version: 66.06
glider: 139
mission: 8
dive: 540
start: 9 26 110 14 19 4
data:
$ID,139
$MISSION,8
$DIVE,540
$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,-2162432.5
$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,1700
$C_ROLL_CLIMB,1700
$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
$GPS1,141237,2103.363,-15752.383,32,1.1,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-70.2
$GPS2,141844,2103.337,-15752.431,13,1.6,13,9.8
$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,64.6,17064,-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,-64.72,0.000,2,0.000,0.000,426,1694,2774,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.6,-4.0,12,110,12.60,2.38,-6.10,0.000,4,0.132,0.033,2784,3118,3109,0,0,0,0,0,0
$GC,144,-0.86,-116.8,20.9,-24.5,23,151,0.32,2.45,0.00,0.000,6,0.072,0.035,2858,1694,3110,0,0,0,0,0,0
$GC,346,-0.81,-116.8,49.6,-14.3,47,350,0.00,2.42,0.00,0.000,4,0.000,0.048,2859,295,3112,0,0,0,0,0,0
$GC,386,-0.69,-116.8,55.8,-15.5,50,391,0.20,2.30,0.00,0.000,6,0.085,0.018,2901,1735,3112,0,0,0,0,0,0
$GC,654,-0.78,-116.8,84.7,-9.4,71,659,0.00,2.47,0.00,0.000,4,0.000,0.044,2901,293,3113,0,0,0,0,0,0
$GC,793,-0.87,-116.8,95.8,-6.9,81,798,0.17,2.22,0.00,0.000,6,0.048,0.018,2843,1717,3113,0,0,0,0,0,0
$GC,1057,-0.87,-116.8,121.3,-10.9,102,1061,0.00,2.45,0.00,0.000,4,0.000,0.044,2843,286,3114,0,0,0,0,0,0
$GC,1112,-0.87,-116.8,127.5,-10.2,106,1116,0.00,2.22,0.00,0.000,6,0.000,0.018,2843,1706,3114,0,0,0,0,0,0
$GC,1373,-0.91,-116.8,149.8,-8.7,126,1374,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1711,3115,0,0,0,0,0,0
$GC,1625,-0.97,-116.8,172.1,-8.3,146,1629,0.00,2.42,0.00,0.000,4,0.000,0.046,2843,290,3115,0,0,0,0,0,0
$GC,1680,-0.97,-116.8,177.1,-8.9,150,1684,0.00,2.20,0.00,0.000,6,0.000,0.019,2843,1704,3115,0,0,0,0,0,0
$GC,1942,-1.02,-116.8,196.6,-7.5,170,1946,0.00,2.42,0.00,0.000,4,0.000,0.046,2842,289,3115,0,0,0,0,0,0
$GC,1995,-1.07,-116.8,201.7,-8.4,174,2000,0.12,2.20,0.00,0.000,6,0.061,0.019,2797,1693,3115,0,0,0,0,0,0
$GC,2319,-1.03,-116.8,234.7,-10.3,190,2324,0.12,2.45,0.00,0.000,4,0.093,0.048,2824,290,3115,0,0,0,0,0,0
$GC,2342,-0.99,-116.8,237.3,-10.8,191,2346,0.00,2.22,0.00,0.000,6,0.000,0.020,2823,1699,3115,0,0,0,0,0,0
$GC,2675,-1.03,-116.8,265.3,-7.5,207,2676,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1704,3114,0,0,0,0,0,0
$GC,2982,-1.08,-116.8,288.7,-7.7,222,2986,0.00,2.42,0.00,0.000,4,0.000,0.049,2825,290,3113,0,0,0,0,0,0
$GC,3095,-1.08,-116.8,298.4,-9.0,227,3099,0.00,2.25,0.00,0.000,6,0.000,0.021,2824,1699,3113,0,0,0,0,0,0
$GC,3446,-1.13,-116.8,326.1,-8.0,236,3450,0.00,2.42,0.00,0.000,4,0.000,0.049,2824,292,3112,0,0,0,0,0,0
$GC,3478,-1.13,-116.8,329.0,-8.7,236,3482,0.00,2.25,0.00,0.000,6,0.000,0.022,2825,1709,3112,0,0,0,0,0,0
$GC,3811,-1.19,-116.8,353.2,-7.0,244,3816,0.15,2.47,0.00,0.000,4,0.057,0.051,2776,289,3110,0,0,0,0,0,0
$GC,3884,-1.11,-116.8,360.0,-10.0,245,3889,0.15,2.25,0.00,0.000,6,0.091,0.023,2808,1689,3110,0,0,0,0,0,0
$GC,4225,-1.15,-116.8,387.9,-8.4,254,4230,0.00,2.42,0.00,0.000,4,0.000,0.053,2808,293,3108,0,0,0,0,0,0
$GC,4310,-1.15,-116.8,396.1,-9.7,255,4316,0.00,2.28,0.00,0.000,6,0.000,0.024,2808,1706,3107,0,0,0,0,0,0
$GC,4643,-1.19,-116.8,425.3,-8.7,264,4647,0.00,2.47,0.00,0.000,4,0.000,0.054,2808,287,3105,0,0,0,0,0,0
$GC,4687,-1.19,-116.8,429.6,-9.2,265,4691,0.00,2.30,0.00,0.000,6,0.000,0.025,2808,1696,3105,0,0,0,0,0,0
$STATE,4971,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4971,begin apogee
$GC,4977,-0.31,0.0,452.5,7.7,272,5077,0.80,0.00,96.80,0.831,6,0.064,0.000,2983,1701,2630,0,0,0,0,0,0
$STATE,5078,end apogee,CONTROL_FINISHED_OK
$STATE,5078,begin climb
$GC,5081,1.18,116.8,455.0,0.0,274,5194,1.40,2.45,101.25,0.815,4,0.035,0.031,3310,3086,2152,0,0,0,0,0,0
$GC,5325,1.00,116.8,444.3,9.2,279,5331,0.20,2.42,0.00,0.000,6,0.096,0.041,3271,1699,2148,0,0,0,0,0,0
$GC,5672,0.89,124.8,418.9,7.5,288,5685,0.12,2.42,6.22,0.627,4,0.111,0.032,3247,3079,2121,0,0,0,0,0,0
$GC,5737,0.89,124.8,413.4,8.2,289,5741,0.00,2.40,0.00,0.000,6,0.000,0.040,3247,1699,2121,0,0,0,0,0,0
$GC,6087,0.89,159.8,390.2,6.3,298,6125,0.00,0.00,32.58,0.789,6,0.000,0.000,3247,1699,1977,0,0,0,0,0,0
$GC,6452,0.90,197.5,367.4,6.2,307,6494,0.00,2.60,33.67,0.779,4,0.000,0.058,3247,294,1823,0,0,0,0,0,0
$GC,6545,0.81,197.5,360.9,7.9,309,6549,0.00,2.38,0.00,0.000,6,0.000,0.027,3247,1707,1819,0,0,0,0,0,0
$GC,6877,0.81,197.7,335.4,7.9,317,6881,0.00,2.55,0.00,0.000,4,0.000,0.057,3247,289,1816,0,0,0,0,0,0
$GC,6976,0.74,197.7,325.6,10.6,319,6981,0.17,2.33,0.00,0.000,6,0.101,0.027,3213,1702,1813,0,0,0,0,0,0
$GC,7296,0.86,227.0,303.6,6.6,327,7328,0.10,2.60,25.40,0.735,4,0.081,0.055,3243,293,1703,0,0,0,0,0,0
$GC,7404,0.81,227.0,295.0,8.8,329,7411,0.00,2.33,0.00,0.000,6,0.000,0.027,3243,1701,1699,0,0,0,0,0,0
$GC,7720,0.81,227.0,268.8,9.4,345,7725,0.00,2.53,0.00,0.000,4,0.000,0.054,3244,286,1698,0,0,0,0,0,0
$GC,7839,0.77,227.0,255.7,11.2,350,7844,0.12,2.35,0.00,0.000,6,0.107,0.025,3220,1710,1695,0,0,0,0,0,0
$GC,8167,0.91,261.9,230.4,6.3,366,8205,0.12,2.58,30.52,0.679,4,0.067,0.052,3258,290,1560,0,0,0,0,0,0
$GC,8304,0.85,261.9,218.7,9.3,372,8309,0.12,2.33,0.00,0.000,6,0.104,0.024,3234,1702,1555,0,0,0,0,0,0
$GC,8629,0.94,280.7,195.0,7.0,389,8655,0.00,2.55,16.67,0.621,4,0.000,0.051,3234,289,1483,0,0,0,0,0,0
$GC,8740,0.94,280.7,185.5,9.2,397,8744,0.00,2.30,0.00,0.000,6,0.000,0.023,3234,1706,1480,0,0,0,0,0,0
$GC,9006,1.02,280.7,165.5,8.2,418,9011,0.17,2.53,0.00,0.000,4,0.053,0.051,3286,286,1479,0,0,0,0,0,0
$GC,9076,0.92,280.7,156.4,12.8,423,9081,0.17,2.30,0.00,0.000,6,0.090,0.022,3251,1711,1478,0,0,0,0,0,0
$GC,9339,1.02,305.5,137.1,6.8,443,9366,0.00,2.53,21.95,0.582,4,0.000,0.048,3250,293,1383,0,0,0,0,0,0
$GC,9440,1.03,314.5,129.7,7.5,450,9456,0.10,2.28,8.82,0.511,6,0.076,0.021,3287,1712,1346,0,0,0,0,0,0
$GC,9708,1.03,314.5,107.8,8.6,471,9712,0.00,2.50,0.00,0.000,4,0.000,0.049,3286,287,1346,0,0,0,0,0,0
$GC,9790,1.03,314.5,98.5,11.6,477,9794,0.00,2.25,0.00,0.000,6,0.000,0.021,3286,1705,1343,0,0,0,0,0,0
$GC,10053,1.06,314.5,76.6,7.9,497,10057,0.00,2.47,0.00,0.000,4,0.000,0.048,3286,291,1343,0,0,0,0,0,0
$GC,10188,1.06,314.5,65.1,8.2,507,10192,0.00,2.22,0.00,0.000,6,0.000,0.019,3286,1696,1343,0,0,0,0,0,0
$GC,10451,1.18,354.6,47.2,6.1,527,10494,0.00,2.55,34.50,0.509,4,0.000,0.048,3286,288,1183,0,0,0,0,0,0
$GC,10622,1.18,354.6,32.9,10.0,539,10626,0.00,2.28,0.00,0.000,6,0.000,0.018,3286,1708,1178,0,0,0,0,0,0
$GC,10885,1.26,354.6,9.3,10.2,595,10892,0.17,2.53,0.00,0.000,4,0.048,0.048,3345,287,1178,0,0,0,0,0,0
$STATE,10933,end climb,SURFACE_DEPTH_REACHED
$STATE,10933,begin surface coast
$FINISH,0.9,1.023021
$STATE,10951,end surface coast,CONTROL_FINISHED_OK
$STATE,10953,begin surface
$SM_CCo,10978,33.03,0.464,0,0,958,410.14
$SM_GC,1.55,0.00,0.00,33.03,0.000,0.000,0.464,424,1725,958,-12.08,0.71,410.14
$IRIDIUM_FIX,2054.83,-15753.90,211299,111145
$TT8_MAMPS,0.029146
$HUMID,56.73
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.4,48.143
$10V_AH,10.2,39.901
$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,30.125,124.225,408.400,33.025,0.000,25.013,26.969,185.631,4.500,0.000,13.383,1220.903,7169.767,482.971,1962.382,542.786,0.000,1374.727,0.000,1939.077,0.000,30.962,0.000
$DEVICE_MAMPS,131.924,58.292,831.428,464.035,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,409.914,388.203,862.140,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355832
$DATA_FILE_SIZE,34910,609
$CAP_FILE_SIZE,123412,0
$CFSIZE,260165632,184598528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260910,172349,2103.583,-15752.578,17,1.9,34,9.8