version: 66.06
glider: 139
mission: 8
dive: 590
start: 10 3 110 3 5 33
data:
$ID,139
$MISSION,8
$DIVE,590
$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,-2163324
$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
$GPS1,025907,2108.035,-15753.924,41,0.9,41,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-70.9
$GPS2,030514,2108.025,-15753.901,12,1.7,12,9.8
$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,92.4,19415,-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,-64.68,0.000,2,0.000,0.000,425,1637,2759,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.5,-3.6,12,110,12.70,0.00,-6.32,0.000,6,0.133,0.000,2786,1637,3108,0,0,0,0,0,0
$GC,303,-0.95,-116.8,47.7,-17.7,45,305,0.25,0.00,0.00,0.000,6,0.091,0.000,2838,1638,3110,0,0,0,0,0,0
$GC,557,-0.85,-116.8,82.3,-13.3,65,562,0.12,2.42,0.00,0.000,4,0.097,0.047,2865,242,3112,0,0,0,0,0,0
$GC,583,-0.77,-116.8,85.8,-12.4,67,587,0.00,2.33,0.00,0.000,6,0.000,0.018,2865,1694,3112,0,0,0,0,0,0
$GC,854,-0.81,-116.8,114.8,-10.6,88,858,0.00,2.53,0.00,0.000,4,0.000,0.045,2865,246,3113,0,0,0,0,0,0
$GC,908,-0.86,-116.8,120.1,-9.4,92,912,0.00,2.25,0.00,0.000,6,0.000,0.018,2865,1667,3112,0,0,0,0,0,0
$GC,1175,-0.97,-116.8,138.7,-6.2,113,1180,0.12,2.47,0.00,0.000,4,0.061,0.044,2819,246,3113,0,0,0,0,0,0
$GC,1245,-0.97,-116.8,145.1,-8.7,118,1249,0.00,2.20,0.00,0.000,6,0.000,0.018,2819,1651,3114,0,0,0,0,0,0
$GC,1504,-0.97,-116.8,167.2,-8.4,138,1508,0.00,2.42,0.00,0.000,4,0.000,0.046,2819,240,3114,0,0,0,0,0,0
$GC,1529,-0.92,-116.8,169.4,-10.0,140,1534,0.15,2.22,0.00,0.000,6,0.087,0.019,2851,1661,3114,0,0,0,0,0,0
$GC,1797,-1.01,-116.8,188.9,-7.9,161,1801,0.00,2.42,0.00,0.000,4,0.000,0.047,2851,246,3114,0,0,0,0,0,0
$GC,1854,-1.08,-116.8,194.0,-8.6,165,1859,0.17,2.20,0.00,0.000,6,0.050,0.020,2794,1649,3114,0,0,0,0,0,0
$GC,2112,-1.04,-116.8,219.6,-9.6,179,2120,0.12,2.40,0.00,0.000,4,0.094,0.048,2822,252,3114,0,0,0,0,0,0
$GC,2134,-1.04,-116.8,222.1,-9.4,179,2140,0.00,2.22,0.00,0.000,6,0.000,0.020,2822,1654,3113,0,0,0,0,0,0
$GC,2453,-1.08,-116.8,245.6,-7.5,195,2458,0.00,2.45,0.00,0.000,4,0.000,0.048,2822,245,3113,0,0,0,0,0,0
$GC,2483,-1.08,-116.8,248.4,-9.4,196,2487,0.00,2.22,0.00,0.000,6,0.000,0.021,2823,1649,3113,0,0,0,0,0,0
$GC,2807,-1.13,-116.8,273.3,-7.7,212,2808,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1653,3112,0,0,0,0,0,0
$GC,3114,-1.17,-116.8,297.8,-8.5,227,3119,0.12,2.45,0.00,0.000,4,0.064,0.050,2779,244,3111,0,0,0,0,0,0
$GC,3158,-1.07,-116.8,302.7,-11.8,229,3163,0.17,2.25,0.00,0.000,6,0.084,0.022,2818,1652,3111,0,0,0,0,0,0
$GC,3489,-1.12,-116.8,333.0,-9.2,237,3493,0.00,2.45,0.00,0.000,4,0.000,0.051,2818,247,3109,0,0,0,0,0,0
$GC,3568,-1.16,-116.8,341.1,-9.6,238,3573,0.00,2.28,0.00,0.000,6,0.000,0.022,2818,1653,3109,0,0,0,0,0,0
$GC,3901,-1.20,-116.8,367.0,-7.4,246,3903,0.15,0.00,0.00,0.000,6,0.058,0.000,2771,1658,3107,0,0,0,0,0,0
$GC,4225,-1.15,-116.8,395.9,-8.8,254,4230,0.12,2.50,0.00,0.000,4,0.094,0.054,2798,246,3104,0,0,0,0,0,0
$GC,4264,-1.15,-116.8,399.4,-8.6,254,4271,0.00,2.25,0.00,0.000,6,0.000,0.025,2798,1647,3104,0,0,0,0,0,0
$GC,4595,-1.15,-116.8,427.6,-8.6,263,4596,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1651,3102,0,0,0,0,0,0
$STATE,4877,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4877,begin apogee
$GC,4883,-0.31,0.0,450.7,8.1,270,4983,0.85,0.00,96.57,0.830,6,0.064,0.000,2982,1651,2630,0,0,0,0,0,0
$STATE,4984,end apogee,CONTROL_FINISHED_OK
$STATE,4984,begin climb
$GC,4988,1.18,116.8,453.2,0.0,272,5099,1.40,2.38,101.70,0.814,4,0.037,0.032,3309,3035,2152,0,0,0,0,0,0
$GC,5236,1.03,138.4,445.9,6.9,277,5262,0.17,2.40,19.55,0.764,6,0.102,0.041,3275,1650,2065,0,0,0,0,0,0
$GC,5581,0.93,151.0,420.8,7.3,286,5598,0.12,2.38,11.25,0.721,4,0.111,0.031,3252,3033,2014,0,0,0,0,0,0
$GC,5619,0.94,188.9,418.1,6.2,286,5660,0.00,2.42,35.38,0.789,6,0.000,0.041,3252,1649,1859,0,0,0,0,0,0
$GC,5998,0.89,188.9,384.2,9.4,296,6002,0.00,2.53,0.00,0.000,4,0.000,0.058,3251,238,1851,0,0,0,0,0,0
$GC,6018,0.79,188.9,382.2,9.5,296,6023,0.15,2.35,0.00,0.000,6,0.110,0.027,3224,1662,1849,0,0,0,0,0,0
$GC,6364,0.82,215.3,356.4,6.7,305,6393,0.00,2.62,23.05,0.757,4,0.000,0.058,3223,236,1752,0,0,0,0,0,0
$GC,6453,0.82,215.3,350.3,8.0,306,6459,0.00,2.35,0.00,0.000,6,0.000,0.028,3223,1645,1747,0,0,0,0,0,0
$GC,6785,0.90,238.9,327.6,6.8,315,6814,0.10,2.53,21.42,0.737,4,0.081,0.055,3254,247,1655,0,0,0,0,0,0
$GC,6894,0.80,238.9,315.5,12.0,317,6899,0.15,2.33,0.00,0.000,6,0.109,0.027,3226,1653,1651,0,0,0,0,0,0
$GC,7230,0.84,240.3,287.0,7.8,329,7234,0.00,2.50,0.00,0.000,4,0.000,0.058,3225,243,1649,0,0,0,0,0,0
$GC,7308,0.84,240.3,279.5,9.3,332,7312,0.00,2.33,0.00,0.000,6,0.000,0.027,3226,1650,1647,0,0,0,0,0,0
$GC,7625,0.91,240.3,254.4,8.1,347,7630,0.10,2.53,0.00,0.000,4,0.078,0.055,3257,243,1647,0,0,0,0,0,0
$GC,7701,0.84,240.3,246.7,10.2,350,7706,0.12,2.30,0.00,0.000,6,0.110,0.026,3234,1656,1645,0,0,0,0,0,0
$GC,8024,0.93,266.2,223.7,6.7,366,8054,0.00,2.60,23.67,0.668,4,0.000,0.054,3234,246,1543,0,0,0,0,0,0
$GC,8102,0.93,266.2,217.7,8.2,369,8106,0.00,2.30,0.00,0.000,6,0.000,0.025,3234,1649,1540,0,0,0,0,0,0
$GC,8426,1.05,305.9,195.7,6.1,387,8469,0.20,2.60,35.00,0.651,4,0.051,0.053,3289,241,1382,0,0,0,0,0,0
$GC,8603,0.92,305.9,176.3,12.4,400,8608,0.20,2.30,0.00,0.000,6,0.091,0.024,3250,1657,1378,0,0,0,0,0,0
$GC,8871,0.96,305.9,153.7,8.7,421,8875,0.00,2.50,0.00,0.000,4,0.000,0.053,3250,239,1377,0,0,0,0,0,0
$GC,8986,0.96,305.9,141.4,9.9,429,8992,0.00,2.28,0.00,0.000,6,0.000,0.023,3250,1653,1375,0,0,0,0,0,0
$GC,9249,1.04,311.9,120.5,7.6,450,9265,0.12,2.55,5.68,0.459,4,0.066,0.051,3290,239,1357,0,0,0,0,0,0
$GC,9354,0.97,311.9,108.6,12.1,457,9359,0.15,2.28,0.00,0.000,6,0.094,0.022,3260,1656,1356,0,0,0,0,0,0
$GC,9618,1.07,311.9,86.7,7.9,477,9622,0.10,2.50,0.00,0.000,4,0.075,0.050,3295,242,1356,0,0,0,0,0,0
$GC,9678,1.07,311.9,80.1,11.3,481,9683,0.00,2.28,0.00,0.000,6,0.000,0.021,3295,1654,1355,0,0,0,0,0,0
$GC,9940,1.13,325.1,59.8,7.3,502,9957,0.00,2.50,12.57,0.497,4,0.000,0.049,3295,239,1303,0,0,0,0,0,0
$GC,10003,1.13,325.1,54.8,8.1,506,10010,0.00,2.30,0.00,0.000,6,0.000,0.021,3295,1661,1301,0,0,0,0,0,0
$GC,10266,1.25,356.5,37.3,6.5,527,10302,0.12,2.53,27.88,0.501,4,0.062,0.048,3338,236,1174,0,0,0,0,0,0
$GC,10385,1.13,356.5,24.3,12.3,541,10391,0.17,2.28,0.00,0.000,6,0.069,0.020,3298,1656,1171,0,0,0,0,0,0
$GC,10588,1.20,367.0,10.4,7.4,587,10606,0.00,2.53,9.38,0.429,4,0.000,0.048,3298,243,1133,0,0,0,0,0,0
$GC,10659,1.17,367.0,3.1,10.7,601,10665,0.00,2.25,0.00,0.000,6,0.000,0.019,3298,1649,1130,0,0,0,0,0,0
$STATE,10670,end climb,SURFACE_DEPTH_REACHED
$STATE,10671,begin surface coast
$FINISH,1.0,1.023045
$STATE,10698,end surface coast,CONTROL_FINISHED_OK
$STATE,10698,begin surface
$SM_CCo,10720,26.88,0.465,0,0,958,410.14
$SM_GC,1.52,0.00,0.00,26.88,0.000,0.000,0.465,428,1648,958,-12.07,-0.06,410.14
$IRIDIUM_FIX,2059.45,-15756.04,271299,232356
$TT8_MAMPS,0.029146
$HUMID,57.95
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.3,53.437
$10V_AH,10.1,44.072
$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,30.900,119.425,423.100,26.875,0.000,24.712,34.711,179.207,4.500,0.000,12.362,1191.653,7052.227,474.806,1851.052,540.620,0.000,1329.297,0.000,1832.805,0.000,29.276,0.000
$DEVICE_MAMPS,133.458,58.292,829.894,464.802,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,409.561,395.174,882.406,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,34942,609
$CAP_FILE_SIZE,122291,0
$CFSIZE,260165632,181559296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031010,060600,2107.731,-15752.828,42,0.9,42,9.8