version: 66.06
glider: 139
mission: 8
dive: 605
start: 10 5 110 3 19 21
data:
$ID,139
$MISSION,8
$DIVE,605
$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,-2163764.5
$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
$GPS1,031036,2104.733,-15751.956,12,1.0,29,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-68.7
$GPS2,031901,2104.751,-15752.024,14,1.1,14,9.8
$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,73.1,15858,-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,-116.8,0.0,0.0,0,77,0.00,0.00,-59.42,0.000,2,0.000,0.000,426,1600,2598,0,0,0,0,0,0
$GC,81,-1.18,-116.8,3.1,-3.1,11,110,12.65,0.00,-10.00,0.000,6,0.132,0.000,2786,1601,3107,0,0,0,0,0,0
$GC,309,-0.94,-116.8,44.6,-15.6,48,311,0.28,0.00,0.00,0.000,6,0.089,0.000,2842,1600,3110,0,0,0,0,0,0
$GC,563,-0.87,-116.8,74.5,-13.7,68,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1600,3111,0,0,0,0,0,0
$GC,812,-0.87,-116.8,102.8,-10.3,88,816,0.00,2.35,0.00,0.000,4,0.000,0.048,2842,238,3111,0,0,0,0,0,0
$GC,892,-0.87,-116.8,112.1,-11.5,93,897,0.00,2.20,0.00,0.000,6,0.000,0.018,2842,1655,3112,0,0,0,0,0,0
$GC,1150,-0.87,-116.8,134.2,-9.0,114,1154,0.00,2.45,0.00,0.000,4,0.000,0.046,2843,238,3112,0,0,0,0,0,0
$GC,1200,-0.87,-116.8,139.2,-10.1,117,1205,0.00,2.22,0.00,0.000,6,0.000,0.018,2842,1658,3112,0,0,0,0,0,0
$GC,1462,-0.91,-116.8,161.8,-7.3,138,1466,0.00,2.47,0.00,0.000,4,0.000,0.046,2843,232,3113,0,0,0,0,0,0
$GC,1562,-0.96,-116.8,168.6,-6.9,145,1566,0.00,2.25,0.00,0.000,6,0.000,0.018,2842,1654,3113,0,0,0,0,0,0
$GC,1827,-1.03,-116.8,188.5,-9.2,166,1831,0.00,2.45,0.00,0.000,4,0.000,0.046,2842,235,3113,0,0,0,0,0,0
$GC,1856,-1.03,-116.8,191.7,-10.6,168,1860,0.00,2.22,0.00,0.000,6,0.000,0.019,2842,1659,3113,0,0,0,0,0,0
$GC,2127,-1.11,-116.8,221.1,-11.3,183,2132,0.15,2.47,0.00,0.000,4,0.055,0.048,2792,230,3113,0,0,0,0,0,0
$GC,2185,-1.01,-116.8,229.1,-13.6,185,2190,0.17,2.25,0.00,0.000,6,0.084,0.020,2831,1647,3113,0,0,0,0,0,0
$GC,2505,-1.05,-116.8,256.1,-6.6,200,2506,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1651,3113,0,0,0,0,0,0
$GC,2813,-1.11,-116.8,281.3,-9.2,215,2817,0.00,2.45,0.00,0.000,4,0.000,0.049,2831,230,3112,0,0,0,0,0,0
$GC,2880,-1.14,-116.8,288.2,-10.4,218,2885,0.12,2.17,0.00,0.000,6,0.063,0.021,2788,1607,3112,0,0,0,0,0,0
$GC,3210,-1.11,-116.8,321.0,-9.1,229,3214,0.00,2.38,0.00,0.000,4,0.000,0.050,2787,232,3111,0,0,0,0,0,0
$GC,3243,-1.03,-116.8,324.3,-9.1,229,3247,0.17,2.20,0.00,0.000,6,0.084,0.022,2825,1605,3111,0,0,0,0,0,0
$GC,3576,-1.08,-116.8,339.0,-4.2,237,3577,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1608,3109,0,0,0,0,0,0
$GC,3900,-1.15,-116.8,363.4,-8.8,245,3905,0.12,2.42,0.00,0.000,4,0.065,0.053,2783,232,3107,0,0,0,0,0,0
$GC,3935,-1.07,-116.8,367.5,-13.5,245,3940,0.15,2.17,0.00,0.000,6,0.088,0.024,2816,1597,3106,0,0,0,0,0,0
$GC,4266,-1.13,-116.8,399.2,-9.0,253,4267,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1601,3104,0,0,0,0,0,0
$GC,4592,-1.18,-116.8,419.4,-5.3,261,4596,0.10,2.40,0.00,0.000,4,0.077,0.056,2783,235,3102,0,0,0,0,0,0
$GC,4666,-1.12,-116.8,424.0,-6.3,262,4670,0.10,2.17,0.00,0.000,6,0.106,0.025,2803,1594,3102,0,0,0,0,0,0
$GC,5011,-1.12,-116.8,443.0,-5.6,271,5016,0.00,2.38,0.00,0.000,4,0.000,0.057,2803,240,3099,0,0,0,0,0,0
$GC,5064,-1.12,-116.8,446.4,-6.1,272,5068,0.00,2.22,0.00,0.000,6,0.000,0.026,2803,1601,3099,0,0,0,0,0,0
$STATE,5136,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5136,begin apogee
$GC,5142,-0.31,0.0,451.3,6.4,274,5242,0.82,0.00,96.32,0.840,6,0.066,0.000,2981,1605,2630,0,0,0,0,0,0
$STATE,5242,end apogee,CONTROL_FINISHED_OK
$STATE,5243,begin climb
$GC,5245,1.18,116.8,452.4,0.0,276,5359,1.42,2.42,101.40,0.821,4,0.038,0.032,3311,2983,2152,0,0,0,0,0,0
$GC,5450,1.01,128.9,446.6,7.4,280,5468,0.20,2.40,11.38,0.719,6,0.100,0.041,3273,1606,2104,0,0,0,0,0,0
$GC,5797,0.93,159.9,422.9,6.5,289,5829,0.00,2.42,27.65,0.788,4,0.000,0.031,3273,2993,1978,0,0,0,0,0,0
$GC,5845,0.86,180.4,419.2,7.0,290,5871,0.17,2.47,19.88,0.762,6,0.098,0.042,3239,1595,1894,0,0,0,0,0,0
$GC,6205,0.86,180.4,390.7,8.1,299,6209,0.00,2.45,0.00,0.000,4,0.000,0.059,3239,228,1886,0,0,0,0,0,0
$GC,6295,0.77,180.4,383.3,8.4,301,6299,0.00,2.30,0.00,0.000,6,0.000,0.028,3239,1608,1883,0,0,0,0,0,0
$GC,6623,0.78,190.9,359.5,7.4,309,6639,0.00,2.35,8.80,0.682,4,0.000,0.030,3238,2986,1850,0,0,0,0,0,0
$GC,6677,0.83,190.9,354.8,8.3,310,6681,0.00,2.45,0.00,0.000,6,0.000,0.044,3239,1594,1850,0,0,0,0,0,0
$GC,6996,0.83,190.9,327.4,8.6,318,6997,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1594,1848,0,0,0,0,0,0
$GC,7320,0.83,192.9,302.6,7.8,326,7324,0.00,2.40,0.00,0.000,4,0.000,0.058,3238,232,1847,0,0,0,0,0,0
$GC,7436,0.80,200.4,293.8,7.6,330,7452,0.00,2.28,9.10,0.657,6,0.000,0.028,3239,1612,1812,0,0,0,0,0,0
$GC,7770,0.83,226.3,272.7,6.7,346,7796,0.00,0.00,24.45,0.716,6,0.000,0.000,3239,1612,1707,0,0,0,0,0,0
$GC,8098,0.89,241.4,247.1,7.2,362,8118,0.00,0.00,14.23,0.663,6,0.000,0.000,3239,1612,1645,0,0,0,0,0,0
$GC,8428,0.94,249.5,223.3,7.5,378,8444,0.00,2.45,8.43,0.593,4,0.000,0.054,3238,233,1611,0,0,0,0,0,0
$GC,8497,0.94,249.5,217.4,9.1,381,8501,0.00,2.25,0.00,0.000,6,0.000,0.025,3239,1598,1608,0,0,0,0,0,0
$GC,8826,1.01,262.0,193.9,7.3,399,8846,0.12,0.00,11.73,0.602,6,0.067,0.000,3277,1604,1562,0,0,0,0,0,0
$GC,9100,1.01,262.0,168.1,9.7,421,9104,0.00,2.42,0.00,0.000,4,0.000,0.053,3277,232,1560,0,0,0,0,0,0
$GC,9155,0.92,262.0,162.1,10.8,425,9160,0.12,2.25,0.00,0.000,6,0.102,0.024,3252,1612,1558,0,0,0,0,0,0
$GC,9426,0.99,277.5,140.9,7.2,446,9447,0.00,2.45,14.62,0.576,4,0.000,0.050,3251,232,1497,0,0,0,0,0,0
$GC,9458,0.99,277.5,138.0,8.6,448,9463,0.00,2.25,0.00,0.000,6,0.000,0.023,3252,1612,1495,0,0,0,0,0,0
$GC,9719,1.06,287.2,117.6,7.5,468,9735,0.12,2.45,9.52,0.522,4,0.066,0.049,3292,232,1458,0,0,0,0,0,0
$GC,9788,1.00,287.2,109.7,12.7,472,9795,0.10,2.22,0.00,0.000,6,0.072,0.021,3267,1591,1455,0,0,0,0,0,0
$GC,10051,1.10,307.3,86.9,7.0,493,10079,0.10,2.45,18.33,0.539,4,0.074,0.049,3301,238,1376,0,0,0,0,0,0
$GC,10104,1.10,307.3,82.6,8.0,496,10111,0.00,2.22,0.00,0.000,6,0.000,0.021,3301,1608,1374,0,0,0,0,0,0
$GC,10366,1.19,332.6,67.2,6.8,517,10395,0.00,2.45,22.33,0.522,4,0.000,0.048,3301,229,1274,0,0,0,0,0,0
$GC,10475,1.19,332.6,57.5,9.0,524,10481,0.00,2.22,0.00,0.000,6,0.000,0.021,3301,1602,1270,0,0,0,0,0,0
$GC,10735,1.23,332.6,37.1,7.9,545,10739,0.00,2.40,0.00,0.000,4,0.000,0.048,3301,225,1270,0,0,0,0,0,0
$GC,10795,1.23,332.6,31.4,9.4,549,10799,0.00,2.20,0.00,0.000,6,0.000,0.019,3301,1611,1269,0,0,0,0,0,0
$GC,11059,1.27,332.6,9.6,8.1,607,11067,0.10,2.45,0.00,0.000,4,0.072,0.047,3340,229,1269,0,0,0,0,0,0
$GC,11100,1.15,332.6,4.8,11.9,615,11107,0.15,2.20,0.00,0.000,6,0.067,0.019,3303,1596,1269,0,0,0,0,0,0
$STATE,11112,end climb,SURFACE_DEPTH_REACHED
$STATE,11112,begin surface coast
$FINISH,0.8,1.000801
$STATE,11135,end surface coast,CONTROL_FINISHED_OK
$STATE,11135,begin surface
$SM_CCo,11159,46.78,0.472,0,0,957,410.14
$SM_GC,1.47,0.00,0.00,46.78,0.000,0.000,0.472,427,1599,957,-12.07,-0.03,410.14
$IRIDIUM_FIX,2057.14,-15753.90,301299,000058
$TT8_MAMPS,0.029146
$HUMID,57.56
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.20
$XPDR_PINGS,6
$24V_AH,23.3,55.169
$10V_AH,10.0,45.345
$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,29.750,107.625,398.150,46.775,0.000,26.035,39.839,303.059,6.000,0.000,16.277,1204.764,7506.929,485.859,1817.561,692.147,0.000,1314.640,0.000,1805.844,0.000,29.252,0.000
$DEVICE_MAMPS,131.924,59.059,839.865,472.472,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,418.764,402.036,889.965,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355728
$DATA_FILE_SIZE,34952,622
$CAP_FILE_SIZE,120657,0
$CFSIZE,260165632,180649984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051010,062725,2105.029,-15751.948,40,1.6,40,9.8