version: 66.06
glider: 139
mission: 8
dive: 485
start: 9 19 110 11 5 52
data:
$ID,139
$MISSION,8
$DIVE,485
$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,-2161281.8
$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
$GPS1,105952,2108.850,-15756.914,13,2.3,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-72.1
$GPS2,110534,2108.845,-15756.962,15,2.2,34,9.8
$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,93.2,24907,-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,-64.22,0.000,2,0.000,0.000,423,1698,2751,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.6,-4.0,12,110,12.68,2.35,-6.55,0.000,4,0.134,0.033,2783,3112,3109,0,0,0,0,0,0
$GC,128,-0.15,-116.8,16.4,-29.2,19,135,1.02,2.42,0.00,0.000,6,0.068,0.034,3013,1700,3110,0,0,0,0,0,0
$GC,331,-0.71,-116.8,28.0,-6.7,65,338,0.50,2.42,0.00,0.000,4,0.044,0.041,2890,284,3112,0,0,0,0,0,0
$GC,390,-0.71,-116.8,33.5,-9.3,72,394,0.00,2.33,0.00,0.000,6,0.000,0.018,2891,1741,3112,0,0,0,0,0,0
$GC,656,-0.76,-116.8,62.6,-11.3,93,660,0.00,2.47,0.00,0.000,4,0.000,0.045,2890,294,3113,0,0,0,0,0,0
$GC,722,-0.76,-116.8,70.4,-11.1,98,727,0.00,2.25,0.00,0.000,6,0.000,0.018,2890,1723,3113,0,0,0,0,0,0
$GC,987,-0.86,-116.8,94.4,-8.2,119,992,0.12,2.47,0.00,0.000,4,0.061,0.044,2844,287,3113,0,0,0,0,0,0
$GC,1083,-0.86,-116.8,104.1,-10.3,126,1087,0.00,2.25,0.00,0.000,6,0.000,0.018,2844,1708,3114,0,0,0,0,0,0
$GC,1355,-0.90,-116.8,126.9,-7.8,147,1359,0.00,2.22,0.00,0.000,4,0.000,0.022,2844,3073,3114,0,0,0,0,0,0
$GC,1376,-0.97,-116.8,128.8,-7.3,148,1383,0.00,2.33,0.00,0.000,6,0.000,0.031,2844,1698,3114,0,0,0,0,0,0
$GC,1640,-1.01,-116.8,148.1,-7.5,169,1644,0.00,2.38,0.00,0.000,4,0.000,0.045,2844,297,3115,0,0,0,0,0,0
$GC,1665,-1.01,-116.8,150.6,-8.7,171,1670,0.00,2.22,0.00,0.000,6,0.000,0.018,2844,1710,3115,0,0,0,0,0,0
$GC,1932,-1.06,-116.8,171.4,-8.4,192,1937,0.12,2.45,0.00,0.000,4,0.062,0.046,2798,290,3115,0,0,0,0,0,0
$GC,1992,-0.97,-116.8,178.7,-11.3,196,2000,0.15,2.25,0.00,0.000,6,0.067,0.019,2836,1694,3115,0,0,0,0,0,0
$GC,2263,-1.02,-116.8,202.2,-9.0,217,2268,0.00,2.42,0.00,0.000,4,0.000,0.046,2836,292,3115,0,0,0,0,0,0
$GC,2301,-1.02,-116.8,206.4,-10.1,218,2307,0.00,2.25,0.00,0.000,6,0.000,0.020,2836,1696,3115,0,0,0,0,0,0
$GC,2617,-1.06,-116.8,232.7,-8.7,234,2622,0.00,2.42,0.00,0.000,4,0.000,0.047,2836,294,3115,0,0,0,0,0,0
$GC,2664,-1.06,-116.8,237.1,-9.2,236,2668,0.00,2.22,0.00,0.000,6,0.000,0.020,2836,1704,3115,0,0,0,0,0,0
$GC,2993,-1.14,-116.8,262.8,-7.9,252,2998,0.15,2.42,0.00,0.000,4,0.055,0.048,2786,297,3114,0,0,0,0,0,0
$GC,3054,-1.06,-116.8,269.2,-10.7,254,3061,0.12,2.25,0.00,0.000,6,0.069,0.021,2818,1690,3114,0,0,0,0,0,0
$GC,3373,-1.10,-116.8,296.4,-8.3,270,3377,0.00,2.40,0.00,0.000,4,0.000,0.050,2818,298,3114,0,0,0,0,0,0
$GC,3405,-1.10,-116.8,299.6,-9.5,271,3409,0.00,2.22,0.00,0.000,6,0.000,0.021,2818,1701,3114,0,0,0,0,0,0
$GC,3741,-1.14,-116.8,324.3,-7.4,280,3745,0.00,2.45,0.00,0.000,4,0.000,0.051,2818,297,3113,0,0,0,0,0,0
$GC,3794,-1.14,-116.8,328.3,-7.4,281,3798,0.00,2.28,0.00,0.000,6,0.000,0.023,2819,1707,3113,0,0,0,0,0,0
$GC,4112,-1.20,-116.8,347.8,-5.9,289,4117,0.12,2.47,0.00,0.000,4,0.064,0.053,2777,298,3111,0,0,0,0,0,0
$GC,4184,-1.13,-116.8,354.8,-10.3,290,4189,0.12,2.28,0.00,0.000,6,0.097,0.024,2804,1698,3110,0,0,0,0,0,0
$GC,4525,-1.13,-116.8,385.2,-8.8,299,4529,0.00,2.47,0.00,0.000,4,0.000,0.055,2804,292,3108,0,0,0,0,0,0
$GC,4573,-1.13,-116.8,389.9,-10.2,300,4577,0.00,2.28,0.00,0.000,6,0.000,0.025,2804,1696,3108,0,0,0,0,0,0
$GC,4897,-1.13,-116.8,418.3,-8.4,308,4901,0.00,2.45,0.00,0.000,4,0.000,0.056,2804,296,3105,0,0,0,0,0,0
$GC,4934,-1.13,-116.8,422.1,-10.1,308,4939,0.00,2.28,0.00,0.000,6,0.000,0.025,2804,1701,3105,0,0,0,0,0,0
$GC,5266,-1.17,-116.8,449.1,-8.1,317,5270,0.00,2.47,0.00,0.000,4,0.000,0.058,2804,300,3103,0,0,0,0,0,0
$STATE,5275,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5275,begin apogee
$GC,5284,-0.31,0.0,450.2,8.3,317,5383,0.80,0.00,95.80,0.834,6,0.069,0.000,2980,1710,2629,0,0,0,0,0,0
$STATE,5384,end apogee,CONTROL_FINISHED_OK
$STATE,5384,begin climb
$GC,5387,1.18,116.8,453.5,0.0,319,5499,1.42,2.40,100.45,0.817,4,0.038,0.033,3310,3076,2152,0,0,0,0,0,0
$GC,5682,1.04,147.5,446.6,6.5,325,5715,0.17,2.40,26.98,0.789,6,0.103,0.041,3277,1704,2028,0,0,0,0,0,0
$GC,6032,0.94,163.3,422.6,7.2,334,6052,0.00,2.45,14.15,0.753,4,0.000,0.032,3277,3082,1963,0,0,0,0,0,0
$GC,6073,0.89,186.0,419.7,6.9,334,6102,0.17,2.45,21.50,0.775,6,0.100,0.041,3242,1693,1870,0,0,0,0,0,0
$GC,6448,0.89,186.3,390.2,7.9,344,6452,0.00,2.50,0.00,0.000,4,0.000,0.059,3242,293,1864,0,0,0,0,0,0
$GC,6528,0.79,186.3,383.3,9.4,345,6532,0.00,2.33,0.00,0.000,6,0.000,0.027,3242,1701,1860,0,0,0,0,0,0
$GC,6859,0.82,209.2,360.3,6.9,353,6885,0.00,2.55,20.05,0.763,4,0.000,0.057,3242,293,1777,0,0,0,0,0,0
$GC,6958,0.74,209.2,352.2,9.4,355,6963,0.17,2.33,0.00,0.000,6,0.104,0.027,3209,1702,1772,0,0,0,0,0,0
$GC,7278,0.88,269.2,334.6,5.2,363,7339,0.15,2.60,53.15,0.775,4,0.065,0.058,3250,289,1530,0,0,0,0,0,0
$GC,7431,0.81,269.2,318.8,13.1,366,7436,0.12,2.38,0.00,0.000,6,0.112,0.027,3227,1707,1524,0,0,0,0,0,0
$GC,7767,0.87,269.2,285.4,10.1,377,7771,0.00,2.53,0.00,0.000,4,0.000,0.057,3227,288,1522,0,0,0,0,0,0
$GC,7899,0.87,269.2,270.5,11.6,382,7906,0.00,2.38,0.00,0.000,6,0.000,0.026,3227,1708,1519,0,0,0,0,0,0
$GC,8215,0.98,298.0,245.3,6.6,398,8245,0.15,2.58,24.08,0.693,4,0.061,0.055,3270,291,1414,0,0,0,0,0,0
$GC,8356,0.87,298.0,228.9,12.9,404,8362,0.15,2.30,0.00,0.000,6,0.103,0.025,3241,1705,1409,0,0,0,0,0,0
$GC,8685,0.92,298.0,198.9,8.5,420,8690,0.00,2.50,0.00,0.000,4,0.000,0.054,3241,291,1409,0,0,0,0,0,0
$GC,8834,0.92,298.0,183.2,9.9,431,8838,0.00,2.30,0.00,0.000,6,0.000,0.023,3241,1713,1406,0,0,0,0,0,0
$GC,9100,0.99,298.0,159.6,9.1,452,9105,0.10,2.50,0.00,0.000,4,0.077,0.052,3275,292,1406,0,0,0,0,0,0
$GC,9290,0.94,298.0,136.5,12.5,466,9294,0.00,2.28,0.00,0.000,6,0.000,0.021,3275,1715,1405,0,0,0,0,0,0
$GC,9554,0.94,298.0,111.3,8.9,487,9558,0.00,2.50,0.00,0.000,4,0.000,0.050,3275,289,1405,0,0,0,0,0,0
$GC,9651,0.94,298.0,102.2,9.4,494,9655,0.00,2.25,0.00,0.000,6,0.000,0.021,3275,1711,1405,0,0,0,0,0,0
$GC,9912,1.04,314.7,83.6,7.1,514,9933,0.00,2.50,14.27,0.522,4,0.000,0.047,3275,288,1346,0,0,0,0,0,0
$GC,10106,1.04,318.6,67.2,7.7,528,10116,0.00,2.25,4.35,0.371,6,0.000,0.019,3275,1716,1331,0,0,0,0,0,0
$GC,10374,1.16,342.9,50.0,6.8,548,10403,0.12,2.53,22.45,0.505,4,0.062,0.047,3319,289,1230,0,0,0,0,0,0
$GC,10528,1.06,342.9,30.6,13.9,559,10533,0.17,2.22,0.00,0.000,6,0.087,0.018,3282,1704,1226,0,0,0,0,0,0
$GC,10795,1.13,342.9,6.2,9.5,619,10802,0.00,2.50,0.00,0.000,4,0.000,0.048,3282,288,1226,0,0,0,0,0,0
$STATE,10824,end climb,SURFACE_DEPTH_REACHED
$STATE,10824,begin surface coast
$FINISH,0.9,1.009092
$STATE,10855,end surface coast,CONTROL_FINISHED_OK
$STATE,10855,begin surface
$SM_CCo,10881,39.25,0.472,0,0,957,410.14
$SM_GC,1.57,0.00,0.00,39.25,0.000,0.000,0.472,425,1697,957,-12.07,-0.06,410.14
$IRIDIUM_FIX,2059.45,-15758.18,141299,080839
$TT8_MAMPS,0.029146
$HUMID,55.86
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.50
$XPDR_PINGS,1
$24V_AH,23.4,42.422
$10V_AH,10.2,35.318
$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,31.100,137.975,397.225,39.250,0.000,22.750,26.853,143.505,4.750,0.000,35.503,1282.980,6878.008,466.612,2122.537,508.474,0.000,1418.543,0.000,2077.316,0.000,29.255,0.000
$DEVICE_MAMPS,134.225,59.059,834.496,472.472,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,425.215,412.956,941.035,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,34881,632
$CAP_FILE_SIZE,129635,0
$CFSIZE,260165632,187916288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190910,140907,2108.601,-15756.349,36,1.0,36,9.8