version: 66.06
glider: 139
mission: 8
dive: 587
start: 10 2 110 17 34 35
data:
$ID,139
$MISSION,8
$DIVE,587
$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,-2163279.5
$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
$GPS1,172330,2108.526,-15758.119,40,1.1,46,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-71.7
$GPS2,173414,2108.559,-15758.081,11,1.7,11,9.8
$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,91.2,26688,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.18,-116.8,0.0,0.0,0,83,0.00,0.00,-64.43,0.000,2,0.000,0.000,426,1650,2761,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.5,-3.7,12,110,12.68,0.00,-6.38,0.000,6,0.133,0.000,2787,1651,3108,0,0,0,0,0,0
$GC,303,-0.93,-116.8,48.3,-18.4,45,305,0.28,0.00,0.00,0.000,6,0.086,0.000,2844,1651,3110,0,0,0,0,0,0
$GC,555,-0.89,-116.8,77.0,-10.7,65,559,0.00,2.45,0.00,0.000,4,0.000,0.047,2844,241,3111,0,0,0,0,0,0
$GC,621,-0.84,-116.8,85.0,-11.1,70,626,0.10,2.33,0.00,0.000,6,0.102,0.018,2867,1697,3111,0,0,0,0,0,0
$GC,890,-0.90,-116.8,108.3,-7.6,91,895,0.00,2.53,0.00,0.000,4,0.000,0.045,2866,244,3112,0,0,0,0,0,0
$GC,934,-0.97,-116.8,111.9,-7.5,94,939,0.12,2.20,0.00,0.000,6,0.060,0.018,2821,1658,3112,0,0,0,0,0,0
$GC,1194,-0.97,-116.8,138.7,-10.3,114,1198,0.00,2.42,0.00,0.000,4,0.000,0.046,2821,246,3112,0,0,0,0,0,0
$GC,1267,-0.90,-116.8,145.8,-9.8,119,1272,0.15,2.22,0.00,0.000,6,0.084,0.018,2854,1652,3112,0,0,0,0,0,0
$GC,1533,-0.98,-116.8,167.6,-9.5,140,1537,0.00,2.45,0.00,0.000,4,0.000,0.046,2854,239,3113,0,0,0,0,0,0
$GC,1574,-1.04,-116.8,171.4,-9.2,143,1578,0.15,2.22,0.00,0.000,6,0.054,0.019,2802,1658,3112,0,0,0,0,0,0
$GC,1838,-1.00,-116.8,198.6,-9.6,164,1840,0.12,0.00,0.00,0.000,6,0.093,0.000,2830,1663,3112,0,0,0,0,0,0
$GC,2092,-1.03,-116.8,221.8,-9.6,177,2097,0.00,2.45,0.00,0.000,4,0.000,0.048,2830,244,3112,0,0,0,0,0,0
$GC,2195,-1.07,-116.8,232.4,-9.6,181,2199,0.00,2.20,0.00,0.000,6,0.000,0.020,2830,1645,3112,0,0,0,0,0,0
$GC,2512,-1.12,-116.8,258.7,-8.3,196,2516,0.00,2.40,0.00,0.000,4,0.000,0.048,2830,246,3111,0,0,0,0,0,0
$GC,2567,-1.12,-116.8,263.2,-8.0,198,2571,0.10,2.25,0.00,0.000,6,0.071,0.021,2793,1660,3111,0,0,0,0,0,0
$GC,2887,-1.12,-116.8,289.4,-8.2,214,2891,0.00,2.45,0.00,0.000,4,0.000,0.049,2793,239,3111,0,0,0,0,0,0
$GC,2978,-1.08,-116.8,297.8,-8.7,218,2983,0.10,2.22,0.00,0.000,6,0.102,0.021,2815,1644,3111,0,0,0,0,0,0
$GC,3305,-1.08,-116.8,320.8,-6.7,227,3309,0.00,2.42,0.00,0.000,4,0.000,0.050,2815,241,3109,0,0,0,0,0,0
$GC,3321,-1.08,-116.8,321.9,-6.4,227,3325,0.00,2.25,0.00,0.000,6,0.000,0.022,2815,1658,3109,0,0,0,0,0,0
$GC,3671,-1.11,-116.8,347.1,-7.6,236,3675,0.00,2.45,0.00,0.000,4,0.000,0.051,2814,246,3107,0,0,0,0,0,0
$GC,3722,-1.11,-116.8,351.7,-9.6,237,3726,0.00,2.25,0.00,0.000,6,0.000,0.023,2815,1643,3106,0,0,0,0,0,0
$GC,4042,-1.15,-116.8,375.6,-6.9,245,4047,0.00,2.42,0.00,0.000,4,0.000,0.052,2814,246,3104,0,0,0,0,0,0
$GC,4080,-1.15,-116.8,378.2,-7.1,245,4086,0.00,2.28,0.00,0.000,6,0.000,0.024,2815,1657,3104,0,0,0,0,0,0
$GC,4414,-1.20,-116.8,400.4,-7.1,254,4419,0.12,2.50,0.00,0.000,4,0.066,0.054,2774,247,3102,0,0,0,0,0,0
$GC,4480,-1.14,-116.8,407.3,-10.8,255,4485,0.12,2.25,0.00,0.000,6,0.095,0.025,2801,1643,3102,0,0,0,0,0,0
$GC,4827,-1.14,-116.8,436.5,-8.1,264,4831,0.00,2.45,0.00,0.000,4,0.000,0.054,2801,241,3099,0,0,0,0,0,0
$GC,4864,-1.14,-116.8,440.0,-9.0,264,4871,0.00,2.28,0.00,0.000,6,0.000,0.025,2801,1651,3099,0,0,0,0,0,0
$STATE,5030,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5030,begin apogee
$GC,5036,-0.31,0.0,452.3,7.3,269,5136,0.82,0.00,96.43,0.832,6,0.064,0.000,2980,1655,2630,0,0,0,0,0,0
$STATE,5137,end apogee,CONTROL_FINISHED_OK
$STATE,5137,begin climb
$GC,5141,1.18,116.8,453.5,0.0,271,5253,1.42,2.35,102.15,0.814,4,0.038,0.031,3309,3031,2153,0,0,0,0,0,0
$GC,5340,1.01,122.1,446.8,7.7,275,5354,0.20,2.42,5.50,0.588,6,0.098,0.040,3271,1645,2131,0,0,0,0,0,0
$GC,5692,0.93,140.6,420.7,7.1,284,5716,0.00,2.53,17.08,0.757,4,0.000,0.056,3270,243,2055,0,0,0,0,0,0
$GC,5732,0.75,140.6,417.5,8.4,284,5738,0.28,2.38,0.00,0.000,6,0.097,0.026,3216,1660,2052,0,0,0,0,0,0
$GC,6064,0.79,176.4,397.5,6.3,293,6105,0.00,2.58,32.58,0.785,4,0.000,0.057,3216,244,1908,0,0,0,0,0,0
$GC,6162,0.75,176.4,390.3,7.9,295,6166,0.00,2.35,0.00,0.000,6,0.000,0.027,3215,1650,1904,0,0,0,0,0,0
$GC,6482,0.79,206.6,369.1,6.5,303,6514,0.00,2.58,27.15,0.769,4,0.000,0.058,3216,242,1787,0,0,0,0,0,0
$GC,6593,0.79,206.6,359.4,9.0,305,6597,0.00,2.35,0.00,0.000,6,0.000,0.027,3216,1650,1781,0,0,0,0,0,0
$GC,6940,0.87,224.4,334.2,7.1,314,6964,0.12,2.55,16.30,0.726,4,0.071,0.057,3251,244,1714,0,0,0,0,0,0
$GC,7078,0.79,224.4,322.9,8.2,317,7082,0.15,2.35,0.00,0.000,6,0.106,0.028,3223,1650,1708,0,0,0,0,0,0
$GC,7406,0.87,240.0,300.8,7.2,325,7427,0.00,2.60,14.32,0.698,4,0.000,0.057,3222,242,1650,0,0,0,0,0,0
$GC,7493,0.87,240.0,293.6,8.5,327,7499,0.00,2.35,0.00,0.000,6,0.000,0.027,3223,1656,1647,0,0,0,0,0,0
$GC,7811,1.01,299.4,273.5,5.2,343,7870,0.20,2.58,52.97,0.724,4,0.054,0.058,3277,245,1408,0,0,0,0,0,0
$GC,7980,0.92,299.4,257.1,11.6,349,7985,0.12,2.33,0.00,0.000,6,0.104,0.025,3253,1657,1402,0,0,0,0,0,0
$GC,8296,0.95,299.4,229.0,9.2,364,8301,0.00,2.53,0.00,0.000,4,0.000,0.055,3253,235,1400,0,0,0,0,0,0
$GC,8367,0.92,299.4,221.5,10.8,367,8371,0.00,2.33,0.00,0.000,6,0.000,0.025,3253,1657,1398,0,0,0,0,0,0
$GC,8694,0.92,299.4,194.5,8.1,385,8698,0.00,2.50,0.00,0.000,4,0.000,0.054,3253,241,1398,0,0,0,0,0,0
$GC,8821,0.92,299.4,182.0,9.9,394,8825,0.00,2.30,0.00,0.000,6,0.000,0.023,3253,1660,1396,0,0,0,0,0,0
$GC,9082,0.96,299.4,158.9,8.8,414,9086,0.00,2.50,0.00,0.000,4,0.000,0.051,3253,240,1396,0,0,0,0,0,0
$GC,9170,0.96,299.4,150.0,9.3,420,9176,0.00,2.33,0.00,0.000,6,0.000,0.023,3253,1664,1396,0,0,0,0,0,0
$GC,9430,1.03,299.4,128.4,8.6,441,9434,0.00,2.47,0.00,0.000,4,0.000,0.051,3253,242,1395,0,0,0,0,0,0
$GC,9539,1.03,299.4,117.3,10.4,449,9543,0.00,2.25,0.00,0.000,6,0.000,0.021,3253,1652,1395,0,0,0,0,0,0
$GC,9804,1.21,367.3,101.9,4.8,470,9872,0.25,2.58,56.72,0.565,4,0.043,0.051,3328,243,1130,0,0,0,0,0,0
$GC,9960,1.08,367.3,83.9,13.0,481,9965,0.20,2.25,0.00,0.000,6,0.086,0.021,3288,1650,1126,0,0,0,0,0,0
$GC,10231,1.19,380.3,62.1,7.3,502,10249,0.00,2.53,11.52,0.480,4,0.000,0.049,3288,249,1078,0,0,0,0,0,0
$GC,10341,1.19,380.3,51.9,9.2,510,10345,0.00,2.25,0.00,0.000,6,0.000,0.020,3288,1670,1075,0,0,0,0,0,0
$GC,10609,1.28,387.3,32.2,7.6,531,10625,0.17,2.55,6.65,0.408,4,0.051,0.048,3344,245,1050,0,0,0,0,0,0
$GC,10705,1.17,387.3,20.0,13.5,547,10712,0.17,2.25,0.00,0.000,6,0.067,0.019,3303,1652,1049,0,0,0,0,0,0
$STATE,10867,end climb,SURFACE_DEPTH_REACHED
$STATE,10867,begin surface coast
$FINISH,1.2,1.023026
$STATE,10894,end surface coast,CONTROL_FINISHED_OK
$STATE,10894,begin surface
$SM_CCo,10917,16.42,0.449,0,0,958,410.14
$SM_GC,1.90,0.00,0.00,16.42,0.000,0.000,0.449,427,1654,958,-12.07,0.11,410.14
$IRIDIUM_FIX,2104.07,-15810.63,271299,171730
$TT8_MAMPS,0.029913
$HUMID,58.62
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.30
$XPDR_PINGS,1
$24V_AH,23.3,53.121
$10V_AH,10.0,43.824
$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,30.525,124.225,439.375,16.425,0.000,60.872,79.112,298.920,4.750,0.000,14.125,1189.651,7240.184,473.173,1914.134,759.822,0.000,1368.758,0.000,1888.057,0.000,29.264,0.000
$DEVICE_MAMPS,132.691,58.292,832.195,448.695,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,397.118,371.540,820.286,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,31787,590
$CAP_FILE_SIZE,127455,0
$CFSIZE,260165632,181739520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021010,203807,2108.473,-15756.698,39,1.0,39,9.8