version: 66.06
glider: 139
mission: 8
dive: 604
start: 10 5 110 0 12 45
data:
$ID,139
$MISSION,8
$DIVE,604
$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,-2163747.5
$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,1600
$C_ROLL_CLIMB,1600
$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
$GPS1,234658,2104.624,-15751.411,10,3.8,29,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-71.1
$GPS2,001224,2104.702,-15751.557,32,1.3,49,9.8
$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,72.3,15068,-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,-116.8,0.0,0.0,0,87,0.00,0.00,-69.57,0.000,2,0.000,0.000,426,1598,2850,0,0,0,0,0,0
$GC,92,-1.18,-116.8,3.8,-4.3,13,116,12.62,2.35,-4.55,0.000,4,0.132,0.032,2783,3019,3110,0,0,0,0,0,0
$GC,181,-1.08,-116.8,24.5,-13.9,31,188,0.10,2.42,0.00,0.000,6,0.081,0.034,2809,1608,3111,0,0,0,0,0,0
$GC,388,-0.91,-116.8,54.5,-14.2,52,393,0.20,2.38,0.00,0.000,4,0.090,0.045,2850,227,3112,0,0,0,0,0,0
$GC,417,-0.76,-116.8,59.2,-13.6,54,422,0.15,2.22,0.00,0.000,6,0.094,0.018,2882,1652,3112,0,0,0,0,0,0
$GC,675,-0.76,-116.8,84.9,-9.1,74,679,0.00,2.45,0.00,0.000,4,0.000,0.044,2882,226,3112,0,0,0,0,0,0
$GC,736,-0.82,-116.8,90.9,-8.9,78,743,0.00,2.28,0.00,0.000,6,0.000,0.018,2882,1658,3112,0,0,0,0,0,0
$GC,996,-0.94,-116.8,113.6,-7.9,99,1001,0.15,2.47,0.00,0.000,4,0.054,0.045,2827,234,3112,0,0,0,0,0,0
$GC,1038,-0.88,-116.8,117.6,-10.3,102,1043,0.15,2.22,0.00,0.000,6,0.086,0.018,2859,1660,3112,0,0,0,0,0,0
$GC,1306,-0.97,-116.8,136.9,-6.0,123,1310,0.00,2.45,0.00,0.000,4,0.000,0.045,2859,232,3113,0,0,0,0,0,0
$GC,1391,-1.04,-116.8,143.4,-7.9,129,1396,0.15,2.22,0.00,0.000,6,0.054,0.018,2807,1658,3113,0,0,0,0,0,0
$GC,1654,-1.01,-116.8,168.7,-10.5,149,1659,0.10,2.22,0.00,0.000,4,0.101,0.022,2829,3024,3113,0,0,0,0,0,0
$GC,1684,-1.09,-116.8,171.9,-9.1,151,1688,0.00,2.40,0.00,0.000,6,0.000,0.031,2829,1596,3113,0,0,0,0,0,0
$GC,1946,-1.09,-116.8,192.7,-7.6,171,1950,0.00,2.33,0.00,0.000,4,0.000,0.046,2829,230,3112,0,0,0,0,0,0
$GC,1980,-1.09,-116.8,196.0,-9.1,173,1985,0.00,2.22,0.00,0.000,6,0.000,0.019,2829,1650,3112,0,0,0,0,0,0
$GC,2243,-1.13,-116.8,216.2,-7.8,188,2245,0.12,0.00,0.00,0.000,6,0.062,0.000,2784,1655,3111,0,0,0,0,0,0
$GC,2555,-1.06,-116.8,250.1,-11.7,203,2560,0.15,2.47,0.00,0.000,4,0.088,0.048,2817,238,3111,0,0,0,0,0,0
$GC,2629,-1.06,-116.8,258.7,-9.7,206,2633,0.00,2.15,0.00,0.000,6,0.000,0.020,2817,1595,3111,0,0,0,0,0,0
$GC,2951,-1.06,-116.8,282.6,-5.6,222,2955,0.00,2.28,0.00,0.000,4,0.000,0.025,2817,2977,3109,0,0,0,0,0,0
$GC,2974,-1.13,-116.8,284.0,-5.5,223,2979,0.00,2.33,0.00,0.000,6,0.000,0.035,2817,1602,3110,0,0,0,0,0,0
$GC,3321,-1.16,-116.8,303.4,-6.4,239,3326,0.00,2.35,0.00,0.000,4,0.000,0.050,2817,232,3107,0,0,0,0,0,0
$GC,3402,-1.16,-116.8,310.6,-9.1,240,3406,0.00,2.20,0.00,0.000,6,0.000,0.021,2817,1607,3107,0,0,0,0,0,0
$GC,3735,-1.20,-116.8,342.1,-9.5,248,3740,0.12,2.42,0.00,0.000,4,0.064,0.051,2775,232,3105,0,0,0,0,0,0
$GC,3761,-1.12,-116.8,345.3,-11.7,248,3766,0.15,2.20,0.00,0.000,6,0.089,0.023,2807,1607,3105,0,0,0,0,0,0
$GC,4108,-1.12,-116.8,374.4,-7.4,257,4109,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1612,3102,0,0,0,0,0,0
$GC,4432,-1.12,-116.8,396.0,-6.8,265,4435,0.00,2.40,0.00,0.000,4,0.000,0.054,2807,231,3100,0,0,0,0,0,0
$GC,4470,-1.12,-116.8,399.0,-8.2,265,4474,0.00,2.20,0.00,0.000,6,0.000,0.025,2807,1595,3100,0,0,0,0,0,0
$GC,4808,-1.12,-116.8,422.7,-7.0,274,4812,0.00,2.38,0.00,0.000,4,0.000,0.055,2807,237,3097,0,0,0,0,0,0
$GC,4831,-1.12,-116.8,424.9,-9.2,274,4835,0.00,2.20,0.00,0.000,6,0.000,0.025,2807,1605,3097,0,0,0,0,0,0
$STATE,5169,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5169,begin apogee
$GC,5176,-0.31,0.0,453.3,8.6,283,5275,0.80,0.00,95.35,0.837,6,0.065,0.000,2980,1609,2630,0,0,0,0,0,0
$STATE,5275,end apogee,CONTROL_FINISHED_OK
$STATE,5275,begin climb
$GC,5278,1.18,116.8,457.1,0.0,285,5391,1.42,2.35,101.82,0.821,4,0.038,0.031,3310,2979,2152,0,0,0,0,0,0
$GC,5596,1.03,144.6,450.4,6.6,292,5629,0.17,2.38,24.62,0.785,6,0.102,0.041,3277,1604,2040,0,0,0,0,0,0
$GC,5963,0.91,144.6,421.0,8.6,301,5965,0.15,0.00,0.00,0.000,6,0.108,0.000,3248,1604,2032,0,0,0,0,0,0
$GC,6286,0.86,148.7,395.0,7.7,309,6290,0.00,2.35,0.00,0.000,4,0.000,0.031,3247,2989,2030,0,0,0,0,0,0
$GC,6320,0.89,169.1,392.6,7.0,309,6348,0.00,2.40,21.52,0.774,6,0.000,0.043,3247,1599,1939,0,0,0,0,0,0
$GC,6660,0.90,214.2,369.0,5.9,318,6708,0.00,2.40,41.12,0.786,4,0.000,0.028,3248,2985,1755,0,0,0,0,0,0
$GC,6726,0.93,236.3,364.7,6.9,319,6753,0.00,2.45,20.45,0.746,6,0.000,0.044,3248,1601,1666,0,0,0,0,0,0
$GC,7078,0.93,236.3,334.3,9.3,328,7082,0.00,2.45,0.00,0.000,4,0.000,0.060,3247,234,1659,0,0,0,0,0,0
$GC,7149,0.85,236.3,326.7,11.4,329,7154,0.00,2.28,0.00,0.000,6,0.000,0.028,3247,1605,1656,0,0,0,0,0,0
$GC,7470,0.85,236.3,296.3,9.7,338,7474,0.00,2.45,0.00,0.000,4,0.000,0.057,3248,233,1655,0,0,0,0,0,0
$GC,7579,0.79,236.3,284.1,11.7,342,7586,0.10,2.28,0.00,0.000,6,0.087,0.027,3224,1602,1652,0,0,0,0,0,0
$GC,7894,0.86,236.3,253.9,9.3,358,7896,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1603,1652,0,0,0,0,0,0
$GC,8205,0.93,236.3,225.4,8.5,373,8210,0.12,2.40,0.00,0.000,4,0.068,0.055,3261,232,1651,0,0,0,0,0,0
$GC,8292,0.87,236.3,215.7,11.6,376,8299,0.08,2.25,0.00,0.000,6,0.087,0.025,3242,1600,1649,0,0,0,0,0,0
$GC,8620,1.01,317.0,192.8,4.3,396,8697,0.12,2.50,67.75,0.664,4,0.068,0.054,3281,227,1336,0,0,0,0,0,0
$GC,8774,0.92,317.0,180.9,8.6,407,8778,0.15,2.25,0.00,0.000,6,0.097,0.025,3251,1604,1331,0,0,0,0,0,0
$GC,9041,0.98,317.0,158.2,9.9,428,9045,0.00,2.45,0.00,0.000,4,0.000,0.053,3251,228,1329,0,0,0,0,0,0
$GC,9086,0.98,317.0,152.4,11.6,431,9092,0.00,2.20,0.00,0.000,6,0.000,0.024,3251,1607,1327,0,0,0,0,0,0
$GC,9348,1.10,350.7,131.9,6.4,452,9383,0.17,2.50,28.35,0.588,4,0.054,0.052,3302,235,1200,0,0,0,0,0,0
$GC,9452,1.00,350.7,120.2,13.5,459,9458,0.17,2.20,0.00,0.000,6,0.091,0.022,3266,1607,1196,0,0,0,0,0,0
$GC,9714,1.13,389.8,102.4,6.1,480,9756,0.12,2.47,33.72,0.561,4,0.064,0.049,3308,229,1038,0,0,0,0,0,0
$GC,9823,1.06,389.8,91.4,10.7,487,9829,0.12,2.22,0.00,0.000,6,0.099,0.021,3283,1607,1035,0,0,0,0,0,0
$GC,10085,1.16,389.8,66.7,13.6,508,10089,0.00,2.42,0.00,0.000,4,0.000,0.048,3283,225,1034,0,0,0,0,0,0
$GC,10168,1.22,389.8,53.5,14.2,514,10173,0.15,2.17,0.00,0.000,6,0.054,0.021,3333,1610,1032,0,0,0,0,0,0
$GC,10431,1.22,389.8,15.0,12.6,550,10438,0.00,2.45,0.00,0.000,4,0.000,0.050,3333,230,1033,0,0,0,0,0,0
$GC,10493,1.10,389.8,7.0,12.9,563,10501,0.17,2.20,0.00,0.000,6,0.067,0.019,3291,1595,1032,0,0,0,0,0,0
$STATE,10531,end climb,SURFACE_DEPTH_REACHED
$STATE,10531,begin surface coast
$FINISH,1.0,1.023057
$STATE,10564,end surface coast,CONTROL_FINISHED_OK
$STATE,10564,begin surface
$SM_CCo,10586,16.12,0.457,0,0,958,410.14
$SM_GC,1.85,0.00,0.00,16.12,0.000,0.000,0.457,427,1599,958,-12.07,-0.03,410.14
$IRIDIUM_FIX,2057.14,-15753.90,301299,000036
$TT8_MAMPS,0.028379
$HUMID,59.72
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.3,55.057
$10V_AH,10.1,45.262
$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,30.525,116.700,434.725,16.125,0.000,130.699,195.781,749.534,4.500,0.000,52.658,1140.348,7311.438,466.831,1790.188,1418.926,0.000,1301.273,0.000,1730.893,0.000,29.255,0.000
$DEVICE_MAMPS,131.924,59.826,836.797,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,388.223,363.147,784.868,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355860
$DATA_FILE_SIZE,31797,578
$CAP_FILE_SIZE,131243,0
$CFSIZE,260165632,180703232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051010,031036,2104.733,-15751.956,12,1.0,29,9.8