version: 66.06
glider: 139
mission: 8
dive: 619
start: 10 7 110 0 44 3
data:
$ID,139
$MISSION,8
$DIVE,619
$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,-2164133.8
$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
$GPS1,003737,2105.814,-15753.393,36,1.3,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-71.8
$GPS2,004344,2105.854,-15753.466,15,1.3,15,9.8
$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,80.4,18225,-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,-116.8,0.0,0.0,0,77,0.00,0.00,-58.90,0.000,2,0.000,0.000,428,1555,2585,0,0,0,0,0,0
$GC,80,-1.18,-116.8,3.1,-3.1,11,109,12.57,0.00,-10.38,0.000,6,0.130,0.000,2784,1556,3108,0,0,0,0,0,0
$GC,309,-0.94,-116.8,46.0,-17.8,48,314,0.25,2.35,0.00,0.000,4,0.088,0.019,2840,2980,3110,0,0,0,0,0,0
$GC,335,-0.85,-116.8,50.0,-14.0,50,340,0.12,2.42,0.00,0.000,6,0.094,0.033,2868,1547,3110,0,0,0,0,0,0
$GC,602,-0.85,-116.8,77.3,-9.6,71,605,0.00,2.22,0.00,0.000,4,0.000,0.044,2868,237,3111,0,0,0,0,0,0
$GC,619,-0.85,-116.8,79.1,-9.8,72,622,0.00,2.12,0.00,0.000,6,0.000,0.018,2867,1612,3111,0,0,0,0,0,0
$GC,886,-0.88,-116.8,103.8,-9.3,93,890,0.00,2.38,0.00,0.000,4,0.000,0.044,2868,238,3112,0,0,0,0,0,0
$GC,994,-0.88,-116.8,115.4,-11.9,101,997,0.00,2.15,0.00,0.000,6,0.000,0.018,2868,1610,3112,0,0,0,0,0,0
$GC,1260,-0.97,-116.8,137.1,-6.7,122,1265,0.12,2.40,0.00,0.000,4,0.061,0.045,2822,230,3113,0,0,0,0,0,0
$GC,1328,-0.93,-116.8,142.7,-8.5,127,1333,0.12,2.15,0.00,0.000,6,0.090,0.018,2849,1617,3113,0,0,0,0,0,0
$GC,1595,-0.99,-116.8,161.4,-8.0,148,1599,0.00,2.38,0.00,0.000,4,0.000,0.045,2849,228,3113,0,0,0,0,0,0
$GC,1619,-0.99,-116.8,163.6,-8.7,150,1623,0.00,2.17,0.00,0.000,6,0.000,0.019,2849,1617,3114,0,0,0,0,0,0
$GC,1886,-1.06,-116.8,183.8,-7.2,171,1891,0.15,2.38,0.00,0.000,4,0.054,0.046,2797,237,3114,0,0,0,0,0,0
$GC,1986,-1.01,-116.8,194.2,-11.6,178,1991,0.15,2.12,0.00,0.000,6,0.084,0.019,2831,1600,3114,0,0,0,0,0,0
$GC,2244,-1.05,-116.8,217.7,-9.4,192,2248,0.00,2.35,0.00,0.000,4,0.000,0.047,2831,238,3114,0,0,0,0,0,0
$GC,2274,-1.05,-116.8,221.2,-10.7,193,2278,0.00,2.05,0.00,0.000,6,0.000,0.020,2831,1556,3114,0,0,0,0,0,0
$GC,2601,-1.09,-116.8,251.5,-9.1,209,2602,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1561,3113,0,0,0,0,0,0
$GC,2909,-1.13,-116.8,276.2,-7.3,224,2914,0.12,2.30,0.00,0.000,4,0.063,0.049,2788,231,3112,0,0,0,0,0,0
$GC,2942,-1.04,-116.8,279.3,-9.5,225,2947,0.15,2.08,0.00,0.000,6,0.086,0.021,2821,1547,3112,0,0,0,0,0,0
$GC,3281,-1.04,-116.8,303.6,-7.4,240,3282,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1552,3111,0,0,0,0,0,0
$GC,3603,-1.04,-116.8,324.9,-6.5,248,3607,0.00,2.25,0.00,0.000,4,0.000,0.025,2822,2920,3109,0,0,0,0,0,0
$GC,3632,-1.14,-116.8,326.7,-6.3,248,3636,0.00,2.30,0.00,0.000,6,0.000,0.035,2822,1552,3109,0,0,0,0,0,0
$GC,3969,-1.19,-116.8,354.3,-9.4,257,3974,0.15,2.28,0.00,0.000,4,0.057,0.051,2773,234,3108,0,0,0,0,0,0
$GC,4086,-1.11,-116.8,370.3,-14.5,259,4091,0.15,2.08,0.00,0.000,6,0.087,0.022,2806,1550,3107,0,0,0,0,0,0
$GC,4429,-1.11,-116.8,412.3,-11.8,268,4431,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1555,3105,0,0,0,0,0,0
$GC,4752,-1.11,-116.8,444.6,-9.0,276,4756,0.00,2.25,0.00,0.000,4,0.000,0.028,2806,2927,3103,0,0,0,0,0,0
$GC,4771,-1.16,-116.8,446.2,-7.7,276,4775,0.00,2.35,0.00,0.000,6,0.000,0.038,2806,1544,3103,0,0,0,0,0,0
$STATE,4829,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4829,begin apogee
$GC,4836,-0.31,0.0,450.4,6.8,278,4937,0.80,0.00,96.97,0.815,6,0.063,0.000,2982,1545,2630,0,0,0,0,0,0
$STATE,4937,end apogee,CONTROL_FINISHED_OK
$STATE,4937,begin climb
$GC,4940,1.18,116.8,451.6,0.0,280,5053,1.40,2.40,100.70,0.802,4,0.035,0.028,3309,2920,2153,0,0,0,0,0,0
$GC,5128,1.01,116.8,443.3,10.1,284,5133,0.20,2.38,0.00,0.000,6,0.095,0.040,3269,1546,2150,0,0,0,0,0,0
$GC,5443,0.93,143.7,419.5,6.7,292,5472,0.00,2.40,23.00,0.763,4,0.000,0.029,3270,2923,2044,0,0,0,0,0,0
$GC,5557,0.89,167.7,410.9,6.8,294,5586,0.12,2.38,22.88,0.756,6,0.107,0.040,3246,1549,1945,0,0,0,0,0,0
$GC,5909,0.85,167.7,382.7,8.6,303,5913,0.00,2.30,0.00,0.000,4,0.000,0.029,3246,2921,1938,0,0,0,0,0,0
$GC,5969,0.85,167.7,377.1,9.5,304,5973,0.00,2.40,0.00,0.000,6,0.000,0.041,3246,1549,1938,0,0,0,0,0,0
$GC,6319,0.86,181.2,349.7,7.3,313,6335,0.00,2.38,11.43,0.696,4,0.000,0.058,3246,233,1891,0,0,0,0,0,0
$GC,6388,0.78,181.2,344.5,7.9,314,6393,0.12,2.15,0.00,0.000,6,0.108,0.028,3223,1536,1888,0,0,0,0,0,0
$GC,6739,0.89,233.3,323.1,5.5,323,6792,0.00,2.42,46.90,0.750,4,0.000,0.057,3222,231,1679,0,0,0,0,0,0
$GC,6826,0.89,234.4,317.8,7.8,325,6831,0.10,2.20,0.00,0.000,6,0.080,0.028,3251,1557,1674,0,0,0,0,0,0
$GC,7160,0.90,240.7,292.8,7.6,335,7172,0.00,2.35,6.93,0.596,4,0.000,0.028,3251,2925,1648,0,0,0,0,0,0
$GC,7219,0.97,240.7,287.4,8.5,337,7223,0.00,2.40,0.00,0.000,6,0.000,0.041,3251,1549,1647,0,0,0,0,0,0
$GC,7534,0.97,240.7,260.7,9.5,352,7538,0.00,2.33,0.00,0.000,4,0.000,0.056,3251,233,1646,0,0,0,0,0,0
$GC,7624,0.93,240.7,251.4,10.3,356,7628,0.00,2.12,0.00,0.000,6,0.000,0.026,3251,1551,1643,0,0,0,0,0,0
$GC,7953,0.93,240.7,221.2,8.5,372,7957,0.00,2.30,0.00,0.000,4,0.000,0.054,3251,233,1642,0,0,0,0,0,0
$GC,7977,0.93,240.7,219.4,8.7,373,7981,0.00,2.12,0.00,0.000,6,0.000,0.025,3251,1556,1642,0,0,0,0,0,0
$GC,8303,0.98,282.4,197.2,6.0,390,8347,0.00,2.45,36.60,0.650,4,0.000,0.052,3251,229,1477,0,0,0,0,0,0
$GC,8361,0.98,285.4,193.1,7.8,394,8371,0.00,2.20,3.92,0.403,6,0.000,0.025,3251,1552,1465,0,0,0,0,0,0
$GC,8638,1.02,285.4,173.6,8.0,416,8642,0.00,2.30,0.00,0.000,4,0.000,0.051,3251,234,1463,0,0,0,0,0,0
$GC,8764,1.02,285.4,160.5,11.4,425,8768,0.00,2.12,0.00,0.000,6,0.000,0.023,3251,1561,1460,0,0,0,0,0,0
$GC,9026,1.15,340.2,141.6,5.4,445,9080,0.20,0.00,47.45,0.597,6,0.050,0.000,3309,1565,1242,0,0,0,0,0,0
$GC,9333,1.10,340.2,113.9,8.6,469,9337,0.00,2.35,0.00,0.000,4,0.000,0.051,3309,232,1239,0,0,0,0,0,0
$GC,9413,1.01,340.2,105.8,9.2,475,9418,0.17,2.12,0.00,0.000,6,0.090,0.021,3272,1559,1235,0,0,0,0,0,0
$GC,9680,1.08,356.2,87.1,7.2,496,9701,0.00,2.38,14.18,0.512,4,0.000,0.047,3272,225,1176,0,0,0,0,0,0
$GC,9750,1.12,356.2,80.6,9.6,501,9754,0.00,2.12,0.00,0.000,6,0.000,0.021,3272,1557,1172,0,0,0,0,0,0
$GC,10018,1.18,356.2,57.6,10.3,522,10023,0.15,2.33,0.00,0.000,4,0.055,0.048,3320,233,1172,0,0,0,0,0,0
$GC,10228,1.15,356.2,32.7,10.3,537,10234,0.00,2.10,0.00,0.000,6,0.000,0.020,3321,1557,1171,0,0,0,0,0,0
$GC,10490,1.15,356.2,8.5,10.3,594,10496,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,1557,1171,0,0,0,0,0,0
$STATE,10540,end climb,SURFACE_DEPTH_REACHED
$STATE,10540,begin surface coast
$FINISH,1.0,1.023016
$STATE,10571,end surface coast,CONTROL_FINISHED_OK
$STATE,10571,begin surface
$SM_CCo,10594,32.53,0.467,0,0,957,410.14
$SM_GC,1.68,0.00,0.00,32.53,0.000,0.000,0.467,429,1556,957,-12.06,0.17,410.14
$IRIDIUM_FIX,2057.14,-15753.90,311299,212135
$TT8_MAMPS,0.029146
$HUMID,58.86
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,21.90
$XPDR_PINGS,1
$24V_AH,23.3,56.823
$10V_AH,10.1,46.547
$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,29.725,109.025,410.950,32.525,0.000,25.099,42.000,160.683,4.750,0.000,15.218,1200.228,6919.579,459.126,1882.037,526.599,0.000,1310.920,0.000,1858.161,0.000,29.259,0.000
$DEVICE_MAMPS,130.390,57.525,814.554,467.103,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,412.230,393.265,877.838,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355724
$DATA_FILE_SIZE,34905,612
$CAP_FILE_SIZE,118441,0
$CFSIZE,260165632,179818496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071010,034230,2105.906,-15753.825,32,1.0,42,9.8