version: 66.06
glider: 139
mission: 8
dive: 588
start: 10 2 110 20 44 40
data:
$ID,139
$MISSION,8
$DIVE,588
$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,-2163295
$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
$GPS1,203807,2108.473,-15756.698,39,1.0,39,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-73.6
$GPS2,204420,2108.477,-15756.694,14,1.1,14,9.8
$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,91.9,24308,-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,-116.8,0.0,0.0,0,76,0.00,0.00,-59.40,0.000,2,0.000,0.000,427,1655,2617,0,0,0,0,0,0
$GC,80,-1.18,-116.8,3.4,-3.6,11,109,12.60,0.00,-9.52,0.000,6,0.130,0.000,2785,1656,3108,0,0,0,0,0,0
$GC,304,-0.95,-116.8,45.5,-17.2,47,310,0.25,2.45,0.00,0.000,4,0.090,0.046,2840,241,3110,0,0,0,0,0,0
$GC,319,-0.72,-116.8,48.4,-17.1,48,324,0.25,2.30,0.00,0.000,6,0.084,0.019,2892,1707,3110,0,0,0,0,0,0
$GC,582,-0.77,-116.8,76.1,-11.3,68,586,0.00,2.55,0.00,0.000,4,0.000,0.046,2892,239,3111,0,0,0,0,0,0
$GC,638,-0.87,-116.8,83.3,-11.0,72,643,0.15,2.30,0.00,0.000,6,0.054,0.018,2841,1707,3111,0,0,0,0,0,0
$GC,900,-0.87,-116.8,110.4,-9.1,92,904,0.00,2.53,0.00,0.000,4,0.000,0.046,2841,240,3112,0,0,0,0,0,0
$GC,979,-0.84,-116.8,119.1,-10.4,98,984,0.12,2.30,0.00,0.000,6,0.090,0.018,2868,1701,3112,0,0,0,0,0,0
$GC,1247,-0.93,-116.8,139.6,-8.4,119,1252,0.00,2.47,0.00,0.000,4,0.000,0.045,2868,249,3112,0,0,0,0,0,0
$GC,1294,-1.01,-116.8,144.2,-9.3,122,1299,0.17,2.28,0.00,0.000,6,0.049,0.018,2810,1701,3113,0,0,0,0,0,0
$GC,1555,-1.01,-116.8,167.8,-8.4,142,1560,0.00,2.50,0.00,0.000,4,0.000,0.046,2810,245,3113,0,0,0,0,0,0
$GC,1652,-0.98,-116.8,177.4,-10.3,149,1656,0.12,2.30,0.00,0.000,6,0.092,0.018,2838,1701,3113,0,0,0,0,0,0
$GC,1915,-1.03,-116.8,198.8,-8.7,169,1919,0.00,2.50,0.00,0.000,4,0.000,0.046,2837,245,3113,0,0,0,0,0,0
$GC,1983,-1.06,-116.8,205.6,-10.0,173,1988,0.00,2.30,0.00,0.000,6,0.000,0.019,2838,1699,3113,0,0,0,0,0,0
$GC,2318,-1.12,-116.8,232.2,-7.2,189,2323,0.15,2.53,0.00,0.000,4,0.055,0.048,2787,243,3113,0,0,0,0,0,0
$GC,2438,-1.03,-116.8,244.3,-9.8,194,2443,0.17,2.25,0.00,0.000,6,0.082,0.020,2825,1652,3113,0,0,0,0,0,0
$GC,2760,-1.03,-116.8,267.3,-8.1,210,2765,0.00,2.42,0.00,0.000,4,0.000,0.048,2825,245,3112,0,0,0,0,0,0
$GC,2828,-1.07,-116.8,273.5,-9.6,213,2832,0.00,2.22,0.00,0.000,6,0.000,0.021,2825,1651,3112,0,0,0,0,0,0
$GC,3180,-1.12,-116.8,303.6,-8.5,229,3184,0.00,2.42,0.00,0.000,4,0.000,0.049,2825,245,3111,0,0,0,0,0,0
$GC,3226,-1.12,-116.8,308.2,-9.5,230,3230,0.00,2.25,0.00,0.000,6,0.000,0.021,2825,1649,3111,0,0,0,0,0,0
$GC,3552,-1.18,-116.8,332.2,-7.0,238,3557,0.15,2.45,0.00,0.000,4,0.057,0.050,2776,241,3109,0,0,0,0,0,0
$GC,3586,-1.08,-116.8,335.4,-9.4,238,3591,0.17,2.25,0.00,0.000,6,0.083,0.021,2814,1655,3109,0,0,0,0,0,0
$GC,3918,-1.11,-116.8,358.7,-7.5,246,3922,0.00,2.47,0.00,0.000,4,0.000,0.051,2814,239,3107,0,0,0,0,0,0
$GC,3957,-1.11,-116.8,362.1,-9.2,246,3962,0.00,2.25,0.00,0.000,6,0.000,0.023,2814,1652,3107,0,0,0,0,0,0
$GC,4288,-1.16,-116.8,389.1,-8.5,255,4292,0.00,2.47,0.00,0.000,4,0.000,0.053,2814,242,3105,0,0,0,0,0,0
$GC,4316,-1.16,-116.8,392.1,-10.8,255,4320,0.00,2.28,0.00,0.000,6,0.000,0.024,2814,1653,3105,0,0,0,0,0,0
$GC,4659,-1.21,-116.8,420.0,-7.7,264,4664,0.12,2.47,0.00,0.000,4,0.066,0.054,2774,246,3103,0,0,0,0,0,0
$GC,4743,-1.14,-116.8,428.4,-9.9,265,4749,0.12,2.28,0.00,0.000,6,0.096,0.025,2801,1644,3103,0,0,0,0,0,0
$STATE,5072,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5072,begin apogee
$GC,5079,-0.31,0.0,450.8,6.6,274,5179,0.82,0.00,96.78,0.827,6,0.065,0.000,2980,1648,2630,0,0,0,0,0,0
$STATE,5180,end apogee,CONTROL_FINISHED_OK
$STATE,5180,begin climb
$GC,5183,1.18,116.8,452.7,0.0,276,5296,1.42,2.38,101.70,0.810,4,0.037,0.031,3310,3032,2152,0,0,0,0,0,0
$GC,5417,1.01,123.3,444.4,7.6,281,5430,0.20,2.40,6.62,0.627,6,0.100,0.040,3271,1648,2126,0,0,0,0,0,0
$GC,5779,0.89,123.3,414.9,8.0,290,5784,0.15,2.38,0.00,0.000,4,0.105,0.031,3242,3033,2119,0,0,0,0,0,0
$GC,5804,0.89,156.3,413.2,6.4,290,5840,0.00,2.40,29.73,0.783,6,0.000,0.041,3242,1646,1991,0,0,0,0,0,0
$GC,6153,0.91,203.9,391.8,5.7,299,6202,0.00,2.60,42.62,0.788,4,0.000,0.058,3242,244,1798,0,0,0,0,0,0
$GC,6276,0.81,203.9,380.8,9.4,301,6280,0.00,2.35,0.00,0.000,6,0.000,0.027,3242,1651,1792,0,0,0,0,0,0
$GC,6608,0.81,203.9,351.3,8.7,309,6613,0.00,2.53,0.00,0.000,4,0.000,0.058,3242,236,1789,0,0,0,0,0,0
$GC,6664,0.73,203.9,345.4,11.4,310,6669,0.17,2.35,0.00,0.000,6,0.104,0.027,3209,1649,1787,0,0,0,0,0,0
$GC,6981,0.85,235.0,323.9,6.5,318,7014,0.12,2.58,27.00,0.747,4,0.071,0.058,3244,243,1671,0,0,0,0,0,0
$GC,7071,0.76,235.0,316.1,9.8,320,7076,0.15,2.35,0.00,0.000,6,0.108,0.027,3216,1652,1666,0,0,0,0,0,0
$GC,7404,0.85,249.0,291.7,7.3,330,7428,0.00,2.58,13.23,0.684,4,0.000,0.056,3215,242,1611,0,0,0,0,0,0
$GC,7494,0.85,249.0,283.8,8.7,333,7499,0.00,2.33,0.00,0.000,6,0.000,0.027,3215,1659,1609,0,0,0,0,0,0
$GC,7812,0.95,249.0,257.3,8.1,349,7817,0.17,2.55,0.00,0.000,4,0.058,0.057,3264,243,1608,0,0,0,0,0,0
$GC,7907,0.85,249.0,246.1,11.9,353,7912,0.15,2.33,0.00,0.000,6,0.104,0.026,3236,1653,1606,0,0,0,0,0,0
$GC,8238,0.92,259.1,220.8,7.4,369,8254,0.00,2.53,9.18,0.596,4,0.000,0.054,3236,241,1572,0,0,0,0,0,0
$GC,8324,0.92,260.5,214.0,7.8,372,8331,0.00,2.35,0.00,0.000,6,0.000,0.026,3236,1655,1569,0,0,0,0,0,0
$GC,8649,1.01,285.5,194.2,6.8,391,8679,0.15,2.58,23.85,0.642,4,0.059,0.054,3281,249,1465,0,0,0,0,0,0
$GC,8735,0.89,285.5,185.5,12.1,397,8740,0.17,2.30,0.00,0.000,6,0.096,0.024,3246,1652,1462,0,0,0,0,0,0
$GC,9002,0.94,285.5,161.4,8.8,418,9007,0.00,2.47,0.00,0.000,4,0.000,0.053,3246,242,1461,0,0,0,0,0,0
$GC,9077,0.94,285.5,153.3,11.2,423,9082,0.00,2.28,0.00,0.000,6,0.000,0.023,3246,1659,1459,0,0,0,0,0,0
$GC,9339,1.04,310.7,134.1,6.8,444,9368,0.15,2.60,22.70,0.587,4,0.058,0.051,3292,241,1362,0,0,0,0,0,0
$GC,9466,0.96,310.7,119.9,11.7,453,9471,0.17,2.28,0.00,0.000,6,0.091,0.022,3257,1657,1358,0,0,0,0,0,0
$GC,9734,1.08,327.5,100.1,7.1,474,9756,0.12,2.58,15.25,0.538,4,0.064,0.051,3298,243,1293,0,0,0,0,0,0
$GC,9839,1.08,327.5,90.7,9.1,481,9845,0.00,2.28,0.00,0.000,6,0.000,0.021,3298,1652,1289,0,0,0,0,0,0
$GC,10101,1.17,341.7,70.5,7.3,502,10120,0.00,2.53,13.05,0.500,4,0.000,0.051,3298,242,1235,0,0,0,0,0,0
$GC,10198,1.17,341.7,61.9,10.2,509,10202,0.00,2.28,0.00,0.000,6,0.000,0.020,3298,1670,1233,0,0,0,0,0,0
$GC,10464,1.22,341.7,38.9,8.6,530,10469,0.00,2.50,0.00,0.000,4,0.000,0.048,3298,241,1232,0,0,0,0,0,0
$GC,10538,1.22,341.7,31.2,10.2,535,10545,0.00,2.28,0.00,0.000,6,0.000,0.020,3298,1662,1232,0,0,0,0,0,0
$GC,10803,1.28,341.7,8.7,8.1,594,10810,0.12,2.53,0.00,0.000,4,0.062,0.048,3341,239,1231,0,0,0,0,0,0
$STATE,10850,end climb,SURFACE_DEPTH_REACHED
$STATE,10850,begin surface coast
$FINISH,0.8,1.023242
$STATE,10875,end surface coast,CONTROL_FINISHED_OK
$STATE,10875,begin surface
$SM_CCo,10900,40.38,0.471,0,0,958,410.14
$SM_GC,1.79,0.00,0.00,40.38,0.000,0.000,0.471,428,1663,958,-12.06,0.37,410.14
$IRIDIUM_FIX,2059.45,-15756.04,271299,171711
$TT8_MAMPS,0.028379
$HUMID,57.99
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.3,53.226
$10V_AH,10.1,43.908
$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,31.350,134.475,401.700,40.375,0.000,33.060,40.363,167.317,4.500,0.000,14.802,1229.126,7084.235,479.434,1961.058,557.589,0.000,1378.757,0.000,1934.015,0.000,29.260,0.000
$DEVICE_MAMPS,130.390,58.292,826.826,470.938,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,409.719,391.020,872.790,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,34949,609
$CAP_FILE_SIZE,126986,0
$CFSIZE,260165632,181673984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021010,234806,2108.268,-15755.369,10,1.8,26,9.8