version: 66.06
glider: 139
mission: 8
dive: 548
start: 9 27 110 15 25 22
data:
$ID,139
$MISSION,8
$DIVE,548
$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,-2162587.5
$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
$GPS1,151750,2104.293,-15750.084,14,1.8,14,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-75.0
$GPS2,152502,2104.278,-15750.118,12,1.7,12,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$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,67.3,12761,-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,-64.70,0.000,2,0.000,0.000,429,1713,2769,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.7,-4.2,12,110,12.62,2.33,-6.15,0.000,4,0.133,0.034,2786,3114,3109,0,0,0,0,0,0
$GC,184,-1.10,-116.8,26.5,-16.8,32,190,0.08,2.42,0.00,0.000,6,0.087,0.035,2806,1701,3110,0,0,0,0,0,0
$GC,383,-0.92,-116.8,61.4,-16.1,50,388,0.20,2.42,0.00,0.000,4,0.088,0.044,2848,286,3112,0,0,0,0,0,0
$GC,431,-0.82,-116.8,68.7,-14.9,53,438,0.08,2.35,0.00,0.000,6,0.078,0.018,2868,1733,3112,0,0,0,0,0,0
$GC,689,-0.82,-116.8,96.4,-10.3,74,693,0.00,2.50,0.00,0.000,4,0.000,0.047,2868,294,3113,0,0,0,0,0,0
$GC,798,-0.86,-116.8,108.4,-10.2,82,802,0.00,2.22,0.00,0.000,6,0.000,0.018,2868,1713,3113,0,0,0,0,0,0
$GC,1065,-0.93,-116.8,129.6,-6.2,103,1069,0.00,2.45,0.00,0.000,4,0.000,0.045,2867,294,3114,0,0,0,0,0,0
$GC,1099,-0.98,-116.8,132.1,-7.7,105,1105,0.15,2.20,0.00,0.000,6,0.054,0.018,2817,1707,3114,0,0,0,0,0,0
$GC,1359,-0.98,-116.8,154.0,-9.1,126,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1711,3114,0,0,0,0,0,0
$GC,1611,-0.98,-116.8,179.8,-10.5,146,1615,0.00,2.42,0.00,0.000,4,0.000,0.045,2816,280,3115,0,0,0,0,0,0
$GC,1695,-0.98,-116.8,189.6,-11.0,152,1699,0.00,2.25,0.00,0.000,6,0.000,0.019,2816,1695,3115,0,0,0,0,0,0
$GC,1960,-0.98,-116.8,216.2,-8.6,168,1964,0.00,2.25,0.00,0.000,4,0.000,0.023,2816,3070,3115,0,0,0,0,0,0
$GC,1983,-1.03,-116.8,218.5,-9.5,169,1987,0.00,2.33,0.00,0.000,6,0.000,0.032,2817,1688,3115,0,0,0,0,0,0
$GC,2309,-1.03,-116.8,246.9,-8.9,185,2313,0.00,2.38,0.00,0.000,4,0.000,0.047,2816,293,3115,0,0,0,0,0,0
$GC,2384,-1.03,-116.8,254.0,-9.0,188,2388,0.00,2.20,0.00,0.000,6,0.000,0.020,2817,1699,3114,0,0,0,0,0,0
$GC,2706,-1.03,-116.8,281.5,-9.1,204,2711,0.00,2.40,0.00,0.000,4,0.000,0.046,2817,297,3114,0,0,0,0,0,0
$GC,2740,-1.03,-116.8,285.0,-10.4,205,2744,0.00,2.25,0.00,0.000,6,0.000,0.020,2817,1706,3114,0,0,0,0,0,0
$GC,3074,-1.07,-116.8,317.9,-10.2,217,3078,0.00,2.42,0.00,0.000,4,0.000,0.048,2817,294,3113,0,0,0,0,0,0
$GC,3111,-1.07,-116.8,321.8,-10.2,217,3116,0.00,2.25,0.00,0.000,6,0.000,0.021,2817,1701,3113,0,0,0,0,0,0
$GC,3444,-1.11,-116.8,346.2,-6.2,226,3448,0.00,2.42,0.00,0.000,4,0.000,0.049,2817,293,3112,0,0,0,0,0,0
$GC,3495,-1.11,-116.8,349.5,-5.7,227,3499,0.00,2.22,0.00,0.000,6,0.000,0.021,2816,1698,3112,0,0,0,0,0,0
$GC,3817,-1.15,-116.8,368.5,-6.4,235,3821,0.00,2.45,0.00,0.000,4,0.000,0.051,2816,294,3110,0,0,0,0,0,0
$GC,3891,-1.19,-116.8,374.9,-7.6,236,3896,0.12,2.25,0.00,0.000,6,0.064,0.022,2776,1702,3110,0,0,0,0,0,0
$GC,4228,-1.15,-116.8,406.8,-9.7,245,4233,0.12,2.47,0.00,0.000,4,0.094,0.054,2802,296,3107,0,0,0,0,0,0
$GC,4295,-1.15,-116.8,414.0,-11.2,246,4299,0.00,2.25,0.00,0.000,6,0.000,0.024,2803,1701,3107,0,0,0,0,0,0
$GC,4640,-1.18,-116.8,446.1,-8.5,255,4645,0.00,2.47,0.00,0.000,4,0.000,0.055,2802,296,3105,0,0,0,0,0,0
$GC,4660,-1.18,-116.8,447.8,-8.7,255,4664,0.00,2.30,0.00,0.000,6,0.000,0.025,2802,1706,3105,0,0,0,0,0,0
$STATE,4718,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4718,begin apogee
$GC,4724,-0.31,0.0,452.7,8.0,257,4824,0.82,0.00,97.05,0.828,6,0.064,0.000,2982,1710,2630,0,0,0,0,0,0
$STATE,4825,end apogee,CONTROL_FINISHED_OK
$STATE,4825,begin climb
$GC,4828,1.18,116.8,454.6,0.0,259,4941,1.40,2.40,100.93,0.814,4,0.038,0.031,3308,3078,2153,0,0,0,0,0,0
$GC,5018,1.05,154.3,450.3,6.2,263,5059,0.15,2.38,33.53,0.786,6,0.104,0.038,3279,1698,1999,0,0,0,0,0,0
$GC,5378,0.92,154.3,418.8,9.3,272,5383,0.15,2.33,0.00,0.000,4,0.104,0.031,3250,3078,1991,0,0,0,0,0,0
$GC,5444,0.92,154.3,412.9,9.4,273,5448,0.00,2.38,0.00,0.000,6,0.000,0.040,3250,1700,1990,0,0,0,0,0,0
$GC,5791,0.88,160.4,385.4,7.6,282,5802,0.00,2.53,4.47,0.531,4,0.000,0.056,3250,290,1975,0,0,0,0,0,0
$GC,5929,0.77,160.4,372.8,10.7,285,5934,0.17,2.35,0.00,0.000,6,0.104,0.027,3216,1704,1971,0,0,0,0,0,0
$GC,6261,0.86,203.3,351.3,6.0,293,6306,0.10,2.60,38.90,0.772,4,0.081,0.057,3245,288,1801,0,0,0,0,0,0
$GC,6428,0.79,203.3,338.8,8.3,296,6433,0.12,2.35,0.00,0.000,6,0.110,0.026,3223,1699,1794,0,0,0,0,0,0
$GC,6765,0.91,261.4,320.9,5.3,305,6823,0.12,2.58,51.25,0.757,4,0.069,0.058,3259,295,1563,0,0,0,0,0,0
$GC,6919,0.81,261.4,305.7,11.4,308,6924,0.15,2.33,0.00,0.000,6,0.104,0.026,3230,1705,1557,0,0,0,0,0,0
$GC,7254,0.87,261.4,274.7,8.7,323,7258,0.00,2.53,0.00,0.000,4,0.000,0.056,3229,294,1555,0,0,0,0,0,0
$GC,7356,0.87,261.4,263.4,10.6,327,7360,0.00,2.33,0.00,0.000,6,0.000,0.025,3229,1703,1552,0,0,0,0,0,0
$GC,7672,0.94,266.6,238.3,7.7,342,7677,0.12,2.50,0.00,0.000,4,0.067,0.054,3267,294,1551,0,0,0,0,0,0
$GC,7816,0.86,266.6,221.7,12.6,348,7821,0.15,2.30,0.00,0.000,6,0.098,0.025,3238,1703,1549,0,0,0,0,0,0
$GC,8149,0.92,266.6,192.6,8.5,367,8153,0.00,2.47,0.00,0.000,4,0.000,0.052,3238,290,1549,0,0,0,0,0,0
$GC,8237,0.92,266.6,183.7,10.6,373,8243,0.00,2.30,0.00,0.000,6,0.000,0.023,3238,1710,1548,0,0,0,0,0,0
$GC,8497,0.98,266.6,161.3,8.0,394,8502,0.10,2.50,0.00,0.000,4,0.076,0.051,3273,294,1547,0,0,0,0,0,0
$GC,8596,0.91,266.6,150.6,10.3,401,8601,0.12,2.28,0.00,0.000,6,0.102,0.022,3249,1703,1547,0,0,0,0,0,0
$GC,8859,1.00,266.6,130.8,8.0,421,8863,0.00,2.45,0.00,0.000,4,0.000,0.048,3248,291,1547,0,0,0,0,0,0
$GC,8905,1.03,266.6,126.3,9.6,424,8912,0.00,2.30,0.00,0.000,6,0.000,0.021,3248,1703,1547,0,0,0,0,0,0
$GC,9167,1.19,307.6,109.9,6.0,445,9213,0.25,2.53,38.15,0.569,4,0.043,0.046,3326,285,1374,0,0,0,0,0,0
$GC,9248,1.06,307.6,102.5,11.0,451,9253,0.22,2.28,0.00,0.000,6,0.083,0.020,3281,1706,1370,0,0,0,0,0,0
$GC,9516,1.15,319.1,82.9,7.4,472,9531,0.00,2.53,10.48,0.485,4,0.000,0.049,3280,287,1328,0,0,0,0,0,0
$GC,9595,1.19,319.1,76.5,8.7,477,9603,0.08,2.30,0.00,0.000,6,0.036,0.020,3321,1704,1324,0,0,0,0,0,0
$GC,9856,1.19,319.1,53.6,8.4,498,9861,0.00,2.45,0.00,0.000,4,0.000,0.046,3320,287,1324,0,0,0,0,0,0
$GC,9923,1.11,319.1,46.6,11.3,503,9928,0.15,2.28,0.00,0.000,6,0.091,0.019,3289,1719,1323,0,0,0,0,0,0
$GC,10187,1.17,319.1,24.9,8.3,533,10194,0.00,2.50,0.00,0.000,4,0.000,0.047,3289,295,1323,0,0,0,0,0,0
$GC,10295,1.17,319.1,14.0,10.4,557,10302,0.00,2.25,0.00,0.000,6,0.000,0.018,3289,1703,1323,0,0,0,0,0,0
$STATE,10427,end climb,SURFACE_DEPTH_REACHED
$STATE,10427,begin surface coast
$FINISH,0.9,1.008436
$STATE,10477,end surface coast,CONTROL_FINISHED_OK
$STATE,10477,begin surface
$SM_CCo,10499,50.80,0.469,0,0,957,410.14
$SM_GC,1.66,0.00,0.00,50.80,0.000,0.000,0.469,427,1708,957,-12.07,0.23,410.14
$IRIDIUM_FIX,2054.83,-15748.75,221299,121228
$TT8_MAMPS,0.029146
$HUMID,56.45
$INTERNAL_PRESSURE,9.30354
$TCM_TEMP,22.80
$XPDR_PINGS,0
$24V_AH,23.4,48.987
$10V_AH,10.1,40.570
$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,30.000,128.150,374.750,50.800,0.000,25.575,36.940,231.475,4.500,0.000,13.084,1204.232,6784.234,467.954,1924.653,598.924,0.000,1344.977,0.000,1903.385,0.000,29.267,0.000
$DEVICE_MAMPS,132.691,57.525,827.593,468.637,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,402.210,382.797,860.112,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,34920,598
$CAP_FILE_SIZE,122843,0
$CFSIZE,260165632,184119296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270910,182236,2104.351,-15749.854,40,0.9,45,9.8