version: 66.06
glider: 139
mission: 8
dive: 571
start: 9 30 110 15 51 40
data:
$ID,139
$MISSION,8
$DIVE,571
$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,-2163033.2
$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
$GPS1,154136,2058.968,-15749.478,15,1.3,31,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-73.6
$GPS2,155120,2058.976,-15749.486,16,1.5,16,9.8
$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,188.5,2063,-20.8,-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,16,-1.39,-76.1,0.0,0.0,0,83,0.00,0.00,-64.38,0.000,2,0.000,0.000,429,1700,2741,0,0,0,0,0,0
$GC,86,-1.44,-116.8,3.4,-3.4,12,111,12.27,2.35,-6.90,0.000,4,0.131,0.034,2726,3112,3108,0,0,0,0,0,0
$GC,298,-1.39,-116.8,48.8,-17.6,43,302,0.00,2.38,0.00,0.000,6,0.000,0.035,2726,1700,3110,0,0,0,0,0,0
$GC,559,-1.19,-116.8,100.7,-18.8,63,561,0.32,0.00,0.00,0.000,6,0.091,0.000,2791,1699,3111,0,0,0,0,0,0
$GC,810,-1.19,-116.8,135.8,-13.8,83,815,0.00,2.35,0.00,0.000,4,0.000,0.022,2791,3120,3112,0,0,0,0,0,0
$GC,838,-1.26,-116.8,139.6,-13.2,85,842,0.00,2.38,0.00,0.000,6,0.000,0.031,2790,1692,3111,0,0,0,0,0,0
$GC,1109,-1.31,-116.8,168.6,-9.3,106,1114,0.12,2.42,0.00,0.000,4,0.062,0.046,2749,292,3112,0,0,0,0,0,0
$GC,1245,-1.24,-116.8,186.3,-13.0,116,1250,0.15,2.30,0.00,0.000,6,0.093,0.018,2780,1737,3113,0,0,0,0,0,0
$GC,1519,-1.30,-116.8,216.5,-10.9,133,1523,0.00,2.47,0.00,0.000,4,0.000,0.046,2779,291,3113,0,0,0,0,0,0
$GC,1579,-1.30,-116.8,224.2,-12.0,135,1584,0.00,2.28,0.00,0.000,6,0.000,0.019,2780,1713,3113,0,0,0,0,0,0
$GC,1897,-1.36,-116.8,256.2,-10.0,151,1902,0.12,2.45,0.00,0.000,4,0.063,0.047,2737,296,3113,0,0,0,0,0,0
$GC,1935,-1.28,-116.8,261.4,-13.7,152,1942,0.12,2.28,0.00,0.000,6,0.073,0.021,2768,1705,3113,0,0,0,0,0,0
$GC,2254,-1.33,-116.8,295.8,-11.0,168,2258,0.00,2.42,0.00,0.000,4,0.000,0.048,2767,296,3112,0,0,0,0,0,0
$GC,2286,-1.33,-116.8,299.7,-11.0,169,2293,0.00,2.22,0.00,0.000,6,0.000,0.021,2768,1702,3112,0,0,0,0,0,0
$GC,2626,-1.39,-116.8,329.6,-8.3,178,2630,0.00,2.45,0.00,0.000,4,0.000,0.050,2767,297,3111,0,0,0,0,0,0
$GC,2693,-1.39,-116.8,335.4,-7.8,179,2697,0.00,2.25,0.00,0.000,6,0.000,0.022,2768,1697,3111,0,0,0,0,0,0
$GC,3039,-1.47,-116.8,367.6,-10.8,188,3044,0.17,2.45,0.00,0.000,4,0.054,0.052,2717,297,3108,0,0,0,0,0,0
$GC,3069,-1.37,-116.8,371.8,-14.7,188,3074,0.17,2.25,0.00,0.000,6,0.091,0.024,2752,1696,3108,0,0,0,0,0,0
$GC,3407,-1.41,-116.8,410.2,-11.0,197,3411,0.00,2.45,0.00,0.000,4,0.000,0.053,2752,300,3105,0,0,0,0,0,0
$GC,3458,-1.41,-116.8,416.5,-11.3,198,3462,0.00,2.25,0.00,0.000,6,0.000,0.025,2752,1698,3105,0,0,0,0,0,0
$GC,3779,-1.45,-116.8,449.9,-10.3,206,3780,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1703,3102,0,0,0,0,0,0
$STATE,3814,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3814,begin apogee
$GC,3820,-0.31,0.0,454.0,10.4,207,3920,1.08,0.00,97.10,0.826,6,0.072,0.000,2982,1703,2630,0,0,0,0,0,0
$STATE,3921,end apogee,CONTROL_FINISHED_OK
$STATE,3921,begin climb
$GC,3924,1.44,116.8,456.9,0.0,209,4037,1.65,2.38,101.78,0.811,4,0.035,0.031,3364,3081,2152,0,0,0,0,0,0
$GC,4258,1.28,116.8,438.5,8.8,216,4263,0.17,2.38,0.00,0.000,6,0.112,0.039,3332,1702,2147,0,0,0,0,0,0
$GC,4609,1.16,116.8,407.2,9.2,225,4611,0.15,0.00,0.00,0.000,6,0.112,0.000,3304,1702,2140,0,0,0,0,0,0
$GC,4935,1.11,121.9,381.2,7.5,233,4940,0.00,2.50,0.00,0.000,4,0.000,0.056,3304,294,2138,0,0,0,0,0,0
$GC,4997,0.97,132.3,376.4,7.2,234,5014,0.20,2.35,11.95,0.719,6,0.107,0.027,3265,1708,2090,0,0,0,0,0,0
$GC,5350,1.07,181.0,358.1,4.5,243,5401,0.00,2.58,44.45,0.781,4,0.000,0.055,3264,297,1891,0,0,0,0,0,0
$GC,5427,1.03,181.0,353.2,8.0,244,5431,0.00,2.33,0.00,0.000,6,0.000,0.027,3264,1697,1887,0,0,0,0,0,0
$GC,5760,1.12,199.1,329.2,6.6,252,5784,0.12,2.55,16.35,0.724,4,0.069,0.055,3300,297,1817,0,0,0,0,0,0
$GC,5819,1.01,199.1,323.6,10.9,253,5824,0.15,2.33,0.00,0.000,6,0.107,0.027,3272,1701,1814,0,0,0,0,0,0
$GC,6134,1.07,199.1,295.0,9.3,262,6139,0.00,2.53,0.00,0.000,4,0.000,0.055,3271,290,1812,0,0,0,0,0,0
$GC,6157,1.07,199.1,293.0,10.0,263,6162,0.00,2.33,0.00,0.000,6,0.000,0.027,3272,1702,1810,0,0,0,0,0,0
$GC,6488,1.15,199.1,263.8,8.7,279,6493,0.12,2.50,0.00,0.000,4,0.068,0.054,3309,296,1809,0,0,0,0,0,0
$GC,6528,1.08,199.1,259.3,11.7,280,6535,0.08,2.35,0.00,0.000,6,0.090,0.026,3290,1700,1807,0,0,0,0,0,0
$GC,6844,1.13,199.1,231.8,9.1,296,6848,0.00,2.50,0.00,0.000,4,0.000,0.054,3290,291,1807,0,0,0,0,0,0
$GC,6911,1.13,199.1,225.6,9.8,299,6915,0.00,2.33,0.00,0.000,6,0.000,0.025,3290,1711,1805,0,0,0,0,0,0
$GC,7244,1.21,219.3,200.2,6.5,315,7267,0.10,2.33,17.23,0.643,4,0.077,0.026,3322,3082,1735,0,0,0,0,0,0
$GC,7276,1.22,228.7,197.5,7.2,317,7293,0.00,2.40,10.23,0.593,6,0.000,0.037,3322,1699,1696,0,0,0,0,0,0
$GC,7553,1.22,228.7,172.6,9.5,339,7557,0.00,2.45,0.00,0.000,4,0.000,0.052,3322,295,1693,0,0,0,0,0,0
$GC,7693,1.16,228.7,158.7,9.1,349,7698,0.00,2.33,0.00,0.000,6,0.000,0.023,3322,1717,1690,0,0,0,0,0,0
$GC,7955,1.21,228.7,137.9,8.7,369,7960,0.00,2.50,0.00,0.000,4,0.000,0.050,3322,294,1689,0,0,0,0,0,0
$GC,8012,1.21,228.7,132.0,9.5,373,8016,0.00,2.28,0.00,0.000,6,0.000,0.022,3322,1711,1688,0,0,0,0,0,0
$GC,8275,1.30,250.1,115.4,6.4,393,8303,0.00,2.33,18.52,0.564,4,0.000,0.025,3322,3073,1610,0,0,0,0,0,0
$GC,8371,1.42,250.1,107.6,8.5,399,8377,0.17,2.38,0.00,0.000,6,0.052,0.034,3373,1689,1609,0,0,0,0,0,0
$GC,8631,1.43,256.5,87.4,7.5,420,8647,0.00,2.47,7.07,0.459,4,0.000,0.048,3373,297,1583,0,0,0,0,0,0
$GC,8671,1.34,256.5,83.8,9.0,422,8678,0.12,2.28,0.00,0.000,6,0.075,0.020,3343,1696,1580,0,0,0,0,0,0
$GC,8934,1.40,261.7,63.9,7.5,443,8949,0.00,2.50,5.95,0.417,4,0.000,0.046,3343,292,1561,0,0,0,0,0,0
$GC,9027,1.40,261.7,55.4,8.3,449,9034,0.00,2.28,0.00,0.000,6,0.000,0.019,3343,1708,1559,0,0,0,0,0,0
$GC,9290,1.48,273.7,37.0,7.1,470,9309,0.12,2.50,11.35,0.460,4,0.062,0.044,3385,300,1514,0,0,0,0,0,0
$GC,9348,1.36,273.7,31.1,10.6,474,9353,0.20,2.22,0.00,0.000,6,0.089,0.018,3345,1711,1511,0,0,0,0,0,0
$GC,9616,1.42,273.7,9.7,8.0,534,9622,0.00,2.47,0.00,0.000,4,0.000,0.045,3344,297,1511,0,0,0,0,0,0
$STATE,9679,end climb,SURFACE_DEPTH_REACHED
$STATE,9679,begin surface coast
$FINISH,0.8,1.001003
$STATE,9712,end surface coast,CONTROL_FINISHED_OK
$STATE,9712,begin surface
$SM_CCo,9738,76.03,0.471,0,0,957,410.14
$SM_GC,1.63,0.00,0.00,76.03,0.000,0.000,0.471,425,1720,957,-12.07,0.57,410.14
$IRIDIUM_FIX,2052.52,-15751.76,251299,151525
$TT8_MAMPS,0.029146
$HUMID,55.94
$INTERNAL_PRESSURE,9.30354
$TCM_TEMP,22.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,441.4,52.3
$24V_AH,23.4,51.406
$10V_AH,10.0,42.497
$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,30.450,114.275,341.975,76.025,0.000,48.561,70.382,244.851,5.000,0.000,16.969,1104.980,6417.917,472.910,1719.574,680.272,0.000,1256.814,0.000,1698.662,0.000,35.178,0.000
$DEVICE_MAMPS,131.157,55.991,826.059,470.938,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,373.120,358.889,809.889,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,31788,555
$CAP_FILE_SIZE,114826,0
$CFSIZE,260165632,182718464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300910,183631,2058.051,-15749.758,37,1.7,37,9.8