version: 66.06
glider: 139
mission: 8
dive: 542
start: 9 26 110 20 37 57
data:
$ID,139
$MISSION,8
$DIVE,542
$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,-2162487
$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
$GPS1,203107,2103.917,-15752.142,38,0.9,38,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-71.2
$GPS2,203737,2103.917,-15752.155,16,1.1,16,9.8
$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,67.8,16342,-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,-64.60,0.000,2,0.000,0.000,429,1696,2773,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.7,-4.2,12,109,12.65,0.00,-6.07,0.000,6,0.133,0.000,2785,1697,3109,0,0,0,0,0,0
$GC,310,-0.95,-116.8,49.9,-17.5,45,312,0.28,0.00,0.00,0.000,6,0.087,0.000,2842,1697,3112,0,0,0,0,0,0
$GC,563,-0.91,-116.8,83.3,-11.5,65,567,0.00,2.42,0.00,0.000,4,0.000,0.046,2842,294,3113,0,0,0,0,0,0
$GC,591,-0.81,-116.8,87.0,-13.1,67,596,0.15,2.30,0.00,0.000,6,0.091,0.018,2874,1741,3112,0,0,0,0,0,0
$GC,853,-0.87,-116.8,108.2,-7.4,87,858,0.00,2.47,0.00,0.000,4,0.000,0.044,2874,293,3113,0,0,0,0,0,0
$GC,941,-0.93,-116.8,116.0,-8.9,93,948,0.12,2.22,0.00,0.000,6,0.060,0.018,2826,1715,3114,0,0,0,0,0,0
$GC,1202,-0.88,-116.8,144.9,-11.5,114,1207,0.15,2.47,0.00,0.000,4,0.085,0.046,2859,292,3114,0,0,0,0,0,0
$GC,1228,-0.85,-116.8,148.0,-11.2,116,1232,0.00,2.25,0.00,0.000,6,0.000,0.018,2860,1711,3114,0,0,0,0,0,0
$GC,1495,-0.92,-116.8,172.2,-8.3,137,1499,0.00,2.42,0.00,0.000,4,0.000,0.045,2860,292,3114,0,0,0,0,0,0
$GC,1550,-0.99,-116.8,176.9,-7.9,141,1555,0.12,2.22,0.00,0.000,6,0.061,0.018,2813,1703,3114,0,0,0,0,0,0
$GC,1820,-0.99,-116.8,199.8,-9.1,162,1822,0.10,0.00,0.00,0.000,6,0.100,0.000,2835,1709,3114,0,0,0,0,0,0
$GC,2081,-1.03,-116.8,225.3,-10.5,175,2085,0.00,2.42,0.00,0.000,4,0.000,0.047,2835,290,3114,0,0,0,0,0,0
$GC,2136,-1.08,-116.8,231.7,-10.8,177,2141,0.00,2.22,0.00,0.000,6,0.000,0.019,2834,1700,3115,0,0,0,0,0,0
$GC,2459,-1.14,-116.8,259.2,-8.0,193,2464,0.15,2.42,0.00,0.000,4,0.054,0.048,2783,294,3114,0,0,0,0,0,0
$GC,2521,-1.07,-116.8,266.1,-11.0,195,2527,0.15,2.25,0.00,0.000,6,0.087,0.020,2817,1704,3114,0,0,0,0,0,0
$GC,2838,-1.07,-116.8,287.1,-5.4,211,2842,0.00,2.45,0.00,0.000,4,0.000,0.048,2816,292,3113,0,0,0,0,0,0
$GC,2931,-1.07,-116.8,293.6,-6.4,215,2935,0.00,2.25,0.00,0.000,6,0.000,0.021,2817,1701,3113,0,0,0,0,0,0
$GC,3278,-1.10,-116.8,315.4,-6.4,226,3282,0.00,2.45,0.00,0.000,4,0.000,0.050,2816,292,3112,0,0,0,0,0,0
$GC,3298,-1.10,-116.8,317.1,-8.0,226,3302,0.00,2.28,0.00,0.000,6,0.000,0.022,2816,1707,3112,0,0,0,0,0,0
$GC,3644,-1.14,-116.8,344.6,-8.2,235,3649,0.00,2.47,0.00,0.000,4,0.000,0.051,2816,290,3110,0,0,0,0,0,0
$GC,3668,-1.14,-116.8,346.9,-8.8,235,3672,0.00,2.25,0.00,0.000,6,0.000,0.023,2816,1698,3110,0,0,0,0,0,0
$GC,4010,-1.20,-116.8,372.4,-7.5,244,4015,0.12,2.47,0.00,0.000,4,0.064,0.053,2775,296,3107,0,0,0,0,0,0
$GC,4096,-1.11,-116.8,381.9,-11.3,245,4103,0.15,2.25,0.00,0.000,6,0.092,0.024,2807,1696,3107,0,0,0,0,0,0
$GC,4429,-1.14,-116.8,412.2,-9.1,254,4433,0.00,2.47,0.00,0.000,4,0.000,0.054,2807,290,3104,0,0,0,0,0,0
$GC,4494,-1.14,-116.8,418.4,-8.6,255,4498,0.00,2.28,0.00,0.000,6,0.000,0.025,2807,1698,3104,0,0,0,0,0,0
$GC,4841,-1.18,-116.8,444.6,-7.6,264,4845,0.00,2.47,0.00,0.000,4,0.000,0.055,2807,294,3102,0,0,0,0,0,0
$STATE,4904,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4904,begin apogee
$GC,4912,-0.31,0.0,450.2,7.9,265,5014,0.77,0.00,96.38,0.833,6,0.066,0.000,2978,1707,2628,0,0,0,0,0,0
$STATE,5015,end apogee,CONTROL_FINISHED_OK
$STATE,5015,begin climb
$GC,5019,1.18,116.8,453.3,0.0,268,5131,1.42,2.42,101.00,0.816,4,0.037,0.032,3311,3080,2152,0,0,0,0,0,0
$GC,5169,1.00,119.5,449.7,7.8,271,5174,0.22,2.40,0.00,0.000,6,0.097,0.039,3267,1698,2151,0,0,0,0,0,0
$GC,5517,0.89,123.7,422.4,7.7,280,5529,0.12,2.50,5.65,0.604,4,0.111,0.054,3243,296,2124,0,0,0,0,0,0
$GC,5618,0.76,125.8,414.4,7.8,282,5623,0.12,2.35,0.00,0.000,6,0.114,0.027,3220,1706,2120,0,0,0,0,0,0
$GC,5938,0.79,147.5,393.3,6.9,290,5962,0.00,0.00,22.05,0.776,6,0.000,0.000,3220,1710,2028,0,0,0,0,0,0
$GC,6262,0.84,183.9,370.3,6.3,298,6304,0.00,2.58,33.33,0.782,4,0.000,0.056,3220,290,1878,0,0,0,0,0,0
$GC,6372,0.83,212.9,363.4,6.6,300,6404,0.00,2.35,26.83,0.764,6,0.000,0.028,3220,1710,1760,0,0,0,0,0,0
$GC,6729,0.93,254.0,341.0,6.0,309,6772,0.15,2.60,36.22,0.765,4,0.063,0.057,3262,291,1593,0,0,0,0,0,0
$GC,6866,0.81,254.0,326.4,12.4,312,6871,0.17,2.33,0.00,0.000,6,0.101,0.027,3228,1695,1586,0,0,0,0,0,0
$GC,7198,0.85,254.0,294.4,9.8,321,7202,0.00,2.50,0.00,0.000,4,0.000,0.058,3228,291,1584,0,0,0,0,0,0
$GC,7324,0.85,254.0,281.2,11.0,326,7328,0.00,2.35,0.00,0.000,6,0.000,0.027,3228,1710,1581,0,0,0,0,0,0
$GC,7646,0.96,296.5,257.2,6.0,342,7690,0.15,2.60,35.92,0.710,4,0.060,0.056,3272,292,1421,0,0,0,0,0,0
$GC,7815,0.87,296.5,241.3,10.9,349,7820,0.17,2.35,0.00,0.000,6,0.097,0.025,3239,1707,1415,0,0,0,0,0,0
$GC,8139,0.92,296.5,216.1,8.9,365,8144,0.00,2.50,0.00,0.000,4,0.000,0.054,3238,290,1414,0,0,0,0,0,0
$GC,8256,0.92,296.5,204.7,8.9,370,8260,0.00,2.33,0.00,0.000,6,0.000,0.024,3238,1711,1411,0,0,0,0,0,0
$GC,8589,0.99,296.5,177.1,9.2,394,8594,0.12,2.50,0.00,0.000,4,0.065,0.051,3278,293,1411,0,0,0,0,0,0
$GC,8766,0.92,296.5,154.9,13.2,407,8771,0.12,2.30,0.00,0.000,6,0.097,0.022,3252,1713,1410,0,0,0,0,0,0
$GC,9032,1.01,303.0,131.2,7.6,428,9047,0.00,2.53,5.57,0.446,4,0.000,0.050,3252,303,1393,0,0,0,0,0,0
$GC,9108,1.01,303.0,124.4,9.1,433,9112,0.00,2.25,0.00,0.000,6,0.000,0.021,3252,1708,1391,0,0,0,0,0,0
$GC,9371,1.11,303.0,104.8,7.9,454,9376,0.17,2.50,0.00,0.000,4,0.051,0.049,3306,290,1391,0,0,0,0,0,0
$GC,9481,1.01,303.0,91.8,12.8,462,9486,0.17,2.25,0.00,0.000,6,0.085,0.020,3269,1699,1391,0,0,0,0,0,0
$GC,9750,1.14,303.0,69.1,8.0,483,9755,0.12,2.47,0.00,0.000,4,0.062,0.049,3312,292,1391,0,0,0,0,0,0
$GC,9899,1.09,303.0,54.2,9.7,494,9904,0.12,2.25,0.00,0.000,6,0.093,0.019,3286,1711,1391,0,0,0,0,0,0
$GC,10163,1.19,320.3,35.9,7.1,514,10184,0.00,2.53,16.02,0.479,4,0.000,0.047,3286,296,1323,0,0,0,0,0,0
$GC,10259,1.19,320.3,27.5,9.2,525,10266,0.00,2.25,0.00,0.000,6,0.000,0.018,3286,1702,1321,0,0,0,0,0,0
$GC,10464,1.28,331.2,11.8,7.4,571,10483,0.17,2.50,10.65,0.434,4,0.048,0.048,3344,301,1278,0,0,0,0,0,0
$STATE,10535,end climb,SURFACE_DEPTH_REACHED
$STATE,10538,begin surface coast
$FINISH,1.1,1.022958
$STATE,10560,end surface coast,CONTROL_FINISHED_OK
$STATE,10561,begin surface
$SM_CCo,10586,45.00,0.467,0,0,957,410.14
$SM_GC,1.45,0.00,0.00,45.00,0.000,0.000,0.467,427,1700,957,-12.07,0.00,410.14
$IRIDIUM_FIX,2054.83,-15751.76,211299,171738
$TT8_MAMPS,0.029146
$HUMID,56.81
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.60
$XPDR_PINGS,1
$24V_AH,23.4,48.353
$10V_AH,10.2,40.066
$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,30.975,119.300,389.625,45.000,0.000,31.187,29.123,198.545,4.750,0.000,16.276,1196.215,6868.350,471.226,1930.590,552.620,0.000,1342.919,0.000,1897.200,0.000,29.257,0.000
$DEVICE_MAMPS,133.458,57.525,832.962,467.103,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,397.677,375.387,840.308,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,31812,591
$CAP_FILE_SIZE,121919,0
$CFSIZE,260165632,184483840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260910,233602,2104.043,-15751.461,15,1.7,15,9.8