version: 66.06
glider: 139
mission: 8
dive: 583
start: 10 2 110 4 52 27
data:
$ID,139
$MISSION,8
$DIVE,583
$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,-2163219.2
$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,1650
$C_ROLL_CLIMB,1650
$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
$GPS1,044606,2106.907,-15801.386,35,1.6,35,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-73.8
$GPS2,045207,2106.947,-15801.389,11,1.6,16,9.8
$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,325.8,2822,-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,-64.70,0.000,2,0.000,0.000,429,1640,2752,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.3,-3.1,12,110,12.68,2.42,-6.68,0.000,4,0.134,0.035,2784,3066,3110,0,0,0,0,0,0
$GC,209,-1.13,-116.8,27.8,-13.5,38,216,0.00,2.45,0.00,0.000,6,0.000,0.035,2785,1649,3112,0,0,0,0,0,0
$GC,417,-0.92,-116.8,63.2,-17.2,56,422,0.28,2.42,0.00,0.000,4,0.087,0.045,2845,240,3113,0,0,0,0,0,0
$GC,499,-0.85,-116.8,74.0,-12.3,62,503,0.00,2.33,0.00,0.000,6,0.000,0.018,2845,1703,3113,0,0,0,0,0,0
$GC,765,-0.85,-116.8,101.0,-9.1,83,769,0.00,2.55,0.00,0.000,4,0.000,0.046,2845,240,3114,0,0,0,0,0,0
$GC,920,-0.85,-116.8,117.2,-9.4,94,927,0.00,2.33,0.00,0.000,6,0.000,0.018,2845,1695,3115,0,0,0,0,0,0
$GC,1183,-0.90,-116.8,137.2,-6.7,115,1187,0.00,2.50,0.00,0.000,4,0.000,0.045,2845,241,3115,0,0,0,0,0,0
$GC,1243,-0.90,-116.8,142.2,-8.2,119,1249,0.00,2.22,0.00,0.000,6,0.000,0.018,2845,1663,3115,0,0,0,0,0,0
$GC,1506,-0.96,-116.8,163.7,-8.4,140,1510,0.00,2.47,0.00,0.000,4,0.000,0.047,2845,238,3116,0,0,0,0,0,0
$GC,1531,-0.96,-116.8,166.1,-9.0,142,1535,0.00,2.22,0.00,0.000,6,0.000,0.019,2845,1662,3116,0,0,0,0,0,0
$GC,1797,-1.02,-116.8,187.3,-8.3,163,1801,0.00,2.45,0.00,0.000,4,0.000,0.048,2845,240,3116,0,0,0,0,0,0
$GC,1840,-1.06,-116.8,191.3,-8.9,166,1845,0.12,2.22,0.00,0.000,6,0.061,0.019,2799,1646,3116,0,0,0,0,0,0
$GC,2103,-1.02,-116.8,219.8,-11.3,181,2108,0.12,2.45,0.00,0.000,4,0.099,0.048,2827,241,3116,0,0,0,0,0,0
$GC,2165,-1.02,-116.8,226.8,-9.8,183,2169,0.00,2.22,0.00,0.000,6,0.000,0.020,2826,1655,3116,0,0,0,0,0,0
$GC,2481,-1.06,-116.8,251.9,-7.4,198,2485,0.00,2.45,0.00,0.000,4,0.000,0.048,2826,244,3116,0,0,0,0,0,0
$GC,2564,-1.10,-116.8,258.8,-8.2,201,2570,0.00,2.20,0.00,0.000,6,0.000,0.021,2827,1647,3115,0,0,0,0,0,0
$GC,2884,-1.15,-116.8,282.0,-7.0,217,2889,0.12,2.45,0.00,0.000,4,0.063,0.049,2782,243,3114,0,0,0,0,0,0
$GC,2964,-1.07,-116.8,290.2,-10.1,220,2968,0.15,2.25,0.00,0.000,6,0.089,0.021,2815,1652,3114,0,0,0,0,0,0
$GC,3298,-1.07,-116.8,317.9,-8.3,231,3299,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1656,3113,0,0,0,0,0,0
$GC,3622,-1.10,-116.8,344.0,-7.6,239,3626,0.00,2.45,0.00,0.000,4,0.000,0.051,2815,240,3112,0,0,0,0,0,0
$GC,3679,-1.10,-116.8,348.8,-8.3,240,3683,0.00,2.25,0.00,0.000,6,0.000,0.023,2815,1646,3112,0,0,0,0,0,0
$GC,3998,-1.14,-116.8,370.5,-6.5,248,4002,0.00,2.45,0.00,0.000,4,0.000,0.052,2815,238,3110,0,0,0,0,0,0
$GC,4058,-1.14,-116.8,375.3,-8.0,249,4062,0.00,2.28,0.00,0.000,6,0.000,0.023,2815,1650,3109,0,0,0,0,0,0
$GC,4411,-1.19,-116.8,405.3,-9.2,258,4416,0.10,2.50,0.00,0.000,4,0.077,0.054,2780,241,3107,0,0,0,0,0,0
$GC,4506,-1.14,-116.8,415.5,-10.3,260,4511,0.10,2.28,0.00,0.000,6,0.104,0.024,2801,1642,3107,0,0,0,0,0,0
$GC,4831,-1.14,-116.8,447.2,-10.0,268,4835,0.00,2.45,0.00,0.000,4,0.000,0.055,2800,243,3105,0,0,0,0,0,0
$STATE,4857,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4857,begin apogee
$GC,4865,-0.31,0.0,450.3,11.0,268,4966,0.80,0.00,97.32,0.823,6,0.067,0.000,2977,1663,2630,0,0,0,0,0,0
$STATE,4967,end apogee,CONTROL_FINISHED_OK
$STATE,4967,begin climb
$GC,4971,1.18,116.8,454.5,0.0,271,5083,1.42,2.30,102.18,0.808,4,0.038,0.031,3308,3036,2153,0,0,0,0,0,0
$GC,5275,1.05,149.3,445.0,6.4,277,5312,0.15,2.42,29.00,0.778,6,0.106,0.039,3280,1646,2021,0,0,0,0,0,0
$GC,5653,0.92,149.3,414.0,8.6,287,5658,0.15,2.47,0.00,0.000,4,0.105,0.056,3251,244,2013,0,0,0,0,0,0
$GC,5668,0.78,149.3,412.5,8.5,287,5673,0.15,2.35,0.00,0.000,6,0.111,0.026,3223,1658,2011,0,0,0,0,0,0
$GC,6019,0.83,187.0,390.6,6.2,296,6058,0.00,0.00,33.47,0.779,6,0.000,0.000,3223,1661,1867,0,0,0,0,0,0
$GC,6385,0.87,220.5,366.4,6.4,305,6421,0.00,2.62,30.42,0.765,4,0.000,0.058,3223,248,1730,0,0,0,0,0,0
$GC,6505,0.87,220.5,355.9,9.5,307,6509,0.00,2.35,0.00,0.000,6,0.000,0.028,3223,1653,1725,0,0,0,0,0,0
$GC,6842,0.91,220.5,327.7,8.6,316,6847,0.10,2.53,0.00,0.000,4,0.080,0.057,3254,245,1724,0,0,0,0,0,0
$GC,6866,0.82,220.5,324.8,11.6,316,6872,0.12,2.35,0.00,0.000,6,0.111,0.027,3230,1657,1722,0,0,0,0,0,0
$GC,7190,0.83,226.6,298.0,7.6,325,7202,0.00,2.55,5.15,0.546,4,0.000,0.054,3230,243,1705,0,0,0,0,0,0
$GC,7249,0.80,226.6,292.8,9.0,327,7253,0.00,2.35,0.00,0.000,6,0.000,0.026,3230,1657,1704,0,0,0,0,0,0
$GC,7565,0.86,240.9,270.6,7.2,342,7585,0.00,0.00,14.57,0.681,6,0.000,0.000,3230,1661,1646,0,0,0,0,0,0
$GC,7895,0.91,240.9,244.7,8.1,358,7900,0.00,2.53,0.00,0.000,4,0.000,0.055,3230,240,1643,0,0,0,0,0,0
$GC,8008,0.91,240.9,234.0,9.2,363,8013,0.00,2.35,0.00,0.000,6,0.000,0.025,3230,1661,1640,0,0,0,0,0,0
$GC,8341,1.00,258.8,209.2,7.1,379,8365,0.15,2.55,16.12,0.641,4,0.061,0.053,3274,246,1574,0,0,0,0,0,0
$GC,8475,0.91,258.8,194.9,12.0,386,8479,0.12,2.33,0.00,0.000,6,0.104,0.024,3250,1654,1570,0,0,0,0,0,0
$GC,8735,0.94,258.8,171.0,8.6,406,8740,0.00,2.50,0.00,0.000,4,0.000,0.053,3250,241,1570,0,0,0,0,0,0
$GC,8830,0.94,258.8,161.5,9.9,413,8835,0.00,2.33,0.00,0.000,6,0.000,0.024,3250,1660,1568,0,0,0,0,0,0
$GC,9096,1.01,277.5,142.1,7.0,434,9118,0.00,2.55,16.98,0.584,4,0.000,0.051,3249,243,1497,0,0,0,0,0,0
$GC,9204,1.01,277.5,133.3,9.4,441,9208,0.00,2.28,0.00,0.000,6,0.000,0.023,3250,1654,1493,0,0,0,0,0,0
$GC,9469,1.23,354.9,119.8,4.4,462,9546,0.25,2.58,66.90,0.590,4,0.044,0.051,3326,248,1182,0,0,0,0,0,0
$GC,9617,1.10,354.9,103.9,12.4,472,9624,0.15,2.33,0.00,0.000,6,0.071,0.021,3290,1660,1177,0,0,0,0,0,0
$GC,9880,1.16,354.9,79.6,9.8,493,9885,0.00,2.47,0.00,0.000,4,0.000,0.049,3290,242,1176,0,0,0,0,0,0
$GC,10000,1.16,354.9,66.2,9.9,502,10005,0.00,2.25,0.00,0.000,6,0.000,0.021,3290,1659,1174,0,0,0,0,0,0
$GC,10268,1.24,358.5,44.5,7.7,523,10273,0.12,2.50,0.00,0.000,4,0.062,0.047,3334,241,1174,0,0,0,0,0,0
$GC,10349,1.15,358.5,35.3,12.4,529,10354,0.15,2.25,0.00,0.000,6,0.091,0.020,3302,1656,1173,0,0,0,0,0,0
$GC,10615,1.18,358.5,12.5,9.3,581,10621,0.00,2.47,0.00,0.000,4,0.000,0.044,3302,243,1173,0,0,0,0,0,0
$GC,10694,1.18,358.5,3.2,11.1,598,10700,0.00,2.25,0.00,0.000,6,0.000,0.019,3302,1656,1173,0,0,0,0,0,0
$STATE,10706,end climb,SURFACE_DEPTH_REACHED
$STATE,10706,begin surface coast
$FINISH,1.0,1.023120
$STATE,10737,end surface coast,CONTROL_FINISHED_OK
$STATE,10737,begin surface
$SM_CCo,10761,32.35,0.466,0,0,956,410.14
$SM_GC,1.70,0.00,0.00,32.35,0.000,0.000,0.466,427,1656,956,-12.07,0.17,410.14
$IRIDIUM_FIX,2057.14,-15759.05,271299,010105
$TT8_MAMPS,0.029146
$HUMID,57.63
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.3,52.676
$10V_AH,10.1,43.484
$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,29.800,124.425,412.125,32.350,0.000,24.632,31.561,171.216,4.500,0.000,17.011,1207.705,7001.579,484.425,1934.858,524.121,0.000,1363.649,0.000,1910.342,0.000,29.260,0.000
$DEVICE_MAMPS,134.225,57.525,822.991,466.336,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,408.415,387.165,862.465,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,34949,607
$CAP_FILE_SIZE,121946,0
$CFSIZE,260165632,181985280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021010,075308,2108.137,-15802.313,9,1.9,9,9.8