version: 66.06
glider: 139
mission: 8
dive: 569
start: 9 30 110 9 35 34
data:
$ID,139
$MISSION,8
$DIVE,569
$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,-2163003.8
$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
$GPS1,092902,2100.885,-15748.620,14,2.0,14,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-73.8
$GPS2,093516,2100.915,-15748.588,11,2.2,30,9.8
$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,191.8,5971,-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,-64.15,0.000,2,0.000,0.000,426,1707,2739,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.3,-3.2,12,115,12.57,2.53,-6.88,0.000,4,0.130,0.058,2783,289,3111,0,0,0,0,0,0
$GC,221,-0.89,-116.8,35.6,-18.7,37,228,0.28,2.35,0.00,0.000,6,0.077,0.019,2852,1731,3113,0,0,0,0,0,0
$GC,486,-0.83,-116.8,70.4,-12.5,58,490,0.00,2.47,0.00,0.000,4,0.000,0.045,2852,292,3113,0,0,0,0,0,0
$GC,527,-0.74,-116.8,77.2,-14.7,61,532,0.17,2.25,0.00,0.000,6,0.084,0.018,2889,1719,3114,0,0,0,0,0,0
$GC,789,-0.82,-116.8,99.8,-6.9,81,794,0.00,2.42,0.00,0.000,4,0.000,0.044,2890,292,3114,0,0,0,0,0,0
$GC,822,-0.89,-116.8,102.1,-7.6,83,826,0.15,2.22,0.00,0.000,6,0.054,0.018,2836,1711,3115,0,0,0,0,0,0
$GC,1087,-0.89,-116.8,124.1,-8.3,104,1091,0.00,2.42,0.00,0.000,4,0.000,0.044,2836,293,3115,0,0,0,0,0,0
$GC,1161,-0.89,-116.8,131.0,-10.2,109,1167,0.00,2.20,0.00,0.000,6,0.000,0.018,2836,1699,3115,0,0,0,0,0,0
$GC,1419,-0.89,-116.8,159.2,-11.3,130,1424,0.00,2.40,0.00,0.000,4,0.000,0.044,2836,293,3115,0,0,0,0,0,0
$GC,1474,-0.89,-116.8,165.4,-11.6,134,1478,0.00,2.20,0.00,0.000,6,0.000,0.018,2837,1703,3116,0,0,0,0,0,0
$GC,1740,-0.92,-116.8,190.3,-8.4,155,1745,0.00,2.40,0.00,0.000,4,0.000,0.045,2836,294,3116,0,0,0,0,0,0
$GC,1772,-0.92,-116.8,193.4,-8.8,157,1778,0.00,2.22,0.00,0.000,6,0.000,0.018,2836,1705,3116,0,0,0,0,0,0
$GC,2046,-0.96,-116.8,212.3,-7.5,174,2051,0.00,2.45,0.00,0.000,4,0.000,0.047,2836,287,3116,0,0,0,0,0,0
$GC,2135,-0.96,-116.8,220.1,-8.4,178,2140,0.00,2.22,0.00,0.000,6,0.000,0.019,2836,1702,3116,0,0,0,0,0,0
$GC,2469,-1.02,-116.8,245.5,-8.1,194,2474,0.00,2.42,0.00,0.000,4,0.000,0.047,2836,287,3116,0,0,0,0,0,0
$GC,2513,-1.06,-116.8,249.7,-8.6,196,2517,0.00,2.22,0.00,0.000,6,0.000,0.020,2836,1694,3115,0,0,0,0,0,0
$GC,2846,-1.13,-116.8,274.3,-6.3,212,2850,0.15,2.42,0.00,0.000,4,0.054,0.048,2784,294,3114,0,0,0,0,0,0
$GC,2940,-1.06,-116.8,282.5,-9.6,216,2945,0.15,2.22,0.00,0.000,6,0.087,0.021,2818,1701,3114,0,0,0,0,0,0
$GC,3288,-1.09,-116.8,309.6,-7.7,230,3292,0.00,2.45,0.00,0.000,4,0.000,0.049,2818,290,3113,0,0,0,0,0,0
$GC,3343,-1.09,-116.8,315.7,-10.4,231,3347,0.00,2.25,0.00,0.000,6,0.000,0.021,2818,1704,3113,0,0,0,0,0,0
$GC,3663,-1.13,-116.8,338.3,-6.3,239,3667,0.00,2.45,0.00,0.000,4,0.000,0.050,2817,296,3112,0,0,0,0,0,0
$GC,3688,-1.13,-116.8,340.1,-7.3,239,3692,0.00,2.25,0.00,0.000,6,0.000,0.022,2818,1708,3112,0,0,0,0,0,0
$GC,4028,-1.19,-116.8,365.3,-6.9,248,4033,0.12,2.47,0.00,0.000,4,0.064,0.051,2775,289,3110,0,0,0,0,0,0
$GC,4130,-1.13,-116.8,374.2,-9.6,250,4135,0.12,2.28,0.00,0.000,6,0.097,0.023,2802,1698,3109,0,0,0,0,0,0
$GC,4451,-1.13,-116.8,400.0,-8.6,258,4455,0.00,2.47,0.00,0.000,4,0.000,0.053,2802,289,3107,0,0,0,0,0,0
$GC,4508,-1.13,-116.8,406.0,-10.3,259,4512,0.00,2.28,0.00,0.000,6,0.000,0.024,2802,1701,3107,0,0,0,0,0,0
$GC,4822,-1.13,-116.8,431.4,-7.6,267,4826,0.00,2.45,0.00,0.000,4,0.000,0.055,2801,296,3104,0,0,0,0,0,0
$GC,4963,-1.13,-116.8,443.4,-7.9,270,4967,0.00,2.30,0.00,0.000,6,0.000,0.025,2802,1702,3103,0,0,0,0,0,0
$STATE,5084,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5084,begin apogee
$GC,5090,-0.31,0.0,452.9,7.7,273,5191,0.82,0.00,97.43,0.833,6,0.064,0.000,2981,1706,2630,0,0,0,0,0,0
$STATE,5192,end apogee,CONTROL_FINISHED_OK
$STATE,5192,begin climb
$GC,5196,1.18,116.8,455.2,0.0,275,5308,1.42,2.38,102.10,0.818,4,0.038,0.032,3312,3085,2153,0,0,0,0,0,0
$GC,5361,1.01,134.1,453.6,7.1,278,5383,0.22,2.42,16.15,0.751,6,0.096,0.039,3268,1699,2083,0,0,0,0,0,0
$GC,5700,0.91,142.3,427.9,7.5,287,5712,0.00,2.55,7.35,0.656,4,0.000,0.058,3268,295,2049,0,0,0,0,0,0
$GC,5771,0.72,142.3,421.8,9.4,288,5776,0.30,2.35,0.00,0.000,6,0.096,0.027,3209,1704,2046,0,0,0,0,0,0
$GC,6118,0.82,194.9,401.3,5.5,297,6171,0.00,2.60,47.72,0.800,4,0.000,0.058,3208,293,1835,0,0,0,0,0,0
$GC,6247,0.83,204.4,392.5,7.5,300,6264,0.10,2.33,9.38,0.690,6,0.081,0.027,3236,1704,1796,0,0,0,0,0,0
$GC,6580,0.83,204.4,365.6,8.5,308,6584,0.00,2.53,0.00,0.000,4,0.000,0.058,3236,293,1791,0,0,0,0,0,0
$GC,6629,0.76,204.4,360.5,10.7,309,6633,0.00,2.35,0.00,0.000,6,0.000,0.028,3236,1702,1789,0,0,0,0,0,0
$GC,6952,0.78,223.7,335.2,7.0,317,6976,0.00,2.58,17.48,0.739,4,0.000,0.057,3235,294,1717,0,0,0,0,0,0
$GC,7093,0.72,223.7,324.3,8.5,320,7098,0.15,2.33,0.00,0.000,6,0.104,0.028,3207,1704,1712,0,0,0,0,0,0
$GC,7417,0.84,247.6,305.0,6.8,328,7446,0.12,2.60,21.80,0.731,4,0.072,0.058,3243,304,1619,0,0,0,0,0,0
$GC,7512,0.78,247.6,294.8,11.8,330,7517,0.12,2.35,0.00,0.000,6,0.110,0.027,3220,1707,1615,0,0,0,0,0,0
$GC,7840,0.86,247.8,268.6,7.9,346,7844,0.00,2.50,0.00,0.000,4,0.000,0.055,3219,296,1615,0,0,0,0,0,0
$GC,7990,0.86,247.9,255.2,7.9,352,7994,0.00,2.33,0.00,0.000,6,0.000,0.026,3219,1713,1612,0,0,0,0,0,0
$GC,8311,1.04,325.6,237.4,4.4,368,8390,0.25,2.58,68.05,0.700,4,0.048,0.054,3291,293,1301,0,0,0,0,0,0
$GC,8447,0.90,325.6,224.7,12.6,374,8452,0.22,2.33,0.00,0.000,6,0.090,0.025,3246,1704,1296,0,0,0,0,0,0
$GC,8771,0.94,325.6,192.8,11.4,391,8775,0.00,2.53,0.00,0.000,4,0.000,0.054,3246,290,1294,0,0,0,0,0,0
$GC,8878,0.94,325.6,179.3,12.5,399,8883,0.00,2.30,0.00,0.000,6,0.000,0.024,3246,1705,1291,0,0,0,0,0,0
$GC,9145,1.03,343.2,156.5,7.1,420,9167,0.12,2.58,14.75,0.585,4,0.065,0.051,3286,292,1230,0,0,0,0,0,0
$GC,9231,0.96,343.2,147.6,11.9,426,9236,0.12,2.30,0.00,0.000,6,0.097,0.022,3261,1698,1227,0,0,0,0,0,0
$GC,9499,1.02,343.2,121.9,10.4,447,9503,0.00,2.47,0.00,0.000,4,0.000,0.051,3261,295,1227,0,0,0,0,0,0
$GC,9607,1.02,343.2,109.3,10.4,455,9611,0.00,2.28,0.00,0.000,6,0.000,0.021,3261,1714,1225,0,0,0,0,0,0
$GC,9873,1.12,343.2,87.6,8.7,476,9878,0.15,2.50,0.00,0.000,4,0.056,0.050,3309,289,1225,0,0,0,0,0,0
$GC,10029,1.07,343.2,70.0,9.3,487,10036,0.10,2.30,0.00,0.000,6,0.070,0.021,3283,1705,1224,0,0,0,0,0,0
$GC,10292,1.22,387.9,55.2,5.9,508,10337,0.15,2.55,38.12,0.525,4,0.054,0.048,3333,298,1047,0,0,0,0,0,0
$GC,10413,1.11,387.9,41.0,13.0,516,10421,0.17,2.28,0.00,0.000,6,0.067,0.020,3292,1705,1043,0,0,0,0,0,0
$GC,10677,1.18,387.9,18.7,8.8,557,10684,0.00,2.50,0.00,0.000,4,0.000,0.048,3291,294,1043,0,0,0,0,0,0
$GC,10790,1.18,387.9,7.0,10.2,582,10796,0.00,2.25,0.00,0.000,6,0.000,0.019,3292,1701,1042,0,0,0,0,0,0
$STATE,10835,end climb,SURFACE_DEPTH_REACHED
$STATE,10835,begin surface coast
$FINISH,0.9,1.010620
$STATE,10879,end surface coast,CONTROL_FINISHED_OK
$STATE,10879,begin surface
$SM_CCo,10901,15.20,0.447,0,0,958,410.14
$SM_GC,1.95,0.00,0.00,15.20,0.000,0.000,0.447,428,1707,958,-12.06,0.20,410.14
$IRIDIUM_FIX,2054.83,-15746.61,251299,060614
$TT8_MAMPS,0.029146
$HUMID,58.46
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,440.2,60.0
$24V_AH,23.4,51.196
$10V_AH,10.2,42.338
$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,30.625,133.625,440.325,15.200,0.000,27.631,32.191,165.862,4.750,0.000,31.844,1241.071,6964.866,471.393,2059.417,549.432,0.000,1419.843,0.000,2005.714,0.000,32.288,0.000
$DEVICE_MAMPS,130.390,57.525,832.962,447.161,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,404.417,378.534,852.524,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,34972,601
$CAP_FILE_SIZE,129765,0
$CFSIZE,260165632,182824960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300910,123837,2059.928,-15749.119,27,1.4,27,9.8