version: 66.06
glider: 139
mission: 8
dive: 620
start: 10 7 110 3 49 3
data:
$ID,139
$MISSION,8
$DIVE,620
$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,-2164151.5
$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
$GPS1,034230,2105.906,-15753.825,32,1.0,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-74.0
$GPS2,034843,2105.943,-15753.930,12,1.4,16,9.8
$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,80.9,19029,-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,-64.40,0.000,2,0.000,0.000,428,1556,2757,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.7,-4.1,12,109,12.60,0.00,-6.45,0.000,6,0.131,0.000,2784,1557,3108,0,0,0,0,0,0
$GC,302,-0.95,-116.8,47.3,-16.8,45,307,0.25,2.35,0.00,0.000,4,0.089,0.020,2840,2980,3111,0,0,0,0,0,0
$GC,334,-0.95,-116.8,51.4,-10.1,47,341,0.00,2.45,0.00,0.000,6,0.000,0.032,2839,1552,3111,0,0,0,0,0,0
$GC,595,-0.92,-116.8,75.4,-10.0,68,599,0.00,2.25,0.00,0.000,4,0.000,0.044,2840,230,3112,0,0,0,0,0,0
$GC,633,-0.87,-116.8,79.2,-8.9,70,640,0.00,2.17,0.00,0.000,6,0.000,0.018,2840,1586,3112,0,0,0,0,0,0
$GC,895,-0.87,-116.8,105.4,-10.6,91,900,0.10,2.35,0.00,0.000,4,0.104,0.046,2861,228,3113,0,0,0,0,0,0
$GC,962,-0.93,-116.8,112.7,-9.4,96,966,0.00,2.08,0.00,0.000,6,0.000,0.018,2861,1572,3113,0,0,0,0,0,0
$GC,1229,-0.99,-116.8,137.1,-8.7,117,1234,0.12,2.17,0.00,0.000,4,0.061,0.021,2815,2919,3113,0,0,0,0,0,0
$GC,1264,-0.99,-116.8,140.3,-8.9,119,1269,0.00,2.30,0.00,0.000,6,0.000,0.031,2815,1542,3113,0,0,0,0,0,0
$GC,1524,-0.99,-116.8,164.4,-9.4,140,1528,0.00,2.22,0.00,0.000,4,0.000,0.045,2815,227,3114,0,0,0,0,0,0
$GC,1539,-0.94,-116.8,166.1,-10.0,141,1543,0.15,2.05,0.00,0.000,6,0.086,0.019,2848,1552,3114,0,0,0,0,0,0
$GC,1804,-1.00,-116.8,190.4,-9.0,162,1808,0.00,2.25,0.00,0.000,4,0.000,0.046,2848,235,3114,0,0,0,0,0,0
$GC,1888,-1.07,-116.8,198.4,-8.4,168,1892,0.15,2.03,0.00,0.000,6,0.054,0.019,2796,1549,3114,0,0,0,0,0,0
$GC,2158,-1.02,-116.8,223.1,-9.0,181,2162,0.15,2.22,0.00,0.000,4,0.087,0.022,2830,2916,3114,0,0,0,0,0,0
$GC,2202,-1.13,-116.8,226.6,-7.3,182,2209,0.10,2.33,0.00,0.000,6,0.031,0.033,2782,1550,3114,0,0,0,0,0,0
$GC,2518,-1.06,-116.8,255.8,-10.0,198,2522,0.17,2.25,0.00,0.000,4,0.083,0.023,2820,2920,3114,0,0,0,0,0,0
$GC,2539,-1.06,-116.8,257.4,-8.1,199,2544,0.00,2.33,0.00,0.000,6,0.000,0.033,2820,1543,3113,0,0,0,0,0,0
$GC,2874,-1.11,-116.8,280.8,-6.6,215,2878,0.00,2.25,0.00,0.000,4,0.000,0.048,2820,232,3113,0,0,0,0,0,0
$GC,2939,-1.14,-116.8,285.8,-7.1,217,2945,0.00,2.05,0.00,0.000,6,0.000,0.021,2820,1549,3113,0,0,0,0,0,0
$GC,3275,-1.14,-116.8,306.3,-6.4,232,3279,0.00,2.25,0.00,0.000,4,0.000,0.026,2820,2919,3112,0,0,0,0,0,0
$GC,3290,-1.19,-116.8,307.6,-7.2,232,3295,0.12,2.33,0.00,0.000,6,0.063,0.034,2773,1548,3111,0,0,0,0,0,0
$GC,3606,-1.12,-116.8,339.4,-11.0,240,3613,0.15,2.30,0.00,0.000,4,0.088,0.051,2805,228,3110,0,0,0,0,0,0
$GC,3619,-1.06,-116.8,341.1,-11.4,240,3623,0.00,2.08,0.00,0.000,6,0.000,0.024,2805,1546,3110,0,0,0,0,0,0
$GC,3937,-1.06,-116.8,374.9,-10.7,248,3941,0.00,2.28,0.00,0.000,4,0.000,0.052,2805,231,3108,0,0,0,0,0,0
$GC,3981,-1.06,-116.8,379.5,-10.6,249,3988,0.00,2.12,0.00,0.000,6,0.000,0.024,2805,1559,3107,0,0,0,0,0,0
$GC,4316,-1.06,-116.8,409.4,-9.3,257,4320,0.00,2.33,0.00,0.000,4,0.000,0.054,2805,232,3105,0,0,0,0,0,0
$GC,4353,-1.06,-116.8,413.2,-10.0,257,4358,0.00,2.12,0.00,0.000,6,0.000,0.024,2806,1553,3105,0,0,0,0,0,0
$GC,4685,-1.06,-116.8,439.7,-7.3,266,4686,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1557,3103,0,0,0,0,0,0
$STATE,4843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4844,begin apogee
$GC,4850,-0.31,0.0,450.1,6.4,270,4950,0.80,0.00,96.70,0.828,6,0.063,0.000,2979,1559,2630,0,0,0,0,0,0
$STATE,4950,end apogee,CONTROL_FINISHED_OK
$STATE,4950,begin climb
$GC,4953,1.18,116.8,450.9,0.0,272,5066,1.42,2.38,101.25,0.811,4,0.038,0.030,3309,2921,2152,0,0,0,0,0,0
$GC,5183,1.01,116.8,439.0,9.5,277,5188,0.20,2.38,0.00,0.000,6,0.098,0.041,3271,1547,2149,0,0,0,0,0,0
$GC,5504,0.89,116.8,412.3,8.0,285,5509,0.12,2.35,0.00,0.000,4,0.110,0.030,3246,2935,2141,0,0,0,0,0,0
$GC,5604,0.92,170.5,406.1,5.5,287,5657,0.00,2.42,46.85,0.791,6,0.000,0.041,3246,1549,1934,0,0,0,0,0,0
$GC,5967,0.89,184.7,380.6,7.3,296,5987,0.00,2.40,13.05,0.720,4,0.000,0.058,3246,228,1875,0,0,0,0,0,0
$GC,6003,0.81,202.2,377.9,7.1,296,6027,0.00,2.17,16.90,0.736,6,0.000,0.028,3246,1552,1805,0,0,0,0,0,0
$GC,6343,0.81,228.6,354.8,6.7,305,6373,0.00,2.38,24.23,0.751,4,0.000,0.056,3246,235,1696,0,0,0,0,0,0
$GC,6407,0.69,228.6,349.9,8.6,306,6412,0.22,2.15,0.00,0.000,6,0.094,0.028,3203,1548,1693,0,0,0,0,0,0
$GC,6754,0.83,266.6,328.0,6.2,315,6796,0.12,2.45,33.33,0.751,4,0.070,0.058,3238,232,1541,0,0,0,0,0,0
$GC,6835,0.77,266.6,320.5,10.9,316,6839,0.00,2.17,0.00,0.000,6,0.000,0.028,3238,1553,1539,0,0,0,0,0,0
$GC,7148,0.77,266.6,293.3,8.6,325,7152,0.00,2.38,0.00,0.000,4,0.000,0.058,3238,230,1536,0,0,0,0,0,0
$GC,7240,0.71,266.6,283.2,11.7,329,7245,0.17,2.15,0.00,0.000,6,0.098,0.028,3204,1553,1533,0,0,0,0,0,0
$GC,7573,0.84,266.6,254.0,8.4,345,7578,0.12,2.35,0.00,0.000,4,0.070,0.057,3240,228,1533,0,0,0,0,0,0
$GC,7673,0.84,266.6,244.6,8.9,349,7677,0.00,2.17,0.00,0.000,6,0.000,0.027,3240,1550,1530,0,0,0,0,0,0
$GC,7995,0.92,293.0,222.8,6.7,365,8023,0.00,2.42,22.58,0.667,4,0.000,0.055,3240,235,1434,0,0,0,0,0,0
$GC,8051,0.92,293.0,218.0,8.8,367,8055,0.00,2.15,0.00,0.000,6,0.000,0.026,3240,1552,1431,0,0,0,0,0,0
$GC,8375,0.97,293.0,190.9,9.0,385,8379,0.00,2.33,0.00,0.000,4,0.000,0.053,3240,234,1430,0,0,0,0,0,0
$GC,8457,0.97,293.0,182.7,10.1,391,8461,0.00,2.12,0.00,0.000,6,0.000,0.025,3240,1556,1428,0,0,0,0,0,0
$GC,8721,1.04,293.0,160.8,9.1,411,8725,0.15,2.33,0.00,0.000,4,0.059,0.053,3285,235,1428,0,0,0,0,0,0
$GC,8831,0.96,293.0,146.7,12.9,419,8836,0.12,2.12,0.00,0.000,6,0.100,0.023,3261,1554,1427,0,0,0,0,0,0
$GC,9103,1.01,309.9,124.1,7.1,440,9123,0.00,0.00,15.18,0.562,6,0.000,0.000,3261,1559,1365,0,0,0,0,0,0
$GC,9378,1.08,309.9,103.0,8.5,462,9382,0.10,2.35,0.00,0.000,4,0.075,0.051,3296,231,1363,0,0,0,0,0,0
$GC,9445,1.02,309.9,95.5,11.4,467,9450,0.12,2.12,0.00,0.000,6,0.097,0.021,3270,1558,1361,0,0,0,0,0,0
$GC,9718,1.08,309.9,73.9,8.2,488,9722,0.00,2.33,0.00,0.000,4,0.000,0.048,3270,228,1361,0,0,0,0,0,0
$GC,9816,1.14,311.1,65.2,7.8,495,9821,0.12,2.10,0.00,0.000,6,0.062,0.021,3316,1567,1360,0,0,0,0,0,0
$GC,10084,1.14,311.1,41.4,9.0,516,10088,0.00,2.20,0.00,0.000,4,0.000,0.021,3316,2924,1360,0,0,0,0,0,0
$GC,10151,1.21,311.1,34.8,8.2,521,10155,0.00,2.35,0.00,0.000,6,0.000,0.032,3315,1539,1360,0,0,0,0,0,0
$GC,10416,1.21,311.1,13.3,9.0,573,10422,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,1539,1360,0,0,0,0,0,0
$STATE,10522,end climb,SURFACE_DEPTH_REACHED
$STATE,10522,begin surface coast
$FINISH,1.0,1.023040
$STATE,10555,end surface coast,CONTROL_FINISHED_OK
$STATE,10555,begin surface
$SM_CCo,10579,57.60,0.476,0,0,957,410.14
$SM_GC,1.77,0.00,0.00,57.60,0.000,0.000,0.476,429,1534,957,-12.06,-0.45,410.14
$IRIDIUM_FIX,2059.45,-15756.04,010100,000040
$TT8_MAMPS,0.029913
$HUMID,59.33
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.3,56.926
$10V_AH,10.1,46.629
$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,30.275,117.125,370.050,57.600,0.000,31.237,35.502,171.297,4.500,0.000,17.072,1197.972,6932.891,472.331,1866.077,536.993,0.000,1315.988,0.000,1839.970,0.000,29.268,0.000
$DEVICE_MAMPS,131.157,58.292,828.360,475.540,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,407.218,392.011,882.833,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355680
$DATA_FILE_SIZE,34946,604
$CAP_FILE_SIZE,120380,0
$CFSIZE,260165632,179757056
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071010,064737,2106.117,-15753.198,39,0.9,39,9.8