version: 66.06
glider: 139
mission: 8
dive: 577
start: 10 1 110 10 24 28
data:
$ID,139
$MISSION,8
$DIVE,577
$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,-2163121.8
$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,1700
$C_ROLL_CLIMB,1700
$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
$GPS1,101806,2100.760,-15755.339,40,1.0,45,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-72.7
$GPS2,102408,2100.781,-15755.375,14,1.3,14,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$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,310.6,18144,-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,-64.57,0.000,2,0.000,0.000,429,1700,2756,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.5,-3.7,12,110,12.62,2.38,-6.47,0.000,4,0.133,0.035,2785,3118,3109,0,0,0,0,0,0
$GC,209,-1.09,-116.8,29.5,-14.4,38,216,0.10,2.42,0.00,0.000,6,0.078,0.033,2809,1699,3110,0,0,0,0,0,0
$GC,406,-0.94,-116.8,58.5,-14.5,54,411,0.17,2.45,0.00,0.000,4,0.091,0.046,2846,293,3111,0,0,0,0,0,0
$GC,502,-0.81,-116.8,71.5,-13.4,61,507,0.12,2.33,0.00,0.000,6,0.099,0.018,2871,1738,3112,0,0,0,0,0,0
$GC,769,-0.88,-116.8,96.4,-9.4,82,774,0.00,2.47,0.00,0.000,4,0.000,0.044,2871,294,3112,0,0,0,0,0,0
$GC,918,-0.94,-116.8,111.3,-8.7,93,923,0.12,2.25,0.00,0.000,6,0.061,0.018,2825,1713,3113,0,0,0,0,0,0
$GC,1184,-0.94,-116.8,139.1,-10.3,114,1189,0.10,2.47,0.00,0.000,4,0.101,0.044,2847,289,3114,0,0,0,0,0,0
$GC,1199,-0.94,-116.8,141.0,-10.5,115,1203,0.00,2.22,0.00,0.000,6,0.000,0.018,2847,1716,3114,0,0,0,0,0,0
$GC,1464,-0.99,-116.8,165.3,-10.3,136,1468,0.00,2.45,0.00,0.000,4,0.000,0.044,2847,294,3114,0,0,0,0,0,0
$GC,1505,-1.03,-116.8,169.7,-11.4,139,1510,0.10,2.22,0.00,0.000,6,0.071,0.018,2807,1704,3114,0,0,0,0,0,0
$GC,1769,-1.03,-116.8,198.1,-10.2,160,1773,0.00,2.45,0.00,0.000,4,0.000,0.046,2807,287,3114,0,0,0,0,0,0
$GC,1826,-1.00,-116.8,204.2,-10.2,163,1831,0.12,2.22,0.00,0.000,6,0.091,0.018,2834,1698,3114,0,0,0,0,0,0
$GC,2144,-1.06,-116.8,227.9,-7.1,178,2148,0.00,2.40,0.00,0.000,4,0.000,0.046,2834,294,3114,0,0,0,0,0,0
$GC,2213,-1.09,-116.8,232.7,-6.4,181,2217,0.00,2.22,0.00,0.000,6,0.000,0.020,2834,1706,3114,0,0,0,0,0,0
$GC,2546,-1.15,-116.8,258.3,-8.7,197,2551,0.15,2.45,0.00,0.000,4,0.055,0.048,2782,289,3113,0,0,0,0,0,0
$GC,2593,-1.08,-116.8,263.4,-11.3,199,2598,0.15,2.25,0.00,0.000,6,0.087,0.021,2815,1695,3114,0,0,0,0,0,0
$GC,2930,-1.08,-116.8,291.6,-8.1,215,2935,0.00,2.42,0.00,0.000,4,0.000,0.048,2815,295,3112,0,0,0,0,0,0
$GC,3014,-1.08,-116.8,299.4,-9.3,218,3024,0.00,2.28,0.00,0.000,6,0.000,0.021,2815,1704,3112,0,0,0,0,0,0
$GC,3346,-1.11,-116.8,332.4,-9.9,227,3350,0.00,2.42,0.00,0.000,4,0.000,0.049,2815,296,3111,0,0,0,0,0,0
$GC,3406,-1.11,-116.8,338.0,-9.1,228,3410,0.00,2.28,0.00,0.000,6,0.000,0.022,2815,1706,3111,0,0,0,0,0,0
$GC,3757,-1.16,-116.8,366.0,-8.3,237,3761,0.00,2.45,0.00,0.000,4,0.000,0.051,2815,289,3108,0,0,0,0,0,0
$GC,3790,-1.16,-116.8,369.3,-9.1,237,3794,0.00,2.30,0.00,0.000,6,0.000,0.022,2815,1706,3109,0,0,0,0,0,0
$GC,4123,-1.21,-116.8,392.1,-6.4,245,4128,0.12,2.47,0.00,0.000,4,0.065,0.053,2773,293,3106,0,0,0,0,0,0
$GC,4223,-1.13,-116.8,401.6,-10.1,247,4228,0.15,2.30,0.00,0.000,6,0.091,0.023,2805,1706,3106,0,0,0,0,0,0
$GC,4545,-1.17,-116.8,428.4,-8.7,255,4549,0.00,2.47,0.00,0.000,4,0.000,0.054,2805,296,3104,0,0,0,0,0,0
$GC,4615,-1.21,-116.8,434.7,-9.0,256,4619,0.00,2.28,0.00,0.000,6,0.000,0.025,2806,1697,3103,0,0,0,0,0,0
$STATE,4831,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4831,begin apogee
$GC,4838,-0.31,0.0,451.2,7.4,262,4938,0.80,0.00,96.60,0.831,6,0.064,0.000,2980,1702,2630,0,0,0,0,0,0
$STATE,4939,end apogee,CONTROL_FINISHED_OK
$STATE,4939,begin climb
$GC,4941,1.18,116.8,453.4,0.0,264,5053,1.42,2.38,101.55,0.815,4,0.037,0.032,3311,3081,2152,0,0,0,0,0,0
$GC,5176,1.03,146.9,447.4,6.5,269,5209,0.17,2.40,26.98,0.782,6,0.100,0.039,3276,1697,2031,0,0,0,0,0,0
$GC,5538,0.91,146.9,418.8,8.3,278,5542,0.15,2.38,0.00,0.000,4,0.106,0.031,3248,3083,2022,0,0,0,0,0,0
$GC,5558,0.84,149.8,417.2,7.8,278,5562,0.00,2.38,0.00,0.000,6,0.000,0.039,3247,1699,2022,0,0,0,0,0,0
$GC,5903,0.84,183.3,395.1,6.4,287,5940,0.00,2.58,31.92,0.788,4,0.000,0.058,3247,293,1882,0,0,0,0,0,0
$GC,5972,0.72,183.3,389.5,10.0,287,5977,0.20,2.38,0.00,0.000,6,0.100,0.027,3209,1710,1878,0,0,0,0,0,0
$GC,6314,0.78,190.7,364.0,7.6,296,6326,0.00,2.60,6.85,0.639,4,0.000,0.057,3209,294,1852,0,0,0,0,0,0
$GC,6411,0.78,190.7,356.6,8.2,298,6415,0.00,2.35,0.00,0.000,6,0.000,0.027,3209,1704,1848,0,0,0,0,0,0
$GC,6734,0.84,190.7,329.2,9.6,306,6739,0.10,2.53,0.00,0.000,4,0.081,0.056,3238,294,1848,0,0,0,0,0,0
$GC,6760,0.80,190.7,326.6,10.6,306,6764,0.00,2.35,0.00,0.000,6,0.000,0.027,3238,1710,1846,0,0,0,0,0,0
$GC,7100,0.86,242.0,303.3,5.6,315,7153,0.00,2.62,45.92,0.751,4,0.000,0.056,3238,294,1643,0,0,0,0,0,0
$GC,7206,0.82,242.0,295.3,9.1,317,7211,0.00,2.35,0.00,0.000,6,0.000,0.027,3238,1701,1638,0,0,0,0,0,0
$GC,7524,0.82,242.0,266.7,8.8,333,7528,0.00,2.53,0.00,0.000,4,0.000,0.056,3238,290,1636,0,0,0,0,0,0
$GC,7626,0.82,242.0,257.0,8.3,337,7630,0.00,2.33,0.00,0.000,6,0.000,0.026,3238,1699,1633,0,0,0,0,0,0
$GC,7947,0.92,283.8,236.3,6.0,353,7991,0.00,2.58,36.10,0.692,4,0.000,0.054,3238,301,1471,0,0,0,0,0,0
$GC,8076,0.92,283.8,226.0,10.3,358,8080,0.00,2.30,0.00,0.000,6,0.000,0.025,3238,1708,1467,0,0,0,0,0,0
$GC,8402,1.01,301.0,197.5,7.1,375,8424,0.15,2.55,15.65,0.622,4,0.060,0.054,3282,290,1401,0,0,0,0,0,0
$GC,8572,0.93,301.0,178.6,12.3,386,8579,0.12,2.35,0.00,0.000,6,0.076,0.024,3253,1700,1396,0,0,0,0,0,0
$GC,8835,1.03,309.9,157.4,7.5,407,8849,0.00,2.53,8.50,0.538,4,0.000,0.050,3253,288,1365,0,0,0,0,0,0
$GC,8955,1.03,309.9,147.0,8.0,415,8960,0.00,2.33,0.00,0.000,6,0.000,0.022,3252,1712,1362,0,0,0,0,0,0
$GC,9215,1.13,309.9,128.3,8.1,436,9220,0.20,2.50,0.00,0.000,4,0.049,0.048,3311,285,1361,0,0,0,0,0,0
$GC,9282,1.03,309.9,119.1,14.6,441,9287,0.17,2.30,0.00,0.000,6,0.091,0.021,3276,1707,1361,0,0,0,0,0,0
$GC,9550,1.19,378.6,102.5,4.8,462,9617,0.15,2.58,58.95,0.564,4,0.057,0.048,3324,290,1084,0,0,0,0,0,0
$GC,9761,1.08,378.6,80.7,11.0,477,9766,0.20,2.28,0.00,0.000,6,0.085,0.020,3283,1713,1079,0,0,0,0,0,0
$GC,10028,1.19,387.6,59.5,7.5,498,10044,0.12,2.55,7.90,0.445,4,0.062,0.048,3327,291,1048,0,0,0,0,0,0
$GC,10183,1.10,387.6,40.4,13.5,509,10188,0.17,2.25,0.00,0.000,6,0.087,0.019,3291,1701,1046,0,0,0,0,0,0
$GC,10448,1.18,395.8,16.9,7.5,553,10461,0.00,2.47,8.30,0.419,4,0.000,0.046,3290,293,1014,0,0,0,0,0,0
$GC,10546,1.18,395.8,6.5,10.8,574,10553,0.00,2.25,0.00,0.000,6,0.000,0.019,3290,1705,1012,0,0,0,0,0,0
$STATE,10575,end climb,SURFACE_DEPTH_REACHED
$STATE,10575,begin surface coast
$FINISH,0.9,1.010576
$STATE,10602,end surface coast,CONTROL_FINISHED_OK
$STATE,10602,begin surface
$SM_CCo,10626,11.98,0.435,0,0,958,410.14
$SM_GC,1.60,0.00,0.00,11.98,0.000,0.000,0.435,424,1708,958,-12.08,0.23,410.14
$IRIDIUM_FIX,2052.52,-15754.77,261299,070731
$TT8_MAMPS,0.029146
$HUMID,58.34
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,442.5,57.4
$24V_AH,23.4,52.038
$10V_AH,10.0,42.993
$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,30.450,129.275,445.225,11.975,0.000,29.899,36.782,164.069,4.750,0.000,14.213,1191.254,6855.498,469.887,1946.859,533.569,0.000,1378.846,0.000,1918.394,0.000,32.275,0.000
$DEVICE_MAMPS,132.691,57.525,831.428,434.889,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,393.736,371.727,830.058,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,31814,586
$CAP_FILE_SIZE,125248,0
$CFSIZE,260165632,182345728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011010,132306,2101.488,-15756.622,32,0.9,42,9.8