version: 66.06
glider: 139
mission: 8
dive: 572
start: 9 30 110 18 42 57
data:
$ID,139
$MISSION,8
$DIVE,572
$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,-2163048.8
$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
$GPS1,183631,2058.051,-15749.758,37,1.7,37,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-75.0
$GPS2,184237,2058.069,-15749.777,14,1.0,14,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$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,302.1,28494,-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,-64.25,0.000,2,0.000,0.000,425,1720,2757,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.6,-3.9,12,110,12.65,2.33,-6.50,0.000,4,0.132,0.035,2787,3112,3109,0,0,0,0,0,0
$GC,242,-1.09,-116.8,35.1,-14.9,41,247,0.12,2.40,0.00,0.000,6,0.100,0.033,2813,1696,3111,0,0,0,0,0,0
$GC,505,-0.93,-116.8,73.7,-13.9,61,510,0.15,2.45,0.00,0.000,4,0.095,0.047,2844,292,3112,0,0,0,0,0,0
$GC,586,-0.80,-116.8,85.0,-13.1,67,591,0.15,2.33,0.00,0.000,6,0.094,0.018,2875,1740,3112,0,0,0,0,0,0
$GC,854,-0.86,-116.8,113.4,-10.3,88,858,0.00,2.47,0.00,0.000,4,0.000,0.044,2875,292,3113,0,0,0,0,0,0
$GC,925,-0.93,-116.8,120.6,-9.3,93,930,0.12,2.25,0.00,0.000,6,0.061,0.018,2829,1718,3113,0,0,0,0,0,0
$GC,1188,-0.93,-116.8,144.5,-9.8,113,1192,0.00,2.45,0.00,0.000,4,0.000,0.044,2829,296,3114,0,0,0,0,0,0
$GC,1221,-0.88,-116.8,148.6,-11.4,115,1227,0.15,2.22,0.00,0.000,6,0.085,0.018,2862,1707,3114,0,0,0,0,0,0
$GC,1483,-0.95,-116.8,170.2,-7.7,136,1484,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1713,3114,0,0,0,0,0,0
$GC,1732,-1.06,-116.8,188.7,-7.8,156,1737,0.20,2.45,0.00,0.000,4,0.044,0.044,2797,291,3114,0,0,0,0,0,0
$GC,1847,-0.98,-116.8,203.1,-12.9,164,1852,0.17,2.20,0.00,0.000,6,0.082,0.019,2835,1694,3114,0,0,0,0,0,0
$GC,2179,-1.03,-116.8,230.5,-6.5,180,2183,0.00,2.45,0.00,0.000,4,0.000,0.046,2835,289,3115,0,0,0,0,0,0
$GC,2259,-1.03,-116.8,236.1,-7.1,183,2263,0.00,2.25,0.00,0.000,6,0.000,0.019,2835,1708,3115,0,0,0,0,0,0
$GC,2575,-1.10,-116.8,257.9,-8.0,198,2580,0.12,2.47,0.00,0.000,4,0.061,0.048,2790,290,3114,0,0,0,0,0,0
$GC,2667,-1.00,-116.8,268.3,-12.9,202,2672,0.20,2.22,0.00,0.000,6,0.080,0.021,2833,1696,3114,0,0,0,0,0,0
$GC,3001,-1.07,-116.8,296.1,-7.0,218,3006,0.00,2.42,0.00,0.000,4,0.000,0.048,2833,297,3113,0,0,0,0,0,0
$GC,3129,-1.13,-116.8,306.7,-8.4,222,3134,0.12,2.22,0.00,0.000,6,0.063,0.021,2790,1703,3112,0,0,0,0,0,0
$GC,3460,-1.13,-116.8,338.0,-10.0,230,3464,0.00,2.42,0.00,0.000,4,0.000,0.051,2790,297,3110,0,0,0,0,0,0
$GC,3494,-1.06,-116.8,341.9,-12.0,230,3499,0.12,2.25,0.00,0.000,6,0.092,0.022,2817,1698,3111,0,0,0,0,0,0
$GC,3826,-1.11,-116.8,372.2,-8.3,238,3830,0.00,2.45,0.00,0.000,4,0.000,0.051,2817,294,3108,0,0,0,0,0,0
$GC,3929,-1.11,-116.8,379.2,-6.5,240,3933,0.00,2.28,0.00,0.000,6,0.000,0.023,2817,1706,3108,0,0,0,0,0,0
$GC,4243,-1.17,-116.8,396.0,-5.8,248,4248,0.00,2.47,0.00,0.000,4,0.000,0.053,2817,291,3106,0,0,0,0,0,0
$GC,4309,-1.20,-116.8,400.6,-7.9,249,4314,0.12,2.28,0.00,0.000,6,0.064,0.024,2776,1693,3105,0,0,0,0,0,0
$GC,4656,-1.17,-116.8,430.5,-8.7,258,4660,0.00,2.45,0.00,0.000,4,0.000,0.054,2776,299,3103,0,0,0,0,0,0
$GC,4708,-1.10,-116.8,435.8,-9.9,259,4713,0.15,2.28,0.00,0.000,6,0.090,0.025,2808,1697,3102,0,0,0,0,0,0
$STATE,4907,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4907,begin apogee
$GC,4914,-0.31,0.0,451.6,7.8,264,5014,0.80,0.00,96.78,0.829,6,0.064,0.000,2983,1702,2630,0,0,0,0,0,0
$STATE,5015,end apogee,CONTROL_FINISHED_OK
$STATE,5015,begin climb
$GC,5018,1.18,116.8,454.3,0.0,266,5131,1.40,2.38,101.93,0.815,4,0.037,0.032,3309,3080,2153,0,0,0,0,0,0
$GC,5322,1.02,126.3,442.9,7.5,272,5339,0.17,2.40,8.68,0.683,6,0.103,0.040,3275,1702,2115,0,0,0,0,0,0
$GC,5665,0.91,143.2,418.8,7.1,281,5687,0.12,2.55,15.57,0.753,4,0.115,0.057,3251,294,2046,0,0,0,0,0,0
$GC,5748,0.76,143.2,411.7,8.9,282,5753,0.17,2.35,0.00,0.000,6,0.106,0.026,3217,1699,2041,0,0,0,0,0,0
$GC,6079,0.82,185.7,390.9,6.0,290,6124,0.00,2.60,38.60,0.790,4,0.000,0.057,3217,297,1871,0,0,0,0,0,0
$GC,6165,0.78,185.7,384.9,8.8,291,6171,0.00,2.35,0.00,0.000,6,0.000,0.027,3217,1704,1867,0,0,0,0,0,0
$GC,6497,0.82,187.0,360.3,7.8,300,6498,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,1709,1864,0,0,0,0,0,0
$GC,6822,0.91,228.3,337.9,6.0,308,6867,0.15,2.62,37.38,0.767,4,0.064,0.057,3258,293,1699,0,0,0,0,0,0
$GC,6929,0.81,228.3,328.4,10.7,310,6934,0.15,2.35,0.00,0.000,6,0.104,0.028,3228,1703,1694,0,0,0,0,0,0
$GC,7280,0.85,236.3,300.7,7.5,319,7292,0.00,2.55,7.55,0.624,4,0.000,0.057,3227,289,1665,0,0,0,0,0,0
$GC,7341,0.86,239.3,296.2,7.8,320,7350,0.00,2.38,4.03,0.471,6,0.000,0.028,3228,1705,1653,0,0,0,0,0,0
$GC,7684,0.93,254.7,273.3,7.2,337,7706,0.10,2.58,15.10,0.686,4,0.078,0.055,3259,289,1590,0,0,0,0,0,0
$GC,7834,0.86,254.7,258.3,10.3,343,7838,0.00,2.35,0.00,0.000,6,0.000,0.026,3259,1704,1586,0,0,0,0,0,0
$GC,8156,0.86,254.7,230.2,8.0,359,8161,0.00,2.47,0.00,0.000,4,0.000,0.054,3259,296,1585,0,0,0,0,0,0
$GC,8247,0.80,254.7,221.0,9.2,363,8252,0.17,2.33,0.00,0.000,6,0.098,0.025,3225,1708,1583,0,0,0,0,0,0
$GC,8569,0.90,260.3,195.4,7.6,380,8584,0.00,2.50,5.25,0.495,4,0.000,0.051,3225,293,1567,0,0,0,0,0,0
$GC,8667,0.95,271.7,187.3,7.4,386,8686,0.10,2.33,11.48,0.596,6,0.042,0.024,3261,1703,1521,0,0,0,0,0,0
$GC,8938,0.96,275.7,165.4,7.7,408,8953,0.00,2.50,5.00,0.463,4,0.000,0.050,3261,293,1504,0,0,0,0,0,0
$GC,9031,0.96,275.7,156.4,9.9,414,9038,0.00,2.33,0.00,0.000,6,0.000,0.023,3261,1701,1502,0,0,0,0,0,0
$GC,9293,1.00,275.7,133.8,9.1,435,9297,0.00,2.47,0.00,0.000,4,0.000,0.050,3261,294,1502,0,0,0,0,0,0
$GC,9346,1.00,275.7,128.2,10.0,439,9351,0.00,2.30,0.00,0.000,6,0.000,0.022,3261,1711,1501,0,0,0,0,0,0
$GC,9618,1.07,288.3,106.3,7.3,460,9636,0.10,2.55,12.18,0.532,4,0.074,0.050,3297,295,1453,0,0,0,0,0,0
$GC,9746,1.01,288.3,92.2,10.7,469,9751,0.12,2.28,0.00,0.000,6,0.096,0.021,3270,1707,1450,0,0,0,0,0,0
$GC,10011,1.21,358.2,77.3,4.7,489,10081,0.20,2.58,60.17,0.547,4,0.048,0.048,3330,292,1168,0,0,0,0,0,0
$GC,10210,1.11,358.2,57.3,10.9,503,10215,0.20,2.25,0.00,0.000,6,0.084,0.020,3289,1703,1162,0,0,0,0,0,0
$GC,10477,1.19,358.2,35.0,8.5,524,10481,0.00,2.47,0.00,0.000,4,0.000,0.048,3289,290,1162,0,0,0,0,0,0
$GC,10571,1.19,358.2,25.3,10.1,537,10578,0.00,2.28,0.00,0.000,6,0.000,0.019,3290,1702,1160,0,0,0,0,0,0
$GC,10774,1.27,358.2,8.6,8.3,583,10781,0.15,2.47,0.00,0.000,4,0.054,0.047,3340,298,1160,0,0,0,0,0,0
$STATE,10820,end climb,SURFACE_DEPTH_REACHED
$STATE,10820,begin surface coast
$FINISH,1.5,1.022831
$STATE,10833,end surface coast,CONTROL_FINISHED_OK
$STATE,10833,begin surface
$SM_CCo,10858,31.00,0.466,0,0,958,410.14
$SM_GC,1.58,0.00,0.00,31.00,0.000,0.000,0.466,430,1688,958,-12.06,-0.34,410.14
$IRIDIUM_FIX,2050.21,-15747.49,251299,151524
$TT8_MAMPS,0.029146
$HUMID,57.79
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.4,51.511
$10V_AH,10.1,42.580
$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,31.225,124.275,419.675,31.000,0.000,27.773,33.251,174.958,4.750,0.000,14.730,1219.163,7027.271,475.341,1978.982,554.841,0.000,1390.978,0.000,1954.070,0.000,32.145,0.000
$DEVICE_MAMPS,131.924,56.758,829.127,466.336,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,399.891,379.492,839.976,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,34956,595
$CAP_FILE_SIZE,127126,0
$CFSIZE,260165632,182644736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,300910,214534,2058.816,-15750.546,8,2.7,27,9.8