version: 66.06
glider: 139
mission: 8
dive: 616
start: 10 6 110 15 5 10
data:
$ID,139
$MISSION,8
$DIVE,616
$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,-2164062
$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
$GPS1,145822,2105.631,-15753.521,8,3.6,27,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-73.2
$GPS2,150452,2105.684,-15753.549,11,3.6,30,9.8
$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,79.4,18371,-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,-64.12,0.000,2,0.000,0.000,429,1551,2740,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.5,-3.3,12,109,12.55,0.00,-6.82,0.000,6,0.130,0.000,2784,1551,3110,0,0,0,0,0,0
$GC,306,-0.94,-116.8,48.2,-18.4,46,311,0.25,2.33,0.00,0.000,4,0.088,0.019,2841,2977,3112,0,0,0,0,0,0
$GC,348,-0.94,-116.8,54.8,-13.2,49,352,0.00,2.40,0.00,0.000,6,0.000,0.033,2841,1550,3112,0,0,0,0,0,0
$GC,609,-0.90,-116.8,90.1,-12.1,69,613,0.00,2.35,0.00,0.000,4,0.000,0.021,2841,2975,3113,0,0,0,0,0,0
$GC,636,-0.96,-116.8,93.2,-10.9,71,640,0.00,2.42,0.00,0.000,6,0.000,0.031,2840,1541,3113,0,0,0,0,0,0
$GC,900,-0.96,-116.8,118.9,-8.4,92,904,0.00,2.25,0.00,0.000,4,0.000,0.046,2841,228,3114,0,0,0,0,0,0
$GC,1034,-0.96,-116.8,131.4,-9.9,101,1039,0.00,2.12,0.00,0.000,6,0.000,0.018,2841,1607,3114,0,0,0,0,0,0
$GC,1293,-0.96,-116.8,156.3,-9.3,122,1297,0.00,2.35,0.00,0.000,4,0.000,0.044,2840,234,3114,0,0,0,0,0,0
$GC,1323,-0.96,-116.8,158.8,-9.2,124,1327,0.00,2.15,0.00,0.000,6,0.000,0.019,2840,1622,3115,0,0,0,0,0,0
$GC,1590,-1.00,-116.8,178.5,-7.0,145,1591,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1627,3115,0,0,0,0,0,0
$GC,1842,-1.06,-116.8,195.1,-7.1,165,1846,0.00,2.38,0.00,0.000,4,0.000,0.046,2840,237,3115,0,0,0,0,0,0
$GC,1897,-1.10,-116.8,200.3,-8.9,169,1902,0.15,2.12,0.00,0.000,6,0.054,0.019,2790,1605,3115,0,0,0,0,0,0
$GC,2154,-1.05,-116.8,232.1,-13.1,181,2159,0.15,2.22,0.00,0.000,4,0.086,0.023,2823,2972,3115,0,0,0,0,0,0
$GC,2183,-1.15,-116.8,236.3,-11.9,182,2188,0.12,2.40,0.00,0.000,6,0.061,0.034,2774,1543,3114,0,0,0,0,0,0
$GC,2507,-1.08,-116.8,279.1,-12.6,198,2513,0.17,2.25,0.00,0.000,4,0.083,0.048,2812,238,3114,0,0,0,0,0,0
$GC,2536,-1.08,-116.8,283.0,-11.8,199,2540,0.00,2.15,0.00,0.000,6,0.000,0.021,2812,1611,3114,0,0,0,0,0,0
$GC,2861,-1.08,-116.8,307.9,-6.6,212,2865,0.00,2.38,0.00,0.000,4,0.000,0.048,2812,234,3113,0,0,0,0,0,0
$GC,2879,-1.08,-116.8,309.0,-5.5,212,2884,0.00,2.15,0.00,0.000,6,0.000,0.021,2812,1599,3113,0,0,0,0,0,0
$GC,3230,-1.11,-116.8,334.2,-7.8,221,3231,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1603,3112,0,0,0,0,0,0
$GC,3555,-1.11,-116.8,366.2,-10.2,229,3556,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1603,3110,0,0,0,0,0,0
$GC,3880,-1.16,-116.8,392.4,-7.2,237,3884,0.00,2.40,0.00,0.000,4,0.000,0.053,2812,234,3108,0,0,0,0,0,0
$GC,3949,-1.16,-116.8,397.6,-7.5,238,3954,0.00,2.10,0.00,0.000,6,0.000,0.024,2813,1543,3108,0,0,0,0,0,0
$GC,4296,-1.20,-116.8,419.1,-6.3,247,4301,0.12,2.30,0.00,0.000,4,0.065,0.055,2771,234,3105,0,0,0,0,0,0
$GC,4325,-1.11,-116.8,421.8,-8.8,247,4330,0.17,2.10,0.00,0.000,6,0.086,0.025,2809,1552,3105,0,0,0,0,0,0
$STATE,4659,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4659,begin apogee
$GC,4667,-0.31,0.0,450.1,8.9,256,4767,0.80,0.00,97.22,0.828,6,0.064,0.000,2983,1557,2630,0,0,0,0,0,0
$STATE,4768,end apogee,CONTROL_FINISHED_OK
$STATE,4768,begin climb
$GC,4771,1.18,116.8,453.4,0.0,258,4877,1.40,0.00,102.25,0.813,6,0.035,0.000,3310,1557,2153,0,0,0,0,0,0
$GC,5181,0.97,116.8,427.8,9.6,268,5186,0.25,2.30,0.00,0.000,4,0.091,0.028,3256,2929,2143,0,0,0,0,0,0
$GC,5266,0.91,116.8,420.3,8.5,269,5272,0.00,2.38,0.00,0.000,6,0.000,0.041,3256,1554,2142,0,0,0,0,0,0
$GC,5598,0.89,167.3,398.7,5.6,278,5647,0.00,2.40,43.88,0.792,4,0.000,0.058,3256,231,1947,0,0,0,0,0,0
$GC,5691,0.76,178.6,392.7,7.4,280,5708,0.20,2.17,11.12,0.705,6,0.097,0.028,3217,1552,1900,0,0,0,0,0,0
$GC,6021,0.84,220.9,374.0,6.0,288,6065,0.00,2.45,38.08,0.776,4,0.000,0.058,3217,232,1729,0,0,0,0,0,0
$GC,6140,0.84,220.9,362.7,10.1,290,6144,0.00,2.17,0.00,0.000,6,0.000,0.028,3217,1550,1724,0,0,0,0,0,0
$GC,6477,0.89,220.9,334.2,8.2,299,6479,0.12,0.00,0.00,0.000,6,0.068,0.000,3254,1554,1721,0,0,0,0,0,0
$GC,6800,0.89,220.9,307.3,8.3,307,6805,0.00,2.33,0.00,0.000,4,0.000,0.057,3254,234,1718,0,0,0,0,0,0
$GC,6835,0.80,220.9,304.1,10.6,307,6840,0.15,2.15,0.00,0.000,6,0.101,0.028,3225,1553,1717,0,0,0,0,0,0
$GC,7151,0.89,245.4,281.7,6.8,320,7177,0.00,2.42,20.90,0.709,4,0.000,0.057,3225,239,1628,0,0,0,0,0,0
$GC,7210,0.89,245.4,276.7,8.7,322,7214,0.00,2.15,0.00,0.000,6,0.000,0.028,3224,1550,1625,0,0,0,0,0,0
$GC,7529,0.95,245.4,249.7,8.9,337,7534,0.15,2.35,0.00,0.000,4,0.060,0.055,3268,231,1624,0,0,0,0,0,0
$GC,7585,0.84,245.4,243.4,11.5,339,7590,0.17,2.15,0.00,0.000,6,0.094,0.027,3234,1556,1622,0,0,0,0,0,0
$GC,7904,0.91,251.0,217.0,7.6,354,7916,0.00,2.42,5.53,0.520,4,0.000,0.054,3234,227,1605,0,0,0,0,0,0
$GC,7931,0.91,252.7,214.6,7.8,355,7935,0.00,2.15,0.00,0.000,6,0.000,0.026,3234,1561,1604,0,0,0,0,0,0
$GC,8252,1.06,319.0,195.7,4.9,373,8319,0.20,2.42,60.35,0.660,4,0.051,0.054,3290,229,1327,0,0,0,0,0,0
$GC,8384,0.94,319.0,179.6,14.6,382,8389,0.17,2.17,0.00,0.000,6,0.091,0.025,3255,1558,1323,0,0,0,0,0,0
$GC,8653,0.99,319.0,150.5,11.2,403,8657,0.00,2.35,0.00,0.000,4,0.000,0.054,3255,233,1321,0,0,0,0,0,0
$GC,8735,0.99,319.0,141.1,10.7,409,8739,0.00,2.12,0.00,0.000,6,0.000,0.024,3255,1556,1320,0,0,0,0,0,0
$GC,8999,1.07,344.5,122.9,6.7,429,9026,0.12,2.38,21.75,0.571,4,0.064,0.050,3296,228,1224,0,0,0,0,0,0
$GC,9066,0.98,344.5,116.4,11.9,433,9073,0.15,2.15,0.00,0.000,6,0.091,0.022,3265,1561,1221,0,0,0,0,0,0
$GC,9328,1.05,344.5,90.3,10.3,454,9332,0.00,2.33,0.00,0.000,4,0.000,0.050,3265,234,1220,0,0,0,0,0,0
$GC,9427,1.12,344.5,79.8,9.3,461,9432,0.12,2.10,0.00,0.000,6,0.062,0.021,3310,1553,1218,0,0,0,0,0,0
$GC,9697,1.17,349.3,58.1,7.7,482,9712,0.00,2.33,4.75,0.383,4,0.000,0.048,3309,227,1205,0,0,0,0,0,0
$GC,9762,1.17,349.3,52.1,8.9,486,9769,0.00,2.12,0.00,0.000,6,0.000,0.021,3310,1555,1204,0,0,0,0,0,0
$GC,10024,1.20,349.3,30.3,8.8,507,10028,0.00,2.30,0.00,0.000,4,0.000,0.048,3309,231,1204,0,0,0,0,0,0
$GC,10044,1.20,349.3,28.1,9.1,510,10051,0.00,2.10,0.00,0.000,6,0.000,0.021,3310,1550,1203,0,0,0,0,0,0
$GC,10248,1.20,349.3,10.1,9.5,556,10254,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,1550,1203,0,0,0,0,0,0
$STATE,10330,end climb,SURFACE_DEPTH_REACHED
$STATE,10330,begin surface coast
$FINISH,1.0,1.023184
$STATE,10368,end surface coast,CONTROL_FINISHED_OK
$STATE,10368,begin surface
$SM_CCo,10390,34.30,0.466,0,0,957,410.14
$SM_GC,1.56,0.00,0.00,34.30,0.000,0.000,0.466,428,1549,957,-12.07,-0.03,410.14
$IRIDIUM_FIX,2059.45,-15753.90,311299,121219
$TT8_MAMPS,0.029146
$HUMID,58.78
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.20
$XPDR_PINGS,1
$24V_AH,23.3,56.493
$10V_AH,10.0,46.286
$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,30.100,104.200,405.825,34.300,0.000,26.252,34.876,179.544,4.750,0.000,31.825,1124.282,6978.906,476.644,1693.031,537.728,0.000,1238.783,0.000,1663.625,0.000,29.263,0.000
$DEVICE_MAMPS,130.390,57.525,828.360,466.336,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,392.253,374.234,834.572,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,31769,583
$CAP_FILE_SIZE,111381,0
$CFSIZE,260165632,180006912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061010,180030,2105.725,-15753.214,56,1.4,56,9.8