version: 66.06
glider: 139
mission: 8
dive: 591
start: 10 3 110 6 12 27
data:
$ID,139
$MISSION,8
$DIVE,591
$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,-2163338
$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
$GPS1,060600,2107.731,-15752.828,42,0.9,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-70.6
$GPS2,061208,2107.706,-15752.824,13,1.6,13,9.8
$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,91.8,17471,-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,-116.8,0.0,0.0,0,77,0.00,0.00,-59.38,0.000,2,0.000,0.000,427,1650,2591,0,0,0,0,0,0
$GC,81,-1.18,-116.8,3.0,-3.0,11,111,12.65,2.45,-10.27,0.000,4,0.133,0.056,2784,244,3108,0,0,0,0,0,0
$GC,154,-0.91,-116.8,20.5,-21.6,25,161,0.28,2.35,0.00,0.000,6,0.083,0.019,2846,1688,3109,0,0,0,0,0,0
$GC,364,-0.80,-116.8,52.2,-13.9,49,369,0.12,2.53,0.00,0.000,4,0.100,0.047,2872,242,3110,0,0,0,0,0,0
$GC,392,-0.70,-116.8,56.0,-13.7,51,397,0.12,2.22,0.00,0.000,6,0.097,0.018,2897,1663,3110,0,0,0,0,0,0
$GC,660,-0.81,-116.8,80.6,-6.8,72,665,0.12,2.45,0.00,0.000,4,0.061,0.044,2851,245,3111,0,0,0,0,0,0
$GC,708,-0.81,-116.8,85.1,-9.0,75,714,0.10,2.20,0.00,0.000,6,0.100,0.018,2872,1653,3111,0,0,0,0,0,0
$GC,969,-0.89,-116.8,106.2,-7.2,96,973,0.00,2.42,0.00,0.000,4,0.000,0.044,2872,239,3112,0,0,0,0,0,0
$GC,1050,-1.00,-116.8,112.7,-8.0,102,1055,0.17,2.22,0.00,0.000,6,0.048,0.018,2812,1662,3112,0,0,0,0,0,0
$GC,1316,-1.00,-116.8,140.0,-10.8,123,1320,0.00,2.45,0.00,0.000,4,0.000,0.045,2811,239,3112,0,0,0,0,0,0
$GC,1335,-0.95,-116.8,142.3,-10.4,124,1340,0.15,2.22,0.00,0.000,6,0.087,0.018,2844,1659,3113,0,0,0,0,0,0
$GC,1605,-1.02,-116.8,165.9,-8.8,145,1610,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1663,3113,0,0,0,0,0,0
$GC,1864,-1.08,-116.8,188.7,-8.5,166,1869,0.12,2.47,0.00,0.000,4,0.061,0.048,2796,244,3113,0,0,0,0,0,0
$GC,1920,-0.98,-116.8,195.2,-13.1,170,1925,0.17,2.20,0.00,0.000,6,0.082,0.020,2834,1642,3113,0,0,0,0,0,0
$GC,2187,-1.04,-116.8,221.0,-9.9,184,2192,0.00,2.42,0.00,0.000,4,0.000,0.048,2834,245,3113,0,0,0,0,0,0
$GC,2258,-1.07,-116.8,228.6,-10.0,187,2262,0.00,2.22,0.00,0.000,6,0.000,0.020,2833,1655,3113,0,0,0,0,0,0
$GC,2587,-1.13,-116.8,255.2,-7.5,203,2592,0.12,2.47,0.00,0.000,4,0.064,0.048,2789,244,3113,0,0,0,0,0,0
$GC,2622,-1.03,-116.8,258.3,-9.1,204,2627,0.17,2.25,0.00,0.000,6,0.082,0.021,2826,1645,3113,0,0,0,0,0,0
$GC,2941,-1.09,-116.8,279.7,-6.5,219,2942,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1649,3111,0,0,0,0,0,0
$GC,3268,-1.14,-116.8,305.1,-8.5,234,3273,0.10,2.45,0.00,0.000,4,0.074,0.051,2788,241,3110,0,0,0,0,0,0
$GC,3339,-1.06,-116.8,313.5,-11.6,235,3344,0.15,2.25,0.00,0.000,6,0.088,0.022,2820,1655,3110,0,0,0,0,0,0
$GC,3682,-1.11,-116.8,344.8,-8.9,244,3686,0.00,2.45,0.00,0.000,4,0.000,0.051,2819,243,3108,0,0,0,0,0,0
$GC,3725,-1.15,-116.8,349.0,-9.2,245,3729,0.00,2.25,0.00,0.000,6,0.000,0.023,2820,1649,3108,0,0,0,0,0,0
$GC,4055,-1.20,-116.8,373.5,-6.9,253,4060,0.15,2.45,0.00,0.000,4,0.058,0.052,2771,247,3106,0,0,0,0,0,0
$GC,4112,-1.10,-116.8,378.8,-10.2,254,4117,0.17,2.25,0.00,0.000,6,0.087,0.023,2808,1648,3105,0,0,0,0,0,0
$GC,4430,-1.14,-116.8,400.5,-6.8,262,4435,0.00,2.45,0.00,0.000,4,0.000,0.054,2808,245,3104,0,0,0,0,0,0
$GC,4468,-1.14,-116.8,403.8,-8.0,262,4473,0.00,2.28,0.00,0.000,6,0.000,0.025,2808,1653,3103,0,0,0,0,0,0
$GC,4799,-1.17,-116.8,432.1,-9.4,271,4800,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1658,3101,0,0,0,0,0,0
$STATE,4999,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4999,begin apogee
$GC,5006,-0.31,0.0,451.1,9.3,276,5106,0.80,0.00,96.70,0.834,6,0.064,0.000,2982,1658,2630,0,0,0,0,0,0
$STATE,5107,end apogee,CONTROL_FINISHED_OK
$STATE,5107,begin climb
$GC,5110,1.18,116.8,455.0,0.0,278,5222,1.40,2.35,101.72,0.818,4,0.036,0.032,3308,3025,2153,0,0,0,0,0,0
$GC,5405,1.05,151.0,447.8,6.4,284,5442,0.15,2.38,30.60,0.788,6,0.106,0.041,3279,1654,2013,0,0,0,0,0,0
$GC,5752,0.92,151.0,420.5,8.7,293,5756,0.15,2.33,0.00,0.000,4,0.105,0.030,3250,3035,2005,0,0,0,0,0,0
$GC,5789,0.92,151.0,417.2,8.0,293,5795,0.00,2.40,0.00,0.000,6,0.000,0.041,3250,1651,2005,0,0,0,0,0,0
$GC,6121,0.87,151.0,390.2,8.1,302,6122,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1651,2002,0,0,0,0,0,0
$GC,6447,0.86,170.8,366.6,7.0,310,6471,0.00,2.55,16.77,0.749,4,0.000,0.057,3250,238,1931,0,0,0,0,0,0
$GC,6514,0.75,170.8,360.3,10.1,311,6519,0.20,2.35,0.00,0.000,6,0.100,0.028,3212,1648,1929,0,0,0,0,0,0
$GC,6862,0.87,229.5,340.7,5.2,320,6923,0.12,2.58,53.03,0.772,4,0.072,0.057,3247,237,1692,0,0,0,0,0,0
$GC,7006,0.80,229.5,328.2,10.5,323,7010,0.00,2.35,0.00,0.000,6,0.000,0.028,3247,1657,1686,0,0,0,0,0,0
$GC,7324,0.80,229.5,301.5,8.3,331,7329,0.12,2.55,0.00,0.000,4,0.102,0.057,3222,236,1685,0,0,0,0,0,0
$GC,7408,0.80,229.5,294.1,8.9,333,7413,0.00,2.35,0.00,0.000,6,0.000,0.027,3222,1652,1681,0,0,0,0,0,0
$GC,7727,0.93,281.8,274.7,5.5,349,7778,0.12,2.58,44.55,0.723,4,0.071,0.058,3258,241,1480,0,0,0,0,0,0
$GC,7877,0.86,281.8,260.2,11.3,355,7882,0.00,2.35,0.00,0.000,6,0.000,0.026,3258,1656,1475,0,0,0,0,0,0
$GC,8193,0.88,296.9,233.7,7.2,371,8215,0.00,2.60,13.52,0.641,4,0.000,0.055,3258,247,1418,0,0,0,0,0,0
$GC,8314,0.84,296.9,222.6,9.2,376,8319,0.12,2.33,0.00,0.000,6,0.103,0.025,3234,1656,1414,0,0,0,0,0,0
$GC,8634,0.92,296.9,197.8,8.9,392,8638,0.00,2.50,0.00,0.000,4,0.000,0.054,3234,241,1414,0,0,0,0,0,0
$GC,8747,0.95,296.9,186.7,9.3,400,8751,0.00,2.30,0.00,0.000,6,0.000,0.024,3234,1655,1412,0,0,0,0,0,0
$GC,9008,1.03,310.7,166.8,7.3,420,9026,0.17,2.55,12.40,0.582,4,0.054,0.053,3285,241,1362,0,0,0,0,0,0
$GC,9085,0.94,310.7,158.8,10.4,425,9090,0.15,2.30,0.00,0.000,6,0.097,0.022,3255,1650,1360,0,0,0,0,0,0
$GC,9347,0.97,310.7,136.9,8.8,445,9351,0.00,2.50,0.00,0.000,4,0.000,0.051,3255,236,1360,0,0,0,0,0,0
$GC,9394,0.97,310.7,131.9,10.0,448,9400,0.00,2.33,0.00,0.000,6,0.000,0.022,3255,1666,1359,0,0,0,0,0,0
$GC,9656,1.09,334.4,113.9,6.8,469,9684,0.15,2.55,21.58,0.565,4,0.057,0.049,3302,236,1265,0,0,0,0,0,0
$GC,9786,1.01,334.4,100.1,11.5,478,9791,0.17,2.28,0.00,0.000,6,0.088,0.021,3266,1662,1261,0,0,0,0,0,0
$GC,10054,1.13,357.7,81.4,6.8,499,10082,0.12,2.53,20.67,0.528,4,0.063,0.048,3308,242,1169,0,0,0,0,0,0
$GC,10170,1.13,357.7,70.9,8.8,507,10174,0.00,2.28,0.00,0.000,6,0.000,0.021,3308,1657,1165,0,0,0,0,0,0
$GC,10438,1.19,368.9,52.7,7.4,528,10454,0.00,2.50,10.60,0.468,4,0.000,0.047,3308,242,1123,0,0,0,0,0,0
$GC,10533,1.19,368.9,43.6,9.5,534,10540,0.00,2.28,0.00,0.000,6,0.000,0.020,3308,1662,1120,0,0,0,0,0,0
$GC,10796,1.19,368.9,19.0,10.2,571,10803,0.00,2.50,0.00,0.000,4,0.000,0.048,3308,244,1120,0,0,0,0,0,0
$GC,10882,1.19,368.9,10.8,8.9,590,10889,0.00,2.22,0.00,0.000,6,0.000,0.019,3308,1641,1119,0,0,0,0,0,0
$STATE,10962,end climb,SURFACE_DEPTH_REACHED
$STATE,10962,begin surface coast
$FINISH,0.9,0.999033
$STATE,11000,end surface coast,CONTROL_FINISHED_OK
$STATE,11000,begin surface
$SM_CCo,11023,25.70,0.463,0,0,958,410.14
$SM_GC,1.55,0.00,0.00,25.70,0.000,0.000,0.463,427,1644,958,-12.07,-0.17,410.14
$IRIDIUM_FIX,2059.45,-15756.04,281299,030358
$TT8_MAMPS,0.028379
$HUMID,57.52
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.40
$XPDR_PINGS,4
$24V_AH,23.3,53.544
$10V_AH,10.0,44.155
$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,31.150,124.025,422.150,25.700,0.000,31.346,34.171,171.091,5.500,0.000,13.322,1228.928,7221.386,478.062,1929.790,554.241,0.000,1362.886,0.000,1906.832,0.000,29.261,0.000
$DEVICE_MAMPS,132.691,57.525,833.729,462.501,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,414.563,392.877,882.017,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,34929,616
$CAP_FILE_SIZE,125788,0
$CFSIZE,260165632,181497856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031010,091726,2107.324,-15752.284,12,1.7,12,9.8