version: 66.06
glider: 139
mission: 8
dive: 570
start: 9 30 110 12 44 51
data:
$ID,139
$MISSION,8
$DIVE,570
$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,-2163015.5
$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
$GPS1,123837,2059.928,-15749.119,27,1.4,27,9.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-73.5
$GPS2,124432,2059.907,-15749.106,10,1.6,10,9.8
$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,189.7,3909,-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,-116.8,0.0,0.0,0,82,0.00,0.00,-64.20,0.000,2,0.000,0.000,428,1708,2739,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.4,-3.4,12,111,12.62,2.40,-6.82,0.000,4,0.132,0.035,2787,3113,3110,0,0,0,0,0,0
$GC,172,-1.10,-116.8,23.2,-15.9,29,179,0.08,2.42,0.00,0.000,6,0.086,0.034,2807,1704,3112,0,0,0,0,0,0
$GC,382,-0.92,-116.8,56.4,-15.8,51,387,0.20,2.45,0.00,0.000,4,0.088,0.044,2848,290,3113,0,0,0,0,0,0
$GC,451,-0.82,-116.8,66.2,-12.9,56,456,0.12,2.30,0.00,0.000,6,0.098,0.018,2874,1736,3114,0,0,0,0,0,0
$GC,719,-0.85,-116.8,92.3,-7.8,77,723,0.00,2.47,0.00,0.000,4,0.000,0.044,2874,292,3114,0,0,0,0,0,0
$GC,780,-0.85,-116.8,98.5,-10.1,81,785,0.00,2.25,0.00,0.000,6,0.000,0.018,2874,1717,3114,0,0,0,0,0,0
$GC,1041,-0.94,-116.8,118.1,-6.3,102,1045,0.12,2.47,0.00,0.000,4,0.061,0.044,2828,293,3115,0,0,0,0,0,0
$GC,1094,-0.88,-116.8,123.6,-11.7,106,1099,0.15,2.20,0.00,0.000,6,0.087,0.018,2860,1702,3115,0,0,0,0,0,0
$GC,1361,-0.94,-116.8,149.2,-8.8,127,1366,0.00,2.40,0.00,0.000,4,0.000,0.045,2860,294,3116,0,0,0,0,0,0
$GC,1459,-1.04,-116.8,159.3,-10.9,134,1463,0.15,2.22,0.00,0.000,6,0.054,0.018,2809,1704,3116,0,0,0,0,0,0
$GC,1727,-1.00,-116.8,187.9,-10.4,155,1732,0.12,2.42,0.00,0.000,4,0.091,0.046,2835,294,3116,0,0,0,0,0,0
$GC,1762,-1.00,-116.8,191.9,-9.7,157,1767,0.00,2.20,0.00,0.000,6,0.000,0.019,2836,1702,3116,0,0,0,0,0,0
$GC,2034,-1.04,-116.8,213.4,-8.4,174,2038,0.00,2.42,0.00,0.000,4,0.000,0.046,2835,294,3116,0,0,0,0,0,0
$GC,2096,-1.07,-116.8,218.5,-8.3,176,2102,0.00,2.25,0.00,0.000,6,0.000,0.019,2834,1696,3116,0,0,0,0,0,0
$GC,2414,-1.13,-116.8,242.9,-7.2,192,2419,0.15,2.45,0.00,0.000,4,0.055,0.047,2784,290,3116,0,0,0,0,0,0
$GC,2483,-1.02,-116.8,250.1,-11.9,195,2488,0.20,2.22,0.00,0.000,6,0.080,0.020,2828,1694,3116,0,0,0,0,0,0
$GC,2817,-1.08,-116.8,275.9,-7.0,211,2821,0.00,2.40,0.00,0.000,4,0.000,0.048,2828,294,3116,0,0,0,0,0,0
$GC,2855,-1.08,-116.8,279.3,-8.5,212,2862,0.00,2.28,0.00,0.000,6,0.000,0.021,2828,1703,3116,0,0,0,0,0,0
$GC,3190,-1.14,-116.8,308.6,-8.6,227,3195,0.12,2.47,0.00,0.000,4,0.063,0.050,2785,292,3115,0,0,0,0,0,0
$GC,3267,-1.08,-116.8,316.6,-10.3,228,3272,0.15,2.25,0.00,0.000,6,0.087,0.021,2818,1703,3114,0,0,0,0,0,0
$GC,3606,-1.13,-116.8,341.3,-7.2,237,3610,0.00,2.45,0.00,0.000,4,0.000,0.051,2817,287,3113,0,0,0,0,0,0
$GC,3685,-1.16,-116.8,349.3,-10.2,238,3689,0.00,2.28,0.00,0.000,6,0.000,0.022,2818,1709,3113,0,0,0,0,0,0
$GC,4018,-1.21,-116.8,373.4,-6.8,246,4023,0.15,2.50,0.00,0.000,4,0.058,0.052,2770,293,3111,0,0,0,0,0,0
$GC,4075,-1.12,-116.8,378.8,-9.8,247,4080,0.17,2.28,0.00,0.000,6,0.086,0.024,2807,1699,3110,0,0,0,0,0,0
$GC,4392,-1.15,-116.8,404.8,-8.6,255,4397,0.00,2.45,0.00,0.000,4,0.000,0.054,2807,294,3108,0,0,0,0,0,0
$GC,4482,-1.15,-116.8,414.1,-10.6,257,4486,0.00,2.30,0.00,0.000,6,0.000,0.025,2807,1706,3108,0,0,0,0,0,0
$GC,4815,-1.19,-116.8,442.4,-8.5,265,4819,0.00,2.50,0.00,0.000,4,0.000,0.055,2807,291,3105,0,0,0,0,0,0
$GC,4889,-1.19,-116.8,449.6,-9.3,266,4893,0.00,2.30,0.00,0.000,6,0.000,0.025,2807,1698,3105,0,0,0,0,0,0
$STATE,4897,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4897,begin apogee
$GC,4903,-0.31,0.0,450.3,8.7,267,5005,0.80,0.00,98.22,0.832,6,0.065,0.000,2981,1702,2630,0,0,0,0,0,0
$STATE,5006,end apogee,CONTROL_FINISHED_OK
$STATE,5006,begin climb
$GC,5009,1.18,116.8,453.3,0.0,269,5121,1.42,2.35,102.10,0.816,4,0.036,0.033,3312,3081,2153,0,0,0,0,0,0
$GC,5139,1.05,175.2,454.3,5.3,272,5199,0.17,2.42,52.28,0.798,6,0.100,0.039,3279,1698,1914,0,0,0,0,0,0
$GC,5511,0.93,175.2,419.4,10.2,281,5516,0.12,2.50,0.00,0.000,4,0.110,0.057,3255,297,1906,0,0,0,0,0,0
$GC,5604,0.78,175.2,409.9,10.2,283,5609,0.17,2.35,0.00,0.000,6,0.104,0.026,3222,1704,1902,0,0,0,0,0,0
$GC,5933,0.80,188.1,386.1,7.3,291,5949,0.00,2.60,9.98,0.700,4,0.000,0.058,3221,295,1862,0,0,0,0,0,0
$GC,6045,0.75,188.1,376.8,8.9,293,6050,0.00,2.33,0.00,0.000,6,0.000,0.027,3222,1702,1859,0,0,0,0,0,0
$GC,6395,0.77,203.8,350.6,7.2,302,6412,0.00,0.00,15.27,0.733,6,0.000,0.000,3221,1707,1799,0,0,0,0,0,0
$GC,6722,0.85,244.0,330.5,6.1,310,6764,0.00,2.58,36.92,0.762,4,0.000,0.057,3221,297,1634,0,0,0,0,0,0
$GC,6876,0.85,244.0,315.0,11.2,313,6880,0.00,2.33,0.00,0.000,6,0.000,0.027,3221,1704,1627,0,0,0,0,0,0
$GC,7210,0.90,244.0,283.0,10.0,325,7215,0.10,2.53,0.00,0.000,4,0.081,0.058,3252,294,1626,0,0,0,0,0,0
$GC,7282,0.81,244.0,273.1,13.7,328,7287,0.12,2.33,0.00,0.000,6,0.111,0.027,3229,1706,1624,0,0,0,0,0,0
$GC,7611,0.90,274.2,247.7,6.5,344,7642,0.00,2.55,25.45,0.697,4,0.000,0.055,3229,297,1512,0,0,0,0,0,0
$GC,7833,0.92,291.6,229.9,7.1,353,7855,0.10,2.33,16.00,0.657,6,0.081,0.026,3258,1707,1441,0,0,0,0,0,0
$GC,8166,0.92,291.6,200.5,9.4,369,8170,0.00,2.50,0.00,0.000,4,0.000,0.055,3258,291,1438,0,0,0,0,0,0
$GC,8290,0.88,291.6,187.4,10.2,378,8295,0.00,2.30,0.00,0.000,6,0.000,0.025,3258,1699,1435,0,0,0,0,0,0
$GC,8558,0.93,296.3,166.1,7.7,399,8571,0.00,2.50,5.00,0.469,4,0.000,0.051,3258,296,1421,0,0,0,0,0,0
$GC,8616,0.93,296.3,160.6,9.6,403,8621,0.00,2.30,0.00,0.000,6,0.000,0.024,3258,1710,1419,0,0,0,0,0,0
$GC,8882,1.00,296.3,139.1,8.0,424,8886,0.00,2.50,0.00,0.000,4,0.000,0.050,3258,291,1419,0,0,0,0,0,0
$GC,8983,1.01,300.1,130.8,7.7,431,8993,0.00,2.28,4.45,0.420,6,0.000,0.021,3258,1705,1406,0,0,0,0,0,0
$GC,9253,1.10,300.1,109.4,8.5,453,9258,0.15,2.50,0.00,0.000,4,0.057,0.049,3306,290,1406,0,0,0,0,0,0
$GC,9283,1.01,300.1,106.1,12.1,455,9288,0.17,2.28,0.00,0.000,6,0.089,0.021,3270,1712,1406,0,0,0,0,0,0
$GC,9545,1.19,359.7,89.0,5.2,475,9603,0.17,2.55,52.17,0.555,4,0.051,0.050,3325,296,1162,0,0,0,0,0,0
$GC,9758,1.10,359.7,64.8,13.4,490,9765,0.15,2.30,0.00,0.000,6,0.069,0.020,3288,1709,1156,0,0,0,0,0,0
$GC,10022,1.17,360.5,42.0,7.9,511,10026,0.00,2.45,0.00,0.000,4,0.000,0.048,3289,295,1156,0,0,0,0,0,0
$GC,10128,1.17,360.5,32.0,9.8,519,10132,0.00,2.22,0.00,0.000,6,0.000,0.019,3289,1711,1155,0,0,0,0,0,0
$GC,10391,1.25,360.5,10.5,9.0,577,10399,0.15,2.50,0.00,0.000,4,0.054,0.048,3340,299,1154,0,0,0,0,0,0
$STATE,10454,end climb,SURFACE_DEPTH_REACHED
$STATE,10454,begin surface coast
$FINISH,1.0,0.999579
$STATE,10480,end surface coast,CONTROL_FINISHED_OK
$STATE,10480,begin surface
$SM_CCo,10505,29.85,0.463,0,0,957,410.14
$SM_GC,1.62,0.00,0.00,29.85,0.000,0.000,0.463,429,1700,957,-12.06,0.00,410.14
$IRIDIUM_FIX,2054.83,-15749.62,251299,090952
$TT8_MAMPS,0.029146
$HUMID,57.87
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,442.4,50.4
$24V_AH,23.4,51.303
$10V_AH,10.1,42.420
$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,30.850,128.625,417.850,29.850,0.000,24.228,31.972,172.445,5.000,0.000,11.032,1214.865,6688.148,479.219,1970.873,533.668,0.000,1376.598,0.000,1944.704,0.000,32.250,0.000
$DEVICE_MAMPS,131.924,57.525,832.195,463.268,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,400.773,383.230,855.289,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,34986,596
$CAP_FILE_SIZE,126589,0
$CFSIZE,260165632,182767616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300910,154136,2058.968,-15749.478,15,1.3,31,9.8