version: 66.06
glider: 139
mission: 8
dive: 557
start: 9 28 110 19 34 16
data:
$ID,139
$MISSION,8
$DIVE,557
$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,-2162752.2
$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
$GPS1,192506,2104.535,-15746.883,37,0.8,42,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-73.2
$GPS2,193356,2104.543,-15746.845,14,1.4,14,9.8
$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,61.1,7181,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.18,-116.8,0.0,0.0,0,83,0.00,0.00,-64.20,0.000,2,0.000,0.000,423,1705,2749,0,0,0,0,0,0
$GC,87,-1.18,-116.8,3.3,-3.4,12,111,12.68,2.53,-6.72,0.000,4,0.133,0.058,2788,286,3110,0,0,0,0,0,0
$GC,137,-0.43,-116.8,18.2,-28.3,21,145,0.73,2.38,0.00,0.000,6,0.078,0.019,2952,1735,3111,0,0,0,0,0,0
$GC,341,-0.62,-116.8,34.3,-6.3,57,346,0.17,2.50,0.00,0.000,4,0.048,0.044,2893,291,3112,0,0,0,0,0,0
$GC,401,-0.65,-116.8,40.2,-9.7,61,408,0.00,2.28,0.00,0.000,6,0.000,0.018,2893,1709,3112,0,0,0,0,0,0
$GC,661,-0.70,-116.8,63.2,-8.9,82,665,0.00,2.45,0.00,0.000,4,0.000,0.046,2893,291,3113,0,0,0,0,0,0
$GC,784,-0.74,-116.8,75.0,-9.8,91,789,0.00,2.20,0.00,0.000,6,0.000,0.018,2893,1704,3113,0,0,0,0,0,0
$GC,1049,-0.85,-116.8,98.5,-9.3,112,1051,0.12,0.00,0.00,0.000,6,0.061,0.000,2845,1710,3113,0,0,0,0,0,0
$GC,1300,-0.85,-116.8,125.7,-10.8,132,1304,0.00,2.42,0.00,0.000,4,0.000,0.047,2845,292,3114,0,0,0,0,0,0
$GC,1372,-0.85,-116.8,133.8,-9.9,137,1378,0.00,2.22,0.00,0.000,6,0.000,0.018,2845,1704,3114,0,0,0,0,0,0
$GC,1635,-0.90,-116.8,152.3,-5.7,158,1638,0.00,2.42,0.00,0.000,4,0.000,0.045,2845,293,3114,0,0,0,0,0,0
$GC,1766,-0.93,-116.8,161.0,-7.1,167,1770,0.00,2.22,0.00,0.000,6,0.000,0.018,2845,1702,3115,0,0,0,0,0,0
$GC,2028,-0.99,-116.8,181.6,-9.0,187,2032,0.00,2.42,0.00,0.000,4,0.000,0.047,2845,294,3115,0,0,0,0,0,0
$GC,2106,-1.02,-116.8,189.1,-8.6,192,2112,0.00,2.25,0.00,0.000,6,0.000,0.019,2845,1702,3115,0,0,0,0,0,0
$GC,2377,-1.09,-116.8,209.7,-7.1,210,2382,0.15,2.42,0.00,0.000,4,0.054,0.047,2793,293,3114,0,0,0,0,0,0
$GC,2407,-0.99,-116.8,212.7,-11.5,211,2412,0.17,2.20,0.00,0.000,6,0.086,0.019,2831,1696,3115,0,0,0,0,0,0
$GC,2733,-1.05,-116.8,239.1,-7.7,227,2737,0.00,2.40,0.00,0.000,4,0.000,0.047,2831,293,3114,0,0,0,0,0,0
$GC,2803,-1.10,-116.8,245.1,-7.9,230,2807,0.00,2.22,0.00,0.000,6,0.000,0.020,2831,1701,3114,0,0,0,0,0,0
$GC,3131,-1.17,-116.8,269.8,-7.8,246,3136,0.15,2.42,0.00,0.000,4,0.054,0.048,2779,295,3113,0,0,0,0,0,0
$GC,3211,-1.09,-116.8,278.2,-10.7,249,3216,0.15,2.22,0.00,0.000,6,0.087,0.021,2812,1699,3113,0,0,0,0,0,0
$GC,3530,-1.13,-116.8,304.5,-7.7,263,3534,0.00,2.42,0.00,0.000,4,0.000,0.049,2812,289,3112,0,0,0,0,0,0
$GC,3558,-1.13,-116.8,307.0,-8.7,263,3562,0.00,2.25,0.00,0.000,6,0.000,0.021,2812,1701,3113,0,0,0,0,0,0
$GC,3895,-1.16,-116.8,335.0,-8.8,272,3899,0.00,2.42,0.00,0.000,4,0.000,0.051,2812,296,3111,0,0,0,0,0,0
$GC,3955,-1.20,-116.8,341.2,-10.8,273,3960,0.10,2.25,0.00,0.000,6,0.075,0.022,2776,1695,3110,0,0,0,0,0,0
$GC,4273,-1.15,-116.8,374.0,-10.5,281,4278,0.12,2.30,0.00,0.000,4,0.094,0.028,2803,3080,3108,0,0,0,0,0,0
$GC,4308,-1.27,-116.8,377.8,-9.8,281,4313,0.12,2.33,0.00,0.000,6,0.063,0.037,2759,1699,3107,0,0,0,0,0,0
$GC,4639,-1.19,-116.8,412.5,-10.3,289,4644,0.15,2.47,0.00,0.000,4,0.091,0.054,2791,295,3105,0,0,0,0,0,0
$GC,4757,-1.19,-116.8,424.1,-9.7,291,4762,0.00,2.25,0.00,0.000,6,0.000,0.025,2791,1693,3104,0,0,0,0,0,0
$STATE,5095,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5095,begin apogee
$GC,5101,-0.31,0.0,452.9,8.2,300,5201,0.88,0.00,96.65,0.833,6,0.064,0.000,2982,1699,2630,0,0,0,0,0,0
$STATE,5202,end apogee,CONTROL_FINISHED_OK
$STATE,5202,begin climb
$GC,5206,1.18,116.8,455.5,0.0,302,5318,1.40,2.42,101.25,0.817,4,0.037,0.031,3309,3077,2152,0,0,0,0,0,0
$GC,5401,1.01,129.4,452.6,7.3,306,5419,0.20,2.40,11.93,0.723,6,0.098,0.039,3270,1693,2102,0,0,0,0,0,0
$GC,5753,0.92,157.5,428.2,6.6,315,5785,0.00,2.40,25.17,0.785,4,0.000,0.030,3270,3082,1986,0,0,0,0,0,0
$GC,5846,0.85,157.5,421.0,8.4,317,5851,0.17,2.40,0.00,0.000,6,0.098,0.041,3236,1701,1985,0,0,0,0,0,0
$GC,6174,0.87,169.9,396.4,7.3,325,6191,0.00,2.58,11.12,0.723,4,0.000,0.058,3236,297,1937,0,0,0,0,0,0
$GC,6326,0.78,169.9,382.4,9.7,328,6330,0.00,2.33,0.00,0.000,6,0.000,0.028,3236,1704,1932,0,0,0,0,0,0
$GC,6640,0.82,197.4,359.8,6.7,336,6672,0.00,2.58,25.10,0.772,4,0.000,0.057,3236,288,1824,0,0,0,0,0,0
$GC,6688,0.75,197.4,356.2,8.1,337,6693,0.12,2.38,0.00,0.000,6,0.110,0.028,3214,1707,1822,0,0,0,0,0,0
$GC,7013,0.85,243.9,336.4,5.8,345,7057,0.10,0.00,42.28,0.770,6,0.084,0.000,3242,1711,1634,0,0,0,0,0,0
$GC,7378,0.85,244.2,306.8,7.9,354,7383,0.00,2.53,0.00,0.000,4,0.000,0.057,3241,289,1628,0,0,0,0,0,0
$GC,7510,0.80,244.2,295.1,8.9,357,7516,0.00,2.35,0.00,0.000,6,0.000,0.027,3242,1702,1624,0,0,0,0,0,0
$GC,7829,0.82,265.7,272.4,6.9,373,7854,0.00,2.60,18.40,0.703,4,0.000,0.056,3242,296,1546,0,0,0,0,0,0
$GC,7946,0.79,265.7,260.4,12.4,378,7950,0.00,2.35,0.00,0.000,6,0.000,0.026,3242,1708,1542,0,0,0,0,0,0
$GC,8273,0.84,272.7,230.1,7.6,394,8285,0.00,2.58,6.70,0.571,4,0.000,0.055,3242,296,1518,0,0,0,0,0,0
$GC,8398,0.84,272.7,218.2,9.4,399,8402,0.00,2.33,0.00,0.000,6,0.000,0.025,3242,1708,1515,0,0,0,0,0,0
$GC,8726,0.89,272.7,192.2,8.0,418,8730,0.00,2.47,0.00,0.000,4,0.000,0.052,3242,294,1514,0,0,0,0,0,0
$GC,8821,0.89,272.7,183.8,8.4,425,8825,0.00,2.28,0.00,0.000,6,0.000,0.024,3242,1706,1513,0,0,0,0,0,0
$GC,9085,0.95,272.7,164.4,8.0,445,9089,0.00,2.50,0.00,0.000,4,0.000,0.051,3242,286,1513,0,0,0,0,0,0
$GC,9158,0.95,272.7,157.3,9.3,450,9165,0.00,2.33,0.00,0.000,6,0.000,0.023,3242,1701,1512,0,0,0,0,0,0
$GC,9420,1.07,280.8,139.3,7.5,471,9435,0.17,2.50,7.88,0.515,4,0.051,0.048,3295,290,1485,0,0,0,0,0,0
$GC,9555,1.00,280.8,124.8,11.1,480,9562,0.10,2.30,0.00,0.000,6,0.071,0.021,3270,1703,1482,0,0,0,0,0,0
$GC,9819,1.09,308.3,106.1,6.7,501,9849,0.00,2.53,25.15,0.558,4,0.000,0.048,3270,294,1372,0,0,0,0,0,0
$GC,9901,1.09,308.3,99.1,9.2,507,9906,0.00,2.28,0.00,0.000,6,0.000,0.021,3270,1715,1369,0,0,0,0,0,0
$GC,10165,1.23,330.5,80.3,6.9,527,10193,0.20,2.58,19.73,0.520,4,0.047,0.049,3330,291,1281,0,0,0,0,0,0
$GC,10281,1.11,330.5,67.2,12.7,535,10286,0.17,2.25,0.00,0.000,6,0.087,0.020,3295,1710,1278,0,0,0,0,0,0
$GC,10549,1.18,334.9,45.3,7.7,556,10564,0.00,2.47,4.95,0.374,4,0.000,0.045,3294,290,1263,0,0,0,0,0,0
$GC,10652,1.18,334.9,36.2,9.1,563,10656,0.00,2.25,0.00,0.000,6,0.000,0.019,3294,1705,1261,0,0,0,0,0,0
$GC,10917,1.23,335.5,14.5,7.9,613,10925,0.10,2.50,0.00,0.000,4,0.071,0.048,3335,296,1261,0,0,0,0,0,0
$GC,11006,1.11,335.5,4.0,12.8,632,11014,0.17,2.25,0.00,0.000,6,0.066,0.018,3293,1688,1261,0,0,0,0,0,0
$STATE,11019,end climb,SURFACE_DEPTH_REACHED
$STATE,11019,begin surface coast
$FINISH,0.7,1.001132
$STATE,11042,end surface coast,CONTROL_FINISHED_OK
$STATE,11042,begin surface
$SM_CCo,11066,43.17,0.466,0,0,957,410.14
$SM_GC,1.58,0.00,0.00,43.17,0.000,0.000,0.466,427,1694,957,-12.07,-0.17,410.14
$IRIDIUM_FIX,2054.83,-15746.61,231299,191911
$TT8_MAMPS,0.028379
$HUMID,56.97
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.4,49.921
$10V_AH,10.1,41.323
$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,30.900,128.575,396.300,43.175,0.000,50.295,112.898,174.049,4.500,0.000,14.607,1286.501,7122.384,492.087,2062.126,673.702,0.000,1409.308,0.000,2047.998,0.000,29.260,0.000
$DEVICE_MAMPS,132.691,58.292,832.962,466.336,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,429.997,415.430,940.347,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,34881,639
$CAP_FILE_SIZE,129202,0
$CFSIZE,260165632,183562240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280910,224037,2104.890,-15745.875,33,0.8,33,9.8