version: 66.06
glider: 139
mission: 8
dive: 504
start: 9 21 110 21 58 59
data:
$ID,139
$MISSION,8
$DIVE,504
$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,-2161635.2
$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
$GPS1,215234,2104.796,-15749.469,14,2.7,33,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-72.9
$GPS2,215840,2104.771,-15749.507,12,1.5,14,9.8
$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,70.6,11548,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.18,0.000,2,0.000,0.000,426,1711,2750,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.5,-3.7,12,110,12.62,2.45,-6.65,0.000,4,0.133,0.054,2783,293,3108,0,0,0,0,0,0
$GC,128,-0.07,-116.8,16.5,-29.2,19,135,1.15,2.35,0.00,0.000,6,0.080,0.019,3033,1736,3109,0,0,0,0,0,0
$GC,339,-0.64,-116.8,31.4,-8.1,65,346,0.55,2.47,0.00,0.000,4,0.046,0.040,2899,290,3111,0,0,0,0,0,0
$GC,374,-0.89,-116.8,34.9,-8.4,67,381,0.15,2.28,0.00,0.000,6,0.028,0.018,2842,1712,3111,0,0,0,0,0,0
$GC,636,-0.82,-116.8,68.1,-12.5,88,638,0.12,0.00,0.00,0.000,6,0.092,0.000,2870,1717,3111,0,0,0,0,0,0
$GC,886,-0.87,-116.8,92.4,-8.9,108,891,0.00,2.42,0.00,0.000,4,0.000,0.045,2869,294,3111,0,0,0,0,0,0
$GC,994,-0.92,-116.8,103.0,-10.1,116,998,0.00,2.20,0.00,0.000,6,0.000,0.018,2870,1704,3112,0,0,0,0,0,0
$GC,1268,-1.02,-116.8,127.6,-8.6,137,1273,0.20,2.42,0.00,0.000,4,0.045,0.044,2805,290,3113,0,0,0,0,0,0
$GC,1351,-0.94,-116.8,138.3,-11.7,143,1356,0.17,2.22,0.00,0.000,6,0.084,0.018,2843,1696,3113,0,0,0,0,0,0
$GC,1613,-0.99,-116.8,161.4,-8.6,163,1617,0.00,2.40,0.00,0.000,4,0.000,0.045,2843,295,3113,0,0,0,0,0,0
$GC,1669,-0.99,-116.8,167.2,-10.1,167,1673,0.00,2.20,0.00,0.000,6,0.000,0.019,2843,1703,3113,0,0,0,0,0,0
$GC,1932,-1.05,-116.8,189.9,-8.4,187,1937,0.10,2.42,0.00,0.000,4,0.073,0.047,2804,294,3113,0,0,0,0,0,0
$GC,1987,-0.99,-116.8,195.6,-10.8,191,1992,0.15,2.22,0.00,0.000,6,0.088,0.019,2836,1693,3113,0,0,0,0,0,0
$GC,2252,-1.03,-116.8,214.4,-6.7,205,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1699,3113,0,0,0,0,0,0
$GC,2557,-1.08,-116.8,237.2,-8.0,220,2561,0.00,2.40,0.00,0.000,4,0.000,0.047,2836,296,3113,0,0,0,0,0,0
$GC,2615,-1.13,-116.8,242.4,-9.3,222,2619,0.15,2.25,0.00,0.000,6,0.056,0.020,2787,1704,3113,0,0,0,0,0,0
$GC,2933,-1.08,-116.8,275.1,-10.1,237,2938,0.12,2.45,0.00,0.000,4,0.095,0.049,2814,292,3112,0,0,0,0,0,0
$GC,2968,-1.05,-116.8,278.7,-9.6,238,2972,0.00,2.22,0.00,0.000,6,0.000,0.021,2814,1697,3112,0,0,0,0,0,0
$GC,3283,-1.05,-116.8,305.0,-8.6,252,3287,0.00,2.42,0.00,0.000,4,0.000,0.050,2814,291,3111,0,0,0,0,0,0
$GC,3311,-1.05,-116.8,307.8,-10.5,252,3315,0.00,2.25,0.00,0.000,6,0.000,0.021,2814,1699,3111,0,0,0,0,0,0
$GC,3654,-1.08,-116.8,336.2,-8.3,261,3658,0.00,2.42,0.00,0.000,4,0.000,0.051,2814,296,3110,0,0,0,0,0,0
$GC,3719,-1.08,-116.8,342.6,-9.5,262,3723,0.00,2.25,0.00,0.000,6,0.000,0.022,2814,1703,3110,0,0,0,0,0,0
$GC,4066,-1.13,-116.8,368.6,-7.0,271,4070,0.00,2.47,0.00,0.000,4,0.000,0.053,2814,293,3108,0,0,0,0,0,0
$GC,4114,-1.13,-116.8,372.2,-7.6,272,4118,0.00,2.25,0.00,0.000,6,0.000,0.024,2814,1700,3107,0,0,0,0,0,0
$GC,4437,-1.18,-116.8,391.9,-6.1,280,4441,0.00,2.45,0.00,0.000,4,0.000,0.054,2814,294,3105,0,0,0,0,0,0
$GC,4513,-1.18,-116.8,397.5,-7.1,281,4517,0.00,2.28,0.00,0.000,6,0.000,0.025,2814,1703,3105,0,0,0,0,0,0
$GC,4850,-1.24,-116.8,420.3,-6.7,290,4855,0.15,2.47,0.00,0.000,4,0.061,0.057,2768,297,3103,0,0,0,0,0,0
$GC,4899,-1.14,-116.8,425.1,-9.9,291,4904,0.15,2.28,0.00,0.000,6,0.092,0.025,2800,1700,3102,0,0,0,0,0,0
$STATE,5222,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5222,begin apogee
$GC,5228,-0.31,0.0,453.3,8.9,299,5326,0.82,0.00,95.22,0.841,6,0.066,0.000,2980,1704,2630,0,0,0,0,0,0
$STATE,5327,end apogee,CONTROL_FINISHED_OK
$STATE,5327,begin climb
$GC,5331,1.18,116.8,456.8,0.0,301,5443,1.42,2.38,100.60,0.822,4,0.038,0.033,3310,3077,2152,0,0,0,0,0,0
$GC,5608,1.02,127.8,448.5,7.4,307,5625,0.20,2.38,10.10,0.709,6,0.100,0.041,3272,1702,2108,0,0,0,0,0,0
$GC,5973,0.95,160.4,425.1,6.4,316,6009,0.00,2.58,29.00,0.795,4,0.000,0.058,3271,288,1975,0,0,0,0,0,0
$GC,6030,0.76,160.4,420.7,9.1,317,6035,0.28,2.38,0.00,0.000,6,0.100,0.027,3218,1700,1972,0,0,0,0,0,0
$GC,6344,0.82,208.8,402.2,5.7,325,6393,0.00,2.62,42.92,0.805,4,0.000,0.059,3218,280,1778,0,0,0,0,0,0
$GC,6468,0.79,208.8,392.9,8.9,327,6472,0.00,2.38,0.00,0.000,6,0.000,0.027,3218,1700,1772,0,0,0,0,0,0
$GC,6800,0.83,212.4,367.6,7.7,335,6804,0.00,2.50,0.00,0.000,4,0.000,0.058,3218,295,1769,0,0,0,0,0,0
$GC,6919,0.86,236.1,358.9,6.8,337,6948,0.00,2.33,23.70,0.768,6,0.000,0.028,3218,1707,1666,0,0,0,0,0,0
$GC,7264,0.94,261.9,336.4,6.7,346,7294,0.17,2.60,23.35,0.753,4,0.058,0.058,3265,293,1562,0,0,0,0,0,0
$GC,7471,0.83,261.9,309.4,14.6,350,7476,0.17,2.35,0.00,0.000,6,0.102,0.027,3231,1706,1555,0,0,0,0,0,0
$GC,7796,0.88,261.9,278.8,8.7,364,7801,0.00,2.50,0.00,0.000,4,0.000,0.056,3231,295,1554,0,0,0,0,0,0
$GC,7935,0.88,261.9,266.3,7.9,370,7939,0.00,2.30,0.00,0.000,6,0.000,0.026,3231,1702,1551,0,0,0,0,0,0
$GC,8260,0.97,286.7,245.5,6.8,386,8287,0.12,2.58,21.17,0.686,4,0.068,0.054,3269,290,1460,0,0,0,0,0,0
$GC,8428,0.87,286.7,226.7,12.9,393,8433,0.15,2.33,0.00,0.000,6,0.101,0.025,3240,1706,1455,0,0,0,0,0,0
$GC,8755,0.92,286.7,197.1,8.0,410,8760,0.00,2.50,0.00,0.000,4,0.000,0.052,3239,290,1455,0,0,0,0,0,0
$GC,8891,0.92,286.7,184.8,9.1,420,8896,0.00,2.30,0.00,0.000,6,0.000,0.023,3239,1704,1453,0,0,0,0,0,0
$GC,9158,0.97,288.4,164.8,7.8,441,9163,0.10,2.50,0.00,0.000,4,0.076,0.052,3273,294,1453,0,0,0,0,0,0
$GC,9301,0.90,288.4,148.4,12.4,451,9307,0.12,2.28,0.00,0.000,6,0.104,0.022,3248,1705,1452,0,0,0,0,0,0
$GC,9562,0.97,288.4,122.4,10.6,472,9566,0.00,2.45,0.00,0.000,4,0.000,0.049,3248,294,1452,0,0,0,0,0,0
$GC,9686,0.97,288.4,109.4,9.5,481,9690,0.00,2.25,0.00,0.000,6,0.000,0.021,3247,1705,1452,0,0,0,0,0,0
$GC,9952,1.12,317.4,88.7,6.6,502,9987,0.20,2.50,26.77,0.555,4,0.048,0.048,3308,294,1333,0,0,0,0,0,0
$GC,10124,1.06,317.4,75.4,8.2,514,10131,0.10,2.30,0.00,0.000,6,0.071,0.020,3282,1703,1329,0,0,0,0,0,0
$GC,10387,1.13,317.4,59.0,8.7,535,10391,0.00,2.45,0.00,0.000,4,0.000,0.048,3282,290,1329,0,0,0,0,0,0
$GC,10503,1.13,317.4,47.2,10.2,543,10509,0.00,2.28,0.00,0.000,6,0.000,0.019,3282,1707,1327,0,0,0,0,0,0
$GC,10766,1.20,317.4,26.2,8.3,570,10773,0.12,2.50,0.00,0.000,4,0.061,0.049,3328,298,1327,0,0,0,0,0,0
$GC,10911,1.09,317.4,8.6,12.3,602,10919,0.15,2.22,0.00,0.000,6,0.071,0.019,3291,1708,1327,0,0,0,0,0,0
$STATE,10966,end climb,SURFACE_DEPTH_REACHED
$STATE,10966,begin surface coast
$FINISH,0.7,1.009916
$STATE,10999,end surface coast,CONTROL_FINISHED_OK
$STATE,10999,begin surface
$SM_CCo,11021,52.45,0.476,0,0,957,410.14
$SM_GC,1.53,0.00,0.00,52.45,0.000,0.000,0.476,424,1709,957,-12.08,0.25,410.14
$IRIDIUM_FIX,2054.83,-15748.75,161299,181824
$TT8_MAMPS,0.029146
$HUMID,57.40
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.4,44.371
$10V_AH,10.1,36.886
$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,32.150,123.650,372.850,52.450,0.000,24.555,48.473,162.477,4.500,0.000,14.443,1266.164,7082.922,461.910,2081.632,544.754,0.000,1390.186,0.000,2053.793,0.000,32.106,0.000
$DEVICE_MAMPS,132.691,59.059,840.632,475.540,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,418.482,396.574,910.016,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,34943,621
$CAP_FILE_SIZE,127731,0
$CFSIZE,260165632,186781696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220910,010454,2104.274,-15749.870,42,1.3,42,9.8