version: 66.06
glider: 139
mission: 8
dive: 550
start: 9 27 110 21 35 4
data:
$ID,139
$MISSION,8
$DIVE,550
$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,-2162620.5
$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
$GPS1,212904,2104.584,-15749.011,14,2.5,33,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-73.3
$GPS2,213444,2104.579,-15748.989,15,1.5,15,9.8
$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,67.9,10736,-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,-64.72,0.000,2,0.000,0.000,429,1709,2778,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.8,-4.4,12,110,12.62,2.35,-6.00,0.000,4,0.132,0.034,2786,3122,3109,0,0,0,0,0,0
$GC,175,-1.08,-116.8,24.4,-15.0,30,183,0.10,2.45,0.00,0.000,6,0.087,0.034,2810,1693,3111,0,0,0,0,0,0
$GC,376,-0.90,-116.8,55.7,-14.9,50,381,0.20,2.40,0.00,0.000,4,0.091,0.044,2851,294,3112,0,0,0,0,0,0
$GC,417,-0.78,-116.8,61.6,-14.7,53,422,0.12,2.33,0.00,0.000,6,0.098,0.018,2877,1741,3112,0,0,0,0,0,0
$GC,684,-0.82,-116.8,87.3,-10.0,74,688,0.00,2.50,0.00,0.000,4,0.000,0.045,2878,286,3113,0,0,0,0,0,0
$GC,791,-0.86,-116.8,98.6,-10.4,82,795,0.00,2.25,0.00,0.000,6,0.000,0.018,2877,1719,3113,0,0,0,0,0,0
$GC,1057,-0.94,-116.8,122.7,-8.6,103,1062,0.15,2.45,0.00,0.000,4,0.054,0.044,2825,294,3114,0,0,0,0,0,0
$GC,1114,-0.85,-116.8,129.4,-12.5,107,1119,0.17,2.20,0.00,0.000,6,0.082,0.018,2863,1702,3114,0,0,0,0,0,0
$GC,1377,-0.92,-116.8,148.9,-6.4,127,1381,0.00,2.40,0.00,0.000,4,0.000,0.044,2863,293,3114,0,0,0,0,0,0
$GC,1459,-0.99,-116.8,153.8,-6.3,133,1463,0.12,2.20,0.00,0.000,6,0.061,0.018,2817,1703,3115,0,0,0,0,0,0
$GC,1724,-0.99,-116.8,178.4,-10.1,154,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1709,3115,0,0,0,0,0,0
$GC,1993,-0.99,-116.8,203.5,-8.4,174,1997,0.00,2.42,0.00,0.000,4,0.000,0.046,2816,288,3115,0,0,0,0,0,0
$GC,2026,-0.93,-116.8,206.6,-8.8,175,2031,0.15,2.22,0.00,0.000,6,0.087,0.019,2849,1704,3115,0,0,0,0,0,0
$GC,2345,-1.00,-116.8,227.0,-6.9,190,2349,0.00,2.42,0.00,0.000,4,0.000,0.046,2849,288,3115,0,0,0,0,0,0
$GC,2367,-1.06,-116.8,228.8,-7.6,191,2371,0.12,2.25,0.00,0.000,6,0.061,0.020,2803,1706,3115,0,0,0,0,0,0
$GC,2701,-1.06,-116.8,261.0,-10.3,207,2705,0.00,2.42,0.00,0.000,4,0.000,0.048,2803,292,3114,0,0,0,0,0,0
$GC,2734,-1.01,-116.8,265.2,-10.7,208,2739,0.12,2.22,0.00,0.000,6,0.092,0.020,2831,1699,3114,0,0,0,0,0,0
$GC,3057,-1.08,-116.8,288.7,-6.4,224,3062,0.00,2.42,0.00,0.000,4,0.000,0.048,2831,294,3113,0,0,0,0,0,0
$GC,3119,-1.12,-116.8,293.4,-7.8,226,3126,0.08,2.28,0.00,0.000,6,0.037,0.021,2793,1702,3113,0,0,0,0,0,0
$GC,3453,-1.12,-116.8,320.0,-7.7,237,3457,0.00,2.45,0.00,0.000,4,0.000,0.049,2793,293,3112,0,0,0,0,0,0
$GC,3524,-1.08,-116.8,326.0,-8.8,238,3529,0.10,2.22,0.00,0.000,6,0.103,0.021,2815,1694,3112,0,0,0,0,0,0
$GC,3865,-1.12,-116.8,355.3,-9.2,247,3869,0.00,2.45,0.00,0.000,4,0.000,0.051,2815,290,3110,0,0,0,0,0,0
$GC,3945,-1.16,-116.8,363.3,-9.8,248,3949,0.00,2.25,0.00,0.000,6,0.000,0.023,2815,1699,3109,0,0,0,0,0,0
$GC,4277,-1.22,-116.8,389.6,-7.3,256,4282,0.12,2.45,0.00,0.000,4,0.065,0.053,2771,296,3107,0,0,0,0,0,0
$GC,4383,-1.14,-116.8,399.9,-9.9,258,4391,0.15,2.25,0.00,0.000,6,0.091,0.024,2803,1695,3106,0,0,0,0,0,0
$GC,4707,-1.17,-116.8,424.1,-7.0,266,4712,0.00,2.45,0.00,0.000,4,0.000,0.054,2803,290,3104,0,0,0,0,0,0
$GC,4768,-1.17,-116.8,428.9,-7.5,267,4772,0.00,2.28,0.00,0.000,6,0.000,0.025,2803,1697,3104,0,0,0,0,0,0
$STATE,5074,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5074,begin apogee
$GC,5081,-0.31,0.0,452.4,7.7,275,5181,0.82,0.00,96.35,0.839,6,0.064,0.000,2983,1702,2630,0,0,0,0,0,0
$STATE,5182,end apogee,CONTROL_FINISHED_OK
$STATE,5182,begin climb
$GC,5185,1.18,116.8,454.9,0.0,277,5298,1.40,2.42,101.25,0.821,4,0.038,0.032,3308,3075,2152,0,0,0,0,0,0
$GC,5447,1.03,140.8,448.0,6.8,282,5476,0.17,2.40,21.42,0.775,6,0.102,0.039,3274,1694,2055,0,0,0,0,0,0
$GC,5826,0.92,140.8,419.5,8.5,292,5828,0.12,0.00,0.00,0.000,6,0.114,0.000,3251,1694,2047,0,0,0,0,0,0
$GC,6147,0.86,140.8,389.7,9.4,300,6148,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1694,2045,0,0,0,0,0,0
$GC,6473,0.80,140.8,361.6,8.2,308,6478,0.12,2.45,0.00,0.000,4,0.109,0.058,3227,296,2042,0,0,0,0,0,0
$GC,6683,0.83,211.6,348.0,4.7,312,6752,0.00,2.33,61.22,0.787,6,0.000,0.028,3227,1706,1767,0,0,0,0,0,0
$GC,7073,0.92,260.0,327.3,5.7,322,7122,0.10,2.60,42.60,0.761,4,0.078,0.058,3256,304,1569,0,0,0,0,0,0
$GC,7212,0.82,260.0,314.3,11.5,325,7217,0.15,2.33,0.00,0.000,6,0.107,0.028,3228,1699,1562,0,0,0,0,0,0
$GC,7540,0.87,260.0,288.4,8.0,336,7545,0.00,2.53,0.00,0.000,4,0.000,0.058,3228,291,1560,0,0,0,0,0,0
$GC,7654,0.87,260.0,277.9,9.8,341,7658,0.00,2.33,0.00,0.000,6,0.000,0.027,3228,1710,1557,0,0,0,0,0,0
$GC,7986,0.94,260.0,249.4,8.4,357,7991,0.12,2.50,0.00,0.000,4,0.067,0.055,3265,297,1557,0,0,0,0,0,0
$GC,8070,0.87,260.0,239.4,11.9,360,8078,0.10,2.33,0.00,0.000,6,0.083,0.026,3242,1702,1554,0,0,0,0,0,0
$GC,8387,0.92,260.0,211.3,8.6,376,8391,0.00,2.45,0.00,0.000,4,0.000,0.054,3241,296,1554,0,0,0,0,0,0
$GC,8419,0.92,260.0,208.1,9.9,377,8424,0.00,2.30,0.00,0.000,6,0.000,0.025,3241,1711,1553,0,0,0,0,0,0
$GC,8747,1.00,282.8,185.6,6.9,399,8775,0.12,2.58,18.23,0.628,4,0.066,0.052,3281,297,1476,0,0,0,0,0,0
$GC,8922,0.90,282.8,164.6,11.7,411,8928,0.17,2.28,0.00,0.000,6,0.094,0.023,3246,1707,1471,0,0,0,0,0,0
$GC,9184,1.01,299.6,144.8,7.1,432,9206,0.10,2.55,15.43,0.580,4,0.074,0.050,3281,297,1407,0,0,0,0,0,0
$GC,9288,0.96,299.6,133.9,10.9,439,9295,0.10,2.25,0.00,0.000,6,0.108,0.023,3261,1702,1404,0,0,0,0,0,0
$GC,9551,1.04,315.1,115.8,7.2,460,9572,0.00,2.47,14.55,0.546,4,0.000,0.048,3261,295,1343,0,0,0,0,0,0
$GC,9715,1.04,315.1,99.8,10.2,472,9719,0.00,2.25,0.00,0.000,6,0.000,0.021,3261,1710,1340,0,0,0,0,0,0
$GC,9980,1.12,315.1,77.3,8.3,493,9985,0.15,2.50,0.00,0.000,4,0.055,0.048,3309,290,1340,0,0,0,0,0,0
$GC,10077,1.04,315.1,66.9,10.9,500,10082,0.15,2.25,0.00,0.000,6,0.091,0.020,3278,1710,1340,0,0,0,0,0,0
$GC,10344,1.16,327.8,45.3,7.3,521,10363,0.10,2.53,11.75,0.473,4,0.072,0.046,3317,293,1292,0,0,0,0,0,0
$GC,10463,1.10,327.8,34.0,10.5,529,10470,0.10,2.25,0.00,0.000,6,0.068,0.019,3291,1701,1289,0,0,0,0,0,0
$GC,10727,1.17,336.8,14.6,7.5,582,10746,0.00,2.53,8.85,0.426,4,0.000,0.047,3291,290,1256,0,0,0,0,0,0
$GC,10828,1.17,336.8,5.2,10.4,603,10835,0.00,2.25,0.00,0.000,6,0.000,0.018,3291,1699,1253,0,0,0,0,0,0
$STATE,10849,end climb,SURFACE_DEPTH_REACHED
$STATE,10849,begin surface coast
$FINISH,0.8,1.023004
$STATE,10880,end surface coast,CONTROL_FINISHED_OK
$STATE,10880,begin surface
$SM_CCo,10903,43.22,0.471,0,0,957,410.14
$SM_GC,1.56,0.00,0.00,43.22,0.000,0.000,0.471,426,1705,957,-12.07,0.14,410.14
$IRIDIUM_FIX,2054.83,-15749.62,221299,181827
$TT8_MAMPS,0.029146
$HUMID,57.48
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.4,49.195
$10V_AH,10.1,40.736
$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,30.725,118.625,391.650,43.225,0.000,26.305,34.588,148.236,4.500,0.000,15.094,1236.521,7055.015,470.008,2010.283,513.560,0.000,1380.066,0.000,1980.882,0.000,29.263,0.000
$DEVICE_MAMPS,131.924,58.292,839.098,470.938,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,412.931,393.080,884.940,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,34858,614
$CAP_FILE_SIZE,125985,0
$CFSIZE,260165632,183992320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280910,003837,2104.579,-15748.058,27,1.6,27,9.8