version: 66.06
glider: 139
mission: 8
dive: 573
start: 9 30 110 21 51 52
data:
$ID,139
$MISSION,8
$DIVE,573
$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,-2163061
$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
$GPS1,214534,2058.816,-15750.546,8,2.7,27,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-73.7
$GPS2,215132,2058.832,-15750.584,11,1.6,11,9.8
$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,301.8,26513,-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,-64.68,0.000,2,0.000,0.000,429,1689,2756,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.5,-3.4,12,110,12.60,2.38,-6.53,0.000,4,0.131,0.034,2785,3112,3109,0,0,0,0,0,0
$GC,240,-1.10,-116.8,33.2,-14.2,42,244,0.12,2.40,0.00,0.000,6,0.101,0.034,2811,1690,3111,0,0,0,0,0,0
$GC,508,-0.95,-116.8,72.2,-14.7,63,513,0.15,2.42,0.00,0.000,4,0.096,0.047,2842,295,3112,0,0,0,0,0,0
$GC,588,-0.84,-116.8,85.1,-14.9,69,593,0.12,2.33,0.00,0.000,6,0.099,0.018,2867,1739,3113,0,0,0,0,0,0
$GC,856,-0.89,-116.8,108.6,-8.4,90,860,0.00,2.50,0.00,0.000,4,0.000,0.044,2867,292,3113,0,0,0,0,0,0
$GC,957,-0.93,-116.8,118.4,-9.4,97,962,0.00,2.22,0.00,0.000,6,0.000,0.018,2867,1717,3114,0,0,0,0,0,0
$GC,1219,-1.01,-116.8,136.5,-5.9,118,1224,0.17,2.47,0.00,0.000,4,0.049,0.045,2809,285,3114,0,0,0,0,0,0
$GC,1248,-0.92,-116.8,139.2,-9.3,120,1253,0.17,2.25,0.00,0.000,6,0.084,0.018,2847,1705,3114,0,0,0,0,0,0
$GC,1512,-0.97,-116.8,160.3,-8.5,140,1516,0.00,2.45,0.00,0.000,4,0.000,0.045,2848,286,3115,0,0,0,0,0,0
$GC,1591,-1.00,-116.8,168.5,-9.6,146,1595,0.00,2.22,0.00,0.000,6,0.000,0.018,2847,1704,3115,0,0,0,0,0,0
$GC,1864,-1.08,-116.8,190.4,-8.4,167,1869,0.15,2.42,0.00,0.000,4,0.054,0.047,2796,295,3115,0,0,0,0,0,0
$GC,1892,-0.98,-116.8,194.0,-11.9,169,1897,0.17,2.22,0.00,0.000,6,0.083,0.019,2834,1697,3115,0,0,0,0,0,0
$GC,2151,-1.03,-116.8,213.9,-7.2,183,2155,0.00,2.42,0.00,0.000,4,0.000,0.046,2834,293,3114,0,0,0,0,0,0
$GC,2198,-1.03,-116.8,218.0,-8.2,185,2202,0.00,2.25,0.00,0.000,6,0.000,0.019,2834,1704,3115,0,0,0,0,0,0
$GC,2527,-1.08,-116.8,244.1,-7.7,201,2531,0.00,2.45,0.00,0.000,4,0.000,0.048,2834,289,3114,0,0,0,0,0,0
$GC,2611,-1.08,-116.8,249.5,-5.2,204,2615,0.00,2.25,0.00,0.000,6,0.000,0.020,2834,1696,3114,0,0,0,0,0,0
$GC,2932,-1.15,-116.8,268.7,-7.1,220,2937,0.15,2.45,0.00,0.000,4,0.056,0.048,2784,293,3113,0,0,0,0,0,0
$GC,2967,-1.04,-116.8,272.2,-11.2,221,2972,0.17,2.22,0.00,0.000,6,0.084,0.021,2822,1698,3113,0,0,0,0,0,0
$GC,3304,-1.08,-116.8,305.6,-9.8,236,3308,0.00,2.45,0.00,0.000,4,0.000,0.049,2822,292,3112,0,0,0,0,0,0
$GC,3432,-1.08,-116.8,317.2,-9.4,238,3436,0.00,2.28,0.00,0.000,6,0.000,0.021,2822,1704,3112,0,0,0,0,0,0
$GC,3768,-1.13,-116.8,339.0,-5.8,247,3770,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1708,3110,0,0,0,0,0,0
$GC,4093,-1.20,-116.8,358.1,-6.1,255,4098,0.15,2.50,0.00,0.000,4,0.058,0.051,2774,287,3109,0,0,0,0,0,0
$GC,4187,-1.12,-116.8,366.8,-10.8,257,4192,0.15,2.28,0.00,0.000,6,0.091,0.023,2806,1703,3108,0,0,0,0,0,0
$GC,4518,-1.16,-116.8,395.0,-8.5,265,4523,0.00,2.47,0.00,0.000,4,0.000,0.053,2806,293,3106,0,0,0,0,0,0
$GC,4589,-1.16,-116.8,402.1,-9.9,266,4593,0.00,2.28,0.00,0.000,6,0.000,0.024,2806,1703,3105,0,0,0,0,0,0
$GC,4931,-1.20,-116.8,430.0,-7.5,275,4935,0.00,2.45,0.00,0.000,4,0.000,0.054,2806,296,3103,0,0,0,0,0,0
$GC,5054,-1.20,-116.8,438.9,-7.0,277,5059,0.00,2.28,0.00,0.000,6,0.000,0.025,2806,1703,3102,0,0,0,0,0,0
$STATE,5266,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5266,begin apogee
$GC,5272,-0.31,0.0,451.9,6.0,283,5372,0.80,0.00,97.22,0.834,6,0.065,0.000,2979,1707,2630,0,0,0,0,0,0
$STATE,5373,end apogee,CONTROL_FINISHED_OK
$STATE,5373,begin climb
$GC,5377,1.18,116.8,453.5,0.0,285,5489,1.42,2.38,101.95,0.818,4,0.037,0.033,3310,3084,2152,0,0,0,0,0,0
$GC,5722,1.04,150.1,437.9,6.4,292,5760,0.17,2.42,29.40,0.789,6,0.100,0.039,3277,1695,2018,0,0,0,0,0,0
$GC,6107,0.96,174.6,412.1,6.8,302,6135,0.00,2.58,21.92,0.777,4,0.000,0.057,3277,299,1918,0,0,0,0,0,0
$GC,6184,0.77,174.6,405.3,9.8,303,6189,0.30,2.33,0.00,0.000,6,0.097,0.027,3218,1700,1913,0,0,0,0,0,0
$GC,6523,0.84,213.1,384.3,6.2,312,6565,0.00,2.60,34.67,0.790,4,0.000,0.058,3218,279,1760,0,0,0,0,0,0
$GC,6621,0.84,213.1,375.9,9.6,314,6625,0.00,2.40,0.00,0.000,6,0.000,0.028,3218,1707,1756,0,0,0,0,0,0
$GC,6941,0.93,243.8,353.6,6.5,322,6974,0.15,2.60,27.33,0.764,4,0.064,0.058,3259,297,1636,0,0,0,0,0,0
$GC,7077,0.81,243.8,340.0,10.0,325,7082,0.17,2.35,0.00,0.000,6,0.105,0.028,3227,1700,1630,0,0,0,0,0,0
$GC,7402,0.86,244.9,314.4,7.8,333,7406,0.00,2.50,0.00,0.000,4,0.000,0.057,3226,294,1628,0,0,0,0,0,0
$GC,7458,0.86,244.9,309.0,9.3,334,7462,0.00,2.35,0.00,0.000,6,0.000,0.027,3226,1705,1626,0,0,0,0,0,0
$GC,7775,0.93,244.9,284.2,8.1,346,7780,0.12,2.53,0.00,0.000,4,0.069,0.057,3264,291,1626,0,0,0,0,0,0
$GC,7965,0.86,244.9,261.6,12.6,354,7969,0.15,2.33,0.00,0.000,6,0.104,0.026,3235,1700,1623,0,0,0,0,0,0
$GC,8287,0.91,244.9,237.9,8.2,370,8291,0.00,2.50,0.00,0.000,4,0.000,0.054,3235,290,1623,0,0,0,0,0,0
$GC,8364,0.91,244.9,230.1,10.3,373,8369,0.00,2.33,0.00,0.000,6,0.000,0.025,3235,1706,1622,0,0,0,0,0,0
$GC,8681,0.97,244.9,201.3,8.0,388,8686,0.12,2.50,0.00,0.000,4,0.067,0.053,3274,289,1621,0,0,0,0,0,0
$GC,8778,0.89,244.9,191.9,10.7,395,8783,0.15,2.33,0.00,0.000,6,0.100,0.024,3244,1708,1621,0,0,0,0,0,0
$GC,9046,1.04,324.1,177.5,4.3,416,9122,0.15,2.55,68.12,0.645,4,0.060,0.051,3289,291,1307,0,0,0,0,0,0
$GC,9175,0.93,324.1,166.0,12.4,424,9182,0.15,2.35,0.00,0.000,6,0.075,0.023,3254,1706,1303,0,0,0,0,0,0
$GC,9437,0.99,324.1,144.9,8.2,445,9441,0.00,2.50,0.00,0.000,4,0.000,0.050,3254,293,1302,0,0,0,0,0,0
$GC,9520,0.99,324.1,135.7,10.8,451,9525,0.00,2.28,0.00,0.000,6,0.000,0.022,3254,1703,1299,0,0,0,0,0,0
$GC,9784,1.08,324.1,112.3,8.3,472,9789,0.15,2.45,0.00,0.000,4,0.058,0.049,3301,294,1298,0,0,0,0,0,0
$GC,9961,1.03,324.1,93.8,9.4,485,9966,0.15,2.25,0.00,0.000,6,0.091,0.021,3270,1702,1297,0,0,0,0,0,0
$GC,10228,1.22,384.4,80.7,5.2,506,10285,0.20,2.53,50.20,0.545,4,0.047,0.047,3332,287,1061,0,0,0,0,0,0
$GC,10383,1.12,384.4,63.9,13.3,517,10388,0.20,2.28,0.00,0.000,6,0.084,0.020,3291,1711,1057,0,0,0,0,0,0
$GC,10651,1.19,384.4,40.2,8.8,538,10655,0.00,2.47,0.00,0.000,4,0.000,0.048,3291,294,1057,0,0,0,0,0,0
$GC,10757,1.19,384.4,29.1,10.0,546,10764,0.00,2.28,0.00,0.000,6,0.000,0.019,3292,1712,1055,0,0,0,0,0,0
$GC,10960,1.26,384.4,12.1,8.5,592,10967,0.15,2.53,0.00,0.000,4,0.054,0.048,3343,292,1055,0,0,0,0,0,0
$STATE,11028,end climb,SURFACE_DEPTH_REACHED
$STATE,11028,begin surface coast
$FINISH,1.1,1.022850
$STATE,11054,end surface coast,CONTROL_FINISHED_OK
$STATE,11054,begin surface
$SM_CCo,11079,15.95,0.446,0,0,958,410.14
$SM_GC,1.72,0.00,0.00,15.95,0.000,0.000,0.446,429,1710,958,-12.06,0.28,410.14
$IRIDIUM_FIX,2050.21,-15747.49,251299,181818
$TT8_MAMPS,0.029146
$HUMID,57.83
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.4,51.618
$10V_AH,10.0,42.664
$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,31.550,129.050,430.825,15.950,0.000,28.697,37.387,165.008,4.500,0.000,11.583,1258.139,7111.842,459.148,2079.000,543.023,0.000,1410.905,0.000,2046.216,0.000,29.247,0.000
$DEVICE_MAMPS,131.157,58.292,834.496,446.394,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,412.099,385.965,852.492,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,34935,612
$CAP_FILE_SIZE,129864,0
$CFSIZE,260165632,182583296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011010,005807,2059.451,-15751.248,41,1.0,41,9.8