version: 66.06
glider: 139
mission: 8
dive: 597
start: 10 4 110 1 39 19
data:
$ID,139
$MISSION,8
$DIVE,597
$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,-2163546.5
$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
$GPS1,012746,2106.014,-15750.485,42,8.5,61,9.8
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-72.5
$GPS2,013901,2105.999,-15750.570,86,0.9,86,9.8
$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,81.7,13226,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.18,-116.8,0.0,0.0,0,85,0.00,0.00,-64.30,0.000,2,0.000,0.000,426,1669,2745,0,0,0,0,0,0
$GC,89,-1.18,-116.8,3.4,-3.6,12,114,12.70,2.38,-6.75,0.000,4,0.135,0.035,2784,3066,3109,0,0,0,0,0,0
$GC,151,-0.98,-116.8,18.2,-15.4,24,158,0.20,2.42,0.00,0.000,6,0.078,0.030,2830,1645,3111,0,0,0,0,0,0
$GC,356,-0.86,-116.8,49.0,-14.8,50,360,0.15,2.42,0.00,0.000,4,0.094,0.046,2862,241,3112,0,0,0,0,0,0
$GC,382,-0.74,-116.8,53.5,-14.4,52,387,0.12,2.30,0.00,0.000,6,0.097,0.018,2888,1703,3112,0,0,0,0,0,0
$GC,652,-0.80,-116.8,76.1,-6.5,73,656,0.00,2.55,0.00,0.000,4,0.000,0.045,2888,237,3112,0,0,0,0,0,0
$GC,698,-0.86,-116.8,79.7,-7.4,76,705,0.08,2.35,0.00,0.000,6,0.038,0.018,2848,1706,3113,0,0,0,0,0,0
$GC,959,-0.86,-116.8,102.4,-8.9,97,963,0.00,2.53,0.00,0.000,4,0.000,0.044,2847,237,3113,0,0,0,0,0,0
$GC,1059,-0.86,-116.8,113.7,-11.4,104,1066,0.00,2.35,0.00,0.000,6,0.000,0.018,2848,1702,3114,0,0,0,0,0,0
$GC,1323,-0.90,-116.8,134.1,-8.1,125,1327,0.00,2.50,0.00,0.000,4,0.000,0.044,2847,243,3114,0,0,0,0,0,0
$GC,1388,-0.98,-116.8,140.0,-8.8,130,1393,0.00,2.30,0.00,0.000,6,0.000,0.018,2848,1697,3113,0,0,0,0,0,0
$GC,1661,-1.05,-116.8,163.0,-8.2,151,1666,0.12,2.50,0.00,0.000,4,0.061,0.046,2801,245,3114,0,0,0,0,0,0
$GC,1728,-0.98,-116.8,170.3,-11.7,156,1732,0.15,2.22,0.00,0.000,6,0.087,0.019,2834,1655,3114,0,0,0,0,0,0
$GC,2001,-1.03,-116.8,194.7,-8.8,177,2005,0.00,2.42,0.00,0.000,4,0.000,0.046,2834,241,3114,0,0,0,0,0,0
$GC,2069,-1.07,-116.8,201.7,-9.3,182,2073,0.00,2.22,0.00,0.000,6,0.000,0.019,2834,1648,3114,0,0,0,0,0,0
$GC,2402,-1.11,-116.8,231.4,-8.7,198,2407,0.12,2.42,0.00,0.000,4,0.063,0.048,2788,247,3113,0,0,0,0,0,0
$GC,2510,-1.06,-116.8,243.6,-9.9,202,2518,0.10,2.25,0.00,0.000,6,0.066,0.020,2816,1645,3113,0,0,0,0,0,0
$GC,2826,-1.06,-116.8,268.5,-7.1,218,2830,0.00,2.42,0.00,0.000,4,0.000,0.048,2817,246,3112,0,0,0,0,0,0
$GC,2886,-1.06,-116.8,273.5,-8.6,220,2892,0.00,2.28,0.00,0.000,6,0.000,0.021,2816,1655,3112,0,0,0,0,0,0
$GC,3203,-1.09,-116.8,295.8,-7.5,236,3208,0.00,2.45,0.00,0.000,4,0.000,0.050,2817,246,3111,0,0,0,0,0,0
$GC,3260,-1.09,-116.8,300.7,-8.2,238,3265,0.00,2.25,0.00,0.000,6,0.000,0.021,2816,1646,3111,0,0,0,0,0,0
$GC,3594,-1.13,-116.8,326.3,-7.8,246,3595,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1650,3109,0,0,0,0,0,0
$GC,3919,-1.17,-116.8,350.7,-7.6,254,3922,0.00,2.45,0.00,0.000,4,0.000,0.052,2816,247,3106,0,0,0,0,0,0
$GC,3968,-1.20,-116.8,354.8,-8.8,255,3973,0.12,2.25,0.00,0.000,6,0.064,0.024,2776,1648,3106,0,0,0,0,0,0
$GC,4300,-1.16,-116.8,383.7,-8.7,263,4301,0.10,0.00,0.00,0.000,6,0.105,0.000,2797,1652,3104,0,0,0,0,0,0
$GC,4621,-1.16,-116.8,407.2,-7.0,271,4626,0.00,2.45,0.00,0.000,4,0.000,0.055,2797,247,3102,0,0,0,0,0,0
$GC,4691,-1.16,-116.8,412.6,-7.7,272,4696,0.00,2.25,0.00,0.000,6,0.000,0.025,2797,1647,3102,0,0,0,0,0,0
$GC,5033,-1.16,-116.8,437.1,-7.6,281,5037,0.00,2.45,0.00,0.000,4,0.000,0.057,2797,248,3099,0,0,0,0,0,0
$GC,5112,-1.16,-116.8,444.8,-9.3,282,5116,0.00,2.30,0.00,0.000,6,0.000,0.025,2797,1651,3099,0,0,0,0,0,0
$STATE,5197,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5197,begin apogee
$GC,5204,-0.31,0.0,452.2,8.7,284,5304,0.85,0.00,96.45,0.837,6,0.067,0.000,2980,1655,2630,0,0,0,0,0,0
$STATE,5305,end apogee,CONTROL_FINISHED_OK
$STATE,5305,begin climb
$GC,5307,1.18,116.8,455.1,0.0,286,5419,1.42,2.38,101.82,0.821,4,0.039,0.032,3309,3032,2153,0,0,0,0,0,0
$GC,5533,1.02,132.5,449.8,7.2,291,5554,0.17,2.40,14.70,0.748,6,0.100,0.041,3276,1650,2088,0,0,0,0,0,0
$GC,5905,0.90,133.2,422.0,7.9,300,5910,0.15,2.53,0.00,0.000,4,0.109,0.057,3247,243,2081,0,0,0,0,0,0
$GC,5967,0.77,139.1,416.9,7.6,301,5980,0.15,2.33,5.18,0.584,6,0.110,0.026,3219,1658,2062,0,0,0,0,0,0
$GC,6322,0.84,195.2,396.4,5.4,310,6379,0.00,2.60,51.30,0.804,4,0.000,0.058,3218,244,1834,0,0,0,0,0,0
$GC,6439,0.79,195.2,388.0,8.7,312,6444,0.00,2.33,0.00,0.000,6,0.000,0.028,3218,1648,1828,0,0,0,0,0,0
$GC,6772,0.85,220.5,365.2,6.7,320,6801,0.00,2.62,22.80,0.764,4,0.000,0.058,3218,243,1730,0,0,0,0,0,0
$GC,6860,0.85,220.5,358.6,8.2,321,6866,0.00,2.33,0.00,0.000,6,0.000,0.028,3218,1653,1725,0,0,0,0,0,0
$GC,7193,0.93,253.1,337.1,6.4,330,7230,0.15,2.60,29.20,0.760,4,0.063,0.057,3260,241,1597,0,0,0,0,0,0
$GC,7272,0.82,253.1,329.5,11.2,331,7277,0.17,2.35,0.00,0.000,6,0.103,0.028,3227,1647,1593,0,0,0,0,0,0
$GC,7605,0.86,258.2,303.6,7.7,339,7617,0.00,2.55,4.90,0.541,4,0.000,0.058,3227,242,1576,0,0,0,0,0,0
$GC,7669,0.86,258.2,297.2,9.8,340,7675,0.00,2.38,0.00,0.000,6,0.000,0.028,3227,1658,1575,0,0,0,0,0,0
$GC,7984,0.92,258.2,268.2,9.3,356,7989,0.10,2.53,0.00,0.000,4,0.077,0.058,3258,244,1573,0,0,0,0,0,0
$GC,8112,0.83,258.2,253.5,11.1,361,8117,0.12,2.33,0.00,0.000,6,0.107,0.027,3234,1650,1572,0,0,0,0,0,0
$GC,8428,0.97,321.4,232.4,5.0,376,8493,0.12,2.60,55.55,0.702,4,0.068,0.056,3272,249,1318,0,0,0,0,0,0
$GC,8559,0.87,321.4,221.3,10.0,381,8564,0.17,2.30,0.00,0.000,6,0.097,0.026,3238,1655,1314,0,0,0,0,0,0
$GC,8888,0.94,321.4,195.3,9.1,398,8892,0.00,2.50,0.00,0.000,4,0.000,0.054,3238,243,1312,0,0,0,0,0,0
$GC,8962,0.94,321.4,186.8,11.2,403,8968,0.00,2.30,0.00,0.000,6,0.000,0.025,3238,1651,1310,0,0,0,0,0,0
$GC,9222,1.02,321.4,160.9,9.3,424,9227,0.15,2.47,0.00,0.000,4,0.058,0.053,3283,243,1309,0,0,0,0,0,0
$GC,9312,0.93,321.4,149.6,12.4,430,9321,0.12,2.33,0.00,0.000,6,0.075,0.024,3253,1661,1308,0,0,0,0,0,0
$GC,9575,1.00,321.4,125.7,9.7,451,9580,0.00,2.50,0.00,0.000,4,0.000,0.051,3253,242,1308,0,0,0,0,0,0
$GC,9719,1.00,321.4,110.8,9.2,461,9724,0.00,2.25,0.00,0.000,6,0.000,0.022,3253,1652,1308,0,0,0,0,0,0
$GC,9981,1.17,358.1,92.4,6.2,482,10023,0.22,2.58,30.73,0.560,4,0.045,0.049,3318,240,1168,0,0,0,0,0,0
$GC,10130,1.11,358.1,76.0,10.9,492,10137,0.10,2.30,0.00,0.000,6,0.071,0.021,3293,1648,1163,0,0,0,0,0,0
$GC,10393,1.19,358.1,54.8,8.8,513,10398,0.00,2.45,0.00,0.000,4,0.000,0.048,3293,242,1163,0,0,0,0,0,0
$GC,10475,1.19,358.1,47.1,9.6,519,10480,0.00,2.28,0.00,0.000,6,0.000,0.020,3293,1670,1162,0,0,0,0,0,0
$GC,10738,1.29,383.4,27.6,6.8,543,10767,0.15,2.58,21.42,0.484,4,0.055,0.048,3343,244,1066,0,0,0,0,0,0
$GC,10833,1.17,383.4,14.0,15.3,562,10841,0.15,2.28,0.00,0.000,6,0.068,0.019,3308,1655,1062,0,0,0,0,0,0
$STATE,10922,end climb,SURFACE_DEPTH_REACHED
$STATE,10922,begin surface coast
$FINISH,0.9,1.013928
$STATE,10951,end surface coast,CONTROL_FINISHED_OK
$STATE,10951,begin surface
$SM_CCo,10975,18.20,0.459,0,0,957,410.14
$SM_GC,1.89,0.00,0.00,18.20,0.000,0.000,0.459,426,1654,957,-12.07,0.11,410.14
$IRIDIUM_FIX,2057.14,-15751.76,291299,010139
$TT8_MAMPS,0.028379
$HUMID,59.29
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.3,54.211
$10V_AH,10.0,44.671
$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,30.825,129.625,434.050,18.200,0.000,51.924,69.552,267.509,4.500,0.000,86.745,1189.833,7283.649,477.694,1972.835,737.588,0.000,1380.131,0.000,1879.497,0.000,29.260,0.000
$DEVICE_MAMPS,134.992,58.292,836.797,458.666,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,394.949,374.266,825.425,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,31756,588
$CAP_FILE_SIZE,128155,0
$CFSIZE,260165632,181129216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041010,044354,2105.974,-15750.161,26,1.1,44,9.8