version: 66.06
glider: 139
mission: 8
dive: 552
start: 9 28 110 3 49 55
data:
$ID,139
$MISSION,8
$DIVE,552
$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,-2162658
$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
$GPS1,034406,2104.260,-15748.318,37,0.9,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-73.5
$GPS2,034937,2104.249,-15748.367,13,0.9,18,9.8
$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,63.1,9852,-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,-116.8,0.0,0.0,0,83,0.00,0.00,-64.32,0.000,2,0.000,0.000,426,1708,2753,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.6,-3.8,12,111,12.62,2.35,-6.60,0.000,4,0.132,0.035,2786,3117,3110,0,0,0,0,0,0
$GC,172,-1.08,-116.8,22.9,-14.8,29,179,0.10,2.42,0.00,0.000,6,0.077,0.034,2811,1706,3110,0,0,0,0,0,0
$GC,374,-0.91,-116.8,51.6,-13.6,51,379,0.17,2.45,0.00,0.000,4,0.091,0.046,2848,286,3112,0,0,0,0,0,0
$GC,429,-0.81,-116.8,58.7,-12.6,55,434,0.12,2.30,0.00,0.000,6,0.097,0.018,2873,1736,3112,0,0,0,0,0,0
$GC,696,-0.87,-116.8,83.7,-8.2,76,700,0.00,2.47,0.00,0.000,4,0.000,0.045,2873,295,3113,0,0,0,0,0,0
$GC,803,-0.96,-116.8,94.6,-10.0,84,808,0.15,2.25,0.00,0.000,6,0.053,0.018,2821,1715,3113,0,0,0,0,0,0
$GC,1069,-0.91,-116.8,122.8,-9.7,105,1070,0.15,0.00,0.00,0.000,6,0.086,0.000,2854,1720,3114,0,0,0,0,0,0
$GC,1322,-0.96,-116.8,144.0,-8.2,125,1326,0.00,2.42,0.00,0.000,4,0.000,0.044,2854,294,3115,0,0,0,0,0,0
$GC,1388,-0.99,-116.8,150.1,-9.2,130,1392,0.00,2.20,0.00,0.000,6,0.000,0.018,2854,1707,3115,0,0,0,0,0,0
$GC,1655,-1.06,-116.8,171.1,-8.1,151,1660,0.15,2.42,0.00,0.000,4,0.054,0.045,2802,295,3114,0,0,0,0,0,0
$GC,1710,-0.98,-116.8,177.0,-11.1,155,1714,0.15,2.22,0.00,0.000,6,0.086,0.019,2835,1701,3115,0,0,0,0,0,0
$GC,1984,-1.01,-116.8,204.9,-10.5,175,1989,0.00,2.40,0.00,0.000,4,0.000,0.046,2835,295,3115,0,0,0,0,0,0
$GC,2050,-1.05,-116.8,212.4,-10.9,178,2054,0.00,2.22,0.00,0.000,6,0.000,0.019,2835,1701,3115,0,0,0,0,0,0
$GC,2388,-1.09,-116.8,239.9,-7.8,194,2393,0.00,2.42,0.00,0.000,4,0.000,0.048,2835,288,3115,0,0,0,0,0,0
$GC,2444,-1.09,-116.8,245.5,-8.7,196,2448,0.10,2.25,0.00,0.000,6,0.073,0.020,2797,1703,3115,0,0,0,0,0,0
$GC,2765,-1.09,-116.8,273.1,-8.8,212,2770,0.00,2.45,0.00,0.000,4,0.000,0.048,2796,289,3114,0,0,0,0,0,0
$GC,2821,-1.04,-116.8,278.5,-9.3,214,2826,0.12,2.22,0.00,0.000,6,0.091,0.021,2824,1698,3114,0,0,0,0,0,0
$GC,3161,-1.09,-116.8,304.0,-6.7,229,3165,0.00,2.42,0.00,0.000,4,0.000,0.048,2824,288,3113,0,0,0,0,0,0
$GC,3212,-1.14,-116.8,308.1,-6.9,230,3217,0.00,2.25,0.00,0.000,6,0.000,0.021,2824,1702,3113,0,0,0,0,0,0
$GC,3533,-1.20,-116.8,328.3,-6.8,238,3538,0.15,2.47,0.00,0.000,4,0.057,0.051,2775,292,3112,0,0,0,0,0,0
$GC,3591,-1.10,-116.8,334.4,-11.7,239,3596,0.17,2.25,0.00,0.000,6,0.085,0.022,2813,1699,3112,0,0,0,0,0,0
$GC,3908,-1.13,-116.8,362.0,-8.5,247,3912,0.00,2.45,0.00,0.000,4,0.000,0.052,2813,292,3110,0,0,0,0,0,0
$GC,3974,-1.13,-116.8,369.0,-10.2,248,3978,0.00,2.30,0.00,0.000,6,0.000,0.023,2813,1707,3109,0,0,0,0,0,0
$GC,4320,-1.18,-116.8,403.0,-10.5,257,4325,0.00,2.45,0.00,0.000,4,0.000,0.054,2813,296,3107,0,0,0,0,0,0
$GC,4387,-1.18,-116.8,410.7,-11.6,258,4391,0.00,2.28,0.00,0.000,6,0.000,0.025,2813,1705,3106,0,0,0,0,0,0
$GC,4732,-1.22,-116.8,444.3,-9.3,267,4737,0.12,2.47,0.00,0.000,4,0.066,0.054,2773,294,3104,0,0,0,0,0,0
$GC,4776,-1.15,-116.8,449.0,-10.6,268,4781,0.12,2.28,0.00,0.000,6,0.098,0.025,2800,1698,3104,0,0,0,0,0,0
$STATE,4785,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4785,begin apogee
$GC,4793,-0.31,0.0,450.2,11.0,268,4893,0.80,0.00,96.55,0.828,6,0.067,0.000,2977,1702,2630,0,0,0,0,0,0
$STATE,4893,end apogee,CONTROL_FINISHED_OK
$STATE,4894,begin climb
$GC,4896,1.18,116.8,452.9,0.0,270,5009,1.42,2.42,100.68,0.811,4,0.038,0.031,3307,3082,2152,0,0,0,0,0,0
$GC,5057,1.02,134.9,450.2,7.1,273,5081,0.17,2.42,16.75,0.746,6,0.101,0.038,3274,1691,2080,0,0,0,0,0,0
$GC,5405,0.91,134.9,419.3,8.8,282,5407,0.12,0.00,0.00,0.000,6,0.113,0.000,3250,1691,2072,0,0,0,0,0,0
$GC,5726,0.87,154.6,394.3,7.0,290,5749,0.00,2.40,17.15,0.753,4,0.000,0.030,3250,3087,1998,0,0,0,0,0,0
$GC,5823,0.88,158.5,386.9,7.7,292,5834,0.00,2.42,4.85,0.555,6,0.000,0.041,3250,1694,1983,0,0,0,0,0,0
$GC,6151,0.85,175.9,362.9,7.1,300,6174,0.00,2.53,16.50,0.739,4,0.000,0.057,3250,292,1912,0,0,0,0,0,0
$GC,6209,0.74,175.9,357.5,9.3,301,6214,0.20,2.35,0.00,0.000,6,0.100,0.026,3212,1701,1909,0,0,0,0,0,0
$GC,6524,0.83,210.1,337.1,6.3,309,6560,0.00,2.58,31.08,0.760,4,0.000,0.058,3211,292,1773,0,0,0,0,0,0
$GC,6635,0.86,230.5,329.3,7.0,311,6661,0.12,2.35,19.12,0.729,6,0.072,0.027,3245,1712,1689,0,0,0,0,0,0
$GC,6988,0.86,230.5,299.8,8.9,320,6993,0.00,2.53,0.00,0.000,4,0.000,0.057,3245,293,1684,0,0,0,0,0,0
$GC,7041,0.79,230.5,294.1,11.2,322,7046,0.12,2.30,0.00,0.000,6,0.110,0.027,3221,1698,1681,0,0,0,0,0,0
$GC,7364,0.89,250.8,270.7,7.0,338,7388,0.10,2.55,17.88,0.696,4,0.079,0.055,3252,292,1606,0,0,0,0,0,0
$GC,7484,0.84,250.8,259.7,8.8,343,7488,0.00,2.35,0.00,0.000,6,0.000,0.026,3252,1707,1602,0,0,0,0,0,0
$GC,7814,0.84,250.8,234.2,8.3,359,7819,0.00,2.50,0.00,0.000,4,0.000,0.054,3252,289,1600,0,0,0,0,0,0
$GC,7938,0.80,250.8,222.2,9.4,364,7943,0.12,2.33,0.00,0.000,6,0.107,0.025,3227,1707,1597,0,0,0,0,0,0
$GC,8268,0.91,267.7,198.1,7.1,381,8288,0.00,2.58,14.57,0.623,4,0.000,0.052,3227,292,1537,0,0,0,0,0,0
$GC,8356,0.95,267.7,190.8,8.7,387,8361,0.12,2.30,0.00,0.000,6,0.068,0.024,3263,1708,1534,0,0,0,0,0,0
$GC,8618,0.95,267.7,168.9,8.7,407,8622,0.00,2.50,0.00,0.000,4,0.000,0.051,3263,291,1534,0,0,0,0,0,0
$GC,8678,0.90,267.7,162.9,10.3,411,8684,0.00,2.30,0.00,0.000,6,0.000,0.022,3264,1710,1533,0,0,0,0,0,0
$GC,8937,0.93,267.7,140.6,8.1,432,8942,0.00,2.47,0.00,0.000,4,0.000,0.050,3264,289,1532,0,0,0,0,0,0
$GC,9032,0.93,267.7,131.6,9.1,439,9036,0.00,2.25,0.00,0.000,6,0.000,0.021,3264,1700,1531,0,0,0,0,0,0
$GC,9297,0.97,267.7,110.0,8.3,460,9301,0.00,2.45,0.00,0.000,4,0.000,0.048,3263,288,1532,0,0,0,0,0,0
$GC,9331,0.97,267.7,106.7,9.4,462,9338,0.00,2.30,0.00,0.000,6,0.000,0.021,3264,1708,1531,0,0,0,0,0,0
$GC,9593,1.06,294.4,88.1,6.7,483,9623,0.00,2.55,23.75,0.543,4,0.000,0.048,3263,293,1428,0,0,0,0,0,0
$GC,9671,1.06,294.4,81.8,8.8,488,9677,0.00,2.28,0.00,0.000,6,0.000,0.020,3263,1701,1425,0,0,0,0,0,0
$GC,9933,1.16,306.3,65.1,7.4,509,9951,0.17,2.53,11.10,0.483,4,0.051,0.047,3319,291,1380,0,0,0,0,0,0
$GC,10029,1.10,306.3,55.1,10.5,515,10036,0.12,2.28,0.00,0.000,6,0.068,0.019,3288,1701,1378,0,0,0,0,0,0
$GC,10291,1.19,324.9,36.8,7.1,536,10313,0.00,2.50,16.88,0.481,4,0.000,0.048,3288,292,1304,0,0,0,0,0,0
$GC,10378,1.19,324.9,29.5,9.1,542,10385,0.00,2.28,0.00,0.000,6,0.000,0.019,3288,1704,1301,0,0,0,0,0,0
$GC,10581,1.26,327.7,13.6,7.8,588,10588,0.15,2.50,0.00,0.000,4,0.054,0.048,3339,295,1301,0,0,0,0,0,0
$GC,10640,1.14,327.7,6.7,12.6,600,10647,0.17,2.25,0.00,0.000,6,0.067,0.018,3297,1699,1300,0,0,0,0,0,0
$STATE,10673,end climb,SURFACE_DEPTH_REACHED
$STATE,10673,begin surface coast
$FINISH,1.1,1.022995
$STATE,10707,end surface coast,CONTROL_FINISHED_OK
$STATE,10707,begin surface
$SM_CCo,10729,48.30,0.469,0,0,958,410.14
$SM_GC,1.66,0.00,0.00,48.30,0.000,0.000,0.469,428,1704,958,-12.06,0.11,410.14
$IRIDIUM_FIX,2057.14,-15748.75,231299,000036
$TT8_MAMPS,0.028379
$HUMID,56.65
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.20
$XPDR_PINGS,1
$24V_AH,23.4,49.399
$10V_AH,10.1,40.901
$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,30.675,133.450,386.850,48.300,0.000,28.976,23.533,143.819,4.750,0.000,18.815,1239.582,6906.264,465.950,1976.015,516.045,0.000,1373.713,0.000,1943.568,0.000,29.261,0.000
$DEVICE_MAMPS,131.924,57.525,828.360,469.404,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,413.256,396.249,897.405,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,34813,614
$CAP_FILE_SIZE,128845,0
$CFSIZE,260165632,183865344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280910,065036,2104.193,-15748.522,24,1.5,24,9.8