version: 66.06
glider: 139
mission: 8
dive: 593
start: 10 3 110 12 29 52
data:
$ID,139
$MISSION,8
$DIVE,593
$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,-2163387.8
$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
$GPS1,122324,2106.940,-15751.902,43,1.3,43,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-74.4
$GPS2,122932,2106.950,-15751.908,12,1.3,12,9.8
$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,87.9,15676,-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,-116.8,0.0,0.0,0,82,0.00,0.00,-64.72,0.000,2,0.000,0.000,428,1651,2751,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.7,-4.1,12,110,12.65,2.53,-6.65,0.000,4,0.132,0.059,2786,240,3109,0,0,0,0,0,0
$GC,128,-0.08,-116.8,16.8,-28.9,19,135,1.12,2.38,0.00,0.000,6,0.080,0.019,3030,1706,3109,0,0,0,0,0,0
$GC,335,-0.65,-116.8,32.6,-9.6,62,342,0.52,2.53,0.00,0.000,4,0.040,0.042,2899,244,3112,0,0,0,0,0,0
$GC,378,-0.73,-116.8,37.9,-10.3,65,382,0.00,2.30,0.00,0.000,6,0.000,0.018,2899,1706,3112,0,0,0,0,0,0
$GC,638,-0.77,-116.8,63.5,-9.4,85,643,0.00,2.53,0.00,0.000,4,0.000,0.045,2899,244,3112,0,0,0,0,0,0
$GC,678,-0.77,-116.8,67.7,-11.3,88,682,0.00,2.33,0.00,0.000,6,0.000,0.018,2899,1703,3113,0,0,0,0,0,0
$GC,943,-0.86,-116.8,91.0,-8.9,109,948,0.17,2.53,0.00,0.000,4,0.049,0.045,2842,245,3113,0,0,0,0,0,0
$GC,1005,-0.82,-116.8,98.6,-12.3,113,1013,0.10,2.28,0.00,0.000,6,0.067,0.018,2869,1693,3113,0,0,0,0,0,0
$GC,1266,-0.89,-116.8,121.9,-8.3,134,1270,0.00,2.50,0.00,0.000,4,0.000,0.046,2868,236,3113,0,0,0,0,0,0
$GC,1322,-0.97,-116.8,127.4,-9.1,138,1327,0.12,2.22,0.00,0.000,6,0.061,0.018,2823,1659,3114,0,0,0,0,0,0
$GC,1582,-0.97,-116.8,153.0,-9.3,158,1587,0.00,2.42,0.00,0.000,4,0.000,0.046,2823,245,3114,0,0,0,0,0,0
$GC,1622,-0.92,-116.8,157.0,-10.7,161,1627,0.12,2.20,0.00,0.000,6,0.093,0.018,2850,1651,3114,0,0,0,0,0,0
$GC,1894,-1.00,-116.8,176.0,-6.6,182,1898,0.00,2.42,0.00,0.000,4,0.000,0.046,2850,245,3115,0,0,0,0,0,0
$GC,1963,-1.08,-116.8,181.4,-7.7,187,1968,0.15,2.20,0.00,0.000,6,0.055,0.019,2797,1647,3115,0,0,0,0,0,0
$GC,2237,-1.04,-116.8,207.7,-10.4,206,2242,0.12,2.28,0.00,0.000,4,0.093,0.023,2825,3027,3115,0,0,0,0,0,0
$GC,2275,-1.17,-116.8,211.5,-8.6,207,2281,0.15,2.30,0.00,0.000,6,0.054,0.032,2771,1647,3115,0,0,0,0,0,0
$GC,2595,-1.09,-116.8,246.0,-11.1,223,2600,0.17,2.45,0.00,0.000,4,0.085,0.048,2810,237,3114,0,0,0,0,0,0
$GC,2619,-1.03,-116.8,249.2,-10.7,224,2624,0.00,2.25,0.00,0.000,6,0.000,0.020,2810,1657,3115,0,0,0,0,0,0
$GC,2945,-1.03,-116.8,278.3,-8.0,240,2949,0.00,2.45,0.00,0.000,4,0.000,0.048,2810,247,3114,0,0,0,0,0,0
$GC,3001,-1.03,-116.8,283.2,-8.3,242,3005,0.00,2.20,0.00,0.000,6,0.000,0.021,2810,1644,3114,0,0,0,0,0,0
$GC,3321,-1.03,-116.8,306.4,-6.9,256,3325,0.00,2.42,0.00,0.000,4,0.000,0.049,2810,239,3113,0,0,0,0,0,0
$GC,3364,-1.03,-116.8,309.8,-7.5,257,3368,0.00,2.25,0.00,0.000,6,0.000,0.021,2810,1650,3113,0,0,0,0,0,0
$GC,3696,-1.03,-116.8,334.3,-7.4,265,3700,0.00,2.30,0.00,0.000,4,0.000,0.027,2810,3031,3112,0,0,0,0,0,0
$GC,3721,-1.11,-116.8,336.1,-8.0,265,3725,0.00,2.35,0.00,0.000,6,0.000,0.035,2810,1645,3112,0,0,0,0,0,0
$GC,4067,-1.14,-116.8,362.4,-7.7,274,4071,0.00,2.42,0.00,0.000,4,0.000,0.051,2810,240,3109,0,0,0,0,0,0
$GC,4137,-1.14,-116.8,368.3,-8.4,275,4141,0.00,2.28,0.00,0.000,6,0.000,0.023,2810,1645,3109,0,0,0,0,0,0
$GC,4485,-1.18,-116.8,392.5,-6.9,284,4489,0.00,2.45,0.00,0.000,4,0.000,0.052,2810,240,3106,0,0,0,0,0,0
$GC,4504,-1.18,-116.8,394.1,-7.2,284,4508,0.00,2.28,0.00,0.000,6,0.000,0.025,2810,1659,3106,0,0,0,0,0,0
$GC,4852,-1.23,-116.8,422.1,-8.5,293,4857,0.12,2.50,0.00,0.000,4,0.066,0.054,2770,241,3104,0,0,0,0,0,0
$GC,4887,-1.12,-116.8,426.0,-10.8,293,4892,0.17,2.28,0.00,0.000,6,0.088,0.025,2808,1647,3104,0,0,0,0,0,0
$STATE,5217,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5217,begin apogee
$GC,5224,-0.31,0.0,452.8,7.6,301,5324,0.80,0.00,96.88,0.831,6,0.066,0.000,2981,1652,2630,0,0,0,0,0,0
$STATE,5325,end apogee,CONTROL_FINISHED_OK
$STATE,5325,begin climb
$GC,5328,1.18,116.8,455.3,0.0,303,5439,1.42,2.35,101.97,0.814,4,0.038,0.031,3312,3027,2152,0,0,0,0,0,0
$GC,5618,1.00,116.8,444.6,7.9,309,5623,0.22,2.40,0.00,0.000,6,0.095,0.040,3267,1654,2147,0,0,0,0,0,0
$GC,5965,0.94,158.3,423.4,6.0,318,6004,0.00,0.00,36.45,0.793,6,0.000,0.000,3267,1654,1984,0,0,0,0,0,0
$GC,6329,0.85,158.3,395.3,8.0,327,6334,0.17,2.35,0.00,0.000,4,0.101,0.031,3233,3035,1977,0,0,0,0,0,0
$GC,6410,0.88,160.6,389.1,7.8,328,6415,0.00,2.40,0.00,0.000,6,0.000,0.041,3233,1645,1977,0,0,0,0,0,0
$GC,6741,0.88,160.6,361.6,8.6,336,6746,0.00,2.50,0.00,0.000,4,0.000,0.057,3233,244,1974,0,0,0,0,0,0
$GC,6855,0.81,160.6,351.9,8.4,338,6859,0.00,2.33,0.00,0.000,6,0.000,0.027,3233,1659,1970,0,0,0,0,0,0
$GC,7201,0.87,207.9,329.9,5.8,347,7250,0.00,2.60,43.33,0.764,4,0.000,0.057,3233,244,1782,0,0,0,0,0,0
$GC,7297,0.82,207.9,322.5,8.7,349,7301,0.00,2.35,0.00,0.000,6,0.000,0.027,3233,1655,1777,0,0,0,0,0,0
$GC,7617,0.83,219.3,298.4,7.4,357,7633,0.00,2.60,10.65,0.669,4,0.000,0.057,3233,249,1734,0,0,0,0,0,0
$GC,7693,0.85,230.8,292.6,7.4,360,7711,0.00,2.33,11.45,0.667,6,0.000,0.027,3233,1665,1688,0,0,0,0,0,0
$GC,8047,0.89,230.8,267.9,8.3,377,8051,0.00,2.53,0.00,0.000,4,0.000,0.054,3233,243,1685,0,0,0,0,0,0
$GC,8162,0.89,230.8,256.2,9.2,382,8166,0.00,2.33,0.00,0.000,6,0.000,0.026,3233,1648,1682,0,0,0,0,0,0
$GC,8489,0.96,242.3,230.7,7.4,398,8505,0.12,2.58,10.40,0.622,4,0.069,0.054,3270,243,1642,0,0,0,0,0,0
$GC,8583,0.87,242.3,221.7,10.5,402,8588,0.15,2.33,0.00,0.000,6,0.100,0.025,3241,1656,1638,0,0,0,0,0,0
$GC,8908,0.94,255.2,197.8,7.3,418,8926,0.00,2.58,12.60,0.608,4,0.000,0.053,3241,234,1588,0,0,0,0,0,0
$GC,8981,0.94,255.2,190.8,9.4,423,8985,0.00,2.33,0.00,0.000,6,0.000,0.024,3241,1650,1585,0,0,0,0,0,0
$GC,9243,1.00,255.2,169.0,8.4,443,9248,0.12,2.53,0.00,0.000,4,0.067,0.052,3280,236,1585,0,0,0,0,0,0
$GC,9310,0.90,255.2,161.4,11.7,448,9315,0.17,2.33,0.00,0.000,6,0.092,0.023,3245,1665,1584,0,0,0,0,0,0
$GC,9579,1.01,300.0,142.2,5.9,469,9625,0.10,2.60,39.25,0.604,4,0.077,0.051,3277,248,1406,0,0,0,0,0,0
$GC,9689,0.94,300.0,132.9,9.1,477,9694,0.12,2.30,0.00,0.000,6,0.099,0.022,3252,1660,1402,0,0,0,0,0,0
$GC,9955,1.06,310.4,115.8,7.4,498,9971,0.12,2.53,9.90,0.514,4,0.065,0.048,3292,242,1363,0,0,0,0,0,0
$GC,10064,1.02,310.4,102.8,12.4,505,10069,0.00,2.28,0.00,0.000,6,0.000,0.021,3292,1666,1360,0,0,0,0,0,0
$GC,10325,1.09,310.4,78.9,8.0,526,10330,0.00,2.47,0.00,0.000,4,0.000,0.048,3292,241,1360,0,0,0,0,0,0
$GC,10385,1.09,310.4,73.6,8.7,530,10392,0.00,2.28,0.00,0.000,6,0.000,0.021,3292,1655,1359,0,0,0,0,0,0
$GC,10648,1.18,323.5,55.8,7.3,551,10662,0.00,0.00,11.98,0.479,6,0.000,0.000,3292,1656,1310,0,0,0,0,0,0
$GC,10913,1.26,339.9,35.1,7.2,572,10935,0.15,2.53,15.30,0.475,4,0.054,0.048,3342,246,1243,0,0,0,0,0,0
$GC,11022,1.13,339.9,22.3,12.7,588,11029,0.20,2.25,0.00,0.000,6,0.067,0.019,3287,1653,1239,0,0,0,0,0,0
$STATE,11219,end climb,SURFACE_DEPTH_REACHED
$STATE,11219,begin surface coast
$FINISH,0.9,1.010044
$STATE,11257,end surface coast,CONTROL_FINISHED_OK
$STATE,11257,begin surface
$SM_CCo,11280,42.38,0.468,0,0,958,410.14
$SM_GC,1.52,0.00,0.00,42.38,0.000,0.000,0.468,427,1657,958,-12.07,0.20,410.14
$IRIDIUM_FIX,2059.45,-15750.89,281299,090910
$TT8_MAMPS,0.029146
$HUMID,57.79
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.40
$XPDR_PINGS,1
$24V_AH,23.3,53.757
$10V_AH,10.0,44.323
$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,31.950,133.725,400.150,42.375,0.000,28.124,34.137,176.682,4.750,0.000,12.824,1274.306,7388.953,484.339,1988.865,552.280,0.000,1375.938,0.000,1966.829,0.000,29.255,0.000
$DEVICE_MAMPS,131.924,59.059,830.661,467.870,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,431.434,409.902,939.612,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,34869,641
$CAP_FILE_SIZE,128332,0
$CFSIZE,260165632,181370880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031010,153937,2106.622,-15751.188,24,1.4,24,9.8