version: 66.06
glider: 139
mission: 8
dive: 600
start: 10 4 110 11 26 54
data:
$ID,139
$MISSION,8
$DIVE,600
$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,-2163617.5
$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
$GPS1,112014,2105.269,-15750.880,14,2.0,14,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-73.7
$GPS2,112636,2105.278,-15750.918,15,1.6,31,9.8
$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,76.1,13858,-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,13,begin dive
$GC,15,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.25,0.000,2,0.000,0.000,426,1663,2736,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.1,-2.9,12,116,12.65,2.40,-7.10,0.000,4,0.132,0.035,2787,3070,3111,0,0,0,0,0,0
$GC,219,-1.11,-116.8,26.4,-12.3,40,226,0.08,2.45,0.00,0.000,6,0.079,0.033,2806,1648,3112,0,0,0,0,0,0
$GC,424,-0.93,-116.8,56.0,-14.6,59,429,0.20,2.45,0.00,0.000,4,0.089,0.046,2848,241,3113,0,0,0,0,0,0
$GC,478,-0.79,-116.8,64.0,-15.8,63,483,0.12,2.30,0.00,0.000,6,0.100,0.018,2874,1696,3112,0,0,0,0,0,0
$GC,745,-0.84,-116.8,96.2,-9.7,84,749,0.00,2.50,0.00,0.000,4,0.000,0.044,2873,242,3113,0,0,0,0,0,0
$GC,802,-0.91,-116.8,101.1,-8.0,88,807,0.00,2.20,0.00,0.000,6,0.000,0.018,2873,1658,3113,0,0,0,0,0,0
$GC,1063,-0.97,-116.8,119.0,-6.3,108,1065,0.15,0.00,0.00,0.000,6,0.054,0.000,2822,1662,3114,0,0,0,0,0,0
$GC,1316,-0.97,-116.8,141.0,-7.8,128,1321,0.00,2.45,0.00,0.000,4,0.000,0.045,2822,242,3115,0,0,0,0,0,0
$GC,1446,-0.97,-116.8,153.6,-10.7,137,1451,0.00,2.20,0.00,0.000,6,0.000,0.018,2822,1648,3115,0,0,0,0,0,0
$GC,1705,-0.97,-116.8,179.3,-10.5,158,1709,0.00,2.42,0.00,0.000,4,0.000,0.046,2822,243,3115,0,0,0,0,0,0
$GC,1735,-0.93,-116.8,183.0,-12.0,160,1740,0.12,2.20,0.00,0.000,6,0.093,0.019,2848,1656,3115,0,0,0,0,0,0
$GC,2004,-1.01,-116.8,207.2,-8.7,178,2008,0.00,2.42,0.00,0.000,4,0.000,0.047,2849,243,3115,0,0,0,0,0,0
$GC,2041,-1.06,-116.8,210.5,-7.9,179,2047,0.15,2.20,0.00,0.000,6,0.054,0.019,2799,1649,3115,0,0,0,0,0,0
$GC,2361,-1.03,-116.8,235.1,-8.3,195,2366,0.12,2.45,0.00,0.000,4,0.094,0.048,2825,243,3115,0,0,0,0,0,0
$GC,2418,-1.03,-116.8,240.7,-9.2,197,2422,0.00,2.22,0.00,0.000,6,0.000,0.020,2825,1654,3115,0,0,0,0,0,0
$GC,2735,-1.06,-116.8,268.7,-8.9,212,2739,0.00,2.42,0.00,0.000,4,0.000,0.048,2825,244,3115,0,0,0,0,0,0
$GC,2805,-1.10,-116.8,275.1,-8.1,215,2809,0.00,2.22,0.00,0.000,6,0.000,0.021,2825,1653,3115,0,0,0,0,0,0
$GC,3135,-1.15,-116.8,298.4,-7.0,231,3140,0.12,2.47,0.00,0.000,4,0.064,0.049,2780,243,3114,0,0,0,0,0,0
$GC,3191,-1.07,-116.8,304.5,-10.7,233,3196,0.17,2.25,0.00,0.000,6,0.085,0.021,2818,1644,3114,0,0,0,0,0,0
$GC,3510,-1.11,-116.8,331.3,-8.4,241,3515,0.00,2.42,0.00,0.000,4,0.000,0.051,2818,244,3112,0,0,0,0,0,0
$GC,3549,-1.11,-116.8,334.7,-8.8,241,3555,0.00,2.25,0.00,0.000,6,0.000,0.021,2818,1660,3112,0,0,0,0,0,0
$GC,3881,-1.16,-116.8,358.8,-6.9,250,3885,0.00,2.45,0.00,0.000,4,0.000,0.051,2818,244,3110,0,0,0,0,0,0
$GC,3948,-1.19,-116.8,363.7,-7.3,251,3953,0.12,2.22,0.00,0.000,6,0.064,0.022,2777,1645,3110,0,0,0,0,0,0
$GC,4294,-1.16,-116.8,392.6,-8.6,260,4295,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1649,3107,0,0,0,0,0,0
$GC,4620,-1.13,-116.8,420.2,-8.7,268,4625,0.12,2.30,0.00,0.000,4,0.096,0.028,2804,3031,3105,0,0,0,0,0,0
$GC,4641,-1.13,-116.8,422.1,-8.6,268,4645,0.00,2.35,0.00,0.000,6,0.000,0.038,2804,1646,3105,0,0,0,0,0,0
$GC,4986,-1.16,-116.8,447.3,-7.3,277,4991,0.00,2.45,0.00,0.000,4,0.000,0.056,2804,241,3103,0,0,0,0,0,0
$STATE,5017,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5017,begin apogee
$GC,5027,-0.31,0.0,450.2,8.3,277,5127,0.80,0.00,96.72,0.830,6,0.067,0.000,2980,1660,2630,0,0,0,0,0,0
$STATE,5128,end apogee,CONTROL_FINISHED_OK
$STATE,5128,begin climb
$GC,5131,1.18,116.8,452.8,0.0,280,5242,1.42,2.40,101.35,0.812,4,0.038,0.031,3311,3029,2152,0,0,0,0,0,0
$GC,5314,1.00,120.8,448.2,7.7,284,5326,0.20,2.40,4.38,0.518,6,0.101,0.039,3272,1644,2137,0,0,0,0,0,0
$GC,5639,0.92,152.2,426.3,6.5,292,5673,0.00,2.42,28.30,0.785,4,0.000,0.028,3272,3039,2008,0,0,0,0,0,0
$GC,5693,0.89,187.1,422.7,6.3,293,5731,0.15,2.42,32.03,0.782,6,0.100,0.041,3243,1650,1866,0,0,0,0,0,0
$GC,6050,0.90,224.2,400.5,6.2,302,6089,0.00,0.00,33.33,0.783,6,0.000,0.000,3243,1650,1715,0,0,0,0,0,0
$GC,6414,0.90,224.2,371.2,8.7,311,6419,0.00,2.53,0.00,0.000,4,0.000,0.059,3243,244,1710,0,0,0,0,0,0
$GC,6498,0.82,224.2,362.9,10.1,312,6504,0.00,2.33,0.00,0.000,6,0.000,0.027,3243,1658,1706,0,0,0,0,0,0
$GC,6831,0.82,224.2,333.2,9.5,321,6835,0.00,2.53,0.00,0.000,4,0.000,0.058,3243,240,1705,0,0,0,0,0,0
$GC,6896,0.76,224.2,325.7,11.4,322,6901,0.15,2.33,0.00,0.000,6,0.106,0.027,3214,1653,1702,0,0,0,0,0,0
$GC,7243,0.84,230.7,297.3,7.6,331,7255,0.00,2.53,5.03,0.541,4,0.000,0.056,3214,243,1688,0,0,0,0,0,0
$GC,7346,0.84,230.7,288.1,9.4,335,7351,0.00,2.35,0.00,0.000,6,0.000,0.026,3214,1660,1686,0,0,0,0,0,0
$GC,7669,1.01,301.8,268.9,4.7,351,7742,0.25,2.62,63.15,0.722,4,0.049,0.057,3284,249,1398,0,0,0,0,0,0
$GC,7868,0.87,301.8,246.7,14.3,359,7874,0.22,2.33,0.00,0.000,6,0.092,0.025,3239,1656,1392,0,0,0,0,0,0
$GC,8185,0.92,301.8,215.6,9.1,375,8189,0.00,2.53,0.00,0.000,4,0.000,0.056,3239,235,1390,0,0,0,0,0,0
$GC,8279,0.92,301.8,205.5,10.0,379,8284,0.00,2.33,0.00,0.000,6,0.000,0.025,3239,1661,1388,0,0,0,0,0,0
$GC,8612,0.99,301.8,181.1,8.0,403,8618,0.12,2.50,0.00,0.000,4,0.067,0.054,3277,240,1387,0,0,0,0,0,0
$GC,8742,0.89,301.8,164.0,13.7,412,8749,0.12,2.33,0.00,0.000,6,0.075,0.023,3247,1650,1385,0,0,0,0,0,0
$GC,9004,0.99,320.5,141.6,7.1,433,9027,0.00,2.58,15.23,0.576,4,0.000,0.052,3246,241,1323,0,0,0,0,0,0
$GC,9093,1.07,353.2,136.1,6.4,439,9128,0.15,2.30,29.05,0.592,6,0.060,0.022,3294,1662,1190,0,0,0,0,0,0
$GC,9386,1.07,353.2,109.5,9.9,462,9391,0.00,2.50,0.00,0.000,4,0.000,0.051,3294,236,1187,0,0,0,0,0,0
$GC,9488,1.07,353.2,96.9,13.1,469,9493,0.00,2.28,0.00,0.000,6,0.000,0.021,3294,1645,1184,0,0,0,0,0,0
$GC,9748,1.13,353.2,72.3,8.2,490,9752,0.00,2.45,0.00,0.000,4,0.000,0.050,3293,242,1184,0,0,0,0,0,0
$GC,9842,1.13,353.2,64.1,9.4,497,9846,0.00,2.25,0.00,0.000,6,0.000,0.020,3294,1655,1183,0,0,0,0,0,0
$GC,10109,1.22,369.7,43.7,7.2,518,10131,0.10,2.55,14.77,0.484,4,0.072,0.048,3332,241,1121,0,0,0,0,0,0
$GC,10196,1.14,369.7,35.3,10.4,524,10201,0.17,2.28,0.00,0.000,6,0.085,0.019,3296,1652,1117,0,0,0,0,0,0
$GC,10460,1.21,379.1,12.5,7.5,576,10479,0.00,2.53,8.70,0.423,4,0.000,0.049,3295,246,1083,0,0,0,0,0,0
$STATE,10549,end climb,SURFACE_DEPTH_REACHED
$STATE,10549,begin surface coast
$FINISH,1.1,1.023062
$STATE,10577,end surface coast,CONTROL_FINISHED_OK
$STATE,10577,begin surface
$SM_CCo,10602,23.20,0.463,0,0,957,410.14
$SM_GC,1.58,0.00,0.00,23.20,0.000,0.000,0.463,428,1675,957,-12.06,0.71,410.14
$IRIDIUM_FIX,2059.45,-15748.75,291299,080825
$TT8_MAMPS,0.029146
$HUMID,57.83
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.10
$XPDR_PINGS,6
$24V_AH,23.3,54.565
$10V_AH,10.0,44.921
$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,30.300,123.900,432.025,23.200,0.000,22.277,31.457,177.475,6.000,0.000,31.440,1186.718,6900.583,489.724,1898.111,528.029,0.000,1351.145,0.000,1859.767,0.000,29.255,0.000
$DEVICE_MAMPS,131.924,59.059,829.894,462.501,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,403.738,380.165,865.070,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,35037,601
$CAP_FILE_SIZE,121194,0
$CFSIZE,260165632,180948992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041010,142524,2104.885,-15751.099,28,1.0,46,9.8