version: 66.06
glider: 139
mission: 8
dive: 617
start: 10 6 110 18 6 51
data:
$ID,139
$MISSION,8
$DIVE,617
$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,-2164079.5
$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
$GPS1,180030,2105.725,-15753.214,56,1.4,56,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-70.5
$GPS2,180631,2105.716,-15753.229,11,1.2,16,9.8
$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,79.6,17816,-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,-64.60,0.000,2,0.000,0.000,428,1549,2779,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.8,-4.0,12,110,12.60,2.35,-5.93,0.000,4,0.130,0.032,2786,2974,3109,0,0,0,0,0,0
$GC,128,-0.11,-116.8,17.2,-30.9,19,135,1.08,2.47,0.00,0.000,6,0.071,0.035,3025,1550,3109,0,0,0,0,0,0
$GC,330,-0.75,-116.8,29.8,-7.0,65,337,0.60,2.28,0.00,0.000,4,0.036,0.044,2875,227,3112,0,0,0,0,0,0
$GC,353,-1.15,-116.8,32.0,-8.7,67,358,0.32,2.15,0.00,0.000,6,0.035,0.018,2781,1619,3112,0,0,0,0,0,0
$GC,614,-0.97,-116.8,71.1,-14.0,87,617,0.28,0.00,0.00,0.000,6,0.081,0.000,2840,1624,3112,0,0,0,0,0,0
$GC,866,-0.97,-116.8,92.7,-8.5,107,870,0.00,2.38,0.00,0.000,4,0.000,0.045,2840,235,3113,0,0,0,0,0,0
$GC,961,-0.97,-116.8,102.9,-10.7,114,965,0.00,2.12,0.00,0.000,6,0.000,0.018,2840,1602,3113,0,0,0,0,0,0
$GC,1221,-0.97,-116.8,124.4,-8.0,134,1225,0.00,2.35,0.00,0.000,4,0.000,0.045,2840,233,3113,0,0,0,0,0,0
$GC,1272,-1.01,-116.8,129.3,-9.7,138,1276,0.00,2.15,0.00,0.000,6,0.000,0.018,2840,1613,3114,0,0,0,0,0,0
$GC,1538,-1.01,-116.8,152.8,-9.3,159,1542,0.00,2.38,0.00,0.000,4,0.000,0.046,2840,231,3114,0,0,0,0,0,0
$GC,1570,-1.01,-116.8,156.2,-9.1,161,1575,0.00,2.15,0.00,0.000,6,0.000,0.019,2840,1613,3114,0,0,0,0,0,0
$GC,1831,-1.06,-116.8,174.8,-6.7,182,1835,0.00,2.40,0.00,0.000,4,0.000,0.047,2840,227,3114,0,0,0,0,0,0
$GC,1905,-1.13,-116.8,180.6,-6.9,187,1911,0.15,2.17,0.00,0.000,6,0.054,0.019,2789,1610,3114,0,0,0,0,0,0
$GC,2173,-1.07,-116.8,210.6,-12.4,206,2175,0.12,0.00,0.00,0.000,6,0.094,0.000,2816,1613,3114,0,0,0,0,0,0
$GC,2483,-1.07,-116.8,242.5,-9.1,221,2487,0.00,2.38,0.00,0.000,4,0.000,0.048,2816,228,3114,0,0,0,0,0,0
$GC,2520,-1.07,-116.8,246.2,-9.0,222,2527,0.00,2.20,0.00,0.000,6,0.000,0.021,2816,1600,3114,0,0,0,0,0,0
$GC,2837,-1.07,-116.8,264.9,-4.8,238,2841,0.00,2.38,0.00,0.000,4,0.000,0.048,2816,233,3113,0,0,0,0,0,0
$GC,2888,-1.07,-116.8,267.9,-5.7,240,2892,0.00,2.08,0.00,0.000,6,0.000,0.021,2816,1561,3113,0,0,0,0,0,0
$GC,3210,-1.11,-116.8,285.9,-7.1,256,3215,0.00,2.30,0.00,0.000,4,0.000,0.049,2816,228,3112,0,0,0,0,0,0
$GC,3239,-1.11,-116.8,288.6,-8.9,257,3243,0.00,2.08,0.00,0.000,6,0.000,0.021,2816,1552,3112,0,0,0,0,0,0
$GC,3577,-1.15,-116.8,317.4,-8.5,269,3581,0.00,2.28,0.00,0.000,4,0.000,0.051,2816,235,3111,0,0,0,0,0,0
$GC,3629,-1.15,-116.8,322.4,-9.4,270,3633,0.00,2.08,0.00,0.000,6,0.000,0.022,2816,1553,3110,0,0,0,0,0,0
$GC,3947,-1.19,-116.8,350.6,-9.0,278,3952,0.12,2.28,0.00,0.000,4,0.064,0.026,2775,2930,3108,0,0,0,0,0,0
$GC,3971,-1.19,-116.8,353.0,-10.1,278,3975,0.00,2.33,0.00,0.000,6,0.000,0.038,2774,1551,3108,0,0,0,0,0,0
$GC,4317,-1.15,-116.8,385.1,-9.3,287,4322,0.12,2.33,0.00,0.000,4,0.097,0.054,2801,227,3106,0,0,0,0,0,0
$GC,4378,-1.15,-116.8,391.3,-10.5,288,4382,0.00,2.10,0.00,0.000,6,0.000,0.024,2801,1545,3106,0,0,0,0,0,0
$GC,4693,-1.15,-116.8,421.5,-9.8,296,4697,0.00,2.30,0.00,0.000,4,0.000,0.054,2801,234,3103,0,0,0,0,0,0
$GC,4717,-1.15,-116.8,424.1,-9.7,296,4720,0.00,2.12,0.00,0.000,6,0.000,0.025,2801,1552,3103,0,0,0,0,0,0
$STATE,5013,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5013,begin apogee
$GC,5019,-0.31,0.0,453.3,10.1,304,5120,0.82,0.00,97.45,0.829,6,0.065,0.000,2980,1557,2630,0,0,0,0,0,0
$STATE,5121,end apogee,CONTROL_FINISHED_OK
$STATE,5121,begin climb
$GC,5125,1.18,116.8,457.2,0.0,306,5237,1.42,2.33,102.05,0.815,4,0.037,0.030,3312,2923,2152,0,0,0,0,0,0
$GC,5338,0.99,116.8,452.4,7.9,310,5343,0.22,2.40,0.00,0.000,6,0.094,0.041,3267,1546,2149,0,0,0,0,0,0
$GC,5670,0.87,121.6,425.9,7.7,318,5675,0.12,2.38,0.00,0.000,4,0.108,0.031,3243,2930,2141,0,0,0,0,0,0
$GC,5733,0.88,128.5,421.0,7.6,319,5749,0.00,2.40,9.80,0.701,6,0.000,0.041,3243,1550,2105,0,0,0,0,0,0
$GC,6087,0.91,185.0,398.1,5.3,328,6140,0.00,0.00,51.78,0.797,6,0.000,0.000,3243,1550,1875,0,0,0,0,0,0
$GC,6450,0.94,243.3,378.4,5.3,337,6508,0.00,2.40,51.80,0.785,4,0.000,0.061,3243,232,1638,0,0,0,0,0,0
$GC,6580,0.87,243.3,367.6,10.1,340,6584,0.00,2.15,0.00,0.000,6,0.000,0.028,3243,1540,1632,0,0,0,0,0,0
$GC,6907,0.87,243.3,338.7,8.9,348,6908,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1544,1629,0,0,0,0,0,0
$GC,7233,0.87,243.3,307.9,9.7,356,7237,0.00,2.35,0.00,0.000,4,0.000,0.058,3243,228,1627,0,0,0,0,0,0
$GC,7284,0.82,243.3,302.0,10.8,357,7288,0.00,2.17,0.00,0.000,6,0.000,0.028,3243,1559,1624,0,0,0,0,0,0
$GC,7608,0.83,256.5,275.9,7.3,372,7624,0.00,2.42,10.68,0.657,4,0.000,0.057,3243,237,1584,0,0,0,0,0,0
$GC,7671,0.83,256.5,269.5,10.1,374,7677,0.00,2.20,0.00,0.000,6,0.000,0.028,3243,1560,1581,0,0,0,0,0,0
$GC,7987,0.89,272.6,244.3,7.2,390,8010,0.00,2.42,15.12,0.664,4,0.000,0.057,3243,238,1517,0,0,0,0,0,0
$GC,8109,0.89,272.6,234.2,8.1,395,8113,0.00,2.12,0.00,0.000,6,0.000,0.026,3243,1550,1514,0,0,0,0,0,0
$GC,8436,0.93,272.6,209.9,8.2,411,8437,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1554,1513,0,0,0,0,0,0
$GC,8747,0.97,272.6,184.3,8.3,432,8751,0.00,2.33,0.00,0.000,4,0.000,0.054,3243,234,1513,0,0,0,0,0,0
$GC,8788,0.97,272.6,180.4,9.7,435,8792,0.00,2.12,0.00,0.000,6,0.000,0.025,3243,1558,1511,0,0,0,0,0,0
$GC,9051,1.03,279.6,159.9,7.6,455,9066,0.15,2.38,6.50,0.508,4,0.059,0.052,3288,241,1490,0,0,0,0,0,0
$GC,9141,0.91,279.6,149.4,13.3,461,9146,0.20,2.10,0.00,0.000,6,0.087,0.023,3248,1552,1488,0,0,0,0,0,0
$GC,9405,0.95,279.6,125.4,8.9,481,9406,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1557,1487,0,0,0,0,0,0
$GC,9654,1.06,319.3,107.5,6.1,501,9697,0.15,2.40,35.65,0.573,4,0.058,0.051,3295,241,1327,0,0,0,0,0,0
$GC,9725,0.93,319.3,101.0,12.0,506,9730,0.20,2.12,0.00,0.000,6,0.085,0.022,3254,1557,1325,0,0,0,0,0,0
$GC,9998,1.01,319.3,78.5,8.2,527,10002,0.00,2.33,0.00,0.000,4,0.000,0.050,3254,232,1323,0,0,0,0,0,0
$GC,10071,1.10,332.0,72.8,7.3,532,10093,0.12,2.12,11.60,0.502,6,0.032,0.021,3304,1553,1275,0,0,0,0,0,0
$GC,10346,1.21,377.3,52.3,5.9,554,10391,0.00,2.38,38.85,0.522,4,0.000,0.049,3304,239,1092,0,0,0,0,0,0
$GC,10470,1.21,377.3,42.7,10.3,563,10474,0.00,2.08,0.00,0.000,6,0.000,0.021,3303,1557,1087,0,0,0,0,0,0
$GC,10735,1.25,377.3,17.7,9.3,603,10741,0.00,2.35,0.00,0.000,4,0.000,0.048,3303,232,1087,0,0,0,0,0,0
$GC,10762,1.25,377.3,14.7,10.4,608,10769,0.00,2.12,0.00,0.000,6,0.000,0.020,3303,1565,1086,0,0,0,0,0,0
$STATE,10881,end climb,SURFACE_DEPTH_REACHED
$STATE,10882,begin surface coast
$FINISH,0.9,1.023170
$STATE,10909,end surface coast,CONTROL_FINISHED_OK
$STATE,10909,begin surface
$SM_CCo,10931,21.77,0.463,0,0,957,410.14
$SM_GC,1.75,0.00,0.00,21.77,0.000,0.000,0.463,427,1564,957,-12.07,0.42,410.14
$IRIDIUM_FIX,2057.14,-15751.76,311299,151515
$TT8_MAMPS,0.029146
$HUMID,59.29
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.3,56.599
$10V_AH,10.0,46.371
$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,31.150,113.125,431.275,21.775,0.000,30.319,36.062,160.157,4.500,0.000,16.839,1225.393,7181.705,486.242,1893.932,525.057,0.000,1333.277,0.000,1872.035,0.000,29.256,0.000
$DEVICE_MAMPS,130.390,60.593,829.127,462.501,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,431.457,415.512,945.257,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355724
$DATA_FILE_SIZE,34984,641
$CAP_FILE_SIZE,118340,0
$CFSIZE,260165632,179941376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061010,211031,2105.858,-15752.772,17,2.0,28,9.8