version: 66.06
glider: 139
mission: 8
dive: 559
start: 9 29 110 1 57 7
data:
$ID,139
$MISSION,8
$DIVE,559
$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,-2162786.5
$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
$GPS1,015036,2104.844,-15745.392,17,1.0,33,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-72.5
$GPS2,015649,2104.818,-15745.388,16,1.3,21,9.8
$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,56.8,4648,-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,-116.8,0.0,0.0,0,83,0.00,0.00,-64.47,0.000,2,0.000,0.000,429,1702,2742,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.4,-3.1,12,111,12.60,2.42,-6.90,0.000,4,0.132,0.038,2786,3112,3110,0,0,0,0,0,0
$GC,129,-0.15,-116.8,15.8,-27.7,19,136,1.02,2.42,0.00,0.000,6,0.068,0.033,3016,1702,3111,0,0,0,0,0,0
$GC,332,-0.75,-116.8,27.0,-6.7,65,339,0.55,2.42,0.00,0.000,4,0.040,0.043,2880,293,3113,0,0,0,0,0,0
$GC,391,-0.75,-116.8,32.7,-9.4,73,395,0.00,2.30,0.00,0.000,6,0.000,0.018,2880,1736,3113,0,0,0,0,0,0
$GC,656,-0.75,-116.8,63.3,-11.8,94,660,0.00,2.47,0.00,0.000,4,0.000,0.044,2880,293,3113,0,0,0,0,0,0
$GC,716,-0.79,-116.8,70.4,-11.5,98,723,0.00,2.28,0.00,0.000,6,0.000,0.018,2880,1713,3114,0,0,0,0,0,0
$GC,976,-0.86,-116.8,95.8,-8.7,119,981,0.00,2.45,0.00,0.000,4,0.000,0.045,2880,295,3114,0,0,0,0,0,0
$GC,1065,-0.94,-116.8,104.0,-8.4,125,1071,0.15,2.22,0.00,0.000,6,0.053,0.018,2825,1707,3114,0,0,0,0,0,0
$GC,1325,-0.94,-116.8,132.0,-10.4,146,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1713,3114,0,0,0,0,0,0
$GC,1577,-0.94,-116.8,155.2,-9.3,166,1581,0.00,2.45,0.00,0.000,4,0.000,0.045,2825,286,3116,0,0,0,0,0,0
$GC,1678,-0.94,-116.8,166.5,-10.4,173,1684,0.00,2.25,0.00,0.000,6,0.000,0.018,2824,1703,3116,0,0,0,0,0,0
$GC,1938,-0.94,-116.8,191.2,-9.9,194,1943,0.10,2.42,0.00,0.000,4,0.100,0.047,2848,295,3116,0,0,0,0,0,0
$GC,1978,-0.99,-116.8,195.1,-9.5,197,1982,0.00,2.20,0.00,0.000,6,0.000,0.018,2847,1701,3116,0,0,0,0,0,0
$GC,2247,-1.09,-116.8,218.6,-8.1,212,2252,0.15,2.42,0.00,0.000,4,0.054,0.046,2793,292,3116,0,0,0,0,0,0
$GC,2294,-1.05,-116.8,223.6,-10.6,214,2299,0.12,2.22,0.00,0.000,6,0.093,0.019,2820,1692,3116,0,0,0,0,0,0
$GC,2621,-1.05,-116.8,251.8,-8.1,230,2622,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1696,3116,0,0,0,0,0,0
$GC,2932,-1.10,-116.8,274.8,-6.5,245,2937,0.00,2.40,0.00,0.000,4,0.000,0.048,2820,293,3114,0,0,0,0,0,0
$GC,3002,-1.13,-116.8,280.6,-8.0,248,3006,0.00,2.25,0.00,0.000,6,0.000,0.021,2820,1703,3115,0,0,0,0,0,0
$GC,3348,-1.18,-116.8,307.7,-8.0,263,3353,0.12,2.45,0.00,0.000,4,0.062,0.050,2776,292,3113,0,0,0,0,0,0
$GC,3432,-1.07,-116.8,317.0,-11.8,264,3439,0.20,2.28,0.00,0.000,6,0.084,0.021,2819,1703,3113,0,0,0,0,0,0
$GC,3766,-1.12,-116.8,341.0,-7.4,273,3770,0.00,2.45,0.00,0.000,4,0.000,0.051,2819,288,3111,0,0,0,0,0,0
$GC,3837,-1.16,-116.8,346.9,-7.7,274,3842,0.10,2.28,0.00,0.000,6,0.074,0.023,2783,1703,3111,0,0,0,0,0,0
$GC,4179,-1.16,-116.8,377.9,-9.3,283,4183,0.00,2.47,0.00,0.000,4,0.000,0.053,2783,292,3108,0,0,0,0,0,0
$GC,4230,-1.11,-116.8,383.2,-9.6,284,4235,0.12,2.30,0.00,0.000,6,0.097,0.024,2810,1704,3108,0,0,0,0,0,0
$GC,4554,-1.15,-116.8,407.9,-7.6,292,4558,0.00,2.47,0.00,0.000,4,0.000,0.054,2809,296,3106,0,0,0,0,0,0
$GC,4633,-1.15,-116.8,414.8,-7.5,293,4637,0.00,2.28,0.00,0.000,6,0.000,0.025,2810,1704,3105,0,0,0,0,0,0
$GC,4969,-1.19,-116.8,436.4,-6.1,302,4974,0.00,2.47,0.00,0.000,4,0.000,0.055,2810,297,3103,0,0,0,0,0,0
$GC,5008,-1.19,-116.8,438.6,-6.1,302,5014,0.00,2.30,0.00,0.000,6,0.000,0.025,2810,1702,3103,0,0,0,0,0,0
$STATE,5174,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5174,begin apogee
$GC,5180,-0.31,0.0,450.7,7.1,307,5280,0.80,0.00,96.50,0.836,6,0.064,0.000,2983,1707,2629,0,0,0,0,0,0
$STATE,5281,end apogee,CONTROL_FINISHED_OK
$STATE,5281,begin climb
$GC,5283,1.18,116.8,452.3,0.0,309,5396,1.40,2.42,101.40,0.816,4,0.035,0.032,3311,3082,2153,0,0,0,0,0,0
$GC,5533,1.00,116.8,441.4,9.2,314,5538,0.22,2.40,0.00,0.000,6,0.097,0.040,3267,1696,2148,0,0,0,0,0,0
$GC,5874,0.96,184.9,420.5,4.8,323,5940,0.00,2.45,59.53,0.807,4,0.000,0.031,3267,3091,1876,0,0,0,0,0,0
$GC,5988,0.94,189.8,413.5,7.7,325,6000,0.00,2.42,5.60,0.591,6,0.000,0.043,3267,1703,1855,0,0,0,0,0,0
$GC,6332,0.86,189.8,386.7,8.4,334,6337,0.15,2.55,0.00,0.000,4,0.103,0.059,3238,290,1850,0,0,0,0,0,0
$GC,6385,0.77,189.8,382.0,8.4,335,6389,0.00,2.35,0.00,0.000,6,0.000,0.027,3238,1701,1847,0,0,0,0,0,0
$GC,6708,0.78,196.0,359.1,7.6,343,6720,0.00,2.53,5.40,0.585,4,0.000,0.056,3238,292,1830,0,0,0,0,0,0
$GC,6763,0.70,196.0,354.1,9.4,344,6768,0.17,2.35,0.00,0.000,6,0.100,0.027,3204,1704,1828,0,0,0,0,0,0
$GC,7084,0.82,227.7,333.4,6.5,352,7121,0.12,2.55,29.45,0.760,4,0.072,0.056,3239,296,1700,0,0,0,0,0,0
$GC,7234,0.77,227.7,318.4,10.8,355,7238,0.00,2.35,0.00,0.000,6,0.000,0.027,3238,1704,1694,0,0,0,0,0,0
$GC,7552,0.78,234.3,292.4,7.6,365,7564,0.00,2.58,6.10,0.584,4,0.000,0.056,3239,294,1674,0,0,0,0,0,0
$GC,7630,0.73,234.3,285.4,9.2,368,7636,0.15,2.33,0.00,0.000,6,0.104,0.026,3210,1704,1672,0,0,0,0,0,0
$GC,7954,0.86,259.7,262.8,6.8,384,7984,0.12,2.60,23.42,0.706,4,0.070,0.055,3246,296,1570,0,0,0,0,0,0
$GC,8163,0.83,259.7,242.8,9.9,393,8168,0.00,2.33,0.00,0.000,6,0.000,0.025,3247,1702,1565,0,0,0,0,0,0
$GC,8499,0.89,288.7,219.0,6.6,409,8531,0.00,2.60,25.73,0.669,4,0.000,0.054,3246,293,1451,0,0,0,0,0,0
$GC,8606,0.89,288.7,207.8,11.1,413,8611,0.00,2.35,0.00,0.000,6,0.000,0.025,3246,1711,1446,0,0,0,0,0,0
$GC,8938,0.96,288.7,177.0,8.6,437,8942,0.00,2.50,0.00,0.000,4,0.000,0.053,3247,290,1446,0,0,0,0,0,0
$GC,9069,0.96,288.7,164.2,9.1,446,9075,0.00,2.33,0.00,0.000,6,0.000,0.023,3247,1700,1443,0,0,0,0,0,0
$GC,9332,1.03,293.5,144.1,7.7,467,9346,0.12,2.50,4.40,0.422,4,0.064,0.049,3287,289,1432,0,0,0,0,0,0
$GC,9461,0.93,293.5,130.3,11.8,476,9466,0.17,2.28,0.00,0.000,6,0.087,0.021,3251,1706,1431,0,0,0,0,0,0
$GC,9725,1.06,331.4,111.3,6.2,496,9767,0.12,2.58,33.70,0.574,4,0.064,0.050,3293,290,1278,0,0,0,0,0,0
$GC,9842,1.00,331.4,100.3,8.4,504,9847,0.12,2.28,0.00,0.000,6,0.094,0.021,3267,1708,1274,0,0,0,0,0,0
$GC,10103,1.13,351.2,82.3,7.0,524,10131,0.12,2.50,17.67,0.524,4,0.062,0.048,3311,291,1196,0,0,0,0,0,0
$GC,10186,1.07,351.2,73.6,12.2,529,10194,0.10,2.30,0.00,0.000,6,0.068,0.020,3286,1703,1194,0,0,0,0,0,0
$GC,10448,1.15,351.2,50.9,8.3,550,10452,0.00,2.47,0.00,0.000,4,0.000,0.048,3285,291,1193,0,0,0,0,0,0
$GC,10561,1.15,351.2,39.6,10.7,558,10565,0.00,2.25,0.00,0.000,6,0.000,0.019,3286,1710,1192,0,0,0,0,0,0
$GC,10826,1.23,351.2,16.4,9.2,602,10833,0.15,2.53,0.00,0.000,4,0.053,0.049,3338,291,1192,0,0,0,0,0,0
$STATE,10937,end climb,SURFACE_DEPTH_REACHED
$STATE,10937,begin surface coast
$FINISH,0.9,1.023082
$STATE,10964,end surface coast,CONTROL_FINISHED_OK
$STATE,10964,begin surface
$SM_CCo,10989,35.38,0.469,0,0,958,410.14
$SM_GC,1.69,0.00,0.00,35.38,0.000,0.000,0.469,427,1712,958,-12.07,0.37,410.14
$IRIDIUM_FIX,2054.83,-15746.61,231299,222230
$TT8_MAMPS,0.029146
$HUMID,58.38
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.4,50.132
$10V_AH,10.1,41.495
$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,31.675,129.300,408.900,35.375,0.000,25.731,36.305,171.993,4.500,0.000,21.815,1268.054,7028.238,481.405,2071.211,545.621,0.000,1414.458,0.000,2041.803,0.000,29.262,0.000
$DEVICE_MAMPS,131.924,59.059,836.030,469.404,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,425.626,408.243,932.595,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,34971,633
$CAP_FILE_SIZE,127641,0
$CFSIZE,260165632,183439360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290910,050206,2104.382,-15745.626,35,0.9,35,9.8