,356.4,73.0,10.7,490,9604,0.00,2.10,0.00,0.000,6,0.000,0.021,3297,1560,1171,0,0,0,0,0,0
$GC,9868,1.14,356.4,50.2,8.5,511,9872,0.00,2.33,0.00,0.000,4,0.000,0.048,3298,230,1171,0,0,0,0,0,0
$GC,9920,1.14,356.4,44.9,10.4,515,9924,0.00,2.10,0.00,0.000,6,0.000,0.020,3298,1560,1171,0,0,0,0,0,0
$GC,10185,1.19,356.4,23.1,8.3,547,10191,0.00,2.33,0.00,0.000,4,0.000,0.048,3298,238,1171,0,0,0,0,0,0
$GC,10203,1.23,356.4,21.4,8.3,550,10210,0.00,2.08,0.00,0.000,6,0.000,0.020,3298,1550,1171,0,0,0,0,0,0
$STATE,10403,end climb,SURFACE_DEPTH_REACHED
$STATE,10403,begin surface coast
$FINISH,0.9,1.023189
$STATE,10436,end surface coast,CONTROL_FINISHED_OK
$STATE,10436,begin surface
$SM_CCo,10458,31.40,0.469,0,0,957,410.14
$SM_GC,1.87,0.00,0.00,31.40,0.000,0.000,0.469,430,1550,957,-12.06,0.00,410.14
$IRIDIUM_FIX,2057.14,-15751.76,311299,080800
$TT8_MAMPS,0.029146
$HUMID,59.05
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.00
$XPDR_PINGS,34
$24V_AH,23.3,56.387
$10V_AH,10.0,46.209
$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,30.875,125.375,409.375,31.400,0.000,31.278,32.510,180.021,13.000,0.000,38.677,1195.644,6770.938,478.032,1882.340,560.346,0.000,1337.736,0.000,1837.539,0.000,29.261,0.000
$DEVICE_MAMPS,130.390,60.593,822.991,468.637,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,405.219,387.990,873.859,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,34894,603
$CAP_FILE_SIZE,122688,0
$CFSIZE,260165632,180051968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061010,145822,2105.631,-15753.521,8,3.6,27,9.8