version: 66.06
glider: 139
mission: 8
dive: 582
start: 10 2 110 1 44 56
data:
$ID,139
$MISSION,8
$DIVE,582
$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,-2163201.5
$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
$GPS1,013714,2105.630,-15800.750,12,1.6,12,9.8
$_CALLS,1
$_XMS_NAKs,20
$_XMS_TOUTs,3
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-72.0
$GPS2,014438,2105.666,-15800.751,19,1.6,19,9.8
$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,325.5,5438,-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,-64.25,0.000,2,0.000,0.000,426,1657,2768,0,0,0,0,0,0
$GC,87,-1.18,-116.8,3.9,-4.4,12,112,12.70,2.35,-6.03,0.000,4,0.133,0.034,2785,3068,3110,0,0,0,0,0,0
$GC,188,-1.11,-116.8,26.6,-14.1,33,196,0.08,2.45,0.00,0.000,6,0.085,0.035,2805,1653,3111,0,0,0,0,0,0
$GC,390,-0.93,-116.8,56.9,-15.0,51,395,0.20,2.42,0.00,0.000,4,0.090,0.045,2846,242,3112,0,0,0,0,0,0
$GC,457,-0.84,-116.8,66.9,-13.4,56,461,0.00,2.30,0.00,0.000,6,0.000,0.018,2846,1698,3112,0,0,0,0,0,0
$GC,724,-0.84,-116.8,96.6,-10.8,77,728,0.00,2.53,0.00,0.000,4,0.000,0.045,2846,242,3113,0,0,0,0,0,0
$GC,793,-0.84,-116.8,105.2,-11.4,82,797,0.00,2.20,0.00,0.000,6,0.000,0.018,2846,1659,3113,0,0,0,0,0,0
$GC,1055,-0.88,-116.8,129.1,-7.6,102,1059,0.00,2.42,0.00,0.000,4,0.000,0.044,2846,242,3114,0,0,0,0,0,0
$GC,1101,-0.88,-116.8,133.6,-9.0,105,1107,0.00,2.22,0.00,0.000,6,0.000,0.018,2846,1658,3114,0,0,0,0,0,0
$GC,1363,-0.93,-116.8,155.9,-7.5,126,1367,0.00,2.45,0.00,0.000,4,0.000,0.045,2846,242,3115,0,0,0,0,0,0
$GC,1460,-0.97,-116.8,164.0,-8.3,133,1464,0.00,2.20,0.00,0.000,6,0.000,0.018,2846,1649,3115,0,0,0,0,0,0
$GC,1727,-1.03,-116.8,181.7,-6.7,154,1731,0.00,2.42,0.00,0.000,4,0.000,0.046,2846,235,3115,0,0,0,0,0,0
$GC,1767,-1.06,-116.8,184.5,-7.2,157,1772,0.12,2.22,0.00,0.000,6,0.061,0.019,2801,1658,3115,0,0,0,0,0,0
$GC,2030,-1.03,-116.8,208.4,-9.9,175,2035,0.10,2.47,0.00,0.000,4,0.104,0.048,2823,242,3115,0,0,0,0,0,0
$GC,2068,-1.03,-116.8,213.1,-11.4,176,2075,0.00,2.25,0.00,0.000,6,0.000,0.020,2823,1645,3115,0,0,0,0,0,0
$GC,2383,-1.03,-116.8,242.8,-8.9,192,2387,0.00,2.42,0.00,0.000,4,0.000,0.048,2823,235,3114,0,0,0,0,0,0
$GC,2421,-1.03,-116.8,246.5,-9.7,193,2426,0.00,2.25,0.00,0.000,6,0.000,0.020,2823,1646,3114,0,0,0,0,0,0
$GC,2738,-1.07,-116.8,268.6,-6.4,209,2742,0.00,2.45,0.00,0.000,4,0.000,0.049,2823,241,3114,0,0,0,0,0,0
$GC,2805,-1.07,-116.8,273.7,-7.5,212,2809,0.00,2.25,0.00,0.000,6,0.000,0.021,2823,1649,3113,0,0,0,0,0,0
$GC,3135,-1.12,-116.8,299.0,-7.9,228,3139,0.00,2.42,0.00,0.000,4,0.000,0.049,2823,243,3112,0,0,0,0,0,0
$GC,3167,-1.12,-116.8,301.8,-9.0,229,3171,0.00,2.25,0.00,0.000,6,0.000,0.021,2823,1649,3112,0,0,0,0,0,0
$GC,3500,-1.17,-116.8,328.6,-8.2,237,3504,0.12,2.47,0.00,0.000,4,0.065,0.051,2781,243,3111,0,0,0,0,0,0
$GC,3538,-1.08,-116.8,333.1,-11.2,237,3544,0.15,2.28,0.00,0.000,6,0.088,0.022,2814,1652,3111,0,0,0,0,0,0
$GC,3871,-1.12,-116.8,365.3,-9.2,246,3872,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1657,3109,0,0,0,0,0,0
$GC,4194,-1.17,-116.8,393.3,-8.1,254,4199,0.00,2.47,0.00,0.000,4,0.000,0.053,2814,244,3106,0,0,0,0,0,0
$GC,4273,-1.17,-116.8,399.9,-8.7,255,4280,0.00,2.28,0.00,0.000,6,0.000,0.024,2814,1649,3106,0,0,0,0,0,0
$GC,4615,-1.22,-116.8,427.3,-7.9,264,4620,0.12,2.50,0.00,0.000,4,0.066,0.055,2773,238,3104,0,0,0,0,0,0
$GC,4720,-1.17,-116.8,437.2,-9.8,266,4725,0.10,2.30,0.00,0.000,6,0.107,0.025,2794,1646,3103,0,0,0,0,0,0
$STATE,4909,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4910,begin apogee
$GC,4917,-0.31,0.0,452.3,7.6,271,5017,0.88,0.00,97.15,0.830,6,0.067,0.000,2983,1651,2630,0,0,0,0,0,0
$STATE,5018,end apogee,CONTROL_FINISHED_OK
$STATE,5018,begin climb
$GC,5021,1.18,116.8,454.4,0.0,273,5134,1.40,2.40,101.68,0.815,4,0.037,0.031,3309,3045,2152,0,0,0,0,0,0
$GC,5239,1.01,123.7,447.3,7.6,277,5252,0.20,2.45,6.97,0.642,6,0.100,0.040,3271,1642,2125,0,0,0,0,0,0
$GC,5579,0.94,169.6,427.0,5.8,286,5627,0.00,2.53,40.97,0.799,4,0.000,0.057,3270,245,1937,0,0,0,0,0,0
$GC,5693,0.75,169.6,417.6,10.2,288,5698,0.28,2.33,0.00,0.000,6,0.097,0.026,3216,1652,1931,0,0,0,0,0,0
$GC,6035,0.77,186.3,393.9,7.1,297,6056,0.00,2.60,14.57,0.743,4,0.000,0.058,3216,247,1870,0,0,0,0,0,0
$GC,6085,0.73,186.3,389.4,9.3,298,6089,0.00,2.35,0.00,0.000,6,0.000,0.028,3217,1652,1867,0,0,0,0,0,0
$GC,6409,0.78,204.1,364.6,7.1,306,6433,0.00,2.55,16.98,0.746,4,0.000,0.057,3216,245,1796,0,0,0,0,0,0
$GC,6517,0.79,212.1,355.8,7.5,308,6529,0.00,2.33,7.80,0.653,6,0.000,0.028,3217,1655,1765,0,0,0,0,0,0
$GC,6872,0.86,216.2,329.7,7.7,317,6884,0.00,2.55,5.10,0.560,4,0.000,0.056,3216,242,1747,0,0,0,0,0,0
$GC,6926,0.86,216.2,324.2,10.1,318,6930,0.00,2.33,0.00,0.000,6,0.000,0.028,3217,1654,1745,0,0,0,0,0,0
$GC,7246,0.93,216.2,298.6,8.2,326,7251,0.15,2.53,0.00,0.000,4,0.063,0.057,3259,245,1744,0,0,0,0,0,0
$GC,7273,0.85,216.2,295.9,10.3,327,7278,0.12,2.33,0.00,0.000,6,0.110,0.028,3236,1651,1743,0,0,0,0,0,0
$GC,7601,0.88,241.0,268.5,6.8,343,7629,0.00,2.60,22.60,0.706,4,0.000,0.056,3235,245,1647,0,0,0,0,0,0
$GC,7687,0.85,245.5,262.1,7.7,346,7697,0.00,2.38,5.30,0.532,6,0.000,0.027,3235,1658,1628,0,0,0,0,0,0
$GC,8033,0.99,313.0,243.2,4.9,363,8100,0.12,2.62,59.80,0.701,4,0.067,0.056,3273,246,1354,0,0,0,0,0,0
$GC,8205,0.89,313.0,227.9,11.2,370,8210,0.15,2.33,0.00,0.000,6,0.100,0.025,3244,1657,1347,0,0,0,0,0,0
$GC,8523,0.93,313.0,202.1,8.4,385,8527,0.00,2.53,0.00,0.000,4,0.000,0.054,3244,244,1346,0,0,0,0,0,0
$GC,8693,0.93,313.0,182.8,11.5,396,8700,0.00,2.35,0.00,0.000,6,0.000,0.024,3244,1663,1343,0,0,0,0,0,0
$GC,8954,1.00,313.0,157.9,8.8,417,8959,0.10,2.50,0.00,0.000,4,0.076,0.051,3277,241,1342,0,0,0,0,0,0
$GC,9074,0.92,313.0,144.1,11.9,425,9080,0.12,2.28,0.00,0.000,6,0.101,0.022,3252,1658,1341,0,0,0,0,0,0
$GC,9334,1.01,313.0,120.6,9.8,446,9339,0.00,2.50,0.00,0.000,4,0.000,0.051,3252,239,1341,0,0,0,0,0,0
$GC,9448,1.06,313.0,109.5,9.2,454,9452,0.12,2.30,0.00,0.000,6,0.066,0.021,3294,1659,1340,0,0,0,0,0,0
$GC,9708,1.06,313.0,86.1,9.1,474,9712,0.00,2.47,0.00,0.000,4,0.000,0.049,3294,236,1340,0,0,0,0,0,0
$GC,9765,1.00,313.0,79.6,12.1,478,9770,0.12,2.25,0.00,0.000,6,0.098,0.021,3268,1654,1340,0,0,0,0,0,0
$GC,10027,1.12,324.4,61.2,7.4,498,10042,0.12,2.50,9.27,0.472,4,0.063,0.048,3311,237,1306,0,0,0,0,0,0
$GC,10129,1.09,324.4,51.2,9.2,505,10134,0.12,2.25,0.00,0.000,6,0.095,0.020,3286,1656,1303,0,0,0,0,0,0
$GC,10391,1.20,349.1,32.7,6.8,525,10421,0.12,2.50,22.40,0.492,4,0.063,0.047,3330,242,1204,0,0,0,0,0,0
$GC,10485,1.11,349.1,23.0,11.0,538,10493,0.15,2.28,0.00,0.000,6,0.069,0.019,3295,1660,1201,0,0,0,0,0,0
$GC,10689,1.17,349.1,6.0,9.0,584,10695,0.00,2.50,0.00,0.000,4,0.000,0.048,3293,241,1201,0,0,0,0,0,0
$STATE,10720,end climb,SURFACE_DEPTH_REACHED
$STATE,10720,begin surface coast
$FINISH,1.2,1.023003
$STATE,10735,end surface coast,CONTROL_FINISHED_OK
$STATE,10735,begin surface
$SM_CCo,10760,35.35,0.470,0,0,957,410.14
$SM_GC,1.70,0.00,0.00,35.35,0.000,0.000,0.470,431,1638,957,-12.06,-0.31,410.14
$IRIDIUM_FIX,2054.83,-15759.05,261299,222223
$TT8_MAMPS,0.029146
$HUMID,58.70
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.3,52.572
$10V_AH,10.0,43.402
$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,30.325,133.925,410.600,35.350,0.000,23.479,41.509,242.355,4.500,0.000,20.015,1203.258,7006.163,479.740,1923.482,624.751,0.000,1371.050,0.000,1895.412,0.000,29.261,0.000
$DEVICE_MAMPS,133.458,57.525,829.894,470.171,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,398.906,380.668,844.260,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,34864,593
$CAP_FILE_SIZE,127971,0
$CFSIZE,260165632,182038528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,021010,044606,2106.907,-15801.386,35,1.6,35,9.8