version: 66.06
glider: 139
mission: 8
dive: 561
start: 9 29 110 8 17 46
data:
$ID,139
$MISSION,8
$DIVE,561
$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,-2162816.8
$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
$GPS1,081125,2104.408,-15745.668,39,1.7,39,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-73.9
$GPS2,081726,2104.408,-15745.632,15,1.7,15,9.8
$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,51.2,5363,-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,-64.55,0.000,2,0.000,0.000,427,1709,2760,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.6,-3.9,12,109,12.62,0.00,-6.40,0.000,6,0.132,0.000,2785,1712,3108,0,0,0,0,0,0
$GC,302,-0.97,-116.8,47.8,-16.9,45,307,0.25,2.47,0.00,0.000,4,0.087,0.047,2841,290,3110,0,0,0,0,0,0
$GC,335,-0.82,-116.8,53.4,-15.1,47,342,0.10,2.35,0.00,0.000,6,0.072,0.019,2867,1734,3111,0,0,0,0,0,0
$GC,594,-0.82,-116.8,81.9,-10.1,68,598,0.00,2.50,0.00,0.000,4,0.000,0.045,2867,293,3112,0,0,0,0,0,0
$GC,674,-0.82,-116.8,90.3,-10.1,74,678,0.00,2.28,0.00,0.000,6,0.000,0.018,2867,1719,3113,0,0,0,0,0,0
$GC,941,-0.89,-116.8,113.0,-8.0,95,945,0.00,2.45,0.00,0.000,4,0.000,0.044,2867,288,3113,0,0,0,0,0,0
$GC,996,-0.94,-116.8,118.8,-10.3,99,1001,0.10,2.25,0.00,0.000,6,0.071,0.018,2826,1710,3113,0,0,0,0,0,0
$GC,1259,-0.94,-116.8,144.8,-9.3,119,1263,0.00,2.42,0.00,0.000,4,0.000,0.045,2826,295,3114,0,0,0,0,0,0
$GC,1297,-0.86,-116.8,149.1,-10.4,122,1302,0.17,2.25,0.00,0.000,6,0.079,0.018,2865,1708,3113,0,0,0,0,0,0
$GC,1570,-0.96,-116.8,171.2,-8.3,143,1575,0.10,2.47,0.00,0.000,4,0.072,0.046,2824,289,3114,0,0,0,0,0,0
$GC,1687,-0.91,-116.8,184.0,-11.1,151,1693,0.12,2.25,0.00,0.000,6,0.090,0.018,2852,1700,3114,0,0,0,0,0,0
$GC,1962,-0.98,-116.8,205.0,-6.8,171,1966,0.00,2.42,0.00,0.000,4,0.000,0.046,2852,295,3114,0,0,0,0,0,0
$GC,2053,-1.06,-116.8,211.3,-6.6,175,2057,0.15,2.25,0.00,0.000,6,0.054,0.019,2801,1708,3114,0,0,0,0,0,0
$GC,2393,-1.02,-116.8,240.6,-9.0,191,2398,0.12,2.47,0.00,0.000,4,0.092,0.047,2828,290,3114,0,0,0,0,0,0
$GC,2421,-1.02,-116.8,243.8,-8.7,192,2425,0.00,2.22,0.00,0.000,6,0.000,0.020,2827,1702,3114,0,0,0,0,0,0
$GC,2743,-1.07,-116.8,273.2,-9.5,208,2747,0.00,2.42,0.00,0.000,4,0.000,0.048,2828,290,3113,0,0,0,0,0,0
$GC,2785,-1.07,-116.8,277.8,-10.9,210,2790,0.00,2.25,0.00,0.000,6,0.000,0.021,2827,1698,3113,0,0,0,0,0,0
$GC,3116,-1.12,-116.8,303.3,-6.5,225,3121,0.10,2.42,0.00,0.000,4,0.073,0.048,2790,295,3112,0,0,0,0,0,0
$GC,3151,-1.06,-116.8,306.2,-8.2,225,3156,0.15,2.22,0.00,0.000,6,0.087,0.021,2823,1699,3112,0,0,0,0,0,0
$GC,3483,-1.11,-116.8,327.4,-6.2,233,3487,0.00,2.42,0.00,0.000,4,0.000,0.049,2823,293,3111,0,0,0,0,0,0
$GC,3550,-1.11,-116.8,332.3,-7.3,234,3554,0.00,2.25,0.00,0.000,6,0.000,0.021,2823,1703,3111,0,0,0,0,0,0
$GC,3896,-1.18,-116.8,356.1,-7.1,243,3901,0.12,2.45,0.00,0.000,4,0.064,0.051,2781,295,3109,0,0,0,0,0,0
$GC,3949,-1.11,-116.8,361.3,-9.9,244,3954,0.12,2.25,0.00,0.000,6,0.094,0.023,2808,1699,3109,0,0,0,0,0,0
$GC,4270,-1.14,-116.8,388.7,-8.3,252,4274,0.00,2.47,0.00,0.000,4,0.000,0.053,2808,289,3106,0,0,0,0,0,0
$GC,4364,-1.14,-116.8,397.1,-8.9,254,4368,0.00,2.28,0.00,0.000,6,0.000,0.024,2807,1704,3106,0,0,0,0,0,0
$GC,4688,-1.18,-116.8,422.9,-8.0,262,4692,0.00,2.47,0.00,0.000,4,0.000,0.054,2807,287,3103,0,0,0,0,0,0
$GC,4767,-1.18,-116.8,429.9,-8.9,263,4771,0.00,2.30,0.00,0.000,6,0.000,0.025,2808,1705,3103,0,0,0,0,0,0
$STATE,5056,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5056,begin apogee
$GC,5063,-0.31,0.0,453.1,8.1,270,5163,0.80,0.00,96.65,0.837,6,0.064,0.000,2982,1710,2630,0,0,0,0,0,0
$STATE,5164,end apogee,CONTROL_FINISHED_OK
$STATE,5164,begin climb
$GC,5167,1.18,116.8,456.1,0.0,272,5280,1.42,2.42,101.43,0.822,4,0.036,0.032,3313,3084,2152,0,0,0,0,0,0
$GC,5371,1.00,116.8,451.9,8.5,276,5376,0.22,2.42,0.00,0.000,6,0.097,0.039,3268,1699,2149,0,0,0,0,0,0
$GC,5714,0.91,139.6,427.7,6.9,285,5738,0.00,2.42,19.60,0.775,4,0.000,0.031,3269,3082,2060,0,0,0,0,0,0
$GC,5799,0.85,146.1,421.0,7.6,286,5812,0.15,2.40,7.22,0.659,6,0.102,0.040,3239,1693,2033,0,0,0,0,0,0
$GC,6139,0.87,163.8,396.3,7.1,295,6163,0.00,2.53,16.33,0.760,4,0.000,0.056,3238,291,1961,0,0,0,0,0,0
$GC,6196,0.76,163.8,391.2,8.9,296,6201,0.10,2.35,0.00,0.000,6,0.120,0.027,3219,1708,1958,0,0,0,0,0,0
$GC,6512,0.80,196.4,370.2,6.4,304,6549,0.00,2.62,29.80,0.782,4,0.000,0.058,3219,296,1828,0,0,0,0,0,0
$GC,6632,0.77,196.4,360.8,8.2,306,6636,0.00,2.33,0.00,0.000,6,0.000,0.028,3219,1698,1823,0,0,0,0,0,0
$GC,6969,0.80,196.4,333.9,8.7,315,6974,0.00,2.53,0.00,0.000,4,0.000,0.058,3220,293,1821,0,0,0,0,0,0
$GC,7071,0.80,196.4,323.0,10.7,317,7075,0.00,2.33,0.00,0.000,6,0.000,0.028,3219,1700,1817,0,0,0,0,0,0
$GC,7386,0.91,239.3,301.2,6.0,325,7432,0.12,2.62,37.53,0.750,4,0.071,0.057,3255,296,1653,0,0,0,0,0,0
$GC,7524,0.83,239.3,289.0,10.6,330,7529,0.12,2.35,0.00,0.000,6,0.109,0.027,3232,1702,1647,0,0,0,0,0,0
$GC,7853,0.89,245.9,264.9,7.6,346,7865,0.00,2.58,5.90,0.561,4,0.000,0.056,3232,296,1627,0,0,0,0,0,0
$GC,7923,0.89,245.9,258.5,8.8,349,7927,0.00,2.33,0.00,0.000,6,0.000,0.027,3232,1706,1624,0,0,0,0,0,0
$GC,8257,1.01,292.8,236.7,5.8,365,8307,0.17,2.55,41.78,0.699,4,0.056,0.054,3282,296,1436,0,0,0,0,0,0
$GC,8373,0.90,292.8,224.5,11.6,370,8378,0.17,2.35,0.00,0.000,6,0.094,0.025,3247,1708,1431,0,0,0,0,0,0
$GC,8694,0.94,292.8,198.0,8.9,386,8698,0.00,2.53,0.00,0.000,4,0.000,0.054,3247,293,1429,0,0,0,0,0,0
$GC,8832,0.94,292.8,184.5,8.8,396,8836,0.00,2.33,0.00,0.000,6,0.000,0.024,3247,1711,1426,0,0,0,0,0,0
$GC,9093,1.00,300.5,164.9,7.5,416,9108,0.00,2.58,6.90,0.522,4,0.000,0.052,3247,290,1403,0,0,0,0,0,0
$GC,9214,1.00,300.5,151.7,11.0,424,9220,0.00,2.33,0.00,0.000,6,0.000,0.023,3247,1702,1400,0,0,0,0,0,0
$GC,9474,1.10,307.3,129.4,7.6,445,9489,0.17,2.53,7.20,0.495,4,0.052,0.051,3300,289,1376,0,0,0,0,0,0
$GC,9578,1.02,307.3,118.1,12.2,452,9583,0.15,2.30,0.00,0.000,6,0.092,0.021,3269,1711,1374,0,0,0,0,0,0
$GC,9839,1.16,342.6,99.1,6.3,472,9880,0.15,2.55,31.10,0.561,4,0.056,0.047,3317,287,1231,0,0,0,0,0,0
$GC,9968,1.09,342.6,84.9,12.8,481,9973,0.15,2.30,0.00,0.000,6,0.089,0.020,3286,1705,1228,0,0,0,0,0,0
$GC,10238,1.17,342.6,62.5,8.1,502,10242,0.00,2.45,0.00,0.000,4,0.000,0.048,3286,293,1228,0,0,0,0,0,0
$GC,10337,1.17,342.6,52.7,9.5,509,10344,0.00,2.30,0.00,0.000,6,0.000,0.020,3286,1713,1226,0,0,0,0,0,0
$GC,10600,1.29,373.4,33.3,6.5,530,10633,0.20,2.55,26.35,0.492,4,0.045,0.048,3349,291,1106,0,0,0,0,0,0
$GC,10740,1.13,373.4,15.8,13.4,556,10747,0.22,2.28,0.00,0.000,6,0.068,0.019,3297,1710,1103,0,0,0,0,0,0
$STATE,10860,end climb,SURFACE_DEPTH_REACHED
$STATE,10860,begin surface coast
$FINISH,1.2,1.023060
$STATE,10887,end surface coast,CONTROL_FINISHED_OK
$STATE,10887,begin surface
$SM_CCo,10910,23.05,0.462,0,0,958,410.14
$SM_GC,1.56,0.00,0.00,23.05,0.000,0.000,0.462,427,1715,958,-12.07,0.42,410.14
$IRIDIUM_FIX,2054.83,-15744.48,241299,050554
$TT8_MAMPS,0.029146
$HUMID,57.87
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.40
$XPDR_PINGS,1
$24V_AH,23.4,50.342
$10V_AH,10.1,41.660
$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,30.900,129.425,427.775,23.050,0.000,29.883,33.232,165.689,4.750,0.000,15.448,1210.423,7103.351,473.875,1965.929,539.261,0.000,1389.582,0.000,1932.689,0.000,29.252,0.000
$DEVICE_MAMPS,131.924,57.525,836.797,461.734,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,396.490,372.966,822.832,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,31883,589
$CAP_FILE_SIZE,127023,0
$CFSIZE,260165632,183320576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290910,112049,2104.824,-15745.000,10,1.8,10,9.8