version: 66.06
glider: 139
mission: 8
dive: 546
start: 9 27 110 9 9 9
data:
$ID,139
$MISSION,8
$DIVE,546
$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,-2162561.2
$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
$GPS1,090236,2104.379,-15751.407,45,1.2,45,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-73.2
$GPS2,090849,2104.356,-15751.399,12,1.2,17,9.8
$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,69.8,14902,-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,-64.68,0.000,2,0.000,0.000,425,1708,2767,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.7,-4.1,12,110,12.60,2.45,-6.28,0.000,4,0.131,0.054,2784,293,3109,0,0,0,0,0,0
$GC,123,0.09,-116.8,16.3,-29.1,18,130,1.30,2.35,0.00,0.000,6,0.081,0.019,3064,1738,3110,0,0,0,0,0,0
$GC,330,-0.44,-116.8,34.0,-9.8,59,337,0.47,2.47,0.00,0.000,4,0.048,0.040,2947,292,3112,0,0,0,0,0,0
$GC,379,-0.85,-116.8,38.6,-7.9,62,386,0.32,2.25,0.00,0.000,6,0.021,0.018,2845,1719,3112,0,0,0,0,0,0
$GC,641,-0.79,-116.8,68.1,-11.6,83,643,0.15,0.00,0.00,0.000,6,0.087,0.000,2877,1719,3111,0,0,0,0,0,0
$GC,891,-0.86,-116.8,91.2,-8.7,103,895,0.00,2.45,0.00,0.000,4,0.000,0.044,2877,293,3113,0,0,0,0,0,0
$GC,984,-0.93,-116.8,100.5,-10.3,110,989,0.15,2.17,0.00,0.000,6,0.053,0.018,2825,1687,3113,0,0,0,0,0,0
$GC,1257,-0.88,-116.8,131.3,-10.3,131,1263,0.15,0.00,0.00,0.000,6,0.086,0.000,2858,1692,3113,0,0,0,0,0,0
$GC,1520,-0.94,-116.8,153.9,-8.5,152,1524,0.00,2.40,0.00,0.000,4,0.000,0.045,2857,294,3113,0,0,0,0,0,0
$GC,1566,-0.97,-116.8,158.1,-8.2,155,1571,0.00,2.22,0.00,0.000,6,0.000,0.018,2857,1704,3113,0,0,0,0,0,0
$GC,1826,-1.05,-116.8,177.9,-8.5,176,1831,0.15,2.42,0.00,0.000,4,0.054,0.047,2804,294,3113,0,0,0,0,0,0
$GC,1895,-0.98,-116.8,185.5,-11.8,181,1899,0.15,2.20,0.00,0.000,6,0.088,0.018,2836,1700,3114,0,0,0,0,0,0
$GC,2173,-1.02,-116.8,213.4,-10.4,199,2174,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1704,3114,0,0,0,0,0,0
$GC,2480,-1.10,-116.8,241.3,-8.4,214,2485,0.12,2.45,0.00,0.000,4,0.061,0.047,2789,290,3114,0,0,0,0,0,0
$GC,2602,-1.04,-116.8,252.2,-7.2,219,2607,0.15,2.22,0.00,0.000,6,0.088,0.019,2821,1699,3114,0,0,0,0,0,0
$GC,2928,-1.09,-116.8,267.8,-5.8,235,2932,0.00,2.40,0.00,0.000,4,0.000,0.047,2821,294,3113,0,0,0,0,0,0
$GC,2979,-1.09,-116.8,272.3,-8.4,237,2983,0.00,2.22,0.00,0.000,6,0.000,0.020,2821,1704,3113,0,0,0,0,0,0
$GC,3302,-1.14,-116.8,300.5,-9.2,253,3306,0.00,2.45,0.00,0.000,4,0.000,0.048,2821,287,3112,0,0,0,0,0,0
$GC,3325,-1.14,-116.8,303.3,-10.9,253,3330,0.00,2.25,0.00,0.000,6,0.000,0.021,2821,1709,3112,0,0,0,0,0,0
$GC,3668,-1.20,-116.8,331.3,-7.2,262,3672,0.15,2.45,0.00,0.000,4,0.056,0.050,2772,296,3111,0,0,0,0,0,0
$GC,3734,-1.10,-116.8,337.8,-10.5,263,3739,0.17,2.22,0.00,0.000,6,0.087,0.022,2810,1698,3110,0,0,0,0,0,0
$GC,4084,-1.14,-116.8,360.7,-6.7,272,4088,0.00,2.42,0.00,0.000,4,0.000,0.052,2810,296,3108,0,0,0,0,0,0
$GC,4158,-1.14,-116.8,366.8,-8.1,273,4162,0.00,2.25,0.00,0.000,6,0.000,0.023,2809,1693,3108,0,0,0,0,0,0
$GC,4494,-1.18,-116.8,392.0,-7.4,282,4498,0.00,2.42,0.00,0.000,4,0.000,0.053,2810,295,3105,0,0,0,0,0,0
$GC,4519,-1.18,-116.8,393.9,-7.6,282,4523,0.00,2.25,0.00,0.000,6,0.000,0.024,2809,1699,3105,0,0,0,0,0,0
$GC,4861,-1.23,-116.8,421.4,-8.4,291,4866,0.12,2.50,0.00,0.000,4,0.065,0.055,2770,290,3103,0,0,0,0,0,0
$GC,4923,-1.15,-116.8,428.7,-12.1,292,4928,0.15,2.30,0.00,0.000,6,0.090,0.025,2802,1702,3103,0,0,0,0,0,0
$STATE,5154,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5154,begin apogee
$GC,5160,-0.31,0.0,450.5,9.3,298,5259,0.82,0.00,95.85,0.834,6,0.064,0.000,2981,1706,2630,0,0,0,0,0,0
$STATE,5259,end apogee,CONTROL_FINISHED_OK
$STATE,5260,begin climb
$GC,5262,1.18,116.8,453.8,0.0,300,5375,1.40,2.42,100.82,0.818,4,0.035,0.032,3309,3078,2152,0,0,0,0,0,0
$GC,5480,1.02,135.5,448.8,7.1,304,5505,0.17,2.40,17.02,0.757,6,0.100,0.040,3275,1697,2076,0,0,0,0,0,0
$GC,5818,0.90,135.5,421.1,8.4,313,5820,0.15,0.00,0.00,0.000,6,0.105,0.000,3246,1697,2069,0,0,0,0,0,0
$GC,6140,0.88,158.3,397.3,6.9,321,6162,0.00,0.00,19.83,0.772,6,0.000,0.000,3246,1697,1984,0,0,0,0,0,0
$GC,6466,0.84,158.3,371.0,8.3,329,6470,0.00,2.50,0.00,0.000,4,0.000,0.058,3245,295,1979,0,0,0,0,0,0
$GC,6485,0.76,158.3,369.3,8.1,329,6490,0.15,2.33,0.00,0.000,6,0.107,0.028,3217,1700,1977,0,0,0,0,0,0
$GC,6832,0.83,187.8,345.9,6.6,338,6865,0.00,2.60,26.17,0.770,4,0.000,0.058,3216,297,1864,0,0,0,0,0,0
$GC,6968,0.84,193.6,335.8,7.6,341,6980,0.00,2.35,6.15,0.608,6,0.000,0.028,3217,1710,1839,0,0,0,0,0,0
$GC,7303,0.99,269.4,318.8,4.5,349,7378,0.22,2.62,67.30,0.767,4,0.051,0.058,3277,290,1530,0,0,0,0,0,0
$GC,7482,0.84,269.4,300.5,12.7,353,7488,0.20,2.35,0.00,0.000,6,0.094,0.027,3237,1710,1523,0,0,0,0,0,0
$GC,7813,0.89,269.4,267.2,9.9,368,7817,0.00,2.53,0.00,0.000,4,0.000,0.056,3237,288,1521,0,0,0,0,0,0
$GC,7911,0.89,269.4,256.4,10.4,372,7915,0.00,2.35,0.00,0.000,6,0.000,0.026,3237,1702,1518,0,0,0,0,0,0
$GC,8231,0.97,291.3,230.2,6.9,388,8255,0.10,2.55,18.30,0.666,4,0.077,0.054,3269,291,1440,0,0,0,0,0,0
$GC,8327,0.88,291.3,220.7,11.1,392,8332,0.15,2.35,0.00,0.000,6,0.098,0.025,3240,1707,1437,0,0,0,0,0,0
$GC,8650,0.95,298.6,195.1,7.6,409,8664,0.00,2.53,7.03,0.546,4,0.000,0.053,3240,293,1411,0,0,0,0,0,0
$GC,8768,0.95,298.6,184.8,8.5,417,8772,0.00,2.30,0.00,0.000,6,0.000,0.024,3240,1710,1408,0,0,0,0,0,0
$GC,9030,1.03,298.6,164.1,8.7,437,9035,0.15,2.50,0.00,0.000,4,0.058,0.051,3287,293,1408,0,0,0,0,0,0
$GC,9134,0.93,298.6,150.2,13.8,444,9142,0.12,2.33,0.00,0.000,6,0.072,0.023,3256,1709,1407,0,0,0,0,0,0
$GC,9397,1.00,303.5,126.6,7.7,465,9410,0.00,2.50,5.28,0.447,4,0.000,0.048,3255,292,1391,0,0,0,0,0,0
$GC,9483,1.00,304.2,119.2,7.9,471,9488,0.00,2.28,0.00,0.000,6,0.000,0.021,3256,1702,1390,0,0,0,0,0,0
$GC,9749,1.13,336.5,101.9,6.4,492,9784,0.17,2.50,29.35,0.558,4,0.051,0.048,3310,293,1257,0,0,0,0,0,0
$GC,9872,1.01,336.5,87.7,12.5,500,9877,0.20,2.28,0.00,0.000,6,0.083,0.020,3269,1702,1253,0,0,0,0,0,0
$GC,10135,1.12,336.5,65.2,9.9,520,10140,0.10,2.50,0.00,0.000,4,0.072,0.049,3307,286,1253,0,0,0,0,0,0
$GC,10338,1.08,336.5,41.3,9.5,535,10343,0.10,2.25,0.00,0.000,6,0.100,0.019,3286,1711,1252,0,0,0,0,0,0
$GC,10602,1.17,343.4,21.2,7.6,573,10615,0.00,2.47,6.80,0.407,4,0.000,0.046,3285,293,1228,0,0,0,0,0,0
$GC,10701,1.17,343.4,12.9,9.7,594,10708,0.00,2.25,0.00,0.000,6,0.000,0.019,3285,1703,1227,0,0,0,0,0,0
$STATE,10821,end climb,SURFACE_DEPTH_REACHED
$STATE,10821,begin surface coast
$FINISH,1.0,1.023105
$STATE,10861,end surface coast,CONTROL_FINISHED_OK
$STATE,10861,begin surface
$SM_CCo,10884,39.05,0.469,0,0,957,410.14
$SM_GC,1.66,0.00,0.00,39.05,0.000,0.000,0.469,427,1704,957,-12.07,0.11,410.14
$IRIDIUM_FIX,2054.83,-15729.03,221299,060640
$TT8_MAMPS,0.029146
$HUMID,57.75
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.4,48.773
$10V_AH,10.2,40.404
$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,32.775,114.250,399.900,39.050,0.000,25.625,25.681,189.880,4.500,0.000,17.572,1249.330,7030.264,473.418,1995.475,546.336,0.000,1357.978,0.000,1966.342,0.000,29.259,0.000
$DEVICE_MAMPS,131.157,57.525,834.496,469.404,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,424.159,403.393,932.441,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355832
$DATA_FILE_SIZE,34958,630
$CAP_FILE_SIZE,124857,0
$CFSIZE,260165632,184238080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270910,121236,2104.442,-15750.388,45,1.0,45,9.8