version: 66.06
glider: 139
mission: 8
dive: 544
start: 9 27 110 2 56 51
data:
$ID,139
$MISSION,8
$DIVE,544
$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,-2162524.8
$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
$GPS1,025007,2103.908,-15751.867,41,1.0,41,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-72.1
$GPS2,025632,2103.895,-15751.920,16,1.1,16,9.8
$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,67.3,15954,-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,-116.8,0.0,0.0,0,82,0.00,0.00,-64.18,0.000,2,0.000,0.000,422,1699,2747,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.5,-4.0,12,109,12.70,0.00,-6.62,0.000,6,0.133,0.000,2786,1700,3110,0,0,0,0,0,0
$GC,302,-0.94,-116.8,49.9,-19.1,45,304,0.28,0.00,0.00,0.000,6,0.086,0.000,2844,1700,3112,0,0,0,0,0,0
$GC,555,-0.90,-116.8,80.7,-9.8,65,559,0.00,2.42,0.00,0.000,4,0.000,0.046,2844,294,3113,0,0,0,0,0,0
$GC,687,-0.86,-116.8,96.4,-11.6,74,693,0.00,2.33,0.00,0.000,6,0.000,0.018,2844,1733,3113,0,0,0,0,0,0
$GC,950,-0.90,-116.8,116.9,-7.1,95,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1733,3114,0,0,0,0,0,0
$GC,1211,-0.95,-116.8,143.4,-9.2,116,1215,0.00,2.47,0.00,0.000,4,0.000,0.046,2844,288,3115,0,0,0,0,0,0
$GC,1271,-0.99,-116.8,149.4,-9.5,120,1277,0.00,2.28,0.00,0.000,6,0.000,0.018,2845,1707,3115,0,0,0,0,0,0
$GC,1533,-1.03,-116.8,172.1,-8.6,141,1538,0.00,2.42,0.00,0.000,4,0.000,0.045,2844,290,3115,0,0,0,0,0,0
$GC,1552,-1.03,-116.8,174.2,-8.6,142,1559,0.00,2.28,0.00,0.000,6,0.000,0.019,2844,1708,3115,0,0,0,0,0,0
$GC,1815,-1.09,-116.8,195.5,-8.1,163,1820,0.15,2.45,0.00,0.000,4,0.054,0.047,2791,290,3115,0,0,0,0,0,0
$GC,1909,-0.98,-116.8,205.9,-10.8,169,1914,0.20,2.22,0.00,0.000,6,0.081,0.020,2835,1696,3115,0,0,0,0,0,0
$GC,2244,-1.02,-116.8,235.3,-9.5,185,2248,0.00,2.40,0.00,0.000,4,0.000,0.047,2835,295,3115,0,0,0,0,0,0
$GC,2276,-1.02,-116.8,239.0,-10.7,186,2280,0.00,2.25,0.00,0.000,6,0.000,0.020,2834,1705,3115,0,0,0,0,0,0
$GC,2596,-1.09,-116.8,266.6,-7.9,201,2600,0.00,2.42,0.00,0.000,4,0.000,0.048,2835,292,3114,0,0,0,0,0,0
$GC,2633,-1.09,-116.8,269.9,-7.7,202,2640,0.00,2.28,0.00,0.000,6,0.000,0.021,2834,1704,3114,0,0,0,0,0,0
$GC,2950,-1.16,-116.8,290.9,-6.4,218,2955,0.17,2.45,0.00,0.000,4,0.050,0.048,2778,289,3113,0,0,0,0,0,0
$GC,2995,-1.06,-116.8,294.7,-9.2,220,3000,0.20,2.25,0.00,0.000,6,0.079,0.021,2822,1704,3113,0,0,0,0,0,0
$GC,3324,-1.10,-116.8,322.1,-8.5,230,3328,0.00,2.42,0.00,0.000,4,0.000,0.050,2822,296,3112,0,0,0,0,0,0
$GC,3391,-1.13,-116.8,328.7,-10.6,231,3395,0.00,2.25,0.00,0.000,6,0.000,0.022,2822,1709,3112,0,0,0,0,0,0
$GC,3737,-1.18,-116.8,360.1,-9.0,240,3742,0.15,2.47,0.00,0.000,4,0.057,0.051,2773,290,3110,0,0,0,0,0,0
$GC,3799,-1.09,-116.8,367.2,-11.8,241,3804,0.17,2.25,0.00,0.000,6,0.085,0.023,2811,1696,3110,0,0,0,0,0,0
$GC,4115,-1.12,-116.8,396.9,-9.4,249,4117,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1701,3108,0,0,0,0,0,0
$GC,4440,-1.16,-116.8,424.5,-7.9,257,4445,0.00,2.45,0.00,0.000,4,0.000,0.054,2812,289,3106,0,0,0,0,0,0
$GC,4511,-1.16,-116.8,429.5,-7.2,258,4516,0.00,2.28,0.00,0.000,6,0.000,0.025,2811,1701,3105,0,0,0,0,0,0
$GC,4852,-1.20,-116.8,449.9,-5.9,267,4857,0.00,2.42,0.00,0.000,3,0.000,0.055,2811,310,3103,0,0,0,0,0,0
$STATE,4857,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4858,begin apogee
$GC,4867,-0.31,0.0,450.3,6.0,267,4967,0.75,0.00,96.32,0.827,6,0.064,0.000,2978,1710,2630,0,0,0,0,0,0
$STATE,4968,end apogee,CONTROL_FINISHED_OK
$STATE,4968,begin climb
$GC,4971,1.18,116.8,452.5,0.0,269,5084,1.42,2.40,101.12,0.813,4,0.038,0.032,3308,3074,2152,0,0,0,0,0,0
$GC,5345,1.05,143.9,435.1,6.7,277,5376,0.15,2.40,23.98,0.774,6,0.110,0.039,3280,1696,2043,0,0,0,0,0,0
$GC,5703,0.92,144.4,408.4,7.9,286,5708,0.15,2.50,0.00,0.000,4,0.106,0.056,3251,289,2036,0,0,0,0,0,0
$GC,5848,0.78,144.4,396.4,8.1,289,5853,0.15,2.33,0.00,0.000,6,0.108,0.027,3223,1699,2031,0,0,0,0,0,0
$GC,6167,0.85,198.0,378.4,5.5,297,6216,0.00,0.00,47.67,0.792,6,0.000,0.000,3223,1704,1822,0,0,0,0,0,0
$GC,6533,0.92,230.5,355.5,6.4,306,6570,0.12,2.58,29.10,0.765,4,0.069,0.057,3259,292,1689,0,0,0,0,0,0
$GC,6613,0.81,230.5,347.3,11.5,307,6618,0.17,2.38,0.00,0.000,6,0.099,0.027,3226,1708,1685,0,0,0,0,0,0
$GC,6946,0.86,230.5,317.0,9.3,315,6950,0.00,2.50,0.00,0.000,4,0.000,0.056,3225,296,1682,0,0,0,0,0,0
$GC,7073,0.86,230.5,305.1,9.0,317,7077,0.00,2.35,0.00,0.000,6,0.000,0.027,3225,1709,1680,0,0,0,0,0,0
$GC,7389,0.93,233.8,282.4,7.7,330,7394,0.12,2.53,0.00,0.000,4,0.067,0.056,3263,296,1679,0,0,0,0,0,0
$GC,7484,0.84,233.8,272.1,10.6,334,7489,0.15,2.33,0.00,0.000,6,0.101,0.026,3234,1702,1677,0,0,0,0,0,0
$GC,7813,0.89,233.8,245.0,8.2,350,7817,0.00,2.50,0.00,0.000,4,0.000,0.054,3234,294,1677,0,0,0,0,0,0
$GC,7901,0.89,233.8,237.0,8.3,354,7905,0.00,2.33,0.00,0.000,6,0.000,0.025,3234,1710,1675,0,0,0,0,0,0
$GC,8231,0.99,263.3,216.6,6.6,370,8265,0.15,2.60,27.27,0.668,4,0.058,0.053,3281,294,1556,0,0,0,0,0,0
$GC,8386,0.87,263.3,199.6,12.7,376,8393,0.17,2.33,0.00,0.000,6,0.074,0.024,3241,1694,1550,0,0,0,0,0,0
$GC,8708,0.93,263.3,171.5,8.3,402,8712,0.00,2.47,0.00,0.000,4,0.000,0.052,3241,295,1550,0,0,0,0,0,0
$GC,8792,0.93,263.3,164.1,8.2,408,8796,0.00,2.28,0.00,0.000,6,0.000,0.023,3241,1710,1548,0,0,0,0,0,0
$GC,9064,1.04,291.6,147.8,6.6,429,9097,0.15,2.50,24.73,0.597,4,0.058,0.049,3289,297,1439,0,0,0,0,0,0
$GC,9201,0.95,291.6,131.8,12.9,438,9208,0.12,2.30,0.00,0.000,6,0.069,0.021,3259,1701,1436,0,0,0,0,0,0
$GC,9463,1.01,291.6,110.4,8.0,459,9467,0.00,2.45,0.00,0.000,4,0.000,0.048,3259,293,1435,0,0,0,0,0,0
$GC,9523,1.01,291.6,104.9,8.6,463,9528,0.00,2.28,0.00,0.000,6,0.000,0.021,3259,1704,1434,0,0,0,0,0,0
$GC,9783,1.14,320.3,86.9,6.6,484,9814,0.17,2.50,24.77,0.541,4,0.050,0.048,3314,290,1324,0,0,0,0,0,0
$GC,9905,1.04,320.3,74.5,12.3,493,9910,0.17,2.28,0.00,0.000,6,0.084,0.020,3277,1708,1320,0,0,0,0,0,0
$GC,10174,1.13,320.3,51.4,8.8,514,10178,0.00,2.45,0.00,0.000,4,0.000,0.048,3277,294,1320,0,0,0,0,0,0
$GC,10256,1.16,320.3,42.8,9.9,520,10261,0.12,2.25,0.00,0.000,6,0.061,0.019,3323,1712,1319,0,0,0,0,0,0
$GC,10519,1.16,320.3,16.7,9.9,560,10526,0.00,2.50,0.00,0.000,4,0.000,0.047,3323,291,1319,0,0,0,0,0,0
$GC,10569,1.06,320.3,11.0,12.5,570,10576,0.17,2.25,0.00,0.000,6,0.064,0.020,3281,1710,1319,0,0,0,0,0,0
$STATE,10657,end climb,SURFACE_DEPTH_REACHED
$STATE,10657,begin surface coast
$FINISH,0.9,1.009228
$STATE,10700,end surface coast,CONTROL_FINISHED_OK
$STATE,10700,begin surface
$SM_CCo,10723,52.45,0.474,0,0,957,410.14
$SM_GC,1.50,0.00,0.00,52.45,0.000,0.000,0.474,426,1709,957,-12.07,0.28,410.14
$IRIDIUM_FIX,2054.83,-15801.19,211299,232355
$TT8_MAMPS,0.029146
$HUMID,57.36
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.4,48.563
$10V_AH,10.1,40.235
$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,30.550,114.325,374.975,52.450,0.000,29.134,29.757,192.551,4.500,0.000,16.320,1201.482,7008.131,468.134,1932.609,545.096,0.000,1341.989,0.000,1901.234,0.000,29.249,0.000
$DEVICE_MAMPS,133.458,56.758,826.826,474.006,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,403.086,381.966,844.994,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355796
$DATA_FILE_SIZE,34932,599
$CAP_FILE_SIZE,120188,0
$CFSIZE,260165632,184360960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270910,055736,2104.108,-15752.016,31,1.5,31,9.8