version: 66.06
glider: 139
mission: 8
dive: 599
start: 10 4 110 8 14 51
data:
$ID,139
$MISSION,8
$DIVE,599
$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,-2163585.2
$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
$GPS1,080401,2105.759,-15750.320,65,1.1,65,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-71.4
$GPS2,081431,2105.757,-15750.403,11,1.4,16,9.8
$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,79.7,12934,-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,13,begin dive
$GC,15,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.22,0.000,2,0.000,0.000,427,1633,2680,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.3,-3.4,12,116,12.65,2.45,-8.07,0.000,4,0.133,0.058,2786,246,3109,0,0,0,0,0,0
$GC,189,-0.93,-116.8,26.7,-19.4,33,196,0.25,2.35,0.00,0.000,6,0.078,0.019,2842,1705,3110,0,0,0,0,0,0
$GC,394,-0.85,-116.8,55.4,-12.3,50,399,0.10,2.58,0.00,0.000,4,0.106,0.046,2863,241,3111,0,0,0,0,0,0
$GC,421,-0.72,-116.8,59.0,-13.7,52,426,0.12,2.30,0.00,0.000,6,0.101,0.019,2889,1707,3111,0,0,0,0,0,0
$GC,687,-0.72,-116.8,90.9,-11.6,73,692,0.00,2.53,0.00,0.000,4,0.000,0.046,2889,245,3111,0,0,0,0,0,0
$GC,727,-0.72,-116.8,95.7,-11.9,76,731,0.00,2.30,0.00,0.000,6,0.000,0.018,2889,1704,3112,0,0,0,0,0,0
$GC,995,-0.83,-116.8,117.2,-7.1,97,999,0.00,2.53,0.00,0.000,4,0.000,0.044,2889,246,3112,0,0,0,0,0,0
$GC,1076,-0.96,-116.8,123.5,-7.0,103,1081,0.20,2.30,0.00,0.000,6,0.044,0.018,2824,1704,3112,0,0,0,0,0,0
$GC,1343,-0.96,-116.8,147.0,-8.4,124,1347,0.00,2.22,0.00,0.000,4,0.000,0.022,2824,3069,3113,0,0,0,0,0,0
$GC,1399,-1.08,-116.8,152.2,-9.2,128,1403,0.00,2.38,0.00,0.000,6,0.000,0.030,2823,1644,3113,0,0,0,0,0,0
$GC,1667,-1.08,-116.8,174.6,-8.5,149,1671,0.00,2.38,0.00,0.000,4,0.000,0.045,2823,247,3113,0,0,0,0,0,0
$GC,1735,-1.08,-116.8,181.0,-8.4,154,1740,0.00,2.30,0.00,0.000,6,0.000,0.018,2824,1705,3113,0,0,0,0,0,0
$GC,1996,-1.08,-116.8,199.3,-6.6,174,2000,0.00,2.53,0.00,0.000,4,0.000,0.046,2824,248,3113,0,0,0,0,0,0
$GC,2029,-1.08,-116.8,201.9,-7.5,176,2033,0.00,2.30,0.00,0.000,6,0.000,0.019,2824,1704,3113,0,0,0,0,0,0
$GC,2347,-1.08,-116.8,223.2,-7.2,191,2351,0.00,2.53,0.00,0.000,4,0.000,0.047,2823,240,3113,0,0,0,0,0,0
$GC,2417,-1.11,-116.8,230.0,-9.0,194,2421,0.00,2.33,0.00,0.000,6,0.000,0.020,2824,1691,3113,0,0,0,0,0,0
$GC,2743,-1.16,-116.8,258.1,-9.4,210,2748,0.12,2.53,0.00,0.000,4,0.064,0.048,2780,240,3112,0,0,0,0,0,0
$GC,2791,-1.06,-116.8,264.1,-12.6,212,2796,0.17,2.28,0.00,0.000,6,0.084,0.021,2818,1660,3112,0,0,0,0,0,0
$GC,3119,-1.09,-116.8,291.7,-8.2,228,3123,0.00,2.45,0.00,0.000,4,0.000,0.049,2818,244,3110,0,0,0,0,0,0
$GC,3175,-1.09,-116.8,297.2,-9.7,230,3179,0.00,2.28,0.00,0.000,6,0.000,0.021,2818,1656,3110,0,0,0,0,0,0
$GC,3512,-1.13,-116.8,324.0,-7.8,240,3516,0.00,2.45,0.00,0.000,4,0.000,0.051,2818,246,3108,0,0,0,0,0,0
$GC,3564,-1.13,-116.8,328.4,-8.0,241,3568,0.00,2.28,0.00,0.000,6,0.000,0.022,2818,1654,3108,0,0,0,0,0,0
$GC,3888,-1.17,-116.8,350.3,-6.7,249,3893,0.10,2.47,0.00,0.000,4,0.074,0.052,2782,242,3106,0,0,0,0,0,0
$GC,3907,-1.17,-116.8,352.0,-8.2,249,3911,0.00,2.28,0.00,0.000,6,0.000,0.023,2782,1661,3105,0,0,0,0,0,0
$GC,4255,-1.17,-116.8,381.1,-8.5,258,4260,0.00,2.47,0.00,0.000,4,0.000,0.053,2783,241,3104,0,0,0,0,0,0
$GC,4293,-1.11,-116.8,385.0,-9.4,258,4299,0.12,2.28,0.00,0.000,6,0.096,0.024,2809,1647,3103,0,0,0,0,0,0
$GC,4628,-1.15,-116.8,409.2,-7.1,267,4632,0.00,2.47,0.00,0.000,4,0.000,0.055,2809,246,3101,0,0,0,0,0,0
$GC,4688,-1.15,-116.8,414.2,-7.6,268,4693,0.00,2.25,0.00,0.000,6,0.000,0.025,2809,1645,3101,0,0,0,0,0,0
$GC,5039,-1.19,-116.8,439.2,-7.4,277,5043,0.00,2.45,0.00,0.000,4,0.000,0.056,2809,249,3098,0,0,0,0,0,0
$GC,5091,-1.19,-116.8,444.0,-9.6,278,5095,0.00,2.28,0.00,0.000,6,0.000,0.025,2809,1655,3098,0,0,0,0,0,0
$STATE,5203,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5203,begin apogee
$GC,5209,-0.31,0.0,452.8,7.5,281,5309,0.80,0.00,96.40,0.838,6,0.065,0.000,2982,1659,2630,0,0,0,0,0,0
$STATE,5310,end apogee,CONTROL_FINISHED_OK
$STATE,5310,begin climb
$GC,5314,1.18,116.8,454.3,0.0,283,5426,1.40,2.35,101.55,0.819,4,0.038,0.031,3309,3034,2152,0,0,0,0,0,0
$GC,5484,1.00,116.8,449.9,8.0,286,5490,0.20,2.40,0.00,0.000,6,0.100,0.040,3270,1657,2149,0,0,0,0,0,0
$GC,5817,0.92,148.9,426.8,6.4,295,5850,0.00,2.38,27.98,0.788,4,0.000,0.029,3270,3037,2022,0,0,0,0,0,0
$GC,5913,0.88,163.6,420.4,7.2,297,5934,0.15,2.42,14.32,0.744,6,0.104,0.041,3241,1644,1962,0,0,0,0,0,0
$GC,6279,0.91,224.4,400.4,5.2,306,6339,0.00,2.60,54.10,0.801,4,0.000,0.060,3241,246,1714,0,0,0,0,0,0
$GC,6387,0.80,224.4,391.8,10.2,308,6391,0.00,2.33,0.00,0.000,6,0.000,0.028,3241,1649,1709,0,0,0,0,0,0
$GC,6736,0.80,224.4,364.3,8.1,317,6740,0.00,2.55,0.00,0.000,4,0.000,0.059,3240,238,1706,0,0,0,0,0,0
$GC,6779,0.73,224.4,359.8,10.7,318,6784,0.15,2.35,0.00,0.000,6,0.107,0.028,3213,1648,1703,0,0,0,0,0,0
$GC,7109,0.80,224.4,332.9,7.9,326,7114,0.00,2.50,0.00,0.000,4,0.000,0.058,3212,242,1702,0,0,0,0,0,0
$GC,7183,0.80,224.4,326.1,9.2,327,7188,0.00,2.33,0.00,0.000,6,0.000,0.027,3212,1653,1700,0,0,0,0,0,0
$GC,7521,0.94,273.6,303.7,5.7,336,7570,0.20,2.62,41.80,0.749,4,0.055,0.058,3265,246,1513,0,0,0,0,0,0
$GC,7665,0.83,273.6,290.8,9.9,340,7670,0.17,2.35,0.00,0.000,6,0.100,0.027,3232,1657,1508,0,0,0,0,0,0
$GC,7987,0.88,273.6,266.4,8.8,356,7991,0.00,2.53,0.00,0.000,4,0.000,0.056,3231,242,1507,0,0,0,0,0,0
$GC,8114,0.88,273.6,254.5,8.5,361,8119,0.00,2.30,0.00,0.000,6,0.000,0.026,3231,1653,1503,0,0,0,0,0,0
$GC,8430,1.00,304.4,232.2,6.5,376,8465,0.17,2.60,26.80,0.680,4,0.056,0.055,3280,246,1387,0,0,0,0,0,0
$GC,8536,0.89,304.4,221.3,12.2,380,8541,0.17,2.30,0.00,0.000,6,0.095,0.025,3245,1656,1382,0,0,0,0,0,0
$GC,8859,0.93,304.4,192.0,8.1,398,8864,0.00,2.50,0.00,0.000,4,0.000,0.054,3245,242,1382,0,0,0,0,0,0
$GC,8954,0.93,304.4,182.6,9.8,405,8959,0.00,2.30,0.00,0.000,6,0.000,0.024,3246,1647,1380,0,0,0,0,0,0
$GC,9220,0.98,304.4,160.0,9.5,426,9224,0.00,2.50,0.00,0.000,4,0.000,0.053,3245,236,1379,0,0,0,0,0,0
$GC,9293,0.98,304.4,151.4,11.4,431,9301,0.00,2.28,0.00,0.000,6,0.000,0.023,3245,1666,1379,0,0,0,0,0,0
$GC,9554,1.11,336.8,132.9,6.4,452,9585,0.20,0.00,27.62,0.593,6,0.050,0.000,3303,1666,1257,0,0,0,0,0,0
$GC,9833,1.11,336.8,107.1,9.5,474,9837,0.00,2.50,0.00,0.000,4,0.000,0.050,3302,233,1254,0,0,0,0,0,0
$GC,9906,1.11,336.8,100.4,8.4,479,9911,0.00,2.30,0.00,0.000,6,0.000,0.021,3302,1658,1252,0,0,0,0,0,0
$GC,10167,1.18,352.6,81.7,7.2,500,10188,0.00,2.50,14.50,0.512,4,0.000,0.048,3303,241,1191,0,0,0,0,0,0
$GC,10267,1.22,385.4,74.2,6.4,507,10306,0.00,2.28,28.35,0.531,6,0.000,0.021,3303,1668,1058,0,0,0,0,0,0
$GC,10559,1.26,385.4,51.8,8.2,530,10563,0.00,2.50,0.00,0.000,4,0.000,0.048,3303,241,1056,0,0,0,0,0,0
$GC,10682,1.26,385.4,38.2,10.5,539,10686,0.00,2.25,0.00,0.000,6,0.000,0.019,3303,1648,1053,0,0,0,0,0,0
$GC,10946,1.29,403.9,14.2,7.1,585,10970,0.12,2.50,16.52,0.456,4,0.062,0.046,3346,233,981,0,0,0,0,0,0
$STATE,11022,end climb,SURFACE_DEPTH_REACHED
$STATE,11022,begin surface coast
$FINISH,1.2,1.023126
$STATE,11040,end surface coast,CONTROL_FINISHED_OK
$STATE,11041,begin surface
$SM_CCo,11066,4.25,0.324,0,0,958,410.14
$SM_GC,1.52,0.00,0.00,4.25,0.000,0.000,0.324,426,1660,958,-12.07,0.28,410.14
$IRIDIUM_FIX,2057.14,-15748.75,291299,080857
$TT8_MAMPS,0.029146
$HUMID,58.66
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.3,54.457
$10V_AH,10.1,44.840
$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,30.225,139.075,449.950,4.250,0.000,59.250,67.417,295.803,4.500,0.000,16.477,1208.425,7347.437,473.216,1923.824,745.298,0.000,1379.702,0.000,1894.110,0.000,29.253,0.000
$DEVICE_MAMPS,132.691,59.826,837.564,323.674,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,406.276,379.101,835.303,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,34917,604
$CAP_FILE_SIZE,129793,0
$CFSIZE,260165632,181002240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041010,112014,2105.269,-15750.880,14,2.0,14,9.8