version: 66.06
glider: 139
mission: 8
dive: 564
start: 9 29 110 17 44 3
data:
$ID,139
$MISSION,8
$DIVE,564
$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,-2162885.8
$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
$GPS1,173710,2105.040,-15744.376,9,9.6,28,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-73.7
$GPS2,174345,2105.059,-15744.372,16,2.6,35,9.8
$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,51.1,2875,-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,-64.30,0.000,2,0.000,0.000,424,1709,2767,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.8,-4.3,12,111,12.65,2.35,-6.20,0.000,4,0.133,0.034,2786,3121,3108,0,0,0,0,0,0
$GC,129,-0.14,-116.8,17.0,-29.7,19,136,1.05,2.45,0.00,0.000,6,0.070,0.033,3019,1693,3109,0,0,0,0,0,0
$GC,331,-0.71,-116.8,30.4,-8.3,65,337,0.55,2.40,0.00,0.000,4,0.040,0.042,2885,293,3111,0,0,0,0,0,0
$GC,387,-0.71,-116.8,36.0,-9.3,69,391,0.00,2.30,0.00,0.000,6,0.000,0.018,2885,1738,3111,0,0,0,0,0,0
$GC,646,-0.71,-116.8,63.1,-11.0,89,651,0.00,2.47,0.00,0.000,4,0.000,0.044,2884,294,3111,0,0,0,0,0,0
$GC,720,-0.74,-116.8,71.9,-10.8,94,727,0.00,2.28,0.00,0.000,6,0.000,0.018,2885,1716,3112,0,0,0,0,0,0
$GC,982,-0.82,-116.8,92.8,-6.3,115,986,0.00,2.42,0.00,0.000,4,0.000,0.044,2885,295,3112,0,0,0,0,0,0
$GC,1026,-0.89,-116.8,96.0,-6.8,118,1031,0.12,2.22,0.00,0.000,6,0.061,0.018,2838,1708,3113,0,0,0,0,0,0
$GC,1286,-0.89,-116.8,118.6,-9.5,138,1290,0.00,2.42,0.00,0.000,4,0.000,0.044,2838,289,3113,0,0,0,0,0,0
$GC,1366,-0.89,-116.8,126.5,-9.9,144,1370,0.00,2.22,0.00,0.000,6,0.000,0.018,2838,1697,3113,0,0,0,0,0,0
$GC,1632,-0.89,-116.8,150.3,-8.5,165,1636,0.00,2.28,0.00,0.000,4,0.000,0.023,2838,3076,3113,0,0,0,0,0,0
$GC,1651,-0.95,-116.8,152.2,-8.2,166,1657,0.00,2.33,0.00,0.000,6,0.000,0.031,2838,1700,3113,0,0,0,0,0,0
$GC,1914,-0.99,-116.8,171.9,-7.6,187,1918,0.00,2.38,0.00,0.000,4,0.000,0.044,2838,297,3114,0,0,0,0,0,0
$GC,1983,-0.99,-116.8,178.1,-8.4,192,1987,0.00,2.20,0.00,0.000,6,0.000,0.018,2838,1706,3114,0,0,0,0,0,0
$GC,2251,-1.05,-116.8,197.8,-7.2,213,2255,0.00,2.40,0.00,0.000,4,0.000,0.045,2838,299,3113,0,0,0,0,0,0
$GC,2289,-1.05,-116.8,201.1,-7.8,215,2295,0.00,2.22,0.00,0.000,6,0.000,0.019,2838,1704,3113,0,0,0,0,0,0
$GC,2608,-1.11,-116.8,219.7,-5.8,231,2613,0.15,2.40,0.00,0.000,4,0.055,0.046,2787,299,3113,0,0,0,0,0,0
$GC,2683,-1.02,-116.8,227.1,-10.2,234,2688,0.20,2.22,0.00,0.000,6,0.082,0.019,2830,1700,3113,0,0,0,0,0,0
$GC,3012,-1.08,-116.8,254.3,-9.1,250,3016,0.00,2.40,0.00,0.000,4,0.000,0.047,2830,299,3113,0,0,0,0,0,0
$GC,3063,-1.13,-116.8,259.3,-9.0,252,3068,0.12,2.22,0.00,0.000,6,0.061,0.020,2787,1699,3113,0,0,0,0,0,0
$GC,3387,-1.09,-116.8,289.9,-9.1,268,3392,0.12,2.42,0.00,0.000,4,0.093,0.048,2814,299,3112,0,0,0,0,0,0
$GC,3455,-1.09,-116.8,296.2,-8.3,271,3459,0.00,2.25,0.00,0.000,6,0.000,0.021,2814,1700,3112,0,0,0,0,0,0
$GC,3803,-1.13,-116.8,321.5,-7.1,281,3807,0.00,2.42,0.00,0.000,4,0.000,0.049,2814,293,3110,0,0,0,0,0,0
$GC,3836,-1.13,-116.8,324.2,-7.3,281,3840,0.00,2.25,0.00,0.000,6,0.000,0.022,2814,1706,3110,0,0,0,0,0,0
$GC,4168,-1.18,-116.8,344.6,-6.1,289,4172,0.00,2.45,0.00,0.000,4,0.000,0.051,2814,300,3108,0,0,0,0,0,0
$GC,4272,-1.22,-116.8,352.6,-8.1,291,4276,0.15,2.22,0.00,0.000,6,0.058,0.023,2766,1694,3107,0,0,0,0,0,0
$GC,4590,-1.16,-116.8,381.4,-9.3,299,4592,0.15,0.00,0.00,0.000,6,0.091,0.000,2798,1699,3105,0,0,0,0,0,0
$GC,4914,-1.16,-116.8,406.4,-7.7,307,4918,0.00,2.47,0.00,0.000,4,0.000,0.054,2797,297,3103,0,0,0,0,0,0
$GC,5007,-1.16,-116.8,415.8,-10.0,309,5011,0.00,2.30,0.00,0.000,6,0.000,0.025,2797,1706,3102,0,0,0,0,0,0
$GC,5331,-1.16,-116.8,447.5,-9.7,317,5335,0.00,2.47,0.00,0.000,4,0.000,0.055,2797,302,3100,0,0,0,0,0,0
$STATE,5356,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5357,begin apogee
$GC,5365,-0.31,0.0,450.5,10.4,317,5464,0.82,0.00,95.93,0.845,6,0.069,0.000,2978,1704,2630,0,0,0,0,0,0
$STATE,5465,end apogee,CONTROL_FINISHED_OK
$STATE,5465,begin climb
$GC,5468,1.18,116.8,453.8,0.0,320,5581,1.42,2.42,101.47,0.825,4,0.038,0.031,3311,3079,2152,0,0,0,0,0,0
$GC,5718,1.00,116.8,442.1,8.8,325,5723,0.22,2.40,0.00,0.000,6,0.097,0.040,3267,1704,2147,0,0,0,0,0,0
$GC,6059,0.89,117.0,415.8,7.9,334,6064,0.12,2.47,0.00,0.000,4,0.112,0.056,3243,294,2141,0,0,0,0,0,0
$GC,6098,0.77,127.0,412.8,7.4,334,6112,0.12,2.35,7.82,0.673,6,0.116,0.026,3220,1708,2112,0,0,0,0,0,0
$GC,6438,0.82,171.9,391.8,5.9,343,6487,0.00,2.58,41.10,0.796,4,0.000,0.055,3219,296,1927,0,0,0,0,0,0
$GC,6559,0.77,171.9,382.5,8.6,345,6563,0.00,2.35,0.00,0.000,6,0.000,0.027,3219,1702,1923,0,0,0,0,0,0
$GC,6894,0.82,207.8,359.9,6.3,354,6932,0.00,2.58,32.08,0.775,4,0.000,0.058,3219,290,1780,0,0,0,0,0,0
$GC,6972,0.78,209.2,354.3,7.8,354,6976,0.00,2.35,0.00,0.000,6,0.000,0.028,3219,1699,1777,0,0,0,0,0,0
$GC,7305,0.86,245.2,332.7,6.3,362,7347,0.00,2.55,33.08,0.759,4,0.000,0.057,3219,297,1628,0,0,0,0,0,0
$GC,7416,0.86,245.2,321.8,11.5,364,7421,0.00,2.33,0.00,0.000,6,0.000,0.028,3219,1702,1623,0,0,0,0,0,0
$GC,7743,0.93,245.2,291.2,8.6,374,7748,0.15,2.53,0.00,0.000,4,0.062,0.058,3262,290,1622,0,0,0,0,0,0
$GC,7801,0.82,245.2,284.7,11.6,376,7806,0.17,2.35,0.00,0.000,6,0.101,0.027,3228,1700,1619,0,0,0,0,0,0
$GC,8120,0.88,246.7,258.8,7.8,391,8124,0.00,2.47,0.00,0.000,4,0.000,0.056,3228,296,1619,0,0,0,0,0,0
$GC,8216,0.88,246.7,250.5,8.1,395,8220,0.00,2.33,0.00,0.000,6,0.000,0.026,3228,1703,1617,0,0,0,0,0,0
$GC,8539,0.97,273.3,229.4,6.7,411,8569,0.15,2.55,23.62,0.680,4,0.060,0.054,3273,290,1515,0,0,0,0,0,0
$GC,8695,0.86,273.3,212.1,12.9,418,8700,0.17,2.35,0.00,0.000,6,0.097,0.025,3239,1709,1510,0,0,0,0,0,0
$GC,9020,0.94,287.8,185.2,7.2,439,9040,0.00,2.53,13.23,0.609,4,0.000,0.052,3238,296,1455,0,0,0,0,0,0
$GC,9166,1.00,305.4,174.4,7.1,449,9189,0.12,2.33,16.45,0.610,6,0.068,0.023,3278,1713,1383,0,0,0,0,0,0
$GC,9453,1.00,305.4,147.3,10.4,472,9458,0.00,2.47,0.00,0.000,4,0.000,0.051,3278,294,1381,0,0,0,0,0,0
$GC,9505,0.95,305.4,141.1,11.9,476,9510,0.00,2.30,0.00,0.000,6,0.000,0.022,3278,1706,1379,0,0,0,0,0,0
$GC,9772,1.03,335.8,121.0,6.5,497,9806,0.00,2.53,26.88,0.581,4,0.000,0.049,3278,290,1258,0,0,0,0,0,0
$GC,9913,1.03,335.8,107.4,9.1,507,9917,0.00,2.28,0.00,0.000,6,0.000,0.021,3278,1713,1254,0,0,0,0,0,0
$GC,10176,1.12,345.4,88.2,7.5,527,10191,0.00,2.50,9.07,0.488,4,0.000,0.047,3278,290,1219,0,0,0,0,0,0
$GC,10242,1.18,345.4,82.0,9.0,531,10248,0.12,2.28,0.00,0.000,6,0.061,0.020,3324,1703,1217,0,0,0,0,0,0
$GC,10506,1.18,345.4,54.0,11.5,552,10510,0.00,2.47,0.00,0.000,4,0.000,0.048,3324,292,1217,0,0,0,0,0,0
$GC,10621,1.09,345.4,38.2,13.4,560,10627,0.15,2.28,0.00,0.000,6,0.068,0.019,3287,1704,1217,0,0,0,0,0,0
$GC,10885,1.16,345.4,15.1,7.9,607,10892,0.00,2.47,0.00,0.000,4,0.000,0.047,3287,296,1216,0,0,0,0,0,0
$GC,10989,1.16,345.4,5.6,9.5,630,10996,0.00,2.25,0.00,0.000,6,0.000,0.018,3287,1705,1217,0,0,0,0,0,0
$STATE,11018,end climb,SURFACE_DEPTH_REACHED
$STATE,11018,begin surface coast
$FINISH,0.9,1.004909
$STATE,11053,end surface coast,CONTROL_FINISHED_OK
$STATE,11053,begin surface
$SM_CCo,11075,37.95,0.470,0,0,957,410.14
$SM_GC,1.74,0.00,0.00,37.95,0.000,0.000,0.470,426,1710,957,-12.07,0.28,410.14
$IRIDIUM_FIX,2057.14,-15741.46,241299,141429
$TT8_MAMPS,0.029146
$HUMID,58.42
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.4,50.661
$10V_AH,10.1,41.915
$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,31.275,137.825,400.725,37.950,0.000,31.378,41.730,167.507,4.500,0.000,36.084,1284.366,7086.324,475.879,2096.562,559.789,0.000,1411.684,0.000,2048.418,0.000,29.269,0.000
$DEVICE_MAMPS,132.691,57.525,845.234,470.171,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,433.192,416.892,947.242,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,34984,644
$CAP_FILE_SIZE,130528,0
$CFSIZE,260165632,183132160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290910,205037,2105.558,-15743.839,42,1.0,42,9.8