version: 66.06
glider: 139
mission: 8
dive: 574
start: 10 1 110 1 4 22
data:
$ID,139
$MISSION,8
$DIVE,574
$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,-2163077.2
$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,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
$GPS1,005807,2059.451,-15751.248,41,1.0,41,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-71.7
$GPS2,010402,2059.437,-15751.301,15,1.3,15,9.8
$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,301.7,24843,-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,-116.8,0.0,0.0,0,81,0.00,0.00,-64.20,0.000,2,0.000,0.000,428,1711,2749,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.6,-3.5,12,109,12.57,2.33,-6.68,0.000,4,0.131,0.035,2786,3112,3108,0,0,0,0,0,0
$GC,219,-1.08,-116.8,30.8,-14.6,40,226,0.10,2.42,0.00,0.000,6,0.081,0.033,2811,1694,3109,0,0,0,0,0,0
$GC,480,-0.92,-116.8,70.8,-15.3,61,485,0.17,2.45,0.00,0.000,4,0.093,0.047,2847,289,3111,0,0,0,0,0,0
$GC,568,-0.83,-116.8,83.7,-12.8,67,575,0.10,2.33,0.00,0.000,6,0.107,0.018,2868,1742,3111,0,0,0,0,0,0
$GC,829,-0.86,-116.8,110.2,-10.5,88,833,0.00,2.50,0.00,0.000,4,0.000,0.044,2867,293,3112,0,0,0,0,0,0
$GC,897,-0.92,-116.8,117.2,-9.7,93,901,0.00,2.25,0.00,0.000,6,0.000,0.018,2868,1717,3112,0,0,0,0,0,0
$GC,1167,-0.99,-116.8,139.5,-8.1,114,1172,0.15,2.45,0.00,0.000,4,0.054,0.044,2816,292,3113,0,0,0,0,0,0
$GC,1241,-0.94,-116.8,147.0,-10.3,119,1245,0.15,2.20,0.00,0.000,6,0.084,0.018,2849,1696,3113,0,0,0,0,0,0
$GC,1506,-0.99,-116.8,171.9,-9.1,140,1507,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1702,3113,0,0,0,0,0,0
$GC,1757,-1.05,-116.8,192.5,-7.5,160,1762,0.12,2.42,0.00,0.000,4,0.061,0.046,2803,289,3113,0,0,0,0,0,0
$GC,1827,-0.98,-116.8,200.1,-11.5,165,1832,0.15,2.25,0.00,0.000,6,0.087,0.019,2835,1700,3114,0,0,0,0,0,0
$GC,2086,-1.03,-116.8,221.4,-7.0,177,2090,0.00,2.22,0.00,0.000,4,0.000,0.024,2836,3075,3113,0,0,0,0,0,0
$GC,2124,-1.18,-116.8,224.1,-6.4,178,2131,0.15,2.33,0.00,0.000,6,0.026,0.031,2776,1698,3113,0,0,0,0,0,0
$GC,2443,-1.12,-116.8,257.3,-11.4,194,2447,0.15,2.42,0.00,0.000,4,0.089,0.047,2809,291,3113,0,0,0,0,0,0
$GC,2510,-1.08,-116.8,264.2,-9.8,197,2515,0.00,2.25,0.00,0.000,6,0.000,0.020,2808,1703,3113,0,0,0,0,0,0
$GC,2844,-1.08,-116.8,289.7,-7.2,213,2848,0.00,2.45,0.00,0.000,4,0.000,0.048,2808,289,3113,0,0,0,0,0,0
$GC,2917,-1.08,-116.8,297.0,-10.1,216,2922,0.00,2.25,0.00,0.000,6,0.000,0.021,2808,1704,3112,0,0,0,0,0,0
$GC,3256,-1.08,-116.8,326.6,-8.3,226,3260,0.00,2.45,0.00,0.000,4,0.000,0.050,2808,296,3111,0,0,0,0,0,0
$GC,3335,-1.08,-116.8,333.5,-7.3,227,3340,0.00,2.28,0.00,0.000,6,0.000,0.022,2808,1708,3111,0,0,0,0,0,0
$GC,3668,-1.11,-116.8,352.7,-5.4,235,3673,0.00,2.47,0.00,0.000,4,0.000,0.051,2808,292,3109,0,0,0,0,0,0
$GC,3752,-1.11,-116.8,358.6,-7.7,236,3758,0.00,2.28,0.00,0.000,6,0.000,0.023,2808,1698,3108,0,0,0,0,0,0
$GC,4085,-1.15,-116.8,381.2,-7.1,245,4089,0.00,2.45,0.00,0.000,4,0.000,0.053,2808,299,3105,0,0,0,0,0,0
$GC,4160,-1.15,-116.8,387.8,-9.4,246,4165,0.00,2.28,0.00,0.000,6,0.000,0.024,2808,1699,3105,0,0,0,0,0,0
$GC,4497,-1.19,-116.8,409.9,-5.5,255,4501,0.00,2.47,0.00,0.000,4,0.000,0.054,2808,292,3103,0,0,0,0,0,0
$GC,4591,-1.22,-116.8,415.4,-6.7,257,4596,0.12,2.30,0.00,0.000,6,0.066,0.025,2770,1701,3102,0,0,0,0,0,0
$GC,4919,-1.19,-116.8,442.2,-9.1,265,4924,0.10,2.50,0.00,0.000,4,0.104,0.057,2790,296,3099,0,0,0,0,0,0
$GC,4982,-1.19,-116.8,448.5,-9.7,266,4986,0.00,2.28,0.00,0.000,6,0.000,0.026,2791,1696,3099,0,0,0,0,0,0
$STATE,4998,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4998,begin apogee
$GC,5004,-0.31,0.0,450.4,9.1,266,5104,0.85,0.00,96.50,0.839,6,0.071,0.000,2977,1701,2629,0,0,0,0,0,0
$STATE,5104,end apogee,CONTROL_FINISHED_OK
$STATE,5105,begin climb
$GC,5107,1.18,116.8,453.2,0.0,269,5220,1.45,2.38,101.97,0.820,4,0.042,0.032,3308,3081,2152,0,0,0,0,0,0
$GC,5268,1.01,130.3,449.8,7.3,272,5289,0.20,2.40,13.02,0.735,6,0.099,0.039,3269,1702,2097,0,0,0,0,0,0
$GC,5612,0.89,130.3,423.1,8.2,281,5614,0.12,0.00,0.00,0.000,6,0.110,0.000,3246,1702,2090,0,0,0,0,0,0
$GC,5938,0.88,164.9,400.8,6.3,289,5974,0.00,2.60,30.38,0.793,4,0.000,0.058,3246,294,1956,0,0,0,0,0,0
$GC,6010,0.74,164.9,396.0,8.2,290,6015,0.17,2.38,0.00,0.000,6,0.106,0.028,3213,1708,1952,0,0,0,0,0,0
$GC,6352,0.83,205.9,374.7,6.0,299,6395,0.00,2.60,37.00,0.790,4,0.000,0.057,3212,294,1789,0,0,0,0,0,0
$GC,6511,0.83,205.9,361.1,9.0,302,6515,0.00,2.35,0.00,0.000,6,0.000,0.028,3213,1703,1782,0,0,0,0,0,0
$GC,6856,0.88,208.2,334.1,7.8,311,6861,0.12,2.55,0.00,0.000,4,0.072,0.057,3247,292,1781,0,0,0,0,0,0
$GC,6983,0.79,208.2,321.4,10.3,313,6988,0.12,2.35,0.00,0.000,6,0.111,0.028,3224,1703,1778,0,0,0,0,0,0
$GC,7297,0.84,219.1,297.3,7.4,321,7313,0.00,2.55,11.20,0.688,4,0.000,0.057,3224,293,1735,0,0,0,0,0,0
$GC,7384,0.84,219.1,290.3,8.3,324,7391,0.00,2.38,0.00,0.000,6,0.000,0.028,3224,1700,1732,0,0,0,0,0,0
$GC,7700,0.93,241.7,266.3,6.9,340,7727,0.12,2.55,21.10,0.711,4,0.070,0.057,3260,295,1643,0,0,0,0,0,0
$GC,7820,0.85,241.7,254.3,10.6,345,7825,0.12,2.35,0.00,0.000,6,0.110,0.027,3237,1702,1638,0,0,0,0,0,0
$GC,8146,0.91,247.8,229.4,7.6,361,8158,0.00,2.58,5.82,0.537,4,0.000,0.054,3237,293,1618,0,0,0,0,0,0
$GC,8224,0.91,247.8,221.9,9.1,364,8228,0.00,2.35,0.00,0.000,6,0.000,0.025,3237,1711,1617,0,0,0,0,0,0
$GC,8544,1.05,310.1,201.7,5.1,380,8610,0.17,2.58,55.55,0.674,4,0.055,0.053,3286,295,1364,0,0,0,0,0,0
$GC,8630,0.95,310.1,194.6,10.2,385,8635,0.15,2.35,0.00,0.000,6,0.097,0.025,3257,1712,1361,0,0,0,0,0,0
$GC,8898,0.99,310.1,171.1,8.9,406,8902,0.00,2.50,0.00,0.000,4,0.000,0.053,3257,294,1358,0,0,0,0,0,0
$GC,9046,0.99,310.1,155.5,10.4,417,9050,0.00,2.28,0.00,0.000,6,0.000,0.023,3256,1703,1355,0,0,0,0,0,0
$GC,9313,1.07,311.0,131.7,7.9,438,9318,0.10,2.50,0.00,0.000,4,0.074,0.051,3292,287,1355,0,0,0,0,0,0
$GC,9423,0.99,311.0,120.0,10.7,446,9428,0.12,2.30,0.00,0.000,6,0.099,0.021,3267,1708,1354,0,0,0,0,0,0
$GC,9692,1.05,311.0,101.0,9.4,467,9696,0.00,2.50,0.00,0.000,4,0.000,0.049,3267,288,1354,0,0,0,0,0,0
$GC,9806,1.05,311.0,90.5,8.5,475,9812,0.00,2.28,0.00,0.000,6,0.000,0.020,3267,1707,1353,0,0,0,0,0,0
$GC,10069,1.17,312.4,68.5,7.8,496,10074,0.15,2.47,0.00,0.000,4,0.056,0.047,3316,290,1353,0,0,0,0,0,0
$GC,10167,1.11,312.4,59.6,9.5,503,10172,0.12,2.25,0.00,0.000,6,0.096,0.020,3291,1711,1353,0,0,0,0,0,0
$GC,10436,1.20,335.7,40.1,6.8,524,10464,0.00,2.55,21.10,0.497,4,0.000,0.048,3290,290,1260,0,0,0,0,0,0
$GC,10540,1.20,335.7,31.6,8.9,531,10544,0.00,2.25,0.00,0.000,6,0.000,0.019,3291,1709,1257,0,0,0,0,0,0
$GC,10804,1.27,335.7,12.0,8.1,589,10811,0.15,2.50,0.00,0.000,4,0.054,0.048,3342,300,1257,0,0,0,0,0,0
$GC,10867,1.15,335.7,4.5,12.0,602,10874,0.17,2.22,0.00,0.000,6,0.065,0.019,3301,1690,1256,0,0,0,0,0,0
$STATE,10881,end climb,SURFACE_DEPTH_REACHED
$STATE,10881,begin surface coast
$FINISH,0.9,1.022929
$STATE,10908,end surface coast,CONTROL_FINISHED_OK
$STATE,10908,begin surface
$SM_CCo,10931,43.47,0.471,0,0,957,410.14
$SM_GC,1.49,0.00,0.00,43.47,0.000,0.000,0.471,429,1696,957,-12.06,-0.11,410.14
$IRIDIUM_FIX,2050.21,-15749.62,251299,212128
$TT8_MAMPS,0.029146
$HUMID,57.52
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.40
$XPDR_PINGS,1
$24V_AH,23.3,51.723
$10V_AH,10.1,42.747
$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,30.825,129.150,393.650,43.475,0.000,31.279,31.995,159.912,4.750,0.000,15.583,1245.611,7076.857,469.895,1997.865,537.122,0.000,1382.048,0.000,1967.316,0.000,29.263,0.000
$DEVICE_MAMPS,131.157,58.292,839.098,470.938,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,410.443,387.833,874.990,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,34995,610
$CAP_FILE_SIZE,128572,0
$CFSIZE,260165632,182521856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011010,040837,2059.833,-15752.457,41,1.0,41,9.8