version: 66.06
glider: 139
mission: 8
dive: 563
start: 9 29 110 14 39 57
data:
$ID,139
$MISSION,8
$DIVE,563
$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,-2162849
$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
$GPS1,143337,2105.051,-15744.418,34,1.0,34,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-73.8
$GPS2,143937,2105.045,-15744.406,11,1.4,16,9.8
$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,51.2,2938,-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,-116.8,0.0,0.0,0,81,0.00,0.00,-64.28,0.000,2,0.000,0.000,426,1708,2742,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.3,-3.5,12,110,12.62,2.40,-6.82,0.000,4,0.131,0.035,2786,3112,3109,0,0,0,0,0,0
$GC,200,-1.11,-116.8,26.5,-14.0,36,207,0.08,2.42,0.00,0.000,6,0.081,0.034,2805,1702,3111,0,0,0,0,0,0
$GC,404,-0.94,-116.8,57.0,-14.7,55,409,0.20,2.45,0.00,0.000,4,0.090,0.047,2847,293,3112,0,0,0,0,0,0
$GC,446,-0.81,-116.8,62.5,-12.9,58,451,0.12,2.33,0.00,0.000,6,0.100,0.018,2873,1740,3113,0,0,0,0,0,0
$GC,715,-0.85,-116.8,86.4,-8.6,79,720,0.00,2.47,0.00,0.000,4,0.000,0.044,2872,295,3113,0,0,0,0,0,0
$GC,785,-0.85,-116.8,94.2,-10.3,84,790,0.00,2.22,0.00,0.000,6,0.000,0.018,2873,1714,3113,0,0,0,0,0,0
$GC,1047,-0.94,-116.8,120.4,-9.3,104,1052,0.12,2.47,0.00,0.000,4,0.061,0.044,2826,292,3114,0,0,0,0,0,0
$GC,1151,-0.94,-116.8,132.6,-10.6,111,1157,0.00,2.22,0.00,0.000,6,0.000,0.018,2826,1702,3114,0,0,0,0,0,0
$GC,1410,-0.94,-116.8,156.1,-8.4,132,1414,0.00,2.40,0.00,0.000,4,0.000,0.045,2826,294,3115,0,0,0,0,0,0
$GC,1435,-0.89,-116.8,158.1,-8.5,134,1440,0.15,2.25,0.00,0.000,6,0.085,0.018,2858,1711,3115,0,0,0,0,0,0
$GC,1703,-0.97,-116.8,176.8,-7.1,155,1707,0.00,2.42,0.00,0.000,4,0.000,0.044,2858,292,3115,0,0,0,0,0,0
$GC,1764,-1.05,-116.8,181.9,-8.6,159,1770,0.17,2.22,0.00,0.000,6,0.049,0.018,2801,1704,3115,0,0,0,0,0,0
$GC,2031,-1.01,-116.8,210.2,-10.8,178,2036,0.12,2.45,0.00,0.000,4,0.093,0.047,2828,288,3115,0,0,0,0,0,0
$GC,2088,-1.01,-116.8,216.4,-9.8,180,2092,0.00,2.22,0.00,0.000,6,0.000,0.019,2828,1694,3115,0,0,0,0,0,0
$GC,2412,-1.05,-116.8,242.8,-7.7,196,2416,0.00,2.42,0.00,0.000,4,0.000,0.048,2828,295,3115,0,0,0,0,0,0
$GC,2472,-1.05,-116.8,248.2,-8.6,198,2479,0.00,2.25,0.00,0.000,6,0.000,0.020,2829,1699,3114,0,0,0,0,0,0
$GC,2789,-1.10,-116.8,273.4,-8.8,214,2793,0.00,2.42,0.00,0.000,4,0.000,0.048,2828,294,3114,0,0,0,0,0,0
$GC,2840,-1.15,-116.8,278.6,-9.6,216,2845,0.12,2.22,0.00,0.000,6,0.061,0.021,2785,1707,3114,0,0,0,0,0,0
$GC,3187,-1.12,-116.8,311.3,-8.9,230,3192,0.10,2.45,0.00,0.000,4,0.105,0.049,2806,293,3113,0,0,0,0,0,0
$GC,3262,-1.12,-116.8,318.5,-8.5,231,3266,0.00,2.22,0.00,0.000,6,0.000,0.021,2805,1699,3113,0,0,0,0,0,0
$GC,3599,-1.12,-116.8,343.6,-7.8,240,3603,0.00,2.45,0.00,0.000,4,0.000,0.051,2806,295,3112,0,0,0,0,0,0
$GC,3645,-1.12,-116.8,348.1,-9.0,241,3650,0.00,2.25,0.00,0.000,6,0.000,0.022,2806,1704,3111,0,0,0,0,0,0
$GC,3970,-1.15,-116.8,377.8,-9.5,249,3974,0.00,2.45,0.00,0.000,4,0.000,0.051,2806,291,3109,0,0,0,0,0,0
$GC,4036,-1.15,-116.8,385.0,-10.9,250,4041,0.00,2.28,0.00,0.000,6,0.000,0.023,2806,1694,3109,0,0,0,0,0,0
$GC,4381,-1.18,-116.8,417.7,-8.9,259,4386,0.00,2.45,0.00,0.000,4,0.000,0.053,2806,291,3106,0,0,0,0,0,0
$GC,4438,-1.18,-116.8,422.7,-8.3,260,4443,0.00,2.30,0.00,0.000,6,0.000,0.024,2806,1706,3106,0,0,0,0,0,0
$GC,4753,-1.22,-116.8,445.8,-6.9,268,4757,0.00,2.47,0.00,0.000,4,0.000,0.054,2805,289,3104,0,0,0,0,0,0
$GC,4799,-1.22,-116.8,449.5,-7.8,269,4804,0.00,2.33,0.00,0.000,6,0.000,0.025,2806,1704,3104,0,0,0,0,0,0
$STATE,4807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4807,begin apogee
$GC,4814,-0.31,0.0,450.2,7.3,269,4914,0.77,0.00,96.20,0.826,6,0.066,0.000,2978,1708,2630,0,0,0,0,0,0
$STATE,4914,end apogee,CONTROL_FINISHED_OK
$STATE,4914,begin climb
$GC,4917,1.18,116.8,451.6,0.0,271,5030,1.42,2.42,100.90,0.808,4,0.038,0.031,3309,3085,2152,0,0,0,0,0,0
$GC,5069,1.00,123.1,448.1,7.6,275,5082,0.20,2.40,6.72,0.626,6,0.098,0.038,3270,1695,2127,0,0,0,0,0,0
$GC,5426,0.91,143.6,421.9,7.0,284,5451,0.00,2.45,18.15,0.752,4,0.000,0.031,3270,3082,2043,0,0,0,0,0,0
$GC,5599,0.87,158.7,409.3,7.2,287,5620,0.15,2.40,14.62,0.736,6,0.103,0.041,3241,1694,1982,0,0,0,0,0,0
$GC,5944,0.86,183.0,386.4,6.8,296,5972,0.00,2.58,22.23,0.760,4,0.000,0.057,3241,298,1883,0,0,0,0,0,0
$GC,5983,0.80,183.0,383.1,8.3,296,5988,0.00,2.35,0.00,0.000,6,0.000,0.026,3241,1709,1880,0,0,0,0,0,0
$GC,6315,0.80,183.0,356.8,8.3,305,6319,0.00,2.50,0.00,0.000,4,0.000,0.055,3241,296,1877,0,0,0,0,0,0
$GC,6358,0.71,183.0,352.9,8.8,306,6363,0.17,2.33,0.00,0.000,6,0.103,0.027,3206,1699,1875,0,0,0,0,0,0
$GC,6688,0.79,191.2,327.7,7.5,314,6700,0.00,2.53,7.12,0.626,4,0.000,0.056,3206,293,1849,0,0,0,0,0,0
$GC,6808,0.82,210.0,319.1,7.0,316,6833,0.00,2.35,18.15,0.722,6,0.000,0.026,3206,1711,1774,0,0,0,0,0,0
$GC,7161,1.01,293.4,302.6,4.1,325,7247,0.28,2.55,73.47,0.743,4,0.048,0.055,3281,297,1431,0,0,0,0,0,0
$GC,7344,0.86,293.4,284.0,12.9,332,7349,0.22,2.33,0.00,0.000,6,0.093,0.026,3237,1706,1425,0,0,0,0,0,0
$GC,7676,0.91,293.4,252.4,10.2,348,7680,0.00,2.53,0.00,0.000,4,0.000,0.055,3237,297,1423,0,0,0,0,0,0
$GC,7791,0.91,293.4,240.8,10.5,353,7795,0.00,2.30,0.00,0.000,6,0.000,0.025,3237,1699,1420,0,0,0,0,0,0
$GC,8126,0.97,293.4,212.9,9.3,369,8131,0.10,2.47,0.00,0.000,4,0.077,0.054,3270,293,1419,0,0,0,0,0,0
$GC,8270,0.88,293.4,194.4,12.0,376,8278,0.10,2.35,0.00,0.000,6,0.079,0.024,3246,1710,1417,0,0,0,0,0,0
$GC,8533,0.94,293.4,172.1,8.5,397,8537,0.00,2.50,0.00,0.000,4,0.000,0.051,3246,294,1417,0,0,0,0,0,0
$GC,8659,0.94,293.4,158.0,12.5,406,8664,0.00,2.28,0.00,0.000,6,0.000,0.022,3245,1703,1416,0,0,0,0,0,0
$GC,8918,1.02,293.4,134.3,8.2,426,8923,0.12,2.45,0.00,0.000,4,0.064,0.050,3286,294,1416,0,0,0,0,0,0
$GC,8962,0.94,293.4,129.8,11.4,429,8967,0.15,2.28,0.00,0.000,6,0.092,0.021,3256,1714,1416,0,0,0,0,0,0
$GC,9224,1.07,336.7,113.6,5.9,449,9265,0.12,2.60,34.88,0.576,4,0.064,0.049,3297,293,1256,0,0,0,0,0,0
$GC,9350,1.00,336.7,101.8,11.9,458,9355,0.15,2.30,0.00,0.000,6,0.089,0.021,3266,1711,1252,0,0,0,0,0,0
$GC,9619,1.11,336.7,80.7,8.7,479,9624,0.10,2.50,0.00,0.000,4,0.072,0.048,3303,294,1252,0,0,0,0,0,0
$GC,9673,1.11,336.7,75.2,9.5,483,9677,0.00,2.25,0.00,0.000,6,0.000,0.020,3302,1708,1250,0,0,0,0,0,0
$GC,9938,1.14,336.7,51.5,8.7,504,9942,0.00,2.47,0.00,0.000,4,0.000,0.047,3302,290,1250,0,0,0,0,0,0
$GC,10025,1.14,336.7,42.5,9.7,510,10032,0.00,2.28,0.00,0.000,6,0.000,0.019,3303,1705,1249,0,0,0,0,0,0
$GC,10288,1.18,336.7,20.5,8.7,549,10295,0.00,2.47,0.00,0.000,4,0.000,0.047,3302,296,1250,0,0,0,0,0,0
$GC,10379,1.14,336.7,10.8,10.8,569,10385,0.00,2.25,0.00,0.000,6,0.000,0.019,3303,1705,1250,0,0,0,0,0,0
$STATE,10462,end climb,SURFACE_DEPTH_REACHED
$STATE,10462,begin surface coast
$FINISH,0.9,1.010522
$STATE,10500,end surface coast,CONTROL_FINISHED_OK
$STATE,10500,begin surface
$SM_CCo,10523,42.28,0.479,0,0,957,410.14
$SM_GC,1.54,0.00,0.00,42.28,0.000,0.000,0.479,424,1707,957,-12.08,0.20,410.14
$IRIDIUM_FIX,2057.14,-15741.46,241299,111115
$TT8_MAMPS,0.029146
$HUMID,58.38
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.4,50.555
$10V_AH,10.1,41.827
$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,30.175,133.400,392.450,42.275,0.000,29.567,33.171,166.640,4.500,0.000,16.410,1212.829,6734.036,466.618,1969.413,540.119,0.000,1370.774,0.000,1945.097,0.000,29.255,0.000
$DEVICE_MAMPS,131.157,56.758,826.059,478.608,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,400.721,380.682,860.097,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,31808,596
$CAP_FILE_SIZE,125346,0
$CFSIZE,260165632,183201792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290910,173710,2105.040,-15744.376,9,9.6,28,9.8