version: 66.06
glider: 139
mission: 8
dive: 555
start: 9 28 110 13 14 22
data:
$ID,139
$MISSION,8
$DIVE,555
$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,-2162722.2
$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
$GPS1,130816,2104.396,-15746.881,15,4.7,34,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-72.6
$GPS2,131404,2104.368,-15746.839,12,3.8,31,9.8
$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,58.6,7285,-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,-64.15,0.000,2,0.000,0.000,426,1703,2736,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.3,-3.5,12,110,12.60,2.40,-7.00,0.000,4,0.131,0.036,2784,3112,3110,0,0,0,0,0,0
$GC,175,-1.07,-116.8,23.4,-14.5,30,183,0.10,2.42,0.00,0.000,6,0.079,0.034,2809,1702,3112,0,0,0,0,0,0
$GC,386,-0.90,-116.8,54.4,-14.4,52,391,0.20,2.42,0.00,0.000,4,0.089,0.045,2851,290,3112,0,0,0,0,0,0
$GC,441,-0.81,-116.8,63.0,-14.8,56,445,0.10,2.30,0.00,0.000,6,0.107,0.018,2871,1734,3113,0,0,0,0,0,0
$GC,709,-0.85,-116.8,87.4,-6.5,77,714,0.00,2.47,0.00,0.000,4,0.000,0.044,2871,289,3114,0,0,0,0,0,0
$GC,771,-0.91,-116.8,92.1,-7.4,81,776,0.00,2.22,0.00,0.000,6,0.000,0.018,2871,1714,3114,0,0,0,0,0,0
$GC,1030,-0.96,-116.8,113.7,-9.9,102,1035,0.15,2.45,0.00,0.000,4,0.054,0.046,2817,295,3114,0,0,0,0,0,0
$GC,1086,-0.85,-116.8,121.6,-14.4,106,1091,0.22,2.20,0.00,0.000,6,0.081,0.018,2865,1703,3114,0,0,0,0,0,0
$GC,1347,-0.93,-116.8,147.8,-8.8,126,1351,0.00,2.40,0.00,0.000,4,0.000,0.044,2865,294,3115,0,0,0,0,0,0
$GC,1435,-1.03,-116.8,155.4,-7.9,132,1442,0.15,2.25,0.00,0.000,6,0.027,0.018,2806,1702,3115,0,0,0,0,0,0
$GC,1697,-1.03,-116.8,180.9,-10.0,153,1701,0.00,2.42,0.00,0.000,4,0.000,0.047,2806,287,3115,0,0,0,0,0,0
$GC,1745,-0.97,-116.8,186.4,-10.6,156,1752,0.10,2.25,0.00,0.000,6,0.066,0.019,2834,1692,3116,0,0,0,0,0,0
$GC,2021,-1.01,-116.8,209.1,-9.0,175,2026,0.00,2.40,0.00,0.000,4,0.000,0.045,2834,288,3116,0,0,0,0,0,0
$GC,2105,-1.01,-116.8,217.4,-9.1,178,2112,0.00,2.28,0.00,0.000,6,0.000,0.019,2834,1702,3116,0,0,0,0,0,0
$GC,2421,-1.06,-116.8,244.1,-9.5,194,2425,0.00,2.42,0.00,0.000,4,0.000,0.047,2834,287,3115,0,0,0,0,0,0
$GC,2477,-1.10,-116.8,249.8,-10.0,196,2482,0.10,2.22,0.00,0.000,6,0.072,0.020,2794,1702,3115,0,0,0,0,0,0
$GC,2797,-1.10,-116.8,281.8,-9.6,211,2802,0.00,2.42,0.00,0.000,4,0.000,0.048,2794,290,3115,0,0,0,0,0,0
$GC,2844,-1.06,-116.8,286.7,-9.4,213,2848,0.12,2.25,0.00,0.000,6,0.091,0.021,2822,1700,3114,0,0,0,0,0,0
$GC,3197,-1.11,-116.8,308.9,-7.1,227,3202,0.00,2.42,0.00,0.000,4,0.000,0.049,2822,293,3113,0,0,0,0,0,0
$GC,3253,-1.14,-116.8,314.5,-9.2,228,3258,0.00,2.25,0.00,0.000,6,0.000,0.021,2823,1706,3113,0,0,0,0,0,0
$GC,3569,-1.20,-116.8,336.5,-6.7,236,3574,0.15,2.45,0.00,0.000,4,0.057,0.051,2773,294,3112,0,0,0,0,0,0
$GC,3623,-1.09,-116.8,341.7,-10.8,237,3628,0.17,2.25,0.00,0.000,6,0.087,0.022,2811,1698,3112,0,0,0,0,0,0
$GC,3943,-1.09,-116.8,367.4,-8.2,245,3947,0.00,2.45,0.00,0.000,4,0.000,0.051,2811,294,3110,0,0,0,0,0,0
$GC,3966,-1.09,-116.8,369.6,-9.5,245,3970,0.00,2.25,0.00,0.000,6,0.000,0.023,2811,1703,3110,0,0,0,0,0,0
$GC,4306,-1.14,-116.8,399.2,-9.1,254,4311,0.00,2.45,0.00,0.000,4,0.000,0.054,2811,296,3107,0,0,0,0,0,0
$GC,4351,-1.14,-116.8,402.7,-8.3,255,4355,0.00,2.28,0.00,0.000,6,0.000,0.025,2812,1696,3106,0,0,0,0,0,0
$GC,4680,-1.18,-116.8,430.4,-8.0,263,4684,0.00,2.45,0.00,0.000,4,0.000,0.054,2811,291,3104,0,0,0,0,0,0
$GC,4779,-1.18,-116.8,438.1,-6.5,265,4783,0.00,2.28,0.00,0.000,6,0.000,0.025,2811,1701,3104,0,0,0,0,0,0
$STATE,5012,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5012,begin apogee
$GC,5018,-0.31,0.0,451.8,5.6,271,5118,0.77,0.00,96.50,0.833,6,0.064,0.000,2980,1705,2630,0,0,0,0,0,0
$STATE,5119,end apogee,CONTROL_FINISHED_OK
$STATE,5119,begin climb
$GC,5121,1.18,116.8,452.2,0.0,273,5235,1.42,2.42,100.97,0.815,4,0.038,0.031,3310,3081,2152,0,0,0,0,0,0
$GC,5330,1.00,116.8,441.7,9.4,277,5335,0.20,2.42,0.00,0.000,6,0.098,0.038,3271,1692,2149,0,0,0,0,0,0
$GC,5668,0.92,143.8,417.4,6.7,286,5697,0.00,2.40,23.17,0.775,4,0.000,0.031,3271,3081,2043,0,0,0,0,0,0
$GC,5796,0.89,173.8,408.8,6.5,288,5830,0.12,2.40,27.75,0.779,6,0.107,0.041,3247,1701,1921,0,0,0,0,0,0
$GC,6171,0.89,202.9,384.3,6.6,298,6199,0.00,0.00,26.15,0.772,6,0.000,0.000,3247,1701,1801,0,0,0,0,0,0
$GC,6539,0.87,210.3,356.7,7.6,307,6551,0.00,2.53,7.10,0.640,4,0.000,0.058,3246,294,1772,0,0,0,0,0,0
$GC,6566,0.79,210.3,354.0,9.5,307,6571,0.12,2.35,0.00,0.000,6,0.111,0.027,3224,1703,1770,0,0,0,0,0,0
$GC,6907,0.82,210.3,325.3,8.7,316,6912,0.00,2.50,0.00,0.000,4,0.000,0.057,3223,294,1768,0,0,0,0,0,0
$GC,7001,0.82,210.3,316.8,9.2,318,7006,0.00,2.33,0.00,0.000,6,0.000,0.027,3224,1697,1765,0,0,0,0,0,0
$GC,7327,0.91,244.3,295.4,6.4,327,7364,0.10,2.60,30.25,0.736,4,0.080,0.057,3254,296,1633,0,0,0,0,0,0
$GC,7397,0.82,244.3,289.4,10.1,330,7402,0.12,2.35,0.00,0.000,6,0.110,0.027,3231,1706,1631,0,0,0,0,0,0
$GC,7729,0.91,281.1,263.9,6.2,346,7767,0.00,2.58,32.75,0.710,4,0.000,0.056,3230,297,1483,0,0,0,0,0,0
$GC,7881,0.91,281.1,251.6,8.7,351,7887,0.00,2.30,0.00,0.000,6,0.000,0.026,3231,1702,1477,0,0,0,0,0,0
$GC,8200,0.99,281.1,225.2,9.1,367,8205,0.15,2.53,0.00,0.000,4,0.060,0.055,3275,297,1476,0,0,0,0,0,0
$GC,8308,0.88,281.1,212.5,11.3,371,8315,0.15,2.33,0.00,0.000,6,0.097,0.025,3245,1708,1473,0,0,0,0,0,0
$GC,8640,0.93,281.1,183.9,8.3,393,8644,0.00,2.50,0.00,0.000,4,0.000,0.052,3244,296,1473,0,0,0,0,0,0
$GC,8783,0.93,281.1,169.6,10.8,403,8789,0.00,2.30,0.00,0.000,6,0.000,0.023,3245,1710,1472,0,0,0,0,0,0
$GC,9043,1.00,281.1,146.8,8.5,424,9048,0.10,2.47,0.00,0.000,4,0.074,0.051,3279,296,1471,0,0,0,0,0,0
$GC,9105,0.91,281.1,139.9,12.0,428,9113,0.12,2.30,0.00,0.000,6,0.071,0.022,3250,1703,1471,0,0,0,0,0,0
$GC,9369,1.03,300.4,121.0,7.0,449,9391,0.10,2.50,16.35,0.558,4,0.075,0.047,3285,294,1404,0,0,0,0,0,0
$GC,9490,0.98,300.4,108.2,10.9,457,9495,0.10,2.25,0.00,0.000,6,0.104,0.021,3264,1700,1400,0,0,0,0,0,0
$GC,9757,1.05,300.4,85.6,8.7,478,9761,0.00,2.45,0.00,0.000,4,0.000,0.049,3264,291,1400,0,0,0,0,0,0
$GC,9851,1.05,300.4,75.8,10.2,485,9855,0.00,2.25,0.00,0.000,6,0.000,0.021,3264,1710,1399,0,0,0,0,0,0
$GC,10114,1.26,363.8,58.6,5.0,505,10177,0.25,2.53,54.25,0.526,4,0.041,0.047,3344,291,1144,0,0,0,0,0,0
$GC,10269,1.11,363.8,41.8,12.8,516,10274,0.25,2.25,0.00,0.000,6,0.078,0.019,3292,1713,1139,0,0,0,0,0,0
$GC,10535,1.18,370.8,19.8,7.6,556,10548,0.00,2.47,6.40,0.396,4,0.000,0.045,3291,294,1116,0,0,0,0,0,0
$GC,10680,1.18,370.8,5.8,9.1,588,10686,0.00,2.25,0.00,0.000,6,0.000,0.019,3291,1695,1114,0,0,0,0,0,0
$STATE,10704,end climb,SURFACE_DEPTH_REACHED
$STATE,10704,begin surface coast
$FINISH,0.9,1.012777
$STATE,10732,end surface coast,CONTROL_FINISHED_OK
$STATE,10732,begin surface
$SM_CCo,10755,24.02,0.460,0,0,957,410.14
$SM_GC,1.58,0.00,0.00,24.02,0.000,0.000,0.460,430,1701,957,-12.05,0.03,410.14
$IRIDIUM_FIX,2054.83,-15746.61,231299,101051
$TT8_MAMPS,0.029146
$HUMID,57.99
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.4,49.709
$10V_AH,10.1,41.149
$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,30.550,128.300,421.650,24.025,0.000,23.864,31.083,145.754,4.500,0.000,32.310,1212.320,6980.353,466.192,1960.315,504.167,0.000,1367.245,0.000,1913.315,0.000,31.002,0.000
$DEVICE_MAMPS,131.157,58.292,832.962,460.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,402.646,380.673,852.183,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,34933,599
$CAP_FILE_SIZE,125415,0
$CFSIZE,260165632,183689216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280910,161506,2104.396,-15746.953,27,1.3,27,9.8