version: 66.06
glider: 139
mission: 8
dive: 566
start: 9 30 110 0 1 24
data:
$ID,139
$MISSION,8
$DIVE,566
$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,-2162940
$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
$GPS1,235458,2104.623,-15744.656,11,3.0,30,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-73.7
$GPS2,000106,2104.638,-15744.601,41,1.2,41,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$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,206.4,15415,-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,15,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.15,0.000,2,0.000,0.000,425,1710,2757,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.5,-3.9,12,110,12.62,2.47,-6.53,0.000,4,0.132,0.055,2786,288,3108,0,0,0,0,0,0
$GC,203,-0.92,-116.8,31.5,-18.3,36,208,0.30,2.33,0.00,0.000,6,0.087,0.018,2848,1733,3110,0,0,0,0,0,0
$GC,464,-0.83,-116.8,65.0,-12.8,56,469,0.00,2.47,0.00,0.000,4,0.000,0.045,2848,294,3111,0,0,0,0,0,0
$GC,532,-0.71,-116.8,74.4,-13.7,61,537,0.22,2.28,0.00,0.000,6,0.085,0.018,2895,1725,3111,0,0,0,0,0,0
$GC,799,-0.80,-116.8,100.0,-8.6,82,804,0.00,2.45,0.00,0.000,4,0.000,0.044,2895,290,3112,0,0,0,0,0,0
$GC,847,-0.88,-116.8,104.1,-8.5,85,853,0.17,2.22,0.00,0.000,6,0.049,0.018,2837,1707,3112,0,0,0,0,0,0
$GC,1107,-0.88,-116.8,128.6,-8.8,106,1109,0.10,0.00,0.00,0.000,6,0.100,0.000,2859,1713,3112,0,0,0,0,0,0
$GC,1361,-0.97,-116.8,148.5,-7.6,126,1365,0.00,2.45,0.00,0.000,4,0.000,0.044,2859,288,3113,0,0,0,0,0,0
$GC,1394,-1.02,-116.8,151.3,-7.3,128,1402,0.10,2.25,0.00,0.000,6,0.032,0.018,2813,1698,3113,0,0,0,0,0,0
$GC,1657,-1.02,-116.8,172.5,-7.3,149,1662,0.00,2.40,0.00,0.000,4,0.000,0.045,2812,293,3113,0,0,0,0,0,0
$GC,1704,-0.96,-116.8,176.9,-9.1,152,1711,0.10,2.22,0.00,0.000,6,0.066,0.019,2840,1692,3113,0,0,0,0,0,0
$GC,1967,-1.00,-116.8,196.3,-8.6,173,1972,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1696,3114,0,0,0,0,0,0
$GC,2239,-1.06,-116.8,217.9,-7.8,188,2243,0.00,2.42,0.00,0.000,4,0.000,0.047,2840,291,3113,0,0,0,0,0,0
$GC,2361,-1.06,-116.8,228.0,-8.0,193,2365,0.00,2.22,0.00,0.000,6,0.000,0.020,2840,1698,3113,0,0,0,0,0,0
$GC,2691,-1.13,-116.8,247.5,-6.1,209,2696,0.17,2.45,0.00,0.000,4,0.051,0.048,2782,295,3112,0,0,0,0,0,0
$GC,2791,-1.04,-116.8,258.3,-11.1,213,2796,0.20,2.22,0.00,0.000,6,0.081,0.021,2826,1693,3112,0,0,0,0,0,0
$GC,3116,-1.09,-116.8,284.7,-7.4,229,3120,0.00,2.40,0.00,0.000,4,0.000,0.047,2826,293,3111,0,0,0,0,0,0
$GC,3191,-1.09,-116.8,291.0,-8.2,232,3195,0.00,2.25,0.00,0.000,6,0.000,0.021,2826,1701,3111,0,0,0,0,0,0
$GC,3508,-1.14,-116.8,314.8,-7.3,243,3513,0.12,2.45,0.00,0.000,4,0.063,0.049,2783,290,3110,0,0,0,0,0,0
$GC,3533,-1.08,-116.8,317.0,-9.7,243,3538,0.15,2.28,0.00,0.000,6,0.088,0.021,2815,1704,3110,0,0,0,0,0,0
$GC,3877,-1.12,-116.8,340.7,-6.4,252,3881,0.00,2.47,0.00,0.000,4,0.000,0.051,2816,288,3108,0,0,0,0,0,0
$GC,4002,-1.12,-116.8,349.9,-7.8,254,4006,0.00,2.28,0.00,0.000,6,0.000,0.022,2815,1696,3107,0,0,0,0,0,0
$GC,4338,-1.17,-116.8,376.3,-8.0,263,4342,0.00,2.45,0.00,0.000,4,0.000,0.052,2815,295,3105,0,0,0,0,0,0
$GC,4366,-1.17,-116.8,378.9,-9.7,263,4370,0.00,2.28,0.00,0.000,6,0.000,0.024,2815,1701,3105,0,0,0,0,0,0
$GC,4707,-1.22,-116.8,408.7,-9.0,272,4712,0.15,2.50,0.00,0.000,4,0.059,0.054,2769,289,3103,0,0,0,0,0,0
$GC,4828,-1.15,-116.8,422.7,-11.0,274,4833,0.15,2.28,0.00,0.000,6,0.091,0.025,2801,1699,3102,0,0,0,0,0,0
$GC,5168,-1.15,-116.8,449.4,-7.5,283,5172,0.00,2.08,0.00,0.000,3,0.000,0.053,2801,510,3099,0,0,0,0,0,0
$STATE,5172,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5173,begin apogee
$GC,5181,-0.31,0.0,450.0,7.6,283,5280,0.80,0.00,95.97,0.828,6,0.067,0.000,2978,1708,2630,0,0,0,0,0,0
$STATE,5281,end apogee,CONTROL_FINISHED_OK
$STATE,5281,begin climb
$GC,5284,1.18,116.8,452.7,0.0,285,5397,1.42,2.42,101.25,0.813,4,0.038,0.031,3308,3081,2152,0,0,0,0,0,0
$GC,5515,1.03,145.4,445.9,6.6,290,5550,0.17,2.42,25.60,0.777,6,0.104,0.038,3275,1693,2036,0,0,0,0,0,0
$GC,5877,0.92,147.9,417.9,7.8,299,5882,0.12,2.38,0.00,0.000,4,0.112,0.031,3251,3081,2028,0,0,0,0,0,0
$GC,5949,0.95,169.1,412.5,6.9,300,5977,0.00,2.42,21.08,0.770,6,0.000,0.040,3252,1693,1939,0,0,0,0,0,0
$GC,6298,0.95,214.0,391.8,5.9,309,6345,0.00,2.58,40.38,0.791,4,0.000,0.058,3251,287,1755,0,0,0,0,0,0
$GC,6450,0.85,214.0,377.3,10.3,312,6454,0.00,2.35,0.00,0.000,6,0.000,0.026,3251,1696,1749,0,0,0,0,0,0
$GC,6799,0.85,214.0,346.3,8.2,321,6804,0.00,2.53,0.00,0.000,4,0.000,0.058,3251,291,1747,0,0,0,0,0,0
$GC,6852,0.74,214.0,341.9,8.7,322,6857,0.20,2.33,0.00,0.000,6,0.101,0.028,3213,1703,1744,0,0,0,0,0,0
$GC,7172,0.84,235.6,322.5,6.9,330,7196,0.00,2.60,18.15,0.728,4,0.000,0.058,3212,300,1668,0,0,0,0,0,0
$GC,7311,0.84,235.6,309.2,10.3,333,7315,0.00,2.30,0.00,0.000,6,0.000,0.027,3213,1699,1664,0,0,0,0,0,0
$GC,7638,0.98,276.6,287.8,6.0,345,7683,0.22,2.58,36.53,0.728,4,0.051,0.056,3272,289,1501,0,0,0,0,0,0
$GC,7762,0.85,276.6,275.6,11.9,350,7768,0.17,2.35,0.00,0.000,6,0.100,0.026,3238,1704,1496,0,0,0,0,0,0
$GC,8087,0.90,276.6,250.9,8.0,366,8091,0.00,2.53,0.00,0.000,4,0.000,0.055,3239,291,1494,0,0,0,0,0,0
$GC,8201,0.90,276.6,239.4,11.1,371,8205,0.00,2.33,0.00,0.000,6,0.000,0.025,3238,1706,1492,0,0,0,0,0,0
$GC,8536,0.95,276.6,211.0,8.6,387,8540,0.00,2.47,0.00,0.000,4,0.000,0.053,3238,294,1491,0,0,0,0,0,0
$GC,8647,0.95,276.6,199.3,10.3,392,8651,0.00,2.30,0.00,0.000,6,0.000,0.025,3238,1711,1489,0,0,0,0,0,0
$GC,8909,1.01,276.6,176.4,8.5,412,8914,0.15,2.47,0.00,0.000,4,0.059,0.052,3283,294,1489,0,0,0,0,0,0
$GC,8998,0.90,276.6,165.8,11.9,418,9006,0.15,2.33,0.00,0.000,6,0.075,0.023,3248,1702,1489,0,0,0,0,0,0
$GC,9262,0.95,276.6,143.2,8.7,439,9266,0.00,2.50,0.00,0.000,4,0.000,0.051,3248,287,1489,0,0,0,0,0,0
$GC,9330,0.95,276.6,136.1,8.8,444,9334,0.00,2.30,0.00,0.000,6,0.000,0.022,3248,1711,1488,0,0,0,0,0,0
$GC,9597,1.09,311.2,121.1,6.3,465,9632,0.17,2.33,29.08,0.579,4,0.053,0.025,3301,3083,1360,0,0,0,0,0,0
$GC,9649,1.09,311.2,116.5,8.6,468,9653,0.00,2.40,0.00,0.000,6,0.000,0.035,3301,1694,1360,0,0,0,0,0,0
$GC,9915,1.13,340.3,97.7,6.6,489,9946,0.00,2.50,25.67,0.548,4,0.000,0.048,3301,290,1241,0,0,0,0,0,0
$GC,10035,1.13,340.3,84.9,12.1,498,10039,0.00,2.30,0.00,0.000,6,0.000,0.020,3301,1713,1236,0,0,0,0,0,0
$GC,10302,1.17,340.3,58.1,8.5,519,10307,0.00,2.50,0.00,0.000,4,0.000,0.048,3300,287,1236,0,0,0,0,0,0
$GC,10409,1.17,340.3,47.8,9.2,527,10413,0.00,2.25,0.00,0.000,6,0.000,0.019,3301,1711,1235,0,0,0,0,0,0
$GC,10672,1.22,340.3,27.0,8.0,553,10679,0.00,2.50,0.00,0.000,4,0.000,0.048,3301,293,1235,0,0,0,0,0,0
$GC,10767,1.18,340.3,17.6,10.7,574,10773,0.00,2.25,0.00,0.000,6,0.000,0.019,3301,1703,1234,0,0,0,0,0,0
$STATE,10930,end climb,SURFACE_DEPTH_REACHED
$STATE,10930,begin surface coast
$FINISH,0.8,0.997238
$STATE,10970,end surface coast,CONTROL_FINISHED_OK
$STATE,10970,begin surface
$SM_CCo,10992,40.70,0.469,0,0,958,410.14
$SM_GC,1.74,0.00,0.00,40.70,0.000,0.000,0.469,430,1708,958,-12.05,0.23,410.14
$IRIDIUM_FIX,2059.45,-15743.60,241299,212131
$TT8_MAMPS,0.029146
$HUMID,58.42
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.20
$XPDR_PINGS,1
$24V_AH,23.4,50.869
$10V_AH,10.1,42.082
$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,30.450,128.050,393.700,40.700,0.000,22.784,35.574,152.210,4.750,0.000,41.431,1248.414,7113.479,457.258,2052.376,524.222,0.000,1383.221,0.000,1997.154,0.000,29.256,0.000
$DEVICE_MAMPS,131.924,58.292,828.360,468.637,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,417.424,399.224,880.327,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,35054,620
$CAP_FILE_SIZE,126949,0
$CFSIZE,260165632,183013376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300910,030637,2103.283,-15745.950,41,0.8,41,9.8