version: 66.06
glider: 139
mission: 8
dive: 558
start: 9 28 110 22 46 57
data:
$ID,139
$MISSION,8
$DIVE,558
$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,-2162764
$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
$GPS1,224037,2104.890,-15745.875,33,0.8,33,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-72.1
$GPS2,224638,2104.899,-15745.838,10,1.8,10,9.8
$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,61.6,5322,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.25,0.000,2,0.000,0.000,427,1694,2745,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.4,-3.6,12,110,12.60,2.50,-6.75,0.000,4,0.131,0.056,2786,288,3109,0,0,0,0,0,0
$GC,123,0.08,-116.8,15.3,-27.5,18,131,1.30,2.38,0.00,0.000,6,0.079,0.019,3066,1739,3111,0,0,0,0,0,0
$GC,326,-0.47,-116.8,31.6,-9.9,62,333,0.52,2.47,0.00,0.000,4,0.048,0.041,2938,293,3113,0,0,0,0,0,0
$GC,389,-0.76,-116.8,36.7,-6.7,66,396,0.20,2.28,0.00,0.000,6,0.024,0.018,2865,1724,3112,0,0,0,0,0,0
$GC,648,-0.76,-116.8,64.5,-11.3,87,653,0.00,2.47,0.00,0.000,4,0.000,0.044,2865,295,3113,0,0,0,0,0,0
$GC,682,-0.69,-116.8,69.1,-14.0,89,688,0.12,2.22,0.00,0.000,6,0.065,0.018,2897,1692,3113,0,0,0,0,0,0
$GC,942,-0.78,-116.8,92.0,-8.0,110,946,0.00,2.40,0.00,0.000,4,0.000,0.044,2897,289,3114,0,0,0,0,0,0
$GC,1030,-0.91,-116.8,99.1,-6.8,116,1037,0.17,2.25,0.00,0.000,6,0.026,0.018,2831,1705,3114,0,0,0,0,0,0
$GC,1293,-0.88,-116.8,126.1,-11.1,137,1299,0.12,0.00,0.00,0.000,6,0.091,0.000,2859,1711,3114,0,0,0,0,0,0
$GC,1556,-0.95,-116.8,146.1,-6.7,158,1560,0.00,2.40,0.00,0.000,4,0.000,0.044,2859,294,3114,0,0,0,0,0,0
$GC,1708,-1.03,-116.8,158.4,-8.0,169,1712,0.15,2.17,0.00,0.000,6,0.054,0.018,2806,1695,3115,0,0,0,0,0,0
$GC,1968,-1.00,-116.8,181.8,-8.8,189,1972,0.12,2.42,0.00,0.000,4,0.092,0.046,2834,287,3114,0,0,0,0,0,0
$GC,2035,-1.00,-116.8,188.0,-8.5,194,2039,0.00,2.22,0.00,0.000,6,0.000,0.019,2833,1698,3115,0,0,0,0,0,0
$GC,2295,-1.04,-116.8,209.1,-8.3,211,2296,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1702,3115,0,0,0,0,0,0
$GC,2601,-1.09,-116.8,236.1,-8.9,226,2606,0.00,2.40,0.00,0.000,4,0.000,0.046,2833,293,3115,0,0,0,0,0,0
$GC,2663,-1.13,-116.8,241.7,-9.5,228,2670,0.10,2.25,0.00,0.000,6,0.033,0.020,2788,1698,3115,0,0,0,0,0,0
$GC,2980,-1.09,-116.8,274.3,-10.3,244,2985,0.12,2.45,0.00,0.000,4,0.092,0.048,2815,295,3114,0,0,0,0,0,0
$GC,3029,-1.09,-116.8,279.2,-10.1,246,3033,0.00,2.25,0.00,0.000,6,0.000,0.021,2815,1705,3114,0,0,0,0,0,0
$GC,3355,-1.13,-116.8,303.7,-7.2,261,3359,0.00,2.42,0.00,0.000,4,0.000,0.048,2815,295,3113,0,0,0,0,0,0
$GC,3426,-1.13,-116.8,309.5,-7.4,262,3430,0.00,2.25,0.00,0.000,6,0.000,0.021,2815,1701,3113,0,0,0,0,0,0
$GC,3772,-1.17,-116.8,337.3,-8.3,271,3777,0.00,2.42,0.00,0.000,4,0.000,0.050,2815,295,3111,0,0,0,0,0,0
$GC,3791,-1.17,-116.8,339.0,-7.8,271,3796,0.00,2.25,0.00,0.000,6,0.000,0.022,2815,1707,3111,0,0,0,0,0,0
$GC,4139,-1.22,-116.8,365.6,-7.6,280,4141,0.15,0.00,0.00,0.000,6,0.058,0.000,2768,1712,3108,0,0,0,0,0,0
$GC,4463,-1.17,-116.8,396.9,-9.9,288,4468,0.12,2.47,0.00,0.000,4,0.095,0.054,2794,294,3106,0,0,0,0,0,0
$GC,4525,-1.17,-116.8,403.0,-9.6,289,4529,0.00,2.25,0.00,0.000,6,0.000,0.024,2794,1694,3106,0,0,0,0,0,0
$GC,4876,-1.17,-116.8,432.6,-8.1,298,4880,0.00,2.47,0.00,0.000,4,0.000,0.054,2794,289,3103,0,0,0,0,0,0
$GC,4967,-1.17,-116.8,440.3,-8.2,300,4971,0.00,2.28,0.00,0.000,6,0.000,0.025,2794,1696,3103,0,0,0,0,0,0
$STATE,5129,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5129,begin apogee
$GC,5136,-0.31,0.0,452.5,7.1,304,5236,0.85,0.00,96.40,0.832,6,0.065,0.000,2979,1701,2630,0,0,0,0,0,0
$STATE,5237,end apogee,CONTROL_FINISHED_OK
$STATE,5237,begin climb
$GC,5240,1.18,116.8,453.9,0.0,306,5353,1.42,2.42,101.55,0.814,4,0.036,0.032,3312,3088,2153,0,0,0,0,0,0
$GC,5443,0.99,116.8,445.9,9.5,310,5448,0.22,2.42,0.00,0.000,6,0.098,0.040,3268,1701,2149,0,0,0,0,0,0
$GC,5786,0.90,140.3,421.1,6.8,319,5811,0.00,2.40,20.12,0.770,4,0.000,0.031,3268,3088,2057,0,0,0,0,0,0
$GC,5828,0.83,148.6,417.9,7.5,320,5845,0.17,2.45,9.10,0.687,6,0.098,0.041,3234,1697,2023,0,0,0,0,0,0
$GC,6163,0.88,184.5,395.8,6.3,328,6204,0.00,2.55,32.30,0.788,4,0.000,0.057,3233,287,1876,0,0,0,0,0,0
$GC,6347,0.80,184.5,381.0,9.1,332,6351,0.00,2.35,0.00,0.000,6,0.000,0.027,3234,1706,1869,0,0,0,0,0,0
$GC,6674,0.86,230.6,360.4,5.8,340,6717,0.00,0.00,41.10,0.780,6,0.000,0.000,3234,1711,1690,0,0,0,0,0,0
$GC,7039,0.88,246.0,335.1,7.2,349,7059,0.00,2.60,13.95,0.716,4,0.000,0.057,3233,300,1627,0,0,0,0,0,0
$GC,7157,0.88,246.0,325.0,8.5,351,7161,0.00,2.33,0.00,0.000,6,0.000,0.027,3234,1701,1622,0,0,0,0,0,0
$GC,7502,0.91,246.0,297.0,8.4,360,7506,0.00,2.50,0.00,0.000,4,0.000,0.057,3233,290,1620,0,0,0,0,0,0
$GC,7559,0.86,246.0,291.5,10.0,362,7563,0.00,2.35,0.00,0.000,6,0.000,0.027,3234,1708,1618,0,0,0,0,0,0
$GC,7876,0.90,246.0,264.0,8.8,377,7881,0.00,2.53,0.00,0.000,4,0.000,0.055,3234,290,1618,0,0,0,0,0,0
$GC,8021,0.90,246.0,248.7,10.8,383,8026,0.00,2.30,0.00,0.000,6,0.000,0.026,3234,1701,1616,0,0,0,0,0,0
$GC,8343,0.98,257.5,223.2,7.4,399,8360,0.12,2.58,9.77,0.615,4,0.068,0.054,3272,292,1580,0,0,0,0,0,0
$GC,8471,0.89,257.5,209.1,11.0,404,8476,0.12,2.33,0.00,0.000,6,0.104,0.025,3247,1711,1576,0,0,0,0,0,0
$GC,8804,0.93,257.5,181.8,8.2,427,8808,0.00,2.50,0.00,0.000,4,0.000,0.053,3247,286,1576,0,0,0,0,0,0
$GC,8851,0.93,257.5,177.1,9.4,430,8858,0.00,2.33,0.00,0.000,6,0.000,0.024,3247,1701,1575,0,0,0,0,0,0
$GC,9114,0.98,259.8,156.3,7.8,451,9118,0.00,2.45,0.00,0.000,4,0.000,0.051,3247,293,1575,0,0,0,0,0,0
$GC,9254,0.99,262.8,144.4,7.8,461,9264,0.00,2.25,5.38,0.466,6,0.000,0.023,3247,1705,1558,0,0,0,0,0,0
$GC,9519,1.15,320.0,129.0,5.3,482,9576,0.22,2.53,50.45,0.596,4,0.046,0.051,3313,293,1324,0,0,0,0,0,0
$GC,9683,1.04,320.0,112.0,12.4,494,9688,0.17,2.25,0.00,0.000,6,0.089,0.021,3277,1694,1319,0,0,0,0,0,0
$GC,9953,1.13,339.5,89.8,7.0,515,9980,0.00,2.50,17.05,0.527,4,0.000,0.047,3277,292,1244,0,0,0,0,0,0
$GC,10003,1.13,339.5,85.6,8.1,518,10010,0.00,2.33,0.00,0.000,6,0.000,0.021,3277,1713,1242,0,0,0,0,0,0
$GC,10270,1.26,373.4,68.7,6.4,539,10305,0.20,2.58,29.30,0.522,4,0.046,0.049,3339,293,1106,0,0,0,0,0,0
$GC,10438,1.13,373.4,46.3,13.3,551,10443,0.20,2.25,0.00,0.000,6,0.083,0.019,3298,1715,1101,0,0,0,0,0,0
$GC,10700,1.18,373.4,22.6,9.0,583,10707,0.00,2.50,0.00,0.000,4,0.000,0.047,3297,297,1101,0,0,0,0,0,0
$GC,10832,1.18,373.4,7.7,12.0,612,10839,0.00,2.25,0.00,0.000,6,0.000,0.019,3298,1695,1100,0,0,0,0,0,0
$STATE,10874,end climb,SURFACE_DEPTH_REACHED
$STATE,10874,begin surface coast
$FINISH,0.9,1.003090
$STATE,10901,end surface coast,CONTROL_FINISHED_OK
$STATE,10901,begin surface
$SM_CCo,10923,22.67,0.459,0,0,957,410.14
$SM_GC,1.49,0.00,0.00,22.67,0.000,0.000,0.459,429,1701,957,-12.06,0.03,410.14
$IRIDIUM_FIX,2054.83,-15749.62,231299,191939
$TT8_MAMPS,0.028379
$HUMID,57.99
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.4,50.027
$10V_AH,10.1,41.408
$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,31.850,119.175,426.475,22.675,0.000,28.930,33.607,168.834,4.500,0.000,11.041,1250.245,7029.791,486.041,1998.778,538.072,0.000,1391.646,0.000,1976.566,0.000,32.269,0.000
$DEVICE_MAMPS,131.157,56.758,832.195,459.433,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,421.410,402.455,907.031,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,34952,627
$CAP_FILE_SIZE,123612,0
$CFSIZE,260165632,183504896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290910,015036,2104.844,-15745.392,17,1.0,33,9.8