version: 66.06
glider: 139
mission: 8
dive: 554
start: 9 28 110 10 8 4
data:
$ID,139
$MISSION,8
$DIVE,554
$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,-2162689.2
$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
$GPS1,100206,2104.383,-15747.738,31,1.0,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-73.6
$GPS2,100744,2104.393,-15747.673,13,1.7,13,9.8
$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,62.4,8626,-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,-116.8,0.0,0.0,0,81,0.00,0.00,-64.20,0.000,2,0.000,0.000,430,1710,2736,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.3,-3.3,12,109,12.60,0.00,-7.00,0.000,6,0.132,0.000,2785,1714,3109,0,0,0,0,0,0
$GC,306,-0.95,-116.8,49.3,-18.6,46,311,0.25,2.45,0.00,0.000,4,0.089,0.046,2841,296,3112,0,0,0,0,0,0
$GC,347,-0.77,-116.8,56.6,-17.3,49,352,0.20,2.30,0.00,0.000,6,0.086,0.018,2883,1736,3112,0,0,0,0,0,0
$GC,614,-0.83,-116.8,89.4,-9.5,70,618,0.00,2.47,0.00,0.000,4,0.000,0.044,2882,293,3113,0,0,0,0,0,0
$GC,676,-0.89,-116.8,94.9,-8.1,74,683,0.08,2.28,0.00,0.000,6,0.035,0.018,2841,1717,3113,0,0,0,0,0,0
$GC,939,-0.89,-116.8,118.8,-9.2,95,943,0.00,2.45,0.00,0.000,4,0.000,0.044,2841,286,3114,0,0,0,0,0,0
$GC,998,-0.89,-116.8,125.7,-10.7,99,1003,0.00,2.25,0.00,0.000,6,0.000,0.018,2841,1709,3114,0,0,0,0,0,0
$GC,1258,-0.89,-116.8,149.0,-8.0,120,1262,0.00,2.42,0.00,0.000,4,0.000,0.045,2841,292,3114,0,0,0,0,0,0
$GC,1324,-0.89,-116.8,154.9,-8.3,125,1328,0.00,2.22,0.00,0.000,6,0.000,0.018,2841,1710,3115,0,0,0,0,0,0
$GC,1595,-0.92,-116.8,177.5,-8.7,146,1599,0.00,2.45,0.00,0.000,4,0.000,0.046,2841,292,3115,0,0,0,0,0,0
$GC,1661,-0.92,-116.8,184.2,-9.6,151,1665,0.00,2.22,0.00,0.000,6,0.000,0.018,2841,1707,3115,0,0,0,0,0,0
$GC,1920,-0.97,-116.8,209.3,-10.4,169,1925,0.00,2.42,0.00,0.000,4,0.000,0.045,2841,290,3115,0,0,0,0,0,0
$GC,1950,-0.97,-116.8,212.6,-11.9,170,1954,0.00,2.22,0.00,0.000,6,0.000,0.019,2841,1707,3115,0,0,0,0,0,0
$GC,2275,-1.02,-116.8,237.4,-6.0,186,2278,0.00,2.45,0.00,0.000,4,0.000,0.046,2841,286,3115,0,0,0,0,0,0
$GC,2369,-1.08,-116.8,243.2,-6.0,190,2374,0.12,2.22,0.00,0.000,6,0.062,0.019,2795,1697,3115,0,0,0,0,0,0
$GC,2701,-1.08,-116.8,273.0,-9.5,206,2705,0.00,2.25,0.00,0.000,4,0.000,0.025,2795,3078,3114,0,0,0,0,0,0
$GC,2730,-1.11,-116.8,275.8,-9.2,207,2734,0.00,2.33,0.00,0.000,6,0.000,0.032,2795,1689,3114,0,0,0,0,0,0
$GC,3078,-1.11,-116.8,307.4,-9.2,222,3082,0.00,2.38,0.00,0.000,4,0.000,0.048,2795,297,3114,0,0,0,0,0,0
$GC,3134,-1.08,-116.8,313.8,-10.9,223,3138,0.00,2.22,0.00,0.000,6,0.000,0.021,2795,1695,3113,0,0,0,0,0,0
$GC,3453,-1.08,-116.8,344.1,-8.8,231,3455,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1701,3113,0,0,0,0,0,0
$GC,3777,-1.08,-116.8,367.6,-7.0,239,3782,0.00,2.42,0.00,0.000,4,0.000,0.051,2795,293,3111,0,0,0,0,0,0
$GC,3844,-1.08,-116.8,372.2,-7.3,240,3848,0.00,2.28,0.00,0.000,6,0.000,0.023,2795,1695,3111,0,0,0,0,0,0
$GC,4190,-1.08,-116.8,398.9,-8.6,249,4194,0.00,2.45,0.00,0.000,4,0.000,0.052,2795,294,3108,0,0,0,0,0,0
$GC,4206,-1.04,-116.8,400.6,-8.9,249,4210,0.12,2.30,0.00,0.000,6,0.095,0.025,2822,1709,3107,0,0,0,0,0,0
$GC,4559,-1.10,-116.8,431.6,-9.0,258,4563,0.00,2.47,0.00,0.000,4,0.000,0.054,2822,292,3105,0,0,0,0,0,0
$GC,4619,-1.16,-116.8,438.0,-10.2,259,4624,0.12,2.28,0.00,0.000,6,0.065,0.025,2782,1699,3104,0,0,0,0,0,0
$STATE,4764,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4764,begin apogee
$GC,4771,-0.31,0.0,453.2,10.4,263,4872,0.93,0.00,96.90,0.834,6,0.066,0.000,2982,1704,2629,0,0,0,0,0,0
$STATE,4872,end apogee,CONTROL_FINISHED_OK
$STATE,4873,begin climb
$GC,4875,1.18,116.8,456.9,0.0,265,4987,1.40,2.35,101.18,0.818,4,0.035,0.031,3310,3078,2152,0,0,0,0,0,0
$GC,5059,1.02,127.1,455.7,7.4,269,5076,0.20,2.38,10.10,0.703,6,0.094,0.039,3272,1703,2110,0,0,0,0,0,0
$GC,5424,0.95,169.9,432.7,6.0,278,5468,0.00,2.60,37.72,0.798,4,0.000,0.057,3271,296,1937,0,0,0,0,0,0
$GC,5515,0.74,169.9,426.3,8.5,280,5520,0.30,2.35,0.00,0.000,6,0.092,0.027,3212,1699,1932,0,0,0,0,0,0
$GC,5847,0.84,228.4,409.3,5.3,288,5905,0.00,2.55,51.88,0.802,4,0.000,0.059,3212,297,1698,0,0,0,0,0,0
$GC,5958,0.84,228.4,401.4,10.9,290,5962,0.00,2.33,0.00,0.000,6,0.000,0.028,3211,1701,1693,0,0,0,0,0,0
$GC,6299,0.89,228.4,372.2,8.7,299,6304,0.15,2.50,0.00,0.000,4,0.062,0.058,3255,294,1690,0,0,0,0,0,0
$GC,6370,0.77,228.4,363.1,12.7,300,6375,0.20,2.33,0.00,0.000,6,0.097,0.028,3216,1704,1687,0,0,0,0,0,0
$GC,6712,0.83,232.4,334.2,7.7,309,6716,0.00,2.50,0.00,0.000,4,0.000,0.057,3216,295,1687,0,0,0,0,0,0
$GC,6792,0.83,232.4,327.3,8.4,310,6796,0.00,2.33,0.00,0.000,6,0.000,0.028,3216,1709,1684,0,0,0,0,0,0
$GC,7124,0.91,244.1,302.3,7.4,318,7144,0.15,2.55,12.88,0.699,4,0.061,0.055,3260,293,1633,0,0,0,0,0,0
$GC,7319,0.81,244.1,280.2,11.7,325,7324,0.17,2.35,0.00,0.000,6,0.098,0.027,3226,1711,1629,0,0,0,0,0,0
$GC,7645,0.91,273.3,258.2,6.6,341,7678,0.10,2.60,26.10,0.704,4,0.077,0.055,3259,302,1515,0,0,0,0,0,0
$GC,7742,0.83,273.3,248.7,10.7,345,7747,0.15,2.33,0.00,0.000,6,0.098,0.026,3229,1710,1510,0,0,0,0,0,0
$GC,8068,0.91,273.3,222.7,8.1,361,8072,0.00,2.53,0.00,0.000,4,0.000,0.054,3229,291,1509,0,0,0,0,0,0
$GC,8160,0.91,273.3,213.3,11.4,365,8164,0.00,2.30,0.00,0.000,6,0.000,0.025,3230,1709,1507,0,0,0,0,0,0
$GC,8491,1.00,286.1,187.4,7.3,386,8510,0.17,2.58,11.35,0.597,4,0.053,0.052,3282,291,1462,0,0,0,0,0,0
$GC,8619,0.89,286.1,173.6,11.6,395,8624,0.17,2.28,0.00,0.000,6,0.090,0.024,3246,1699,1459,0,0,0,0,0,0
$GC,8883,0.97,286.1,152.4,8.4,415,8887,0.00,2.47,0.00,0.000,4,0.000,0.051,3246,296,1459,0,0,0,0,0,0
$GC,8963,1.00,286.1,144.4,9.8,421,8967,0.00,2.28,0.00,0.000,6,0.000,0.023,3246,1701,1458,0,0,0,0,0,0
$GC,9235,1.14,318.4,125.4,6.4,442,9269,0.22,2.55,28.75,0.581,4,0.044,0.050,3313,288,1331,0,0,0,0,0,0
$GC,9369,1.01,318.4,111.3,12.0,451,9374,0.20,2.30,0.00,0.000,6,0.083,0.021,3271,1709,1326,0,0,0,0,0,0
$GC,9635,1.07,318.4,89.3,8.1,472,9640,0.00,2.45,0.00,0.000,4,0.000,0.048,3271,296,1326,0,0,0,0,0,0
$GC,9775,1.11,318.4,76.4,9.5,482,9779,0.00,2.22,0.00,0.000,6,0.000,0.021,3271,1703,1325,0,0,0,0,0,0
$GC,10037,1.23,331.3,56.5,7.3,502,10056,0.20,2.53,11.65,0.479,4,0.044,0.048,3336,298,1279,0,0,0,0,0,0
$GC,10112,1.12,331.3,48.6,13.0,507,10117,0.20,2.25,0.00,0.000,6,0.080,0.019,3295,1710,1276,0,0,0,0,0,0
$GC,10376,1.17,331.3,25.2,8.3,535,10384,0.00,2.50,0.00,0.000,4,0.000,0.048,3294,292,1276,0,0,0,0,0,0
$GC,10485,1.17,331.3,14.8,8.7,559,10491,0.00,2.25,0.00,0.000,6,0.000,0.019,3294,1702,1275,0,0,0,0,0,0
$STATE,10630,end climb,SURFACE_DEPTH_REACHED
$STATE,10630,begin surface coast
$FINISH,0.8,1.011098
$STATE,10671,end surface coast,CONTROL_FINISHED_OK
$STATE,10671,begin surface
$SM_CCo,10693,45.15,0.469,0,0,957,410.14
$SM_GC,1.52,0.00,0.00,45.15,0.000,0.000,0.469,426,1702,957,-12.07,0.06,410.14
$IRIDIUM_FIX,2054.83,-15749.62,231299,070725
$TT8_MAMPS,0.029146
$HUMID,57.75
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.4,49.606
$10V_AH,10.2,41.067
$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,30.625,123.725,388.500,45.150,0.000,24.626,30.632,154.806,4.500,0.000,13.421,1213.923,6952.858,459.746,1934.969,512.664,0.000,1340.628,0.000,1905.393,0.000,29.257,0.000
$DEVICE_MAMPS,131.924,59.059,834.496,468.637,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,404.917,381.043,854.942,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,34837,601
$CAP_FILE_SIZE,121708,0
$CFSIZE,260165632,183750656
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280910,130816,2104.396,-15746.881,15,4.7,34,9.8