version: 66.06
glider: 139
mission: 8
dive: 589
start: 10 2 110 23 54 28
data:
$ID,139
$MISSION,8
$DIVE,589
$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,-2163311
$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
$GPS1,234806,2108.268,-15755.369,10,1.8,26,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-71.3
$GPS2,235408,2108.255,-15755.383,15,2.0,15,9.8
$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,92.1,22007,-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,-59.33,0.000,2,0.000,0.000,428,1664,2599,0,0,0,0,0,0
$GC,80,-1.18,-116.8,3.1,-3.0,11,110,12.65,2.47,-10.05,0.000,4,0.133,0.058,2786,246,3108,0,0,0,0,0,0
$GC,171,-0.90,-116.8,23.0,-19.1,29,178,0.28,2.35,0.00,0.000,6,0.076,0.018,2848,1687,3109,0,0,0,0,0,0
$GC,377,-0.81,-116.8,52.3,-13.4,50,382,0.12,2.53,0.00,0.000,4,0.098,0.047,2874,241,3110,0,0,0,0,0,0
$GC,405,-0.72,-116.8,56.1,-13.2,52,409,0.00,2.25,0.00,0.000,6,0.000,0.018,2874,1669,3110,0,0,0,0,0,0
$GC,670,-0.72,-116.8,87.5,-11.3,73,674,0.00,2.45,0.00,0.000,4,0.000,0.046,2874,246,3111,0,0,0,0,0,0
$GC,716,-0.72,-116.8,93.2,-10.8,76,723,0.00,2.25,0.00,0.000,6,0.000,0.018,2874,1655,3111,0,0,0,0,0,0
$GC,977,-0.79,-116.8,116.5,-8.4,97,982,0.00,2.45,0.00,0.000,4,0.000,0.045,2874,241,3112,0,0,0,0,0,0
$GC,1017,-0.87,-116.8,120.1,-8.5,100,1021,0.00,2.20,0.00,0.000,6,0.000,0.018,2874,1655,3112,0,0,0,0,0,0
$GC,1285,-0.98,-116.8,138.3,-6.2,121,1290,0.17,2.45,0.00,0.000,4,0.048,0.045,2815,238,3113,0,0,0,0,0,0
$GC,1339,-0.94,-116.8,142.9,-8.0,125,1343,0.15,2.20,0.00,0.000,6,0.088,0.018,2847,1643,3113,0,0,0,0,0,0
$GC,1608,-1.01,-116.8,162.9,-7.7,146,1612,0.00,2.40,0.00,0.000,4,0.000,0.045,2846,242,3113,0,0,0,0,0,0
$GC,1653,-1.06,-116.8,167.2,-8.4,149,1660,0.12,2.25,0.00,0.000,6,0.061,0.018,2801,1660,3114,0,0,0,0,0,0
$GC,1917,-1.03,-116.8,192.7,-10.1,170,1922,0.12,2.47,0.00,0.000,4,0.092,0.048,2828,245,3113,0,0,0,0,0,0
$GC,1950,-1.03,-116.8,196.7,-9.9,172,1956,0.00,2.25,0.00,0.000,6,0.000,0.019,2828,1645,3114,0,0,0,0,0,0
$GC,2224,-1.07,-116.8,217.8,-7.1,187,2228,0.00,2.42,0.00,0.000,4,0.000,0.048,2828,246,3114,0,0,0,0,0,0
$GC,2290,-1.07,-116.8,223.2,-7.6,190,2294,0.00,2.22,0.00,0.000,6,0.000,0.020,2828,1656,3114,0,0,0,0,0,0
$GC,2622,-1.12,-116.8,251.3,-9.0,206,2627,0.00,2.45,0.00,0.000,4,0.000,0.048,2828,246,3113,0,0,0,0,0,0
$GC,2655,-1.12,-116.8,254.7,-9.2,207,2659,0.00,2.22,0.00,0.000,6,0.000,0.021,2828,1655,3113,0,0,0,0,0,0
$GC,2971,-1.18,-116.8,278.0,-6.7,222,2976,0.17,2.47,0.00,0.000,4,0.051,0.050,2773,238,3112,0,0,0,0,0,0
$GC,2998,-1.11,-116.8,280.3,-9.7,223,3003,0.17,2.28,0.00,0.000,6,0.087,0.021,2811,1658,3112,0,0,0,0,0,0
$GC,3323,-1.11,-116.8,307.6,-8.7,237,3327,0.00,2.47,0.00,0.000,4,0.000,0.050,2810,241,3111,0,0,0,0,0,0
$GC,3389,-1.11,-116.8,314.1,-9.9,238,3393,0.00,2.25,0.00,0.000,6,0.000,0.021,2811,1647,3110,0,0,0,0,0,0
$GC,3735,-1.11,-116.8,344.9,-9.0,247,3739,0.00,2.45,0.00,0.000,4,0.000,0.052,2811,238,3108,0,0,0,0,0,0
$GC,3778,-1.11,-116.8,349.4,-9.9,248,3782,0.00,2.28,0.00,0.000,6,0.000,0.023,2811,1656,3108,0,0,0,0,0,0
$GC,4107,-1.14,-116.8,374.0,-6.9,256,4111,0.00,2.45,0.00,0.000,4,0.000,0.054,2811,247,3105,0,0,0,0,0,0
$GC,4135,-1.14,-116.8,376.4,-8.0,256,4139,0.00,2.28,0.00,0.000,6,0.000,0.024,2810,1651,3106,0,0,0,0,0,0
$GC,4473,-1.18,-116.8,401.9,-7.9,265,4477,0.00,2.45,0.00,0.000,4,0.000,0.054,2811,246,3104,0,0,0,0,0,0
$GC,4543,-1.18,-116.8,408.3,-8.8,266,4547,0.00,2.28,0.00,0.000,6,0.000,0.024,2810,1653,3104,0,0,0,0,0,0
$GC,4884,-1.23,-116.8,435.7,-8.0,275,4888,0.12,2.50,0.00,0.000,4,0.066,0.056,2771,248,3101,0,0,0,0,0,0
$GC,4946,-1.14,-116.8,442.2,-10.6,276,4951,0.15,2.30,0.00,0.000,6,0.091,0.025,2803,1652,3100,0,0,0,0,0,0
$STATE,5050,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5050,begin apogee
$GC,5056,-0.31,0.0,451.5,8.4,279,5156,0.82,0.00,97.12,0.833,6,0.065,0.000,2982,1656,2629,0,0,0,0,0,0
$STATE,5157,end apogee,CONTROL_FINISHED_OK
$STATE,5157,begin climb
$GC,5161,1.18,116.8,454.0,0.0,281,5273,1.42,2.38,101.78,0.817,4,0.038,0.031,3311,3034,2153,0,0,0,0,0,0
$GC,5356,1.00,120.1,450.5,7.7,285,5366,0.22,2.42,3.78,0.469,6,0.100,0.039,3267,1647,2139,0,0,0,0,0,0
$GC,5709,0.94,167.0,428.2,5.8,294,5757,0.00,2.60,42.05,0.800,4,0.000,0.058,3267,245,1948,0,0,0,0,0,0
$GC,5797,0.76,167.0,422.0,8.7,296,5802,0.28,2.33,0.00,0.000,6,0.097,0.026,3214,1648,1943,0,0,0,0,0,0
$GC,6127,0.84,236.4,405.4,4.8,304,6195,0.00,2.62,61.60,0.802,4,0.000,0.058,3214,246,1666,0,0,0,0,0,0
$GC,6236,0.81,236.4,398.2,8.2,306,6241,0.00,2.35,0.00,0.000,6,0.000,0.027,3214,1652,1661,0,0,0,0,0,0
$GC,6582,0.89,263.5,375.3,6.7,315,6614,0.15,2.58,24.17,0.764,4,0.064,0.058,3255,245,1553,0,0,0,0,0,0
$GC,6699,0.78,263.5,362.8,11.9,317,6703,0.17,2.33,0.00,0.000,6,0.104,0.028,3222,1650,1548,0,0,0,0,0,0
$GC,7040,0.83,263.5,334.5,8.4,326,7044,0.00,2.50,0.00,0.000,4,0.000,0.058,3221,245,1547,0,0,0,0,0,0
$GC,7115,0.83,263.5,327.6,9.6,327,7119,0.00,2.33,0.00,0.000,6,0.000,0.027,3222,1655,1544,0,0,0,0,0,0
$GC,7451,0.89,266.8,302.1,7.7,336,7456,0.10,2.53,0.00,0.000,4,0.080,0.058,3252,245,1543,0,0,0,0,0,0
$GC,7560,0.81,266.8,289.5,12.7,339,7565,0.12,2.30,0.00,0.000,6,0.111,0.027,3229,1654,1542,0,0,0,0,0,0
$GC,7878,0.88,282.0,265.0,7.2,354,7901,0.00,2.60,15.40,0.683,4,0.000,0.058,3229,246,1479,0,0,0,0,0,0
$GC,7991,0.88,282.0,255.6,8.4,358,7998,0.00,2.35,0.00,0.000,6,0.000,0.026,3228,1646,1476,0,0,0,0,0,0
$GC,8307,0.96,282.0,230.5,9.4,374,8312,0.12,2.53,0.00,0.000,4,0.067,0.056,3266,242,1475,0,0,0,0,0,0
$GC,8387,0.87,282.0,220.7,12.9,377,8392,0.15,2.33,0.00,0.000,6,0.101,0.025,3237,1657,1474,0,0,0,0,0,0
$GC,8715,0.92,282.0,188.0,9.8,396,8719,0.00,2.53,0.00,0.000,4,0.000,0.054,3237,235,1473,0,0,0,0,0,0
$GC,8853,0.92,282.0,171.9,11.8,406,8857,0.00,2.33,0.00,0.000,6,0.000,0.024,3238,1657,1472,0,0,0,0,0,0
$GC,9114,1.00,285.4,149.5,7.7,426,9119,0.12,2.53,0.00,0.000,4,0.066,0.054,3277,238,1472,0,0,0,0,0,0
$GC,9203,0.90,285.4,139.9,10.9,432,9210,0.12,2.33,0.00,0.000,6,0.075,0.023,3247,1653,1472,0,0,0,0,0,0
$GC,9466,1.06,319.0,122.2,6.4,453,9506,0.15,2.55,32.22,0.591,4,0.058,0.051,3293,245,1328,0,0,0,0,0,0
$GC,9578,1.06,319.0,112.4,9.8,461,9582,0.00,2.30,0.00,0.000,6,0.000,0.022,3294,1665,1324,0,0,0,0,0,0
$GC,9844,1.12,319.0,92.1,8.9,482,9849,0.00,2.53,0.00,0.000,4,0.000,0.051,3293,239,1324,0,0,0,0,0,0
$GC,9907,1.12,319.0,85.5,10.5,486,9913,0.00,2.30,0.00,0.000,6,0.000,0.021,3293,1650,1322,0,0,0,0,0,0
$GC,10169,1.19,323.9,65.7,7.7,507,10184,0.00,2.45,4.97,0.393,4,0.000,0.048,3294,243,1307,0,0,0,0,0,0
$GC,10243,1.19,323.9,59.0,9.2,512,10247,0.00,2.25,0.00,0.000,6,0.000,0.020,3294,1664,1306,0,0,0,0,0,0
$GC,10509,1.26,326.8,38.4,7.8,533,10514,0.12,2.50,0.00,0.000,4,0.061,0.048,3339,242,1306,0,0,0,0,0,0
$GC,10580,1.13,326.8,30.1,12.9,538,10592,0.20,2.22,4.10,0.337,6,0.083,0.019,3298,1662,1296,0,0,0,0,0,0
$GC,10855,1.17,326.8,7.2,7.9,599,10863,0.00,2.47,0.00,0.000,4,0.000,0.046,3297,248,1296,0,0,0,0,0,0
$STATE,10893,end climb,SURFACE_DEPTH_REACHED
$STATE,10894,begin surface coast
$FINISH,1.0,1.023140
$STATE,10924,end surface coast,CONTROL_FINISHED_OK
$STATE,10925,begin surface
$SM_CCo,10950,49.08,0.473,0,0,958,410.14
$SM_GC,1.41,0.00,0.00,49.08,0.000,0.000,0.473,426,1635,958,-12.07,-0.42,410.14
$IRIDIUM_FIX,2059.45,-15758.18,271299,202008
$TT8_MAMPS,0.029146
$HUMID,57.95
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.3,53.331
$10V_AH,10.0,43.991
$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,30.825,143.325,387.200,49.075,0.000,28.400,31.384,170.287,4.500,0.000,15.355,1247.893,7129.202,486.765,1950.574,544.376,0.000,1384.346,0.000,1918.905,0.000,29.253,0.000
$DEVICE_MAMPS,132.691,58.292,832.962,473.239,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,413.334,387.264,877.509,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,35031,614
$CAP_FILE_SIZE,128958,0
$CFSIZE,260165632,181612544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031010,025907,2108.035,-15753.924,41,0.9,41,9.8