version: 66.06
glider: 139
mission: 8
dive: 584
start: 10 2 110 7 59 34
data:
$ID,139
$MISSION,8
$DIVE,584
$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,-2163233.5
$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,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
$GPS1,075308,2108.137,-15802.313,9,1.9,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-72.2
$GPS2,075914,2108.166,-15802.307,13,1.9,13,9.8
$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,87.6,33782,-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,-64.30,0.000,2,0.000,0.000,426,1657,2764,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.7,-4.2,12,110,12.68,2.45,-6.22,0.000,4,0.133,0.054,2785,244,3108,0,0,0,0,0,0
$GC,144,-0.71,-116.8,21.5,-26.1,23,151,0.47,2.35,0.00,0.000,6,0.076,0.019,2889,1691,3110,0,0,0,0,0,0
$GC,346,-0.71,-116.8,46.2,-11.9,47,350,0.00,2.53,0.00,0.000,4,0.000,0.046,2889,245,3111,0,0,0,0,0,0
$GC,385,-0.71,-116.8,51.1,-11.9,50,390,0.00,2.22,0.00,0.000,6,0.000,0.018,2889,1660,3111,0,0,0,0,0,0
$GC,651,-0.75,-116.8,79.2,-10.1,71,655,0.00,2.45,0.00,0.000,4,0.000,0.045,2889,238,3112,0,0,0,0,0,0
$GC,693,-0.78,-116.8,83.8,-10.9,74,697,0.00,2.20,0.00,0.000,6,0.000,0.018,2889,1651,3112,0,0,0,0,0,0
$GC,955,-0.86,-116.8,107.1,-7.4,94,960,0.12,2.45,0.00,0.000,4,0.062,0.045,2844,238,3113,0,0,0,0,0,0
$GC,1042,-0.83,-116.8,116.0,-10.4,100,1050,0.08,2.25,0.00,0.000,6,0.066,0.018,2866,1648,3113,0,0,0,0,0,0
$GC,1306,-0.91,-116.8,135.7,-7.6,121,1310,0.00,2.22,0.00,0.000,4,0.000,0.021,2866,3019,3114,0,0,0,0,0,0
$GC,1321,-1.02,-116.8,137.3,-7.6,122,1326,0.17,2.28,0.00,0.000,6,0.048,0.029,2804,1647,3114,0,0,0,0,0,0
$GC,1579,-0.97,-116.8,162.3,-8.8,142,1584,0.15,2.40,0.00,0.000,4,0.087,0.046,2837,248,3114,0,0,0,0,0,0
$GC,1667,-0.97,-116.8,170.2,-9.0,148,1674,0.00,2.25,0.00,0.000,6,0.000,0.018,2837,1660,3115,0,0,0,0,0,0
$GC,1930,-1.03,-116.8,189.5,-6.8,169,1935,0.00,2.42,0.00,0.000,4,0.000,0.046,2837,246,3114,0,0,0,0,0,0
$GC,2006,-1.08,-116.8,195.5,-7.5,174,2013,0.08,2.25,0.00,0.000,6,0.035,0.019,2798,1653,3115,0,0,0,0,0,0
$GC,2271,-1.04,-116.8,219.5,-9.7,189,2279,0.12,2.42,0.00,0.000,4,0.093,0.048,2826,243,3115,0,0,0,0,0,0
$GC,2289,-1.00,-116.8,221.6,-9.6,189,2293,0.00,2.20,0.00,0.000,6,0.000,0.020,2826,1650,3114,0,0,0,0,0,0
$GC,2607,-1.04,-116.8,246.6,-7.7,204,2611,0.00,2.42,0.00,0.000,4,0.000,0.048,2826,241,3114,0,0,0,0,0,0
$GC,2704,-1.07,-116.8,255.1,-8.4,208,2708,0.00,2.22,0.00,0.000,6,0.000,0.021,2826,1649,3113,0,0,0,0,0,0
$GC,3030,-1.13,-116.8,281.2,-8.5,224,3035,0.10,2.45,0.00,0.000,4,0.073,0.049,2788,242,3113,0,0,0,0,0,0
$GC,3077,-1.07,-116.8,287.1,-11.3,226,3082,0.12,2.25,0.00,0.000,6,0.093,0.021,2815,1652,3113,0,0,0,0,0,0
$GC,3402,-1.12,-116.8,315.2,-8.5,238,3406,0.00,2.42,0.00,0.000,4,0.000,0.050,2816,250,3112,0,0,0,0,0,0
$GC,3458,-1.16,-116.8,320.6,-9.1,239,3462,0.00,2.22,0.00,0.000,6,0.000,0.022,2815,1648,3111,0,0,0,0,0,0
$GC,3773,-1.19,-116.8,344.2,-7.5,247,3775,0.12,0.00,0.00,0.000,6,0.064,0.000,2774,1652,3110,0,0,0,0,0,0
$GC,4097,-1.15,-116.8,374.9,-9.8,255,4099,0.12,0.00,0.00,0.000,6,0.094,0.000,2801,1652,3107,0,0,0,0,0,0
$GC,4422,-1.15,-116.8,402.1,-7.6,263,4427,0.00,2.45,0.00,0.000,4,0.000,0.054,2800,248,3105,0,0,0,0,0,0
$GC,4461,-1.15,-116.8,405.2,-8.2,263,4467,0.00,2.25,0.00,0.000,6,0.000,0.025,2801,1648,3105,0,0,0,0,0,0
$GC,4792,-1.15,-116.8,430.1,-7.5,272,4796,0.00,2.47,0.00,0.000,4,0.000,0.056,2800,248,3103,0,0,0,0,0,0
$GC,4868,-1.15,-116.8,436.9,-8.8,273,4872,0.00,2.28,0.00,0.000,6,0.000,0.025,2800,1657,3102,0,0,0,0,0,0
$STATE,5079,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5079,begin apogee
$GC,5086,-0.31,0.0,452.2,6.9,279,5187,0.82,0.00,97.20,0.831,6,0.067,0.000,2979,1662,2630,0,0,0,0,0,0
$STATE,5187,end apogee,CONTROL_FINISHED_OK
$STATE,5188,begin climb
$GC,5190,1.18,116.8,452.9,0.0,281,5303,1.42,2.33,102.35,0.811,4,0.040,0.031,3307,3024,2153,0,0,0,0,0,0
$GC,5467,1.02,116.8,435.7,9.5,287,5472,0.17,2.40,0.00,0.000,6,0.101,0.040,3273,1651,2147,0,0,0,0,0,0
$GC,5788,0.90,120.3,410.1,7.7,295,5793,0.15,2.53,0.00,0.000,4,0.109,0.056,3244,243,2141,0,0,0,0,0,0
$GC,5893,0.77,125.1,402.0,7.7,297,5906,0.15,2.33,5.95,0.609,6,0.110,0.026,3216,1652,2119,0,0,0,0,0,0
$GC,6255,0.83,173.1,381.1,5.7,306,6306,0.00,2.58,44.45,0.784,4,0.000,0.055,3216,243,1922,0,0,0,0,0,0
$GC,6340,0.83,173.1,375.0,8.2,308,6344,0.00,2.35,0.00,0.000,6,0.000,0.027,3216,1649,1919,0,0,0,0,0,0
$GC,6669,0.87,182.7,350.8,7.5,316,6686,0.12,2.55,8.82,0.670,4,0.071,0.055,3252,244,1883,0,0,0,0,0,0
$GC,6705,0.76,182.7,347.3,10.2,316,6710,0.17,2.35,0.00,0.000,6,0.107,0.027,3219,1660,1881,0,0,0,0,0,0
$GC,7038,0.81,182.7,322.0,8.2,324,7039,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,1664,1880,0,0,0,0,0,0
$GC,7342,0.88,197.5,298.3,7.2,332,7366,0.10,2.60,13.82,0.696,4,0.080,0.056,3248,250,1823,0,0,0,0,0,0
$GC,7468,0.80,197.5,287.4,8.5,337,7473,0.12,2.33,0.00,0.000,6,0.111,0.027,3225,1652,1819,0,0,0,0,0,0
$GC,7793,0.91,235.2,268.3,6.2,353,7837,0.10,2.60,33.95,0.715,4,0.080,0.056,3256,246,1670,0,0,0,0,0,0
$GC,7908,0.83,235.2,257.1,10.1,358,7913,0.12,2.35,0.00,0.000,6,0.111,0.027,3232,1660,1666,0,0,0,0,0,0
$GC,8242,0.89,248.3,233.6,7.3,374,8259,0.00,2.55,12.07,0.635,4,0.000,0.055,3232,245,1617,0,0,0,0,0,0
$GC,8370,0.89,248.3,223.0,8.1,378,8377,0.00,2.35,0.00,0.000,6,0.000,0.025,3232,1652,1613,0,0,0,0,0,0
$GC,8693,0.98,267.3,197.8,7.0,395,8721,0.12,2.58,17.52,0.630,4,0.067,0.054,3271,245,1538,0,0,0,0,0,0
$GC,8762,0.91,267.3,191.3,11.0,399,8768,0.12,2.33,0.00,0.000,6,0.105,0.025,3248,1652,1536,0,0,0,0,0,0
$GC,9024,1.01,303.6,171.0,6.3,420,9066,0.10,2.60,32.28,0.627,4,0.077,0.054,3281,241,1391,0,0,0,0,0,0
$GC,9117,0.93,303.6,160.6,13.3,426,9124,0.10,2.35,0.00,0.000,6,0.077,0.024,3256,1660,1388,0,0,0,0,0,0
$GC,9381,1.01,312.1,138.7,7.5,447,9395,0.00,2.53,8.27,0.520,4,0.000,0.051,3257,240,1356,0,0,0,0,0,0
$GC,9455,1.06,312.1,132.2,8.8,452,9460,0.12,2.30,0.00,0.000,6,0.065,0.022,3298,1657,1353,0,0,0,0,0,0
$GC,9717,1.06,312.8,111.3,7.9,472,9721,0.00,2.50,0.00,0.000,4,0.000,0.050,3298,242,1353,0,0,0,0,0,0
$GC,9784,1.02,312.8,104.2,11.4,477,9789,0.12,2.28,0.00,0.000,6,0.099,0.021,3272,1660,1352,0,0,0,0,0,0
$GC,10056,1.14,336.4,83.2,6.8,498,10084,0.12,2.53,21.62,0.535,4,0.063,0.048,3316,237,1257,0,0,0,0,0,0
$GC,10213,1.09,336.4,66.7,10.7,509,10218,0.15,2.28,0.00,0.000,6,0.091,0.021,3284,1657,1253,0,0,0,0,0,0
$GC,10482,1.18,336.4,47.6,8.0,530,10486,0.10,2.47,0.00,0.000,4,0.073,0.048,3321,242,1252,0,0,0,0,0,0
$GC,10536,1.12,336.4,41.9,10.3,534,10541,0.15,2.22,0.00,0.000,6,0.091,0.019,3290,1653,1252,0,0,0,0,0,0
$GC,10799,1.19,336.4,19.4,8.0,574,10805,0.00,2.50,0.00,0.000,4,0.000,0.050,3290,243,1251,0,0,0,0,0,0
$GC,10865,1.19,336.4,13.1,9.8,588,10871,0.00,2.25,0.00,0.000,6,0.000,0.019,3290,1664,1251,0,0,0,0,0,0
$STATE,10981,end climb,SURFACE_DEPTH_REACHED
$STATE,10981,begin surface coast
$FINISH,0.9,1.023282
$STATE,11020,end surface coast,CONTROL_FINISHED_OK
$STATE,11020,begin surface
$SM_CCo,11044,42.75,0.468,0,0,958,410.14
$SM_GC,1.51,0.00,0.00,42.75,0.000,0.000,0.468,424,1664,958,-12.08,0.40,410.14
$IRIDIUM_FIX,2059.45,-15803.33,271299,040451
$TT8_MAMPS,0.028379
$HUMID,58.19
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.30
$XPDR_PINGS,1
$24V_AH,23.3,52.780
$10V_AH,10.0,43.567
$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,31.300,128.675,398.325,42.750,0.000,29.222,32.342,173.516,4.750,0.000,13.485,1245.901,7219.313,489.600,1945.789,550.521,0.000,1382.647,0.000,1922.474,0.000,29.260,0.000
$DEVICE_MAMPS,132.691,55.991,831.428,467.870,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,418.623,400.492,900.045,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,34917,623
$CAP_FILE_SIZE,128414,0
$CFSIZE,260165632,181919744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021010,110536,2108.464,-15801.416,37,0.8,37,9.8