version: 66.06
glider: 139
mission: 8
dive: 602
start: 10 4 110 17 42 39
data:
$ID,139
$MISSION,8
$DIVE,602
$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,-2163673
$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
$GPS1,173528,2104.966,-15750.967,17,2.6,36,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-72.4
$GPS2,174221,2104.941,-15750.969,15,3.0,34,9.8
$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,73.6,14003,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.18,-116.8,0.0,0.0,0,84,0.00,0.00,-64.15,0.000,2,0.000,0.000,422,1655,2755,0,0,0,0,0,0
$GC,87,-1.18,-116.8,3.7,-4.3,12,112,12.70,2.45,-6.43,0.000,4,0.133,0.055,2787,245,3108,0,0,0,0,0,0
$GC,133,-0.26,-116.8,17.4,-28.6,20,141,0.93,2.35,0.00,0.000,6,0.080,0.020,2989,1699,3109,0,0,0,0,0,0
$GC,337,-0.54,-116.8,32.4,-6.2,60,342,0.25,2.53,0.00,0.000,4,0.039,0.043,2909,240,3111,0,0,0,0,0,0
$GC,404,-0.62,-116.8,38.6,-11.5,65,408,0.00,2.22,0.00,0.000,6,0.000,0.018,2909,1662,3111,0,0,0,0,0,0
$GC,670,-0.70,-116.8,66.2,-10.0,86,675,0.00,2.47,0.00,0.000,4,0.000,0.046,2909,241,3111,0,0,0,0,0,0
$GC,730,-0.76,-116.8,73.2,-11.8,90,736,0.08,2.22,0.00,0.000,6,0.036,0.018,2870,1645,3112,0,0,0,0,0,0
$GC,992,-0.82,-116.8,100.4,-10.9,111,996,0.00,2.42,0.00,0.000,4,0.000,0.045,2869,244,3112,0,0,0,0,0,0
$GC,1056,-0.91,-116.8,105.9,-7.5,115,1062,0.00,2.20,0.00,0.000,6,0.000,0.018,2870,1644,3112,0,0,0,0,0,0
$GC,1317,-0.99,-116.8,124.2,-7.2,136,1322,0.15,2.42,0.00,0.000,4,0.054,0.045,2817,241,3113,0,0,0,0,0,0
$GC,1452,-0.99,-116.8,140.0,-11.6,146,1457,0.00,2.22,0.00,0.000,6,0.000,0.018,2817,1646,3113,0,0,0,0,0,0
$GC,1724,-0.99,-116.8,162.0,-8.1,167,1728,0.00,2.42,0.00,0.000,4,0.000,0.046,2816,245,3113,0,0,0,0,0,0
$GC,1816,-0.99,-116.8,171.3,-9.7,174,1820,0.00,2.22,0.00,0.000,6,0.000,0.018,2816,1649,3114,0,0,0,0,0,0
$GC,2082,-0.99,-116.8,194.2,-8.6,195,2086,0.00,2.22,0.00,0.000,4,0.000,0.023,2817,3026,3113,0,0,0,0,0,0
$GC,2110,-1.05,-116.8,197.0,-9.1,197,2114,0.00,2.30,0.00,0.000,6,0.000,0.032,2816,1647,3113,0,0,0,0,0,0
$GC,2382,-1.05,-116.8,222.3,-9.7,211,2386,0.00,2.42,0.00,0.000,4,0.000,0.047,2816,237,3113,0,0,0,0,0,0
$GC,2416,-1.05,-116.8,225.6,-9.8,212,2420,0.00,2.25,0.00,0.000,6,0.000,0.020,2817,1654,3113,0,0,0,0,0,0
$GC,2736,-1.05,-116.8,249.2,-6.9,228,2740,0.00,2.45,0.00,0.000,4,0.000,0.048,2816,238,3113,0,0,0,0,0,0
$GC,2777,-1.05,-116.8,252.6,-7.9,229,2783,0.00,2.22,0.00,0.000,6,0.000,0.021,2817,1648,3113,0,0,0,0,0,0
$GC,3097,-1.09,-116.8,282.1,-11.0,245,3101,0.00,2.25,0.00,0.000,4,0.000,0.025,2817,3021,3112,0,0,0,0,0,0
$GC,3121,-1.18,-116.8,285.3,-11.3,246,3126,0.10,2.33,0.00,0.000,6,0.072,0.034,2776,1642,3112,0,0,0,0,0,0
$GC,3445,-1.13,-116.8,322.6,-10.6,257,3450,0.12,2.42,0.00,0.000,4,0.095,0.050,2803,239,3110,0,0,0,0,0,0
$GC,3483,-1.13,-116.8,326.3,-9.0,257,3489,0.00,2.25,0.00,0.000,6,0.000,0.021,2802,1652,3110,0,0,0,0,0,0
$GC,3815,-1.13,-116.8,349.0,-6.2,266,3819,0.00,2.45,0.00,0.000,4,0.000,0.051,2802,241,3109,0,0,0,0,0,0
$GC,3849,-1.10,-116.8,351.4,-6.7,266,3853,0.00,2.25,0.00,0.000,6,0.000,0.023,2803,1649,3109,0,0,0,0,0,0
$GC,4181,-1.10,-116.8,375.4,-7.8,274,4182,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1654,3106,0,0,0,0,0,0
$GC,4505,-1.10,-116.8,406.6,-10.2,282,4510,0.00,2.45,0.00,0.000,4,0.000,0.053,2802,244,3104,0,0,0,0,0,0
$GC,4526,-1.10,-116.8,409.0,-11.8,282,4530,0.00,2.28,0.00,0.000,6,0.000,0.024,2802,1646,3104,0,0,0,0,0,0
$GC,4871,-1.13,-116.8,447.7,-11.0,291,4875,0.00,2.47,0.00,0.000,4,0.000,0.056,2802,247,3102,0,0,0,0,0,0
$STATE,4892,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4892,begin apogee
$GC,4901,-0.31,0.0,450.4,11.1,291,5001,0.80,0.00,96.50,0.829,6,0.068,0.000,2978,1649,2630,0,0,0,0,0,0
$STATE,5002,end apogee,CONTROL_FINISHED_OK
$STATE,5002,begin climb
$GC,5006,1.18,116.8,455.5,0.0,294,5117,1.42,2.38,101.50,0.815,4,0.037,0.031,3309,3029,2152,0,0,0,0,0,0
$GC,5305,1.00,116.8,441.6,9.1,300,5310,0.20,2.40,0.00,0.000,6,0.098,0.040,3270,1645,2148,0,0,0,0,0,0
$GC,5644,0.92,149.0,417.9,6.4,309,5677,0.00,2.58,27.88,0.785,4,0.000,0.057,3270,239,2022,0,0,0,0,0,0
$GC,5736,0.73,150.5,412.2,7.8,311,5741,0.30,2.35,0.00,0.000,6,0.096,0.026,3212,1648,2016,0,0,0,0,0,0
$GC,6061,0.83,229.2,398.4,4.3,319,6138,0.00,2.38,71.03,0.802,4,0.000,0.031,3212,3035,1695,0,0,0,0,0,0
$GC,6151,0.94,257.9,392.9,6.6,321,6184,0.20,2.42,26.52,0.762,6,0.052,0.041,3265,1652,1577,0,0,0,0,0,0
$GC,6519,0.88,257.9,353.1,12.0,330,6524,0.12,2.53,0.00,0.000,4,0.104,0.059,3241,242,1569,0,0,0,0,0,0
$GC,6619,0.81,257.9,340.2,12.8,332,6623,0.00,2.35,0.00,0.000,6,0.000,0.028,3240,1655,1565,0,0,0,0,0,0
$GC,6938,0.81,257.9,304.8,10.9,340,6943,0.00,2.55,0.00,0.000,4,0.000,0.058,3241,234,1564,0,0,0,0,0,0
$GC,7022,0.76,257.9,294.7,11.6,342,7030,0.10,2.38,0.00,0.000,6,0.087,0.028,3217,1653,1562,0,0,0,0,0,0
$GC,7341,0.89,306.8,272.3,5.7,358,7389,0.12,2.58,40.92,0.721,4,0.071,0.057,3253,242,1379,0,0,0,0,0,0
$GC,7485,0.84,306.8,258.7,10.5,364,7489,0.00,2.35,0.00,0.000,6,0.000,0.026,3254,1658,1373,0,0,0,0,0,0
$GC,7804,0.84,306.8,228.7,9.4,380,7809,0.00,2.53,0.00,0.000,4,0.000,0.055,3254,241,1372,0,0,0,0,0,0
$GC,7903,0.80,306.8,217.2,11.8,384,7908,0.15,2.33,0.00,0.000,6,0.102,0.025,3225,1649,1370,0,0,0,0,0,0
$GC,8227,0.90,306.8,189.7,8.7,403,8232,0.10,2.50,0.00,0.000,4,0.077,0.055,3256,242,1369,0,0,0,0,0,0
$GC,8310,0.85,306.8,179.7,12.9,409,8315,0.10,2.33,0.00,0.000,6,0.114,0.025,3238,1664,1368,0,0,0,0,0,0
$GC,8581,0.93,308.4,155.8,7.8,430,8585,0.00,2.53,0.00,0.000,4,0.000,0.052,3237,237,1368,0,0,0,0,0,0
$GC,8691,0.93,308.4,146.4,8.3,438,8695,0.00,2.28,0.00,0.000,6,0.000,0.024,3238,1651,1367,0,0,0,0,0,0
$GC,8952,1.04,323.7,127.7,7.2,458,8974,0.17,2.53,14.23,0.561,4,0.053,0.051,3290,241,1309,0,0,0,0,0,0
$GC,9044,0.97,323.7,118.1,11.2,464,9049,0.15,2.30,0.00,0.000,6,0.095,0.022,3259,1659,1306,0,0,0,0,0,0
$GC,9305,1.13,364.3,98.4,6.1,484,9346,0.15,2.55,35.65,0.564,4,0.058,0.049,3307,241,1142,0,0,0,0,0,0
$GC,9448,1.13,364.3,85.1,10.3,494,9452,0.00,2.28,0.00,0.000,6,0.000,0.021,3307,1650,1138,0,0,0,0,0,0
$GC,9708,1.17,364.3,64.4,8.5,514,9712,0.00,2.47,0.00,0.000,4,0.000,0.048,3307,239,1138,0,0,0,0,0,0
$GC,9755,1.17,364.3,59.2,10.6,517,9759,0.00,2.28,0.00,0.000,6,0.000,0.020,3307,1656,1137,0,0,0,0,0,0
$GC,10014,1.17,364.3,34.0,9.4,537,10019,0.00,2.47,0.00,0.000,4,0.000,0.047,3307,237,1137,0,0,0,0,0,0
$GC,10107,1.17,364.3,24.6,10.6,552,10114,0.00,2.28,0.00,0.000,6,0.000,0.019,3307,1646,1136,0,0,0,0,0,0
$GC,10310,1.18,372.4,7.1,7.5,598,10323,0.00,2.47,7.55,0.407,4,0.000,0.047,3307,239,1109,0,0,0,0,0,0
$STATE,10350,end climb,SURFACE_DEPTH_REACHED
$STATE,10350,begin surface coast
$FINISH,0.9,1.010006
$STATE,10380,end surface coast,CONTROL_FINISHED_OK
$STATE,10380,begin surface
$SM_CCo,10405,24.60,0.463,0,0,958,410.14
$SM_GC,1.58,0.00,0.00,24.60,0.000,0.000,0.463,428,1652,958,-12.06,0.06,410.14
$IRIDIUM_FIX,2057.14,-15751.76,291299,141415
$TT8_MAMPS,0.029146
$HUMID,58.38
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.3,54.781
$10V_AH,10.1,45.091
$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,30.775,133.150,421.775,24.600,0.000,24.595,34.941,198.882,4.500,0.000,35.098,1210.219,6634.458,460.633,1956.978,575.095,0.000,1348.373,0.000,1919.682,0.000,29.260,0.000
$DEVICE_MAMPS,133.458,59.059,829.127,462.501,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,411.714,401.606,914.216,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,34877,612
$CAP_FILE_SIZE,122632,0
$CFSIZE,260165632,180834304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041010,203801,2104.840,-15750.853,54,0.9,54,9.8