version: 66.06
glider: 139
mission: 8
dive: 586
start: 10 2 110 14 37 4
data:
$ID,139
$MISSION,8
$DIVE,586
$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,-2163264.5
$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
$GPS1,142230,2108.574,-15759.668,37,1.6,37,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-71.7
$GPS2,143644,2108.603,-15759.632,14,1.6,14,9.8
$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,90.3,29337,-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,16,-1.18,-116.8,0.0,0.0,0,83,0.00,0.00,-64.22,0.000,2,0.000,0.000,426,1628,2750,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.3,-3.5,12,111,12.68,2.47,-6.65,0.000,4,0.133,0.058,2785,241,3110,0,0,0,0,0,0
$GC,167,-0.87,-116.8,24.3,-19.6,28,174,0.30,2.35,0.00,0.000,6,0.077,0.019,2852,1687,3112,0,0,0,0,0,0
$GC,368,-0.79,-116.8,52.9,-14.3,48,370,0.12,0.00,0.00,0.000,6,0.100,0.000,2878,1691,3112,0,0,0,0,0,0
$GC,619,-0.84,-116.8,78.8,-9.1,68,624,0.00,2.47,0.00,0.000,4,0.000,0.045,2878,246,3112,0,0,0,0,0,0
$GC,689,-0.90,-116.8,85.8,-9.7,73,693,0.10,2.25,0.00,0.000,6,0.072,0.018,2838,1666,3113,0,0,0,0,0,0
$GC,958,-0.90,-116.8,112.0,-9.7,94,963,0.00,2.47,0.00,0.000,4,0.000,0.046,2836,244,3113,0,0,0,0,0,0
$GC,1011,-0.90,-116.8,117.7,-10.4,98,1015,0.00,2.20,0.00,0.000,6,0.000,0.018,2836,1652,3113,0,0,0,0,0,0
$GC,1277,-0.90,-116.8,142.3,-8.3,119,1281,0.00,2.42,0.00,0.000,4,0.000,0.045,2835,239,3114,0,0,0,0,0,0
$GC,1361,-0.90,-116.8,150.6,-9.9,125,1365,0.00,2.20,0.00,0.000,6,0.000,0.018,2836,1649,3114,0,0,0,0,0,0
$GC,1623,-0.94,-116.8,172.6,-8.4,145,1627,0.00,2.40,0.00,0.000,4,0.000,0.045,2836,246,3114,0,0,0,0,0,0
$GC,1682,-0.94,-116.8,178.6,-9.5,149,1688,0.00,2.20,0.00,0.000,6,0.000,0.019,2836,1659,3114,0,0,0,0,0,0
$GC,1954,-0.98,-116.8,202.5,-8.7,170,1958,0.00,2.42,0.00,0.000,4,0.000,0.046,2836,246,3114,0,0,0,0,0,0
$GC,2015,-1.02,-116.8,209.0,-9.8,172,2021,0.00,2.22,0.00,0.000,6,0.000,0.020,2836,1640,3114,0,0,0,0,0,0
$GC,2332,-1.06,-116.8,236.3,-8.0,188,2336,0.00,2.42,0.00,0.000,4,0.000,0.048,2836,239,3113,0,0,0,0,0,0
$GC,2374,-1.11,-116.8,240.3,-9.0,189,2380,0.12,2.22,0.00,0.000,6,0.061,0.020,2790,1652,3113,0,0,0,0,0,0
$GC,2695,-1.07,-116.8,270.0,-8.6,205,2700,0.12,2.47,0.00,0.000,4,0.094,0.049,2818,239,3112,0,0,0,0,0,0
$GC,2752,-1.07,-116.8,275.3,-8.4,207,2756,0.00,2.25,0.00,0.000,6,0.000,0.021,2818,1652,3112,0,0,0,0,0,0
$GC,3070,-1.11,-116.8,298.1,-7.5,222,3071,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1656,3112,0,0,0,0,0,0
$GC,3395,-1.15,-116.8,320.6,-6.9,231,3399,0.00,2.45,0.00,0.000,4,0.000,0.051,2817,239,3110,0,0,0,0,0,0
$GC,3423,-1.15,-116.8,323.1,-8.2,231,3427,0.00,2.28,0.00,0.000,6,0.000,0.022,2817,1649,3110,0,0,0,0,0,0
$GC,3760,-1.15,-116.8,348.1,-7.3,240,3764,0.00,2.45,0.00,0.000,4,0.000,0.051,2817,247,3107,0,0,0,0,0,0
$GC,3803,-1.15,-116.8,351.2,-7.6,241,3808,0.00,2.25,0.00,0.000,6,0.000,0.023,2817,1649,3107,0,0,0,0,0,0
$GC,4136,-1.19,-116.8,374.3,-6.9,249,4141,0.12,2.45,0.00,0.000,4,0.064,0.053,2776,247,3105,0,0,0,0,0,0
$GC,4193,-1.12,-116.8,379.6,-9.3,250,4198,0.15,2.28,0.00,0.000,6,0.091,0.024,2808,1648,3104,0,0,0,0,0,0
$GC,4507,-1.12,-116.8,403.4,-7.9,258,4512,0.00,2.45,0.00,0.000,4,0.000,0.054,2808,246,3102,0,0,0,0,0,0
$STATE,4515,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4515,begin apogee
$GC,4525,-0.31,0.0,404.4,8.6,258,4625,0.77,0.00,96.07,0.787,6,0.067,0.000,2978,1661,2630,0,0,0,0,0,0
$STATE,4626,end apogee,CONTROL_FINISHED_OK
$STATE,4626,begin climb
$GC,4628,1.18,116.8,407.7,0.0,260,4742,1.45,2.38,101.25,0.771,4,0.040,0.029,3310,3021,2152,0,0,0,0,0,0
$GC,4900,1.01,116.8,399.7,8.1,266,4905,0.20,2.38,0.00,0.000,6,0.100,0.038,3272,1652,2148,0,0,0,0,0,0
$GC,5226,0.91,118.3,374.5,7.8,274,5228,0.12,0.00,0.00,0.000,6,0.110,0.000,3248,1652,2141,0,0,0,0,0,0
$GC,5549,0.90,146.2,352.2,6.6,282,5582,0.00,2.55,24.98,0.733,4,0.000,0.054,3247,244,2032,0,0,0,0,0,0
$GC,5614,0.79,161.8,348.4,7.2,283,5635,0.12,2.30,15.00,0.697,6,0.114,0.025,3225,1646,1970,0,0,0,0,0,0
$GC,5968,0.86,212.6,329.1,5.6,292,6021,0.00,2.58,45.47,0.740,4,0.000,0.054,3224,248,1761,0,0,0,0,0,0
$GC,6188,0.86,212.6,308.4,10.6,296,6194,0.00,2.30,0.00,0.000,6,0.000,0.025,3224,1645,1753,0,0,0,0,0,0
$GC,6505,0.94,241.4,286.3,6.6,309,6538,0.12,2.55,25.20,0.700,4,0.068,0.054,3261,245,1644,0,0,0,0,0,0
$GC,6574,0.83,241.4,279.8,10.7,312,6579,0.15,2.35,0.00,0.000,6,0.104,0.026,3232,1655,1641,0,0,0,0,0,0
$GC,6906,0.92,261.3,252.3,7.0,328,6930,0.00,2.55,17.98,0.663,4,0.000,0.054,3232,245,1563,0,0,0,0,0,0
$GC,7040,0.92,261.3,239.4,10.1,333,7046,0.00,2.33,0.00,0.000,6,0.000,0.025,3232,1656,1558,0,0,0,0,0,0
$GC,7358,0.99,261.3,213.5,8.0,349,7363,0.15,2.53,0.00,0.000,4,0.061,0.054,3275,236,1556,0,0,0,0,0,0
$GC,7425,0.89,261.3,205.5,12.6,352,7430,0.15,2.33,0.00,0.000,6,0.099,0.025,3246,1663,1555,0,0,0,0,0,0
$GC,7753,0.93,261.3,173.9,8.8,376,7757,0.00,2.53,0.00,0.000,4,0.000,0.053,3246,238,1555,0,0,0,0,0,0
$GC,7908,0.93,261.3,159.1,8.9,387,7913,0.00,2.30,0.00,0.000,6,0.000,0.023,3246,1662,1553,0,0,0,0,0,0
$GC,8170,1.02,291.2,142.7,6.5,408,8203,0.12,2.55,25.73,0.595,4,0.065,0.050,3286,235,1440,0,0,0,0,0,0
$GC,8256,0.94,291.2,133.6,11.8,414,8261,0.15,2.30,0.00,0.000,6,0.093,0.021,3256,1652,1437,0,0,0,0,0,0
$GC,8517,1.01,291.2,111.5,8.2,434,8521,0.00,2.47,0.00,0.000,4,0.000,0.050,3257,243,1437,0,0,0,0,0,0
$GC,8641,1.05,291.2,99.6,10.5,443,8646,0.10,2.30,0.00,0.000,6,0.074,0.021,3292,1664,1435,0,0,0,0,0,0
$GC,8910,1.11,301.5,76.7,7.4,464,8925,0.00,2.53,9.60,0.486,4,0.000,0.048,3291,236,1399,0,0,0,0,0,0
$GC,8984,1.11,301.5,69.7,9.2,469,8988,0.00,2.30,0.00,0.000,6,0.000,0.021,3291,1663,1396,0,0,0,0,0,0
$GC,9250,1.22,339.4,48.6,6.2,490,9293,0.10,2.58,33.10,0.514,4,0.072,0.048,3329,243,1244,0,0,0,0,0,0
$GC,9327,1.13,339.4,42.3,9.4,495,9332,0.15,2.25,0.00,0.000,6,0.089,0.020,3298,1653,1242,0,0,0,0,0,0
$GC,9591,1.18,339.4,21.0,8.2,531,9598,0.00,2.50,0.00,0.000,4,0.000,0.048,3298,239,1241,0,0,0,0,0,0
$GC,9649,1.18,339.4,15.2,10.1,543,9656,0.00,2.28,0.00,0.000,6,0.000,0.019,3298,1647,1239,0,0,0,0,0,0
$STATE,9801,end climb,SURFACE_DEPTH_REACHED
$STATE,9801,begin surface coast
$FINISH,1.0,1.023378
$STATE,9836,end surface coast,CONTROL_FINISHED_OK
$STATE,9836,begin surface
$SM_CCo,9859,41.03,0.469,0,0,957,410.14
$SM_GC,1.68,0.00,0.00,41.03,0.000,0.000,0.469,426,1649,957,-12.07,-0.03,410.14
$IRIDIUM_FIX,2059.45,-15801.19,271299,141452
$TT8_MAMPS,0.029146
$HUMID,58.46
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,360.2,73.9
$24V_AH,23.4,53.002
$10V_AH,10.1,43.741
$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,29.900,114.375,394.375,41.025,0.000,88.640,112.691,371.651,4.000,0.000,14.307,1151.807,6394.143,455.783,1851.297,898.439,0.000,1296.395,0.000,1828.736,0.000,26.041,0.000
$DEVICE_MAMPS,132.691,58.292,786.942,468.637,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,393.898,385.267,879.342,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,31768,586
$CAP_FILE_SIZE,121184,0
$CFSIZE,260165632,181805056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021010,172330,2108.526,-15758.119,40,1.1,46,9.8