version: 66.06
glider: 139
mission: 8
dive: 556
start: 9 28 110 16 21 4
data:
$ID,139
$MISSION,8
$DIVE,556
$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,-2162737
$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
$GPS1,161506,2104.396,-15746.953,27,1.3,27,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-72.9
$GPS2,162044,2104.403,-15746.971,13,1.3,13,9.8
$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,59.7,7475,-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,-64.30,0.000,2,0.000,0.000,430,1702,2747,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.5,-3.7,12,110,12.60,2.45,-6.70,0.000,4,0.132,0.054,2783,289,3108,0,0,0,0,0,0
$GC,132,-0.25,-116.8,17.6,-29.7,20,139,0.95,2.35,0.00,0.000,6,0.079,0.019,2990,1730,3109,0,0,0,0,0,0
$GC,343,-0.53,-116.8,31.5,-5.1,64,348,0.25,2.47,0.00,0.000,4,0.038,0.042,2909,293,3111,0,0,0,0,0,0
$GC,412,-0.62,-116.8,37.3,-8.5,69,417,0.00,2.22,0.00,0.000,6,0.000,0.018,2910,1710,3111,0,0,0,0,0,0
$GC,672,-0.71,-116.8,60.9,-8.4,89,677,0.00,2.45,0.00,0.000,4,0.000,0.045,2909,286,3111,0,0,0,0,0,0
$GC,760,-0.80,-116.8,69.3,-9.0,95,767,0.12,2.25,0.00,0.000,6,0.029,0.018,2857,1696,3112,0,0,0,0,0,0
$GC,1021,-0.83,-116.8,91.9,-7.9,116,1025,0.00,2.42,0.00,0.000,4,0.000,0.045,2857,293,3112,0,0,0,0,0,0
$GC,1050,-0.83,-116.8,94.7,-9.9,118,1054,0.00,2.22,0.00,0.000,6,0.000,0.018,2857,1710,3112,0,0,0,0,0,0
$GC,1310,-0.87,-116.8,117.5,-9.3,138,1314,0.00,2.45,0.00,0.000,4,0.000,0.045,2857,292,3113,0,0,0,0,0,0
$GC,1329,-0.87,-116.8,119.9,-11.3,139,1335,0.00,2.22,0.00,0.000,6,0.000,0.018,2857,1710,3113,0,0,0,0,0,0
$GC,1591,-0.94,-116.8,146.5,-8.9,160,1595,0.00,2.45,0.00,0.000,4,0.000,0.045,2857,290,3113,0,0,0,0,0,0
$GC,1700,-1.01,-116.8,156.8,-9.3,168,1705,0.12,2.25,0.00,0.000,6,0.061,0.018,2812,1708,3114,0,0,0,0,0,0
$GC,1970,-0.98,-116.8,182.2,-8.7,189,1974,0.12,2.22,0.00,0.000,4,0.091,0.024,2838,3071,3113,0,0,0,0,0,0
$GC,1998,-1.04,-116.8,184.4,-7.4,191,2002,0.00,2.33,0.00,0.000,6,0.000,0.031,2838,1686,3113,0,0,0,0,0,0
$GC,2270,-1.09,-116.8,208.3,-9.0,210,2275,0.12,2.38,0.00,0.000,4,0.061,0.046,2793,296,3114,0,0,0,0,0,0
$GC,2326,-1.02,-116.8,215.3,-12.4,212,2331,0.17,2.20,0.00,0.000,6,0.084,0.019,2831,1703,3113,0,0,0,0,0,0
$GC,2647,-1.05,-116.8,247.3,-9.7,227,2651,0.00,2.42,0.00,0.000,4,0.000,0.047,2830,296,3113,0,0,0,0,0,0
$GC,2688,-1.05,-116.8,252.2,-10.6,228,2695,0.00,2.25,0.00,0.000,6,0.000,0.020,2830,1699,3113,0,0,0,0,0,0
$GC,3006,-1.12,-116.8,275.1,-5.8,244,3011,0.10,2.45,0.00,0.000,4,0.072,0.048,2792,290,3113,0,0,0,0,0,0
$GC,3116,-1.05,-116.8,283.8,-8.7,248,3123,0.10,2.25,0.00,0.000,6,0.068,0.021,2819,1693,3113,0,0,0,0,0,0
$GC,3433,-1.09,-116.8,303.3,-6.2,263,3437,0.00,2.40,0.00,0.000,4,0.000,0.048,2818,295,3112,0,0,0,0,0,0
$GC,3480,-1.09,-116.8,307.0,-7.8,264,3484,0.00,2.22,0.00,0.000,6,0.000,0.021,2818,1699,3112,0,0,0,0,0,0
$GC,3806,-1.15,-116.8,331.6,-8.1,272,3807,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1704,3111,0,0,0,0,0,0
$GC,4128,-1.20,-116.8,357.4,-8.0,280,4133,0.15,2.45,0.00,0.000,4,0.057,0.051,2771,295,3109,0,0,0,0,0,0
$GC,4180,-1.12,-116.8,363.1,-11.4,281,4185,0.15,2.28,0.00,0.000,6,0.089,0.023,2803,1705,3109,0,0,0,0,0,0
$GC,4501,-1.12,-116.8,388.4,-7.4,289,4502,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1710,3106,0,0,0,0,0,0
$GC,4824,-1.12,-116.8,414.4,-8.0,297,4828,0.00,2.47,0.00,0.000,4,0.000,0.054,2803,297,3104,0,0,0,0,0,0
$GC,4963,-1.12,-116.8,426.3,-8.1,300,4967,0.00,2.28,0.00,0.000,6,0.000,0.025,2803,1695,3103,0,0,0,0,0,0
$GC,5286,-1.12,-116.8,449.1,-6.8,308,5290,0.00,2.47,0.00,0.000,4,0.000,0.056,2803,293,3101,0,0,0,0,0,0
$STATE,5297,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5297,begin apogee
$GC,5307,-0.31,0.0,450.1,6.5,308,5407,0.80,0.00,96.32,0.831,6,0.069,0.000,2979,1708,2630,0,0,0,0,0,0
$STATE,5408,end apogee,CONTROL_FINISHED_OK
$STATE,5408,begin climb
$GC,5410,1.18,116.8,451.5,0.0,310,5523,1.42,2.40,101.18,0.814,4,0.039,0.031,3308,3077,2152,0,0,0,0,0,0
$GC,5605,1.00,116.8,443.4,8.5,314,5610,0.20,2.40,0.00,0.000,6,0.098,0.039,3270,1703,2149,0,0,0,0,0,0
$GC,5956,0.89,116.8,413.2,8.4,323,5961,0.12,2.35,0.00,0.000,4,0.108,0.031,3246,3080,2142,0,0,0,0,0,0
$GC,6001,0.89,117.8,409.7,7.9,324,6005,0.00,2.40,0.00,0.000,6,0.000,0.039,3246,1700,2142,0,0,0,0,0,0
$GC,6330,0.90,162.4,389.1,5.9,332,6375,0.00,2.58,38.83,0.789,4,0.000,0.057,3245,303,1967,0,0,0,0,0,0
$GC,6447,0.78,162.7,380.8,7.9,334,6452,0.12,2.33,0.00,0.000,6,0.114,0.027,3222,1697,1963,0,0,0,0,0,0
$GC,6788,0.82,199.8,358.9,6.2,343,6830,0.00,2.45,33.42,0.772,4,0.000,0.031,3222,3083,1814,0,0,0,0,0,0
$GC,6848,0.92,236.5,355.1,6.2,344,6889,0.12,2.42,33.72,0.761,6,0.067,0.040,3258,1701,1665,0,0,0,0,0,0
$GC,7211,0.88,236.5,319.3,10.3,353,7215,0.00,2.50,0.00,0.000,4,0.000,0.058,3259,291,1658,0,0,0,0,0,0
$GC,7267,0.75,236.5,312.4,11.6,354,7272,0.22,2.35,0.00,0.000,6,0.096,0.027,3215,1710,1655,0,0,0,0,0,0
$GC,7586,0.85,250.5,286.8,7.3,366,7603,0.00,2.58,11.70,0.674,4,0.000,0.057,3214,297,1608,0,0,0,0,0,0
$GC,7694,0.85,250.5,277.3,10.0,369,7699,0.00,2.33,0.00,0.000,6,0.000,0.026,3214,1701,1604,0,0,0,0,0,0
$GC,8012,0.94,250.5,250.3,8.9,385,8017,0.17,2.53,0.00,0.000,4,0.058,0.056,3263,296,1603,0,0,0,0,0,0
$GC,8138,0.86,250.5,237.0,9.8,390,8143,0.12,2.33,0.00,0.000,6,0.107,0.026,3238,1710,1601,0,0,0,0,0,0
$GC,8458,0.93,263.8,213.8,7.3,405,8475,0.00,2.55,11.88,0.627,4,0.000,0.054,3238,296,1554,0,0,0,0,0,0
$GC,8556,0.94,271.5,205.8,7.5,408,8572,0.00,2.30,7.85,0.570,6,0.000,0.025,3238,1713,1522,0,0,0,0,0,0
$GC,8893,1.01,271.5,182.0,9.0,432,8898,0.15,2.50,0.00,0.000,4,0.060,0.052,3283,296,1521,0,0,0,0,0,0
$GC,9011,0.92,271.5,168.0,11.3,440,9019,0.12,2.33,0.00,0.000,6,0.075,0.023,3252,1710,1518,0,0,0,0,0,0
$GC,9275,1.07,348.2,151.0,4.4,461,9349,0.12,2.55,66.28,0.618,4,0.065,0.050,3292,296,1209,0,0,0,0,0,0
$GC,9440,0.99,348.2,137.9,10.8,473,9445,0.12,2.28,0.00,0.000,6,0.097,0.021,3268,1703,1204,0,0,0,0,0,0
$GC,9706,1.05,348.2,116.1,7.9,494,9711,0.00,2.50,0.00,0.000,4,0.000,0.050,3267,288,1203,0,0,0,0,0,0
$GC,9786,1.05,348.2,108.6,9.3,500,9790,0.00,2.28,0.00,0.000,6,0.000,0.021,3267,1710,1201,0,0,0,0,0,0
$GC,10053,1.12,348.2,85.5,9.7,521,10058,0.12,2.47,0.00,0.000,4,0.062,0.048,3310,294,1201,0,0,0,0,0,0
$GC,10144,1.06,348.2,73.3,13.4,527,10151,0.10,2.28,0.00,0.000,6,0.070,0.020,3283,1707,1200,0,0,0,0,0,0
$GC,10407,1.14,348.2,50.3,9.1,548,10411,0.00,2.45,0.00,0.000,4,0.000,0.047,3283,294,1200,0,0,0,0,0,0
$GC,10522,1.14,348.2,38.2,9.8,556,10529,0.00,2.25,0.00,0.000,6,0.000,0.019,3283,1702,1200,0,0,0,0,0,0
$GC,10787,1.23,348.2,15.9,8.2,603,10794,0.15,2.45,0.00,0.000,4,0.054,0.047,3335,297,1200,0,0,0,0,0,0
$STATE,10893,end climb,SURFACE_DEPTH_REACHED
$STATE,10893,begin surface coast
$FINISH,1.5,1.023033
$STATE,10899,end surface coast,CONTROL_FINISHED_OK
$STATE,10899,begin surface
$SM_CCo,10924,36.22,0.471,0,0,958,410.14
$SM_GC,1.76,0.00,0.00,36.22,0.000,0.000,0.471,424,1704,958,-12.08,0.11,410.14
$IRIDIUM_FIX,2054.83,-15749.62,231299,131308
$TT8_MAMPS,0.029146
$HUMID,57.95
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.4,49.813
$10V_AH,10.1,41.234
$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,31.600,133.000,401.175,36.225,0.000,27.607,29.023,151.716,4.500,0.000,14.015,1260.005,7004.035,466.927,2038.676,528.389,0.000,1393.106,0.000,2011.943,0.000,29.267,0.000
$DEVICE_MAMPS,131.924,57.525,830.661,470.938,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,422.285,402.935,925.301,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,34909,628
$CAP_FILE_SIZE,128023,0
$CFSIZE,260165632,183623680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280910,192506,2104.535,-15746.883,37,0.8,42,9.8