version: 66.06
glider: 139
mission: 8
dive: 545
start: 9 27 110 6 4 34
data:
$ID,139
$MISSION,8
$DIVE,545
$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,-2162543
$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
$GPS1,055736,2104.108,-15752.016,31,1.5,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-73.0
$GPS2,060414,2104.133,-15752.040,17,1.6,17,9.8
$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,69.0,16067,-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,-64.68,0.000,2,0.000,0.000,426,1710,2758,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.6,-3.6,12,110,12.65,2.35,-6.45,0.000,4,0.133,0.034,2785,3121,3109,0,0,0,0,0,0
$GC,163,-1.05,-116.8,22.1,-16.1,27,169,0.12,2.45,0.00,0.000,6,0.077,0.033,2815,1696,3110,0,0,0,0,0,0
$GC,368,-0.91,-116.8,54.5,-16.2,50,373,0.17,2.45,0.00,0.000,4,0.088,0.046,2852,290,3112,0,0,0,0,0,0
$GC,396,-0.79,-116.8,59.2,-16.5,52,401,0.12,2.30,0.00,0.000,6,0.094,0.018,2878,1739,3112,0,0,0,0,0,0
$GC,665,-0.87,-116.8,84.4,-7.4,73,669,0.00,2.47,0.00,0.000,4,0.000,0.044,2878,294,3113,0,0,0,0,0,0
$GC,748,-0.97,-116.8,92.3,-9.6,79,753,0.17,2.22,0.00,0.000,6,0.048,0.018,2817,1718,3113,0,0,0,0,0,0
$GC,1010,-0.91,-116.8,119.9,-9.7,99,1015,0.15,2.45,0.00,0.000,4,0.087,0.045,2850,300,3113,0,0,0,0,0,0
$GC,1032,-0.85,-116.8,122.3,-9.5,100,1036,0.00,2.20,0.00,0.000,6,0.000,0.018,2850,1713,3113,0,0,0,0,0,0
$GC,1293,-0.89,-116.8,142.4,-7.8,120,1297,0.00,2.45,0.00,0.000,4,0.000,0.046,2850,290,3114,0,0,0,0,0,0
$GC,1349,-0.89,-116.8,147.4,-8.3,124,1353,0.00,2.22,0.00,0.000,6,0.000,0.018,2850,1697,3114,0,0,0,0,0,0
$GC,1615,-0.95,-116.8,170.4,-8.1,145,1619,0.00,2.40,0.00,0.000,4,0.000,0.045,2850,292,3114,0,0,0,0,0,0
$GC,1669,-0.99,-116.8,175.3,-9.0,149,1673,0.00,2.22,0.00,0.000,6,0.000,0.019,2850,1703,3114,0,0,0,0,0,0
$GC,1940,-1.05,-116.8,199.2,-8.9,170,1945,0.12,2.45,0.00,0.000,4,0.061,0.047,2799,289,3114,0,0,0,0,0,0
$GC,1957,-1.05,-116.8,201.3,-9.7,171,1962,0.10,2.22,0.00,0.000,6,0.103,0.020,2821,1704,3114,0,0,0,0,0,0
$GC,2282,-1.05,-116.8,231.4,-9.1,187,2286,0.00,2.42,0.00,0.000,4,0.000,0.047,2821,289,3114,0,0,0,0,0,0
$GC,2365,-1.05,-116.8,240.3,-9.7,190,2372,0.00,2.25,0.00,0.000,6,0.000,0.020,2821,1688,3114,0,0,0,0,0,0
$GC,2684,-1.09,-116.8,265.3,-7.8,206,2688,0.00,2.42,0.00,0.000,4,0.000,0.048,2821,287,3113,0,0,0,0,0,0
$GC,2730,-1.09,-116.8,269.7,-9.3,208,2735,0.00,2.25,0.00,0.000,6,0.000,0.020,2821,1707,3113,0,0,0,0,0,0
$GC,3056,-1.14,-116.8,296.3,-8.0,224,3061,0.00,2.45,0.00,0.000,4,0.000,0.048,2821,289,3112,0,0,0,0,0,0
$GC,3100,-1.18,-116.8,300.1,-8.6,226,3105,0.12,2.22,0.00,0.000,6,0.062,0.021,2776,1700,3112,0,0,0,0,0,0
$GC,3428,-1.14,-116.8,331.3,-9.2,234,3433,0.12,2.47,0.00,0.000,4,0.093,0.051,2803,286,3111,0,0,0,0,0,0
$GC,3477,-1.14,-116.8,335.6,-8.1,235,3481,0.00,2.25,0.00,0.000,6,0.000,0.021,2803,1702,3111,0,0,0,0,0,0
$GC,3800,-1.14,-116.8,358.5,-7.1,243,3801,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1707,3109,0,0,0,0,0,0
$GC,4126,-1.14,-116.8,384.4,-8.5,251,4130,0.00,2.47,0.00,0.000,4,0.000,0.053,2803,291,3107,0,0,0,0,0,0
$GC,4209,-1.14,-116.8,392.5,-9.6,252,4215,0.00,2.28,0.00,0.000,6,0.000,0.024,2803,1703,3106,0,0,0,0,0,0
$GC,4541,-1.14,-116.8,418.2,-7.7,261,4545,0.00,2.47,0.00,0.000,4,0.000,0.054,2803,294,3104,0,0,0,0,0,0
$GC,4597,-1.14,-116.8,423.2,-8.7,262,4601,0.00,2.30,0.00,0.000,6,0.000,0.025,2803,1702,3104,0,0,0,0,0,0
$GC,4911,-1.14,-116.8,449.6,-8.5,270,4914,0.00,2.05,0.00,0.000,3,0.000,0.053,2803,517,3102,0,0,0,0,0,0
$STATE,4915,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4915,begin apogee
$GC,4923,-0.31,0.0,450.1,8.3,270,5023,0.80,0.00,95.93,0.831,6,0.067,0.000,2978,1710,2630,0,0,0,0,0,0
$STATE,5024,end apogee,CONTROL_FINISHED_OK
$STATE,5024,begin climb
$GC,5028,1.18,116.8,453.6,0.0,272,5140,1.42,2.38,101.35,0.815,4,0.038,0.031,3308,3081,2152,0,0,0,0,0,0
$GC,5356,1.04,146.8,438.1,6.5,279,5389,0.15,2.38,26.60,0.779,6,0.108,0.039,3280,1700,2030,0,0,0,0,0,0
$GC,5717,0.92,146.8,403.5,10.5,288,5722,0.15,2.50,0.00,0.000,4,0.103,0.056,3250,293,2023,0,0,0,0,0,0
$GC,5783,0.79,146.8,396.4,10.5,289,5788,0.15,2.35,0.00,0.000,6,0.106,0.027,3222,1701,2019,0,0,0,0,0,0
$GC,6130,0.80,155.8,369.4,7.5,298,6142,0.00,2.55,6.97,0.641,4,0.000,0.057,3222,294,1995,0,0,0,0,0,0
$GC,6254,0.78,167.4,360.4,7.4,300,6272,0.00,2.33,12.02,0.714,6,0.000,0.027,3221,1710,1947,0,0,0,0,0,0
$GC,6600,0.93,262.5,346.3,3.6,309,6695,0.12,2.58,84.40,0.777,4,0.068,0.056,3259,290,1557,0,0,0,0,0,0
$GC,6731,0.80,262.5,336.8,10.7,312,6736,0.17,2.38,0.00,0.000,6,0.098,0.027,3225,1706,1553,0,0,0,0,0,0
$GC,7061,0.85,262.5,309.5,8.5,320,7065,0.00,2.53,0.00,0.000,4,0.000,0.057,3225,297,1549,0,0,0,0,0,0
$GC,7168,0.85,262.5,297.4,11.5,322,7175,0.00,2.35,0.00,0.000,6,0.000,0.027,3225,1703,1545,0,0,0,0,0,0
$GC,7484,0.93,262.5,264.2,10.9,338,7489,0.12,2.50,0.00,0.000,4,0.066,0.055,3264,296,1544,0,0,0,0,0,0
$GC,7602,0.85,262.5,250.1,11.8,343,7607,0.15,2.30,0.00,0.000,6,0.099,0.026,3235,1702,1542,0,0,0,0,0,0
$GC,7935,0.95,281.0,223.5,7.1,359,7958,0.10,2.58,14.20,0.646,4,0.074,0.054,3268,293,1483,0,0,0,0,0,0
$GC,8070,0.88,281.0,209.1,11.4,364,8078,0.10,2.35,0.00,0.000,6,0.077,0.025,3244,1704,1479,0,0,0,0,0,0
$GC,8399,0.94,281.0,180.7,8.8,387,8403,0.00,2.47,0.00,0.000,4,0.000,0.051,3244,290,1479,0,0,0,0,0,0
$GC,8473,0.94,281.0,172.9,9.7,392,8479,0.00,2.33,0.00,0.000,6,0.000,0.023,3243,1704,1478,0,0,0,0,0,0
$GC,8736,1.04,285.2,151.1,7.7,413,8750,0.15,2.47,4.25,0.420,4,0.056,0.048,3292,291,1466,0,0,0,0,0,0
$GC,8869,0.95,285.2,136.2,12.2,422,8877,0.15,2.30,0.00,0.000,6,0.070,0.021,3256,1704,1465,0,0,0,0,0,0
$GC,9133,1.02,285.2,116.0,8.2,443,9137,0.00,2.45,0.00,0.000,4,0.000,0.048,3256,290,1465,0,0,0,0,0,0
$GC,9206,1.02,285.2,108.5,10.8,448,9213,0.00,2.28,0.00,0.000,6,0.000,0.021,3256,1702,1464,0,0,0,0,0,0
$GC,9468,1.10,285.2,85.2,8.4,469,9473,0.15,2.47,0.00,0.000,4,0.054,0.048,3307,291,1464,0,0,0,0,0,0
$GC,9619,1.05,285.2,68.9,10.6,480,9624,0.12,2.22,0.00,0.000,6,0.091,0.020,3281,1706,1464,0,0,0,0,0,0
$GC,9884,1.13,293.6,50.3,7.5,500,9899,0.00,2.47,9.07,0.459,4,0.000,0.044,3281,289,1432,0,0,0,0,0,0
$GC,9999,1.13,293.6,40.0,8.2,508,10003,0.00,2.22,0.00,0.000,6,0.000,0.019,3281,1705,1430,0,0,0,0,0,0
$GC,10264,1.28,344.3,24.9,5.6,542,10315,0.20,2.50,43.53,0.493,4,0.044,0.046,3347,294,1225,0,0,0,0,0,0
$GC,10360,1.11,344.3,14.7,13.6,560,10367,0.22,2.25,0.00,0.000,6,0.064,0.018,3295,1702,1221,0,0,0,0,0,0
$STATE,10496,end climb,SURFACE_DEPTH_REACHED
$STATE,10496,begin surface coast
$FINISH,0.8,1.009993
$STATE,10537,end surface coast,CONTROL_FINISHED_OK
$STATE,10537,begin surface
$SM_CCo,10561,37.83,0.466,0,0,957,410.14
$SM_GC,1.64,0.00,0.00,37.83,0.000,0.000,0.466,426,1708,957,-12.07,0.23,410.14
$IRIDIUM_FIX,2054.83,-15753.90,221299,030359
$TT8_MAMPS,0.029146
$HUMID,57.04
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.4,48.668
$10V_AH,10.1,40.319
$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,30.650,127.650,398.325,37.825,0.000,29.392,42.239,192.553,4.500,0.000,17.532,1205.262,6766.246,456.239,1993.562,574.220,0.000,1377.241,0.000,1963.994,0.000,29.268,0.000
$DEVICE_MAMPS,132.691,56.758,830.661,465.569,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,402.616,386.465,874.809,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,34818,600
$CAP_FILE_SIZE,124679,0
$CFSIZE,260165632,184299520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270910,090236,2104.379,-15751.407,45,1.2,45,9.8