version: 66.06
glider: 139
mission: 8
dive: 568
start: 9 30 110 6 25 59
data:
$ID,139
$MISSION,8
$DIVE,568
$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,-2162971.2
$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
$GPS1,061536,2101.885,-15747.397,42,1.0,42,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-73.7
$GPS2,062538,2101.867,-15747.359,14,1.9,14,9.8
$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,200.8,8497,-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,-64.75,0.000,2,0.000,0.000,426,1711,2781,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.8,-4.2,12,111,12.65,2.33,-5.95,0.000,4,0.132,0.033,2786,3114,3109,0,0,0,0,0,0
$GC,193,-1.10,-116.8,26.2,-13.9,34,200,0.08,2.42,0.00,0.000,6,0.084,0.032,2806,1701,3110,0,0,0,0,0,0
$GC,401,-0.92,-116.8,59.4,-16.9,54,406,0.20,2.42,0.00,0.000,4,0.087,0.044,2847,287,3111,0,0,0,0,0,0
$GC,442,-0.79,-116.8,66.0,-16.2,57,447,0.15,2.33,0.00,0.000,6,0.091,0.018,2879,1733,3112,0,0,0,0,0,0
$GC,709,-0.84,-116.8,94.6,-9.9,78,714,0.00,2.47,0.00,0.000,4,0.000,0.044,2879,292,3112,0,0,0,0,0,0
$GC,770,-0.91,-116.8,100.7,-9.1,82,777,0.10,2.28,0.00,0.000,6,0.031,0.018,2833,1716,3112,0,0,0,0,0,0
$GC,1031,-0.91,-116.8,126.3,-9.6,103,1035,0.00,2.45,0.00,0.000,4,0.000,0.045,2833,294,3112,0,0,0,0,0,0
$GC,1125,-0.87,-116.8,136.6,-10.2,110,1130,0.12,2.22,0.00,0.000,6,0.091,0.018,2860,1706,3113,0,0,0,0,0,0
$GC,1391,-0.96,-116.8,153.9,-7.1,131,1395,0.00,2.42,0.00,0.000,4,0.000,0.044,2860,294,3114,0,0,0,0,0,0
$GC,1447,-1.05,-116.8,158.8,-8.4,135,1452,0.17,2.22,0.00,0.000,6,0.048,0.018,2801,1704,3114,0,0,0,0,0,0
$GC,1707,-1.02,-116.8,183.2,-9.7,155,1712,0.12,2.42,0.00,0.000,4,0.091,0.046,2829,294,3114,0,0,0,0,0,0
$GC,1747,-1.02,-116.8,187.1,-9.5,158,1751,0.00,2.22,0.00,0.000,6,0.000,0.019,2829,1702,3113,0,0,0,0,0,0
$GC,2015,-1.05,-116.8,211.5,-8.8,175,2019,0.00,2.42,0.00,0.000,4,0.000,0.046,2829,287,3114,0,0,0,0,0,0
$GC,2066,-1.05,-116.8,216.6,-9.2,177,2070,0.00,2.25,0.00,0.000,6,0.000,0.019,2829,1703,3114,0,0,0,0,0,0
$GC,2390,-1.10,-116.8,242.1,-7.9,193,2395,0.00,2.45,0.00,0.000,4,0.000,0.048,2829,286,3113,0,0,0,0,0,0
$GC,2482,-1.14,-116.8,250.0,-7.9,197,2487,0.12,2.28,0.00,0.000,6,0.061,0.020,2785,1707,3113,0,0,0,0,0,0
$GC,2816,-1.09,-116.8,283.8,-11.5,213,2821,0.12,2.45,0.00,0.000,4,0.094,0.050,2812,295,3112,0,0,0,0,0,0
$GC,2850,-1.06,-116.8,288.7,-12.2,214,2854,0.00,2.25,0.00,0.000,6,0.000,0.021,2812,1701,3112,0,0,0,0,0,0
$GC,3164,-1.06,-116.8,319.6,-8.9,224,3168,0.00,2.42,0.00,0.000,4,0.000,0.048,2812,284,3111,0,0,0,0,0,0
$GC,3201,-1.06,-116.8,324.1,-10.8,224,3205,0.00,2.28,0.00,0.000,6,0.000,0.021,2812,1692,3111,0,0,0,0,0,0
$GC,3532,-1.06,-116.8,348.7,-6.0,232,3534,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1697,3109,0,0,0,0,0,0
$GC,3859,-1.10,-116.8,371.4,-7.2,240,3863,0.00,2.42,0.00,0.000,4,0.000,0.051,2812,293,3107,0,0,0,0,0,0
$GC,3972,-1.10,-116.8,380.0,-7.7,242,3980,0.00,2.28,0.00,0.000,6,0.000,0.023,2812,1702,3106,0,0,0,0,0,0
$GC,4327,-1.14,-116.8,404.3,-6.7,251,4331,0.00,2.45,0.00,0.000,4,0.000,0.054,2812,293,3104,0,0,0,0,0,0
$GC,4360,-1.14,-116.8,406.9,-7.7,251,4364,0.00,2.30,0.00,0.000,6,0.000,0.025,2812,1705,3103,0,0,0,0,0,0
$GC,4691,-1.20,-116.8,432.8,-8.6,259,4696,0.10,2.47,0.00,0.000,4,0.077,0.054,2778,294,3102,0,0,0,0,0,0
$STATE,4844,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4844,begin apogee
$GC,4853,-0.31,0.0,450.1,10.4,262,4953,0.93,0.00,96.22,0.831,6,0.071,0.000,2979,1707,2630,0,0,0,0,0,0
$STATE,4954,end apogee,CONTROL_FINISHED_OK
$STATE,4954,begin climb
$GC,4958,1.18,116.8,452.9,0.0,264,5070,1.42,2.38,101.85,0.815,4,0.038,0.032,3309,3083,2152,0,0,0,0,0,0
$GC,5166,1.00,116.8,447.6,8.6,268,5171,0.20,2.42,0.00,0.000,6,0.097,0.040,3270,1696,2149,0,0,0,0,0,0
$GC,5503,0.93,156.9,426.1,6.1,277,5545,0.00,2.58,35.25,0.795,4,0.000,0.057,3270,301,1989,0,0,0,0,0,0
$GC,5562,0.75,156.9,422.1,7.9,278,5567,0.28,2.35,0.00,0.000,6,0.096,0.026,3216,1704,1986,0,0,0,0,0,0
$GC,5912,0.79,185.8,400.8,6.6,287,5945,0.00,2.60,25.92,0.781,4,0.000,0.057,3216,303,1871,0,0,0,0,0,0
$GC,6024,0.75,185.8,391.2,8.6,289,6029,0.00,2.33,0.00,0.000,6,0.000,0.027,3216,1703,1866,0,0,0,0,0,0
$GC,6370,0.79,185.8,365.0,8.0,298,6374,0.00,2.53,0.00,0.000,4,0.000,0.057,3216,294,1864,0,0,0,0,0,0
$GC,6449,0.79,185.8,357.9,9.1,299,6453,0.00,2.33,0.00,0.000,6,0.000,0.027,3216,1708,1861,0,0,0,0,0,0
$GC,6781,0.87,216.7,336.1,6.5,307,6815,0.10,2.58,27.35,0.760,4,0.079,0.058,3246,293,1746,0,0,0,0,0,0
$GC,7037,0.80,216.7,312.3,9.6,312,7042,0.10,2.35,0.00,0.000,6,0.118,0.027,3227,1705,1738,0,0,0,0,0,0
$GC,7361,0.91,263.3,290.2,5.8,324,7407,0.00,2.58,41.20,0.737,4,0.000,0.057,3226,291,1555,0,0,0,0,0,0
$GC,7477,0.91,263.3,282.1,8.0,329,7481,0.00,2.35,0.00,0.000,6,0.000,0.026,3227,1704,1550,0,0,0,0,0,0
$GC,7799,0.97,263.3,255.8,9.3,345,7804,0.15,2.53,0.00,0.000,4,0.061,0.055,3270,296,1549,0,0,0,0,0,0
$GC,7918,0.88,263.3,242.5,11.2,350,7923,0.15,2.33,0.00,0.000,6,0.099,0.025,3241,1703,1545,0,0,0,0,0,0
$GC,8247,0.93,263.7,218.5,7.9,366,8251,0.00,2.50,0.00,0.000,4,0.000,0.054,3240,294,1545,0,0,0,0,0,0
$GC,8333,0.93,263.7,209.2,11.5,369,8338,0.00,2.30,0.00,0.000,6,0.000,0.025,3240,1710,1544,0,0,0,0,0,0
$GC,8658,0.98,263.7,181.4,8.1,392,8663,0.10,2.50,0.00,0.000,4,0.077,0.052,3273,291,1544,0,0,0,0,0,0
$GC,8783,0.90,263.7,166.9,11.2,401,8788,0.15,2.30,0.00,0.000,6,0.097,0.023,3243,1715,1543,0,0,0,0,0,0
$GC,9047,1.01,290.3,148.4,6.7,421,9075,0.12,2.60,22.67,0.599,4,0.065,0.050,3283,294,1445,0,0,0,0,0,0
$GC,9178,0.94,290.3,134.6,10.6,430,9183,0.15,2.28,0.00,0.000,6,0.092,0.022,3252,1707,1441,0,0,0,0,0,0
$GC,9442,1.02,290.3,112.2,8.8,450,9446,0.00,2.47,0.00,0.000,4,0.000,0.048,3252,294,1440,0,0,0,0,0,0
$GC,9592,1.08,296.0,100.6,7.6,461,9606,0.15,2.25,5.53,0.434,6,0.058,0.021,3300,1705,1423,0,0,0,0,0,0
$GC,9859,1.08,296.0,78.4,8.3,482,9864,0.00,2.47,0.00,0.000,4,0.000,0.048,3300,288,1423,0,0,0,0,0,0
$GC,9996,1.10,309.4,66.6,7.3,492,10015,0.00,2.25,13.25,0.499,6,0.000,0.019,3300,1713,1368,0,0,0,0,0,0
$GC,10280,1.16,325.2,46.8,7.2,514,10302,0.00,2.53,14.88,0.483,4,0.000,0.047,3300,295,1302,0,0,0,0,0,0
$GC,10380,1.16,325.2,38.6,9.2,521,10384,0.00,2.22,0.00,0.000,6,0.000,0.019,3300,1703,1299,0,0,0,0,0,0
$GC,10646,1.22,340.3,18.7,7.2,565,10665,0.00,2.47,13.90,0.454,4,0.000,0.045,3300,294,1241,0,0,0,0,0,0
$GC,10731,1.22,340.3,11.1,9.7,583,10738,0.00,2.25,0.00,0.000,6,0.000,0.018,3300,1701,1238,0,0,0,0,0,0
$STATE,10824,end climb,SURFACE_DEPTH_REACHED
$STATE,10825,begin surface coast
$FINISH,0.8,1.022974
$STATE,10867,end surface coast,CONTROL_FINISHED_OK
$STATE,10867,begin surface
$SM_CCo,10889,40.85,0.465,0,0,958,410.14
$SM_GC,1.60,0.00,0.00,40.85,0.000,0.000,0.465,427,1707,958,-12.07,0.20,410.14
$IRIDIUM_FIX,2052.52,-15746.61,251299,060628
$TT8_MAMPS,0.029146
$HUMID,56.45
$INTERNAL_PRESSURE,9.30354
$TCM_TEMP,22.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,440.1,62.4
$24V_AH,23.4,51.087
$10V_AH,10.2,42.254
$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,30.275,128.900,398.025,40.850,0.000,61.011,66.444,273.292,4.750,0.000,14.857,1248.597,7045.824,473.862,2024.831,737.181,0.000,1385.877,0.000,2004.034,0.000,32.298,0.000
$DEVICE_MAMPS,131.924,57.525,831.428,464.802,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,412.538,396.552,892.593,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,34907,613
$CAP_FILE_SIZE,130200,0
$CFSIZE,260165632,182886400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300910,092902,2100.885,-15748.620,14,2.0,14,9.8