version: 66.06
glider: 139
mission: 8
dive: 575
start: 10 1 110 4 15 3
data:
$ID,139
$MISSION,8
$DIVE,575
$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,-2163093.5
$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,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
$GPS1,040837,2059.833,-15752.457,41,1.0,41,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-72.4
$GPS2,041443,2059.834,-15752.515,10,1.0,15,9.8
$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,303.9,22802,-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,-64.68,0.000,2,0.000,0.000,428,1696,2773,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.8,-4.2,12,110,12.62,2.38,-6.05,0.000,4,0.132,0.036,2786,3114,3108,0,0,0,0,0,0
$GC,184,-1.11,-116.8,25.5,-15.0,32,191,0.08,2.45,0.00,0.000,6,0.081,0.035,2805,1694,3109,0,0,0,0,0,0
$GC,392,-0.94,-116.8,58.6,-16.2,52,397,0.17,2.45,0.00,0.000,4,0.092,0.047,2842,292,3110,0,0,0,0,0,0
$GC,487,-0.80,-116.8,74.0,-15.1,59,492,0.15,2.33,0.00,0.000,6,0.094,0.018,2873,1738,3111,0,0,0,0,0,0
$GC,756,-0.85,-116.8,101.4,-10.2,80,760,0.00,2.50,0.00,0.000,4,0.000,0.044,2873,294,3112,0,0,0,0,0,0
$GC,830,-0.95,-116.8,109.2,-8.6,85,836,0.15,2.25,0.00,0.000,6,0.054,0.018,2821,1715,3112,0,0,0,0,0,0
$GC,1091,-0.92,-116.8,135.8,-10.8,106,1096,0.12,2.47,0.00,0.000,4,0.092,0.045,2849,292,3112,0,0,0,0,0,0
$GC,1134,-0.92,-116.8,140.5,-9.8,109,1138,0.00,2.22,0.00,0.000,6,0.000,0.018,2848,1707,3112,0,0,0,0,0,0
$GC,1399,-0.97,-116.8,162.1,-10.2,130,1404,0.00,2.42,0.00,0.000,4,0.000,0.044,2848,287,3113,0,0,0,0,0,0
$GC,1467,-1.01,-116.8,169.3,-10.6,135,1472,0.00,2.22,0.00,0.000,6,0.000,0.018,2849,1699,3113,0,0,0,0,0,0
$GC,1737,-1.07,-116.8,188.9,-8.3,156,1742,0.15,2.45,0.00,0.000,4,0.054,0.046,2796,292,3113,0,0,0,0,0,0
$GC,1794,-0.99,-116.8,196.6,-13.8,160,1799,0.17,2.22,0.00,0.000,6,0.082,0.018,2834,1696,3113,0,0,0,0,0,0
$GC,2056,-1.05,-116.8,219.8,-7.2,173,2063,0.00,2.22,0.00,0.000,4,0.000,0.023,2834,3071,3113,0,0,0,0,0,0
$GC,2086,-1.18,-116.8,222.1,-7.5,174,2091,0.17,2.33,0.00,0.000,6,0.051,0.031,2783,1685,3113,0,0,0,0,0,0
$GC,2420,-1.13,-116.8,261.3,-11.1,190,2425,0.10,2.40,0.00,0.000,4,0.104,0.048,2803,298,3113,0,0,0,0,0,0
$GC,2514,-1.13,-116.8,272.0,-10.6,194,2518,0.00,2.20,0.00,0.000,6,0.000,0.020,2803,1699,3113,0,0,0,0,0,0
$GC,2841,-1.13,-116.8,301.2,-9.6,210,2845,0.00,2.42,0.00,0.000,4,0.000,0.048,2803,297,3112,0,0,0,0,0,0
$GC,2925,-1.13,-116.8,309.4,-9.5,211,2931,0.00,2.25,0.00,0.000,6,0.000,0.021,2803,1701,3112,0,0,0,0,0,0
$GC,3258,-1.13,-116.8,333.8,-7.6,220,3262,0.00,2.45,0.00,0.000,4,0.000,0.049,2803,293,3111,0,0,0,0,0,0
$GC,3318,-1.13,-116.8,339.5,-9.0,221,3323,0.00,2.25,0.00,0.000,6,0.000,0.022,2803,1699,3111,0,0,0,0,0,0
$GC,3670,-1.13,-116.8,371.2,-8.9,230,3674,0.00,2.45,0.00,0.000,4,0.000,0.051,2803,299,3108,0,0,0,0,0,0
$GC,3767,-1.13,-116.8,380.8,-9.4,232,3771,0.00,2.28,0.00,0.000,6,0.000,0.023,2803,1704,3108,0,0,0,0,0,0
$GC,4087,-1.16,-116.8,407.4,-8.1,240,4091,0.00,2.47,0.00,0.000,4,0.000,0.053,2803,294,3105,0,0,0,0,0,0
$GC,4166,-1.16,-116.8,414.0,-8.1,241,4170,0.00,2.25,0.00,0.000,6,0.000,0.025,2803,1697,3104,0,0,0,0,0,0
$GC,4497,-1.20,-116.8,439.3,-8.0,249,4501,0.00,2.47,0.00,0.000,4,0.000,0.055,2803,294,3102,0,0,0,0,0,0
$GC,4588,-1.20,-116.8,448.4,-10.3,251,4592,0.00,2.30,0.00,0.000,6,0.000,0.025,2803,1701,3101,0,0,0,0,0,0
$STATE,4604,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4604,begin apogee
$GC,4610,-0.31,0.0,450.4,9.8,251,4712,0.80,0.00,96.75,0.834,6,0.067,0.000,2979,1705,2630,0,0,0,0,0,0
$STATE,4712,end apogee,CONTROL_FINISHED_OK
$STATE,4713,begin climb
$GC,4717,1.18,116.8,454.6,0.0,254,4828,1.42,2.35,101.82,0.817,4,0.037,0.032,3310,3076,2153,0,0,0,0,0,0
$GC,4882,1.03,141.9,453.3,6.8,257,4911,0.17,2.40,23.05,0.773,6,0.102,0.039,3276,1703,2051,0,0,0,0,0,0
$GC,5221,0.90,141.9,423.4,9.7,266,5226,0.15,2.35,0.00,0.000,4,0.108,0.031,3248,3088,2042,0,0,0,0,0,0
$GC,5256,0.87,141.9,420.3,8.7,266,5260,0.00,2.42,0.00,0.000,6,0.000,0.040,3248,1695,2042,0,0,0,0,0,0
$GC,5587,0.86,172.2,396.9,6.5,274,5620,0.00,2.58,26.12,0.780,4,0.000,0.057,3248,300,1927,0,0,0,0,0,0
$GC,5661,0.75,179.3,391.9,7.6,275,5674,0.17,2.35,7.25,0.650,6,0.105,0.027,3214,1707,1899,0,0,0,0,0,0
$GC,6008,0.85,226.3,371.3,5.8,284,6056,0.00,2.60,42.80,0.785,4,0.000,0.058,3214,293,1706,0,0,0,0,0,0
$GC,6128,0.86,236.4,363.1,7.4,286,6146,0.10,2.35,9.65,0.683,6,0.081,0.027,3241,1702,1666,0,0,0,0,0,0
$GC,6473,0.86,236.4,330.8,9.7,295,6478,0.00,2.50,0.00,0.000,4,0.000,0.057,3242,293,1661,0,0,0,0,0,0
$GC,6572,0.79,236.4,320.4,10.5,297,6577,0.00,2.35,0.00,0.000,6,0.000,0.027,3242,1703,1658,0,0,0,0,0,0
$GC,6893,0.79,236.4,289.2,10.0,307,6897,0.00,2.53,0.00,0.000,4,0.000,0.057,3242,293,1658,0,0,0,0,0,0
$GC,7000,0.79,236.4,276.2,11.7,311,7006,0.00,2.35,0.00,0.000,6,0.000,0.027,3242,1707,1656,0,0,0,0,0,0
$GC,7317,0.86,264.0,251.9,6.6,327,7347,0.00,2.58,24.05,0.695,4,0.000,0.055,3242,294,1552,0,0,0,0,0,0
$GC,7444,0.87,276.6,242.3,7.3,332,7462,0.00,2.35,11.85,0.639,6,0.000,0.026,3242,1701,1501,0,0,0,0,0,0
$GC,7785,0.87,276.6,217.5,8.2,349,7790,0.00,2.47,0.00,0.000,4,0.000,0.054,3242,293,1499,0,0,0,0,0,0
$GC,7878,0.87,276.6,207.7,10.5,353,7882,0.00,2.33,0.00,0.000,6,0.000,0.025,3242,1707,1496,0,0,0,0,0,0
$GC,8206,0.94,276.6,178.5,8.2,376,8210,0.00,2.50,0.00,0.000,4,0.000,0.051,3242,291,1495,0,0,0,0,0,0
$GC,8317,0.94,276.6,167.2,10.5,384,8321,0.00,2.33,0.00,0.000,6,0.000,0.023,3242,1713,1494,0,0,0,0,0,0
$GC,8578,1.06,294.9,147.6,7.1,404,8601,0.17,2.55,16.52,0.581,4,0.054,0.051,3294,293,1426,0,0,0,0,0,0
$GC,8741,0.97,294.9,129.5,12.2,415,8746,0.15,2.30,0.00,0.000,6,0.094,0.021,3263,1708,1423,0,0,0,0,0,0
$GC,9009,1.08,328.6,110.6,6.4,436,9049,0.10,2.55,29.77,0.565,4,0.074,0.048,3298,286,1288,0,0,0,0,0,0
$GC,9178,1.05,328.6,94.3,9.9,448,9182,0.00,2.30,0.00,0.000,6,0.000,0.021,3298,1715,1284,0,0,0,0,0,0
$GC,9439,1.10,328.6,72.2,8.5,468,9443,0.00,2.50,0.00,0.000,4,0.000,0.048,3298,287,1284,0,0,0,0,0,0
$GC,9579,1.10,328.6,58.5,10.1,478,9586,0.00,2.28,0.00,0.000,6,0.000,0.019,3298,1694,1282,0,0,0,0,0,0
$GC,9839,1.15,328.6,35.9,8.6,499,9844,0.00,2.47,0.00,0.000,4,0.000,0.048,3298,289,1282,0,0,0,0,0,0
$GC,9914,1.15,328.6,29.0,9.5,506,9920,0.00,2.28,0.00,0.000,6,0.000,0.019,3298,1708,1282,0,0,0,0,0,0
$GC,10119,1.21,333.7,12.4,7.7,552,10132,0.00,2.53,5.03,0.359,4,0.000,0.049,3298,294,1268,0,0,0,0,0,0
$GC,10153,1.21,333.7,9.5,8.4,558,10161,0.00,2.25,0.00,0.000,6,0.000,0.019,3298,1708,1268,0,0,0,0,0,0
$STATE,10233,end climb,SURFACE_DEPTH_REACHED
$STATE,10233,begin surface coast
$FINISH,1.0,1.022984
$STATE,10270,end surface coast,CONTROL_FINISHED_OK
$STATE,10270,begin surface
$SM_CCo,10293,45.15,0.469,0,0,957,410.14
$SM_GC,1.60,0.00,0.00,45.15,0.000,0.000,0.469,425,1710,957,-12.08,0.28,410.14
$IRIDIUM_FIX,2050.21,-15752.63,261299,010100
$TT8_MAMPS,0.029146
$HUMID,57.00
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.3,51.827
$10V_AH,10.1,42.829
$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,29.375,128.800,394.675,45.150,0.000,31.067,37.051,166.272,4.500,0.000,15.543,1192.674,6529.970,467.153,1979.080,533.679,0.000,1378.911,0.000,1947.484,0.000,31.009,0.000
$DEVICE_MAMPS,131.924,57.525,833.729,469.404,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,392.421,374.748,845.305,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,31737,584
$CAP_FILE_SIZE,123436,0
$CFSIZE,260165632,182468608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011010,070834,2100.252,-15753.772,13,2.2,32,9.8