version: 66.06
glider: 139
mission: 8
dive: 553
start: 9 28 110 6 56 46
data:
$ID,139
$MISSION,8
$DIVE,553
$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,-2162675
$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
$GPS1,065036,2104.193,-15748.522,24,1.5,24,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-73.7
$GPS2,065626,2104.188,-15748.521,16,1.6,16,9.8
$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,62.9,10139,-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,-64.57,0.000,2,0.000,0.000,428,1704,2769,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.7,-4.3,12,110,12.62,2.45,-6.15,0.000,4,0.132,0.054,2786,291,3108,0,0,0,0,0,0
$GC,123,0.08,-116.8,16.5,-29.6,18,130,1.27,2.35,0.00,0.000,6,0.079,0.019,3061,1735,3109,0,0,0,0,0,0
$GC,329,-0.50,-116.8,32.7,-9.2,61,336,0.52,2.47,0.00,0.000,4,0.047,0.041,2934,292,3110,0,0,0,0,0,0
$GC,393,-0.86,-116.8,37.7,-6.2,65,399,0.25,2.28,0.00,0.000,6,0.022,0.018,2839,1717,3111,0,0,0,0,0,0
$GC,654,-0.82,-116.8,68.9,-11.4,86,659,0.15,2.20,0.00,0.000,4,0.084,0.021,2872,3068,3111,0,0,0,0,0,0
$GC,668,-0.82,-116.8,70.6,-11.4,87,672,0.00,2.30,0.00,0.000,6,0.000,0.029,2872,1690,3111,0,0,0,0,0,0
$GC,931,-0.90,-116.8,95.5,-8.9,108,935,0.00,2.38,0.00,0.000,4,0.000,0.044,2872,292,3112,0,0,0,0,0,0
$GC,1030,-0.97,-116.8,103.5,-7.9,115,1034,0.15,2.20,0.00,0.000,6,0.054,0.018,2820,1703,3112,0,0,0,0,0,0
$GC,1295,-0.93,-116.8,130.2,-9.0,136,1297,0.12,0.00,0.00,0.000,6,0.091,0.000,2847,1708,3113,0,0,0,0,0,0
$GC,1547,-0.97,-116.8,150.4,-8.0,156,1552,0.00,2.40,0.00,0.000,4,0.000,0.045,2847,298,3113,0,0,0,0,0,0
$GC,1594,-1.01,-116.8,155.0,-9.6,159,1599,0.00,2.17,0.00,0.000,6,0.000,0.018,2847,1698,3113,0,0,0,0,0,0
$GC,1855,-1.06,-116.8,178.4,-8.1,180,1860,0.12,2.40,0.00,0.000,4,0.061,0.046,2801,299,3113,0,0,0,0,0,0
$GC,1909,-0.98,-116.8,183.9,-10.3,184,1914,0.15,2.20,0.00,0.000,6,0.091,0.018,2833,1703,3113,0,0,0,0,0,0
$GC,2190,-1.02,-116.8,205.3,-7.7,204,2194,0.00,2.40,0.00,0.000,4,0.000,0.046,2833,299,3113,0,0,0,0,0,0
$GC,2250,-1.06,-116.8,210.7,-8.2,206,2257,0.00,2.25,0.00,0.000,6,0.000,0.019,2834,1704,3113,0,0,0,0,0,0
$GC,2566,-1.12,-116.8,234.4,-8.0,222,2571,0.12,2.42,0.00,0.000,4,0.063,0.047,2788,298,3113,0,0,0,0,0,0
$GC,2647,-1.04,-116.8,242.7,-10.5,225,2652,0.17,2.20,0.00,0.000,6,0.084,0.019,2825,1694,3113,0,0,0,0,0,0
$GC,2965,-1.09,-116.8,269.8,-8.1,240,2969,0.00,2.42,0.00,0.000,4,0.000,0.048,2825,293,3112,0,0,0,0,0,0
$GC,2988,-1.09,-116.8,272.0,-9.1,241,2992,0.00,2.22,0.00,0.000,6,0.000,0.021,2825,1709,3112,0,0,0,0,0,0
$GC,3316,-1.16,-116.8,294.6,-5.8,257,3321,0.12,2.45,0.00,0.000,4,0.062,0.049,2780,295,3112,0,0,0,0,0,0
$GC,3428,-1.09,-116.8,304.1,-8.4,261,3433,0.15,2.25,0.00,0.000,6,0.087,0.021,2813,1699,3112,0,0,0,0,0,0
$GC,3774,-1.13,-116.8,328.8,-7.7,270,3775,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1704,3110,0,0,0,0,0,0
$GC,4100,-1.18,-116.8,350.1,-6.6,278,4105,0.00,2.45,0.00,0.000,4,0.000,0.051,2813,296,3108,0,0,0,0,0,0
$GC,4198,-1.21,-116.8,358.0,-8.0,280,4203,0.12,2.22,0.00,0.000,6,0.065,0.023,2772,1694,3108,0,0,0,0,0,0
$GC,4520,-1.16,-116.8,389.6,-10.1,288,4525,0.12,2.47,0.00,0.000,4,0.094,0.054,2798,296,3105,0,0,0,0,0,0
$GC,4554,-1.16,-116.8,393.4,-9.9,288,4558,0.00,2.30,0.00,0.000,6,0.000,0.025,2798,1706,3105,0,0,0,0,0,0
$GC,4887,-1.16,-116.8,421.7,-8.6,296,4891,0.00,2.45,0.00,0.000,4,0.000,0.055,2798,302,3103,0,0,0,0,0,0
$GC,4956,-1.16,-116.8,429.2,-10.8,297,4960,0.00,2.28,0.00,0.000,6,0.000,0.025,2798,1701,3102,0,0,0,0,0,0
$STATE,5217,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5217,begin apogee
$GC,5223,-0.31,0.0,452.8,8.8,304,5322,0.85,0.00,96.30,0.835,6,0.066,0.000,2982,1705,2630,0,0,0,0,0,0
$STATE,5323,end apogee,CONTROL_FINISHED_OK
$STATE,5323,begin climb
$GC,5327,1.18,116.8,454.9,0.0,306,5439,1.40,2.35,101.50,0.818,4,0.037,0.032,3309,3074,2152,0,0,0,0,0,0
$GC,5636,1.01,119.6,440.3,7.8,312,5642,0.20,2.38,0.00,0.000,6,0.099,0.041,3270,1703,2147,0,0,0,0,0,0
$GC,5968,0.95,166.6,420.0,5.8,321,6017,0.00,2.58,43.60,0.803,4,0.000,0.059,3270,296,1950,0,0,0,0,0,0
$GC,6092,0.77,166.6,409.6,9.9,323,6098,0.25,2.35,0.00,0.000,6,0.099,0.027,3222,1697,1943,0,0,0,0,0,0
$GC,6423,0.81,197.9,388.1,6.5,332,6456,0.00,2.58,27.48,0.783,4,0.000,0.059,3221,289,1822,0,0,0,0,0,0
$GC,6502,0.77,197.9,381.6,10.4,333,6506,0.00,2.35,0.00,0.000,6,0.000,0.028,3221,1703,1818,0,0,0,0,0,0
$GC,6837,0.78,210.7,355.7,7.3,342,6851,0.00,0.00,11.95,0.717,6,0.000,0.000,3221,1708,1771,0,0,0,0,0,0
$GC,7164,0.83,210.7,329.1,8.0,350,7168,0.00,2.50,0.00,0.000,4,0.000,0.058,3221,297,1767,0,0,0,0,0,0
$GC,7266,0.83,210.7,320.3,9.4,352,7270,0.00,2.33,0.00,0.000,6,0.000,0.027,3221,1700,1763,0,0,0,0,0,0
$GC,7581,0.93,249.6,299.7,6.1,360,7625,0.12,2.60,34.80,0.749,4,0.069,0.058,3258,301,1611,0,0,0,0,0,0
$GC,7700,0.86,249.6,287.7,11.5,365,7704,0.00,2.33,0.00,0.000,6,0.000,0.027,3258,1708,1607,0,0,0,0,0,0
$GC,8026,0.86,249.6,259.7,8.2,381,8031,0.00,2.53,0.00,0.000,4,0.000,0.056,3257,296,1604,0,0,0,0,0,0
$GC,8084,0.79,249.6,253.7,10.4,383,8089,0.17,2.33,0.00,0.000,6,0.098,0.026,3223,1708,1602,0,0,0,0,0,0
$GC,8403,0.92,284.0,231.6,6.3,398,8440,0.12,2.55,29.70,0.686,4,0.068,0.053,3261,294,1470,0,0,0,0,0,0
$GC,8528,0.84,284.0,218.3,11.8,403,8533,0.12,2.30,0.00,0.000,6,0.106,0.025,3237,1705,1465,0,0,0,0,0,0
$GC,8854,0.92,287.0,192.0,7.8,421,8859,0.00,2.47,0.00,0.000,4,0.000,0.051,3236,294,1465,0,0,0,0,0,0
$GC,8991,0.92,287.0,179.4,9.7,431,8995,0.00,2.28,0.00,0.000,6,0.000,0.023,3237,1701,1462,0,0,0,0,0,0
$GC,9258,1.02,295.7,157.6,7.5,452,9274,0.15,2.50,10.55,0.556,4,0.057,0.050,3284,290,1423,0,0,0,0,0,0
$GC,9369,0.92,295.7,144.4,12.7,459,9376,0.17,2.30,0.00,0.000,6,0.091,0.021,3248,1710,1421,0,0,0,0,0,0
$GC,9630,1.04,321.9,126.0,6.7,480,9661,0.12,2.58,23.52,0.574,4,0.064,0.049,3290,293,1316,0,0,0,0,0,0
$GC,9745,0.97,321.9,113.3,12.1,488,9750,0.15,2.28,0.00,0.000,6,0.091,0.021,3259,1703,1313,0,0,0,0,0,0
$GC,10006,1.07,341.9,92.4,7.0,508,10030,0.10,2.50,17.88,0.530,4,0.074,0.048,3296,291,1235,0,0,0,0,0,0
$GC,10159,1.07,341.9,76.3,11.9,518,10163,0.00,2.25,0.00,0.000,6,0.000,0.020,3296,1705,1231,0,0,0,0,0,0
$GC,10427,1.13,341.9,50.7,9.2,539,10431,0.00,2.45,0.00,0.000,4,0.000,0.048,3296,293,1231,0,0,0,0,0,0
$GC,10472,1.13,341.9,45.6,10.4,542,10479,0.00,2.28,0.00,0.000,6,0.000,0.020,3297,1707,1231,0,0,0,0,0,0
$GC,10735,1.18,341.9,23.2,9.0,575,10742,0.00,2.47,0.00,0.000,4,0.000,0.047,3296,300,1231,0,0,0,0,0,0
$GC,10827,1.18,341.9,13.5,10.5,595,10834,0.00,2.25,0.00,0.000,6,0.000,0.018,3297,1708,1231,0,0,0,0,0,0
$STATE,10952,end climb,SURFACE_DEPTH_REACHED
$STATE,10952,begin surface coast
$FINISH,0.8,1.023190
$STATE,10988,end surface coast,CONTROL_FINISHED_OK
$STATE,10988,begin surface
$SM_CCo,11010,39.70,0.468,0,0,958,410.14
$SM_GC,1.53,0.00,0.00,39.70,0.000,0.000,0.468,430,1710,958,-12.06,0.28,410.14
$IRIDIUM_FIX,2057.14,-15811.49,231299,030357
$TT8_MAMPS,0.029146
$HUMID,57.87
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.20
$XPDR_PINGS,1
$24V_AH,23.4,49.503
$10V_AH,10.1,40.986
$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,32.400,123.225,397.275,39.700,0.000,28.007,31.481,158.367,4.750,0.000,16.346,1256.491,7127.900,474.885,2007.552,530.765,0.000,1373.466,0.000,1981.652,0.000,29.258,0.000
$DEVICE_MAMPS,131.924,59.059,835.263,467.870,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,424.511,406.761,927.180,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,34855,631
$CAP_FILE_SIZE,125580,0
$CFSIZE,260165632,183808000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280910,100206,2104.383,-15747.738,31,1.0,31,9.8