version: 66.06
glider: 139
mission: 8
dive: 560
start: 9 29 110 5 8 21
data:
$ID,139
$MISSION,8
$DIVE,560
$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,-2162800.5
$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
$GPS1,050206,2104.382,-15745.626,35,0.9,35,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-72.8
$GPS2,050801,2104.368,-15745.654,13,1.4,13,9.8
$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,50.7,5434,-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,-64.18,0.000,2,0.000,0.000,426,1711,2729,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.2,-3.2,12,109,12.65,0.00,-7.15,0.000,6,0.132,0.000,2786,1713,3109,0,0,0,0,0,0
$GC,305,-0.96,-116.8,45.8,-16.6,47,310,0.25,2.45,0.00,0.000,4,0.089,0.046,2841,295,3112,0,0,0,0,0,0
$GC,345,-0.80,-116.8,52.2,-15.5,50,350,0.15,2.33,0.00,0.000,6,0.091,0.018,2873,1737,3113,0,0,0,0,0,0
$GC,613,-0.80,-116.8,77.9,-9.4,71,617,0.00,2.47,0.00,0.000,4,0.000,0.045,2873,294,3113,0,0,0,0,0,0
$GC,709,-0.80,-116.8,88.1,-9.1,78,714,0.00,2.22,0.00,0.000,6,0.000,0.018,2873,1714,3114,0,0,0,0,0,0
$GC,971,-0.87,-116.8,109.7,-8.4,98,975,0.00,2.45,0.00,0.000,4,0.000,0.044,2873,294,3114,0,0,0,0,0,0
$GC,1011,-0.91,-116.8,113.3,-9.5,101,1015,0.00,2.22,0.00,0.000,6,0.000,0.018,2873,1709,3115,0,0,0,0,0,0
$GC,1282,-1.01,-116.8,134.9,-7.1,122,1287,0.20,2.42,0.00,0.000,4,0.044,0.043,2809,294,3114,0,0,0,0,0,0
$GC,1352,-0.92,-116.8,142.4,-11.3,127,1357,0.17,2.20,0.00,0.000,6,0.083,0.018,2847,1698,3114,0,0,0,0,0,0
$GC,1615,-0.97,-116.8,164.9,-8.6,147,1619,0.00,2.40,0.00,0.000,4,0.000,0.045,2847,295,3115,0,0,0,0,0,0
$GC,1662,-0.97,-116.8,169.6,-9.1,150,1669,0.00,2.25,0.00,0.000,6,0.000,0.019,2847,1704,3115,0,0,0,0,0,0
$GC,1926,-1.04,-116.8,190.8,-7.7,171,1931,0.10,2.45,0.00,0.000,4,0.071,0.047,2806,285,3115,0,0,0,0,0,0
$GC,2039,-0.99,-116.8,201.4,-9.1,180,2044,0.12,2.22,0.00,0.000,6,0.091,0.019,2833,1696,3115,0,0,0,0,0,0
$GC,2373,-1.03,-116.8,228.9,-9.1,196,2377,0.00,2.42,0.00,0.000,4,0.000,0.047,2833,295,3115,0,0,0,0,0,0
$GC,2451,-1.06,-116.8,236.8,-9.9,199,2455,0.00,2.25,0.00,0.000,6,0.000,0.019,2833,1706,3115,0,0,0,0,0,0
$GC,2770,-1.11,-116.8,263.0,-7.8,214,2772,0.12,0.00,0.00,0.000,6,0.062,0.000,2789,1711,3115,0,0,0,0,0,0
$GC,3078,-1.08,-116.8,290.1,-8.7,229,3079,0.12,0.00,0.00,0.000,6,0.092,0.000,2816,1711,3113,0,0,0,0,0,0
$GC,3384,-1.11,-116.8,312.7,-7.3,240,3389,0.00,2.45,0.00,0.000,4,0.000,0.050,2815,287,3113,0,0,0,0,0,0
$GC,3542,-1.11,-116.8,325.5,-7.9,243,3546,0.00,2.28,0.00,0.000,6,0.000,0.021,2816,1696,3113,0,0,0,0,0,0
$GC,3888,-1.15,-116.8,351.1,-7.6,252,3893,0.00,2.47,0.00,0.000,4,0.000,0.051,2815,289,3111,0,0,0,0,0,0
$GC,3907,-1.15,-116.8,353.0,-8.2,252,3911,0.00,2.28,0.00,0.000,6,0.000,0.024,2816,1707,3110,0,0,0,0,0,0
$GC,4253,-1.20,-116.8,381.0,-7.7,261,4258,0.12,2.50,0.00,0.000,4,0.065,0.054,2774,289,3108,0,0,0,0,0,0
$GC,4339,-1.12,-116.8,389.9,-10.4,262,4345,0.15,2.30,0.00,0.000,6,0.090,0.024,2806,1701,3107,0,0,0,0,0,0
$GC,4671,-1.16,-116.8,417.1,-7.8,271,4675,0.00,2.45,0.00,0.000,4,0.000,0.054,2806,295,3105,0,0,0,0,0,0
$GC,4691,-1.16,-116.8,418.8,-7.7,271,4695,0.00,2.28,0.00,0.000,6,0.000,0.025,2806,1704,3105,0,0,0,0,0,0
$GC,5036,-1.20,-116.8,447.1,-8.3,280,5041,0.00,2.50,0.00,0.000,4,0.000,0.056,2806,290,3103,0,0,0,0,0,0
$STATE,5067,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5067,begin apogee
$GC,5077,-0.31,0.0,450.2,9.7,280,5177,0.77,0.00,96.62,0.836,6,0.067,0.000,2977,1704,2629,0,0,0,0,0,0
$STATE,5177,end apogee,CONTROL_FINISHED_OK
$STATE,5178,begin climb
$GC,5180,1.18,116.8,453.9,0.0,283,5292,1.45,2.40,101.70,0.818,4,0.038,0.033,3312,3085,2153,0,0,0,0,0,0
$GC,5429,1.01,134.8,445.2,7.1,288,5453,0.20,2.42,16.50,0.756,6,0.100,0.040,3274,1699,2079,0,0,0,0,0,0
$GC,5777,0.92,153.1,419.8,7.1,297,5801,0.12,2.55,16.65,0.762,4,0.111,0.058,3249,289,2003,0,0,0,0,0,0
$GC,5876,0.78,153.1,411.6,8.6,299,5881,0.15,2.35,0.00,0.000,6,0.108,0.027,3222,1700,1999,0,0,0,0,0,0
$GC,6196,0.80,168.1,389.6,7.2,307,6212,0.00,0.00,13.80,0.746,6,0.000,0.000,3222,1704,1944,0,0,0,0,0,0
$GC,6520,0.81,178.9,364.7,7.4,315,6537,0.00,2.58,10.70,0.713,4,0.000,0.058,3221,301,1900,0,0,0,0,0,0
$GC,6616,0.78,178.9,356.8,8.9,317,6620,0.00,2.35,0.00,0.000,6,0.000,0.028,3221,1705,1896,0,0,0,0,0,0
$GC,6943,0.80,198.3,333.0,7.0,325,6968,0.00,2.62,18.02,0.742,4,0.000,0.058,3221,291,1821,0,0,0,0,0,0
$GC,6998,0.77,198.3,328.4,9.3,326,7002,0.00,2.35,0.00,0.000,6,0.000,0.028,3221,1702,1817,0,0,0,0,0,0
$GC,7316,0.85,230.7,305.5,6.4,334,7353,0.00,2.60,29.62,0.747,4,0.000,0.057,3221,300,1688,0,0,0,0,0,0
$GC,7452,0.86,234.8,295.5,7.7,338,7462,0.00,2.33,4.32,0.499,6,0.000,0.027,3222,1702,1672,0,0,0,0,0,0
$GC,7784,0.96,267.7,272.6,6.4,354,7823,0.17,2.58,30.45,0.724,4,0.058,0.056,3270,296,1537,0,0,0,0,0,0
$GC,7940,0.87,267.7,254.0,12.0,360,7946,0.12,2.38,0.00,0.000,6,0.080,0.027,3241,1700,1530,0,0,0,0,0,0
$GC,8255,0.92,267.7,225.2,8.8,376,8260,0.00,2.50,0.00,0.000,4,0.000,0.055,3241,289,1529,0,0,0,0,0,0
$GC,8324,0.92,267.7,218.2,10.2,379,8328,0.00,2.35,0.00,0.000,6,0.000,0.025,3241,1709,1527,0,0,0,0,0,0
$GC,8647,0.98,271.9,190.4,7.7,398,8652,0.10,2.53,0.00,0.000,4,0.077,0.054,3273,289,1526,0,0,0,0,0,0
$GC,8761,0.90,271.9,179.9,9.5,406,8765,0.15,2.30,0.00,0.000,6,0.099,0.024,3244,1700,1524,0,0,0,0,0,0
$GC,9023,0.99,298.7,162.0,6.7,426,9057,0.10,2.55,26.23,0.619,4,0.076,0.050,3277,287,1410,0,0,0,0,0,0
$GC,9135,0.93,298.7,150.7,11.1,434,9140,0.12,2.30,0.00,0.000,6,0.097,0.022,3252,1703,1407,0,0,0,0,0,0
$GC,9398,0.99,298.7,127.6,8.4,454,9402,0.00,2.47,0.00,0.000,4,0.000,0.050,3252,289,1406,0,0,0,0,0,0
$GC,9527,0.99,298.7,115.4,8.3,463,9533,0.00,2.28,0.00,0.000,6,0.000,0.021,3252,1708,1404,0,0,0,0,0,0
$GC,9789,1.10,312.0,96.0,7.3,484,9807,0.17,2.50,12.18,0.519,4,0.051,0.048,3306,291,1355,0,0,0,0,0,0
$GC,9901,1.02,312.0,81.9,13.7,491,9907,0.15,2.28,0.00,0.000,6,0.091,0.021,3274,1701,1352,0,0,0,0,0,0
$GC,10165,1.12,315.9,59.4,7.7,512,10179,0.00,2.50,4.38,0.364,4,0.000,0.048,3274,285,1341,0,0,0,0,0,0
$GC,10273,1.18,315.9,49.6,8.2,519,10281,0.10,2.30,0.00,0.000,6,0.032,0.020,3318,1708,1340,0,0,0,0,0,0
$GC,10535,1.18,315.9,26.0,8.5,546,10542,0.00,2.50,0.00,0.000,4,0.000,0.048,3318,289,1339,0,0,0,0,0,0
$GC,10606,1.10,315.9,18.4,11.3,561,10613,0.10,2.28,0.00,0.000,6,0.069,0.019,3291,1706,1339,0,0,0,0,0,0
$STATE,10790,end climb,SURFACE_DEPTH_REACHED
$STATE,10790,begin surface coast
$FINISH,0.9,1.023193
$STATE,10829,end surface coast,CONTROL_FINISHED_OK
$STATE,10829,begin surface
$SM_CCo,10853,53.25,0.475,0,0,958,410.14
$SM_GC,1.72,0.00,0.00,53.25,0.000,0.000,0.475,427,1711,958,-12.07,0.31,410.14
$IRIDIUM_FIX,2059.45,-15743.60,241299,020226
$TT8_MAMPS,0.029146
$HUMID,58.15
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.4,50.235
$10V_AH,10.0,41.578
$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,30.425,119.750,381.175,53.250,0.000,24.652,31.651,165.457,4.500,0.000,13.210,1232.381,7025.750,474.984,1985.995,538.082,0.000,1370.582,0.000,1962.222,0.000,29.257,0.000
$DEVICE_MAMPS,131.924,57.525,836.030,474.773,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,412.212,391.244,880.041,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,35059,612
$CAP_FILE_SIZE,124560,0
$CFSIZE,260165632,183382016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290910,081125,2104.408,-15745.668,39,1.7,39,9.8