version: 66.06
glider: 139
mission: 8
dive: 595
start: 10 3 110 19 9 50
data:
$ID,139
$MISSION,8
$DIVE,595
$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,-2163440.5
$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
$GPS1,190300,2106.408,-15750.518,44,2.0,44,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-71.9
$GPS2,190932,2106.389,-15750.536,37,1.4,37,9.8
$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,84.8,13206,-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,-64.25,0.000,2,0.000,0.000,425,1670,2764,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.6,-3.8,12,111,12.68,2.33,-6.35,0.000,4,0.133,0.033,2785,3070,3109,0,0,0,0,0,0
$GC,141,-0.70,-116.8,18.6,-24.1,22,148,0.45,2.45,0.00,0.000,6,0.067,0.035,2894,1654,3111,0,0,0,0,0,0
$GC,341,-0.74,-116.8,39.4,-10.2,54,345,0.00,2.42,0.00,0.000,4,0.000,0.046,2895,241,3112,0,0,0,0,0,0
$GC,401,-0.74,-116.8,46.2,-10.5,58,408,0.00,2.33,0.00,0.000,6,0.000,0.018,2895,1693,3112,0,0,0,0,0,0
$GC,661,-0.74,-116.8,75.0,-11.5,79,665,0.00,2.50,0.00,0.000,4,0.000,0.045,2894,241,3112,0,0,0,0,0,0
$GC,706,-0.74,-116.8,80.9,-12.0,82,713,0.00,2.25,0.00,0.000,6,0.000,0.018,2895,1651,3113,0,0,0,0,0,0
$GC,967,-0.83,-116.8,104.9,-8.2,103,972,0.12,2.45,0.00,0.000,4,0.061,0.045,2848,236,3113,0,0,0,0,0,0
$GC,1050,-0.83,-116.8,113.3,-9.2,109,1055,0.10,2.20,0.00,0.000,6,0.100,0.018,2870,1648,3113,0,0,0,0,0,0
$GC,1314,-0.95,-116.8,129.8,-5.9,129,1319,0.12,0.00,0.00,0.000,6,0.061,0.000,2822,1654,3114,0,0,0,0,0,0
$GC,1574,-0.95,-116.8,153.4,-9.1,150,1579,0.10,2.45,0.00,0.000,4,0.101,0.046,2844,233,3114,0,0,0,0,0,0
$GC,1630,-1.01,-116.8,158.4,-8.3,154,1634,0.00,2.22,0.00,0.000,6,0.000,0.018,2844,1648,3115,0,0,0,0,0,0
$GC,1892,-1.07,-116.8,177.5,-6.8,174,1897,0.12,2.45,0.00,0.000,4,0.062,0.047,2797,233,3115,0,0,0,0,0,0
$GC,1933,-0.97,-116.8,181.2,-10.2,177,1938,0.20,2.22,0.00,0.000,6,0.081,0.019,2841,1654,3115,0,0,0,0,0,0
$GC,2203,-1.02,-116.8,200.2,-7.0,198,2207,0.00,2.42,0.00,0.000,4,0.000,0.048,2841,241,3115,0,0,0,0,0,0
$GC,2264,-1.07,-116.8,205.7,-8.2,200,2271,0.08,2.25,0.00,0.000,6,0.038,0.020,2802,1644,3115,0,0,0,0,0,0
$GC,2579,-1.07,-116.8,235.4,-9.1,216,2583,0.00,2.45,0.00,0.000,4,0.000,0.048,2802,234,3114,0,0,0,0,0,0
$GC,2627,-1.03,-116.8,239.9,-9.6,218,2632,0.12,2.25,0.00,0.000,6,0.093,0.020,2829,1652,3114,0,0,0,0,0,0
$GC,2960,-1.08,-116.8,266.0,-8.1,234,2964,0.00,2.42,0.00,0.000,4,0.000,0.048,2829,242,3113,0,0,0,0,0,0
$GC,3008,-1.13,-116.8,270.3,-8.2,236,3012,0.12,2.22,0.00,0.000,6,0.063,0.021,2786,1652,3113,0,0,0,0,0,0
$GC,3336,-1.08,-116.8,301.9,-9.7,252,3341,0.12,2.28,0.00,0.000,4,0.094,0.025,2813,3022,3112,0,0,0,0,0,0
$GC,3371,-1.20,-116.8,305.2,-8.5,252,3376,0.12,2.30,0.00,0.000,6,0.062,0.035,2767,1647,3112,0,0,0,0,0,0
$GC,3702,-1.13,-116.8,334.2,-8.2,260,3707,0.17,2.45,0.00,0.000,4,0.084,0.051,2804,245,3111,0,0,0,0,0,0
$GC,3746,-1.13,-116.8,337.3,-6.9,261,3750,0.00,2.25,0.00,0.000,6,0.000,0.022,2804,1643,3111,0,0,0,0,0,0
$GC,4075,-1.13,-116.8,359.1,-7.2,269,4079,0.00,2.45,0.00,0.000,4,0.000,0.051,2804,242,3109,0,0,0,0,0,0
$GC,4135,-1.13,-116.8,364.4,-8.6,270,4140,0.00,2.25,0.00,0.000,6,0.000,0.023,2804,1645,3108,0,0,0,0,0,0
$GC,4486,-1.13,-116.8,393.7,-8.6,279,4490,0.00,2.45,0.00,0.000,4,0.000,0.053,2803,239,3106,0,0,0,0,0,0
$GC,4500,-1.13,-116.8,395.1,-8.3,279,4504,0.00,2.28,0.00,0.000,6,0.000,0.024,2804,1660,3106,0,0,0,0,0,0
$GC,4851,-1.13,-116.8,422.3,-7.5,288,4855,0.00,2.50,0.00,0.000,4,0.000,0.054,2804,238,3103,0,0,0,0,0,0
$GC,4895,-1.13,-116.8,425.6,-7.9,289,4899,0.00,2.28,0.00,0.000,6,0.000,0.025,2804,1644,3103,0,0,0,0,0,0
$GC,5228,-1.16,-116.8,449.6,-7.0,297,5232,0.00,2.03,0.00,0.000,3,0.000,0.054,2804,470,3100,0,0,0,0,0,0
$STATE,5232,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5232,begin apogee
$GC,5242,-0.31,0.0,450.0,7.0,297,5341,0.80,0.00,95.93,0.833,6,0.069,0.000,2979,1651,2630,0,0,0,0,0,0
$STATE,5342,end apogee,CONTROL_FINISHED_OK
$STATE,5342,begin climb
$GC,5345,1.18,116.8,451.9,0.0,299,5457,1.42,2.38,101.47,0.815,4,0.038,0.031,3310,3025,2152,0,0,0,0,0,0
$GC,5635,1.03,141.7,439.5,6.8,305,5664,0.17,2.40,22.27,0.774,6,0.100,0.040,3276,1652,2051,0,0,0,0,0,0
$GC,5990,0.94,161.7,415.2,7.0,314,6015,0.10,2.60,17.92,0.762,4,0.122,0.058,3257,245,1969,0,0,0,0,0,0
$GC,6095,0.78,161.7,406.4,8.7,316,6100,0.20,2.35,0.00,0.000,6,0.101,0.027,3219,1651,1964,0,0,0,0,0,0
$GC,6410,0.82,189.7,386.3,6.6,324,6442,0.00,2.58,25.25,0.777,4,0.000,0.056,3219,245,1855,0,0,0,0,0,0
$GC,6482,0.79,205.2,381.3,7.2,325,6503,0.00,2.35,15.20,0.739,6,0.000,0.028,3219,1657,1792,0,0,0,0,0,0
$GC,6834,0.84,219.8,356.7,7.2,334,6855,0.00,2.60,13.57,0.726,4,0.000,0.057,3219,249,1732,0,0,0,0,0,0
$GC,6883,0.84,219.8,352.1,9.5,335,6887,0.00,2.30,0.00,0.000,6,0.000,0.028,3219,1644,1730,0,0,0,0,0,0
$GC,7208,0.90,219.8,323.1,9.2,343,7213,0.12,2.55,0.00,0.000,4,0.070,0.058,3255,237,1729,0,0,0,0,0,0
$GC,7312,0.81,219.8,310.3,12.4,345,7317,0.15,2.35,0.00,0.000,6,0.105,0.027,3226,1656,1726,0,0,0,0,0,0
$GC,7634,0.87,226.8,284.4,7.6,358,7646,0.00,2.60,6.15,0.585,4,0.000,0.057,3226,241,1705,0,0,0,0,0,0
$GC,7736,0.87,226.8,274.9,9.1,362,7740,0.00,2.35,0.00,0.000,6,0.000,0.027,3226,1659,1703,0,0,0,0,0,0
$GC,8058,0.99,262.6,251.2,6.3,378,8097,0.17,2.58,33.00,0.707,4,0.058,0.056,3274,245,1559,0,0,0,0,0,0
$GC,8129,0.86,262.6,244.7,11.2,380,8134,0.17,2.35,0.00,0.000,6,0.097,0.026,3239,1655,1555,0,0,0,0,0,0
$GC,8457,0.93,285.3,219.5,6.9,396,8483,0.00,2.60,20.25,0.660,4,0.000,0.055,3239,249,1465,0,0,0,0,0,0
$GC,8608,0.94,290.8,207.9,7.6,402,8620,0.00,2.30,5.62,0.516,6,0.000,0.025,3239,1665,1443,0,0,0,0,0,0
$GC,8934,1.01,290.8,185.0,7.9,424,8939,0.12,2.55,0.00,0.000,4,0.067,0.054,3277,242,1442,0,0,0,0,0,0
$GC,9058,0.91,290.8,171.0,11.2,433,9063,0.15,2.30,0.00,0.000,6,0.095,0.024,3248,1653,1439,0,0,0,0,0,0
$GC,9322,0.97,290.8,149.6,8.3,453,9326,0.00,2.47,0.00,0.000,4,0.000,0.052,3248,243,1439,0,0,0,0,0,0
$GC,9387,0.97,290.8,143.1,9.4,458,9391,0.00,2.28,0.00,0.000,6,0.000,0.023,3248,1659,1438,0,0,0,0,0,0
$GC,9654,1.13,334.0,123.8,5.9,479,9695,0.20,0.00,37.90,0.592,6,0.049,0.000,3307,1664,1267,0,0,0,0,0,0
$GC,9946,1.17,340.8,99.8,7.6,502,9961,0.00,2.55,6.85,0.469,4,0.000,0.050,3307,247,1239,0,0,0,0,0,0
$GC,10038,1.14,340.8,92.3,8.3,508,10042,0.00,2.28,0.00,0.000,6,0.000,0.021,3307,1658,1236,0,0,0,0,0,0
$GC,10300,1.18,340.8,72.3,8.5,528,10304,0.00,2.47,0.00,0.000,4,0.000,0.048,3307,243,1236,0,0,0,0,0,0
$GC,10332,1.14,340.8,68.8,10.7,530,10339,0.00,2.28,0.00,0.000,6,0.000,0.021,3307,1655,1235,0,0,0,0,0,0
$GC,10594,1.17,340.8,46.7,8.2,551,10598,0.00,2.47,0.00,0.000,4,0.000,0.048,3307,235,1235,0,0,0,0,0,0
$GC,10662,1.17,340.8,39.7,9.9,556,10666,0.00,2.25,0.00,0.000,6,0.000,0.019,3307,1648,1235,0,0,0,0,0,0
$GC,10926,1.17,340.8,15.9,8.0,598,10933,0.00,2.47,0.00,0.000,4,0.000,0.048,3307,244,1234,0,0,0,0,0,0
$GC,11009,1.14,340.8,6.9,9.5,616,11016,0.00,2.25,0.00,0.000,6,0.000,0.018,3307,1644,1235,0,0,0,0,0,0
$STATE,11050,end climb,SURFACE_DEPTH_REACHED
$STATE,11050,begin surface coast
$FINISH,1.0,1.023033
$STATE,11086,end surface coast,CONTROL_FINISHED_OK
$STATE,11088,begin surface
$SM_CCo,11110,39.53,0.470,0,0,956,410.14
$SM_GC,1.59,0.00,0.00,39.53,0.000,0.000,0.470,427,1647,956,-12.07,-0.08,410.14
$IRIDIUM_FIX,2059.45,-15748.75,281299,151547
$TT8_MAMPS,0.028379
$HUMID,57.79
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.3,53.984
$10V_AH,10.1,44.498
$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,30.800,137.600,401.400,39.525,0.000,28.034,37.912,170.500,4.500,0.000,38.157,1265.700,7178.023,470.718,2059.981,562.713,0.000,1406.669,0.000,2009.217,0.000,29.262,0.000
$DEVICE_MAMPS,133.458,58.292,832.962,470.171,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,426.011,410.427,915.326,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,34931,633
$CAP_FILE_SIZE,131063,0
$CFSIZE,260165632,181248000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031010,221707,2106.101,-15750.413,42,0.9,48,9.8