version: 66.06
glider: 139
mission: 8
dive: 506
start: 9 22 110 4 18 52
data:
$ID,139
$MISSION,8
$DIVE,506
$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,-2161686.5
$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
$GPS1,041231,2104.157,-15750.208,46,1.8,46,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-71.9
$GPS2,041834,2104.154,-15750.266,13,4.2,32,9.8
$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,66.6,13062,-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,-116.8,0.0,0.0,0,83,0.00,0.00,-64.70,0.000,2,0.000,0.000,430,1707,2779,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.9,-4.4,12,111,12.55,2.47,-5.80,0.000,4,0.130,0.057,2784,286,3109,0,0,0,0,0,0
$GC,133,-0.25,-116.8,19.8,-33.1,20,140,0.95,2.38,0.00,0.000,6,0.081,0.019,2992,1741,3110,0,0,0,0,0,0
$GC,335,-0.54,-116.8,31.8,-4.7,60,340,0.25,2.50,0.00,0.000,4,0.038,0.041,2911,293,3111,0,0,0,0,0,0
$GC,378,-0.63,-116.8,35.3,-9.0,63,382,0.00,2.25,0.00,0.000,6,0.000,0.018,2911,1715,3112,0,0,0,0,0,0
$GC,638,-0.74,-116.8,59.1,-8.2,83,642,0.00,2.45,0.00,0.000,4,0.000,0.044,2911,287,3112,0,0,0,0,0,0
$GC,716,-0.88,-116.8,65.8,-8.5,88,723,0.20,2.25,0.00,0.000,6,0.025,0.018,2841,1704,3112,0,0,0,0,0,0
$GC,976,-0.88,-116.8,94.5,-10.4,109,980,0.00,2.42,0.00,0.000,4,0.000,0.045,2841,290,3112,0,0,0,0,0,0
$GC,1035,-0.82,-116.8,101.0,-10.7,113,1040,0.12,2.20,0.00,0.000,6,0.094,0.018,2868,1702,3113,0,0,0,0,0,0
$GC,1297,-0.89,-116.8,121.5,-8.1,133,1301,0.00,2.42,0.00,0.000,4,0.000,0.045,2868,294,3113,0,0,0,0,0,0
$GC,1344,-0.93,-116.8,125.7,-8.7,136,1351,0.08,2.25,0.00,0.000,6,0.036,0.018,2829,1704,3113,0,0,0,0,0,0
$GC,1605,-0.93,-116.8,151.1,-9.0,157,1610,0.00,2.42,0.00,0.000,4,0.000,0.044,2828,294,3114,0,0,0,0,0,0
$GC,1624,-0.90,-116.8,153.3,-9.7,158,1632,0.08,2.25,0.00,0.000,6,0.070,0.018,2850,1707,3114,0,0,0,0,0,0
$GC,1888,-0.96,-116.8,174.0,-7.4,179,1892,0.00,2.42,0.00,0.000,4,0.000,0.045,2850,287,3114,0,0,0,0,0,0
$GC,1959,-0.99,-116.8,180.1,-8.2,184,1963,0.00,2.20,0.00,0.000,6,0.000,0.018,2850,1694,3114,0,0,0,0,0,0
$GC,2221,-1.06,-116.8,197.8,-7.1,204,2223,0.15,0.00,0.00,0.000,6,0.055,0.000,2798,1698,3114,0,0,0,0,0,0
$GC,2484,-1.01,-116.8,226.2,-11.1,218,2489,0.15,2.42,0.00,0.000,4,0.085,0.048,2832,288,3114,0,0,0,0,0,0
$GC,2522,-1.01,-116.8,230.8,-11.0,219,2528,0.00,2.22,0.00,0.000,6,0.000,0.020,2832,1703,3114,0,0,0,0,0,0
$GC,2840,-1.06,-116.8,257.1,-6.9,235,2844,0.00,2.42,0.00,0.000,4,0.000,0.048,2832,290,3114,0,0,0,0,0,0
$GC,2887,-1.10,-116.8,261.1,-8.3,237,2891,0.00,2.25,0.00,0.000,6,0.000,0.021,2831,1708,3114,0,0,0,0,0,0
$GC,3219,-1.17,-116.8,285.4,-7.3,253,3224,0.17,2.47,0.00,0.000,4,0.051,0.049,2776,294,3113,0,0,0,0,0,0
$GC,3358,-1.07,-116.8,301.2,-11.4,259,3363,0.20,2.25,0.00,0.000,6,0.083,0.021,2819,1697,3113,0,0,0,0,0,0
$GC,3684,-1.12,-116.8,326.5,-7.7,267,3688,0.00,2.42,0.00,0.000,4,0.000,0.051,2819,291,3112,0,0,0,0,0,0
$GC,3755,-1.15,-116.8,331.9,-7.5,268,3760,0.00,2.25,0.00,0.000,6,0.000,0.022,2819,1701,3112,0,0,0,0,0,0
$GC,4096,-1.21,-116.8,358.7,-8.1,277,4101,0.15,2.45,0.00,0.000,4,0.057,0.053,2772,297,3110,0,0,0,0,0,0
$GC,4164,-1.13,-116.8,366.0,-11.2,278,4169,0.15,2.25,0.00,0.000,6,0.091,0.023,2804,1696,3110,0,0,0,0,0,0
$GC,4511,-1.13,-116.8,400.6,-10.0,287,4515,0.00,2.47,0.00,0.000,4,0.000,0.054,2804,289,3107,0,0,0,0,0,0
$GC,4525,-1.13,-116.8,402.1,-9.8,287,4529,0.00,2.30,0.00,0.000,6,0.000,0.025,2804,1702,3107,0,0,0,0,0,0
$GC,4876,-1.17,-116.8,436.9,-10.5,296,4880,0.00,2.47,0.00,0.000,4,0.000,0.057,2804,292,3105,0,0,0,0,0,0
$GC,4965,-1.17,-116.8,446.7,-10.7,298,4969,0.00,2.30,0.00,0.000,6,0.000,0.025,2804,1693,3104,0,0,0,0,0,0
$STATE,4995,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4995,begin apogee
$GC,5002,-0.31,0.0,450.2,9.8,298,5101,0.77,0.00,95.90,0.826,6,0.065,0.000,2977,1697,2630,0,0,0,0,0,0
$STATE,5102,end apogee,CONTROL_FINISHED_OK
$STATE,5102,begin climb
$GC,5105,1.18,116.8,454.4,0.0,301,5218,1.45,2.45,100.45,0.811,4,0.040,0.033,3311,3081,2152,0,0,0,0,0,0
$GC,5300,1.01,122.6,450.3,7.6,305,5312,0.20,2.42,6.05,0.609,6,0.104,0.039,3272,1696,2129,0,0,0,0,0,0
$GC,5657,0.88,122.6,421.4,8.3,314,5658,0.15,0.00,0.00,0.000,6,0.109,0.000,3243,1695,2121,0,0,0,0,0,0
$GC,5979,0.92,186.0,403.5,5.0,322,6040,0.00,2.58,55.05,0.805,4,0.000,0.059,3243,293,1871,0,0,0,0,0,0
$GC,6102,0.82,186.4,395.6,7.9,324,6106,0.00,2.35,0.00,0.000,6,0.000,0.027,3243,1704,1865,0,0,0,0,0,0
$GC,6433,0.84,206.6,372.7,7.0,332,6457,0.00,2.60,18.12,0.754,4,0.000,0.058,3243,301,1786,0,0,0,0,0,0
$GC,6520,0.75,206.6,365.1,9.8,333,6526,0.15,2.35,0.00,0.000,6,0.108,0.028,3215,1702,1782,0,0,0,0,0,0
$GC,6853,0.81,214.5,339.9,7.5,342,6865,0.00,2.58,7.53,0.647,4,0.000,0.058,3215,289,1755,0,0,0,0,0,0
$GC,6965,0.81,214.5,330.2,9.5,344,6969,0.00,2.35,0.00,0.000,6,0.000,0.028,3215,1712,1751,0,0,0,0,0,0
$GC,7311,0.90,237.3,304.1,6.9,353,7340,0.15,2.58,20.95,0.732,4,0.064,0.054,3256,294,1661,0,0,0,0,0,0
$GC,7476,0.80,237.3,288.1,10.1,358,7481,0.15,2.35,0.00,0.000,6,0.105,0.027,3227,1706,1656,0,0,0,0,0,0
$GC,7803,0.93,289.9,267.8,5.5,374,7857,0.12,2.58,45.92,0.726,4,0.069,0.054,3263,293,1446,0,0,0,0,0,0
$GC,7954,0.86,289.9,251.7,13.2,380,7959,0.15,2.35,0.00,0.000,6,0.101,0.026,3234,1704,1441,0,0,0,0,0,0
$GC,8272,0.92,292.1,225.4,7.8,395,8276,0.00,2.50,0.00,0.000,4,0.000,0.054,3234,288,1439,0,0,0,0,0,0
$GC,8412,0.92,292.1,213.1,8.1,401,8417,0.00,2.30,0.00,0.000,6,0.000,0.025,3234,1707,1436,0,0,0,0,0,0
$GC,8744,0.99,292.1,186.6,10.2,421,8749,0.12,2.50,0.00,0.000,4,0.066,0.053,3273,293,1436,0,0,0,0,0,0
$GC,8963,0.90,292.1,156.2,11.8,437,8968,0.12,2.30,0.00,0.000,6,0.103,0.022,3249,1712,1435,0,0,0,0,0,0
$GC,9230,1.00,319.9,136.3,6.6,458,9260,0.00,2.53,24.85,0.592,4,0.000,0.051,3249,292,1324,0,0,0,0,0,0
$GC,9375,1.00,319.9,123.4,9.1,468,9382,0.00,2.30,0.00,0.000,6,0.000,0.021,3249,1706,1320,0,0,0,0,0,0
$GC,9638,1.10,325.7,103.1,7.6,489,9652,0.17,2.53,5.70,0.439,4,0.052,0.049,3302,297,1302,0,0,0,0,0,0
$GC,9820,1.01,325.7,80.0,11.8,502,9825,0.15,2.25,0.00,0.000,6,0.091,0.020,3271,1705,1299,0,0,0,0,0,0
$GC,10089,1.13,346.5,59.7,7.0,523,10118,0.10,2.55,18.92,0.512,4,0.073,0.047,3307,291,1216,0,0,0,0,0,0
$GC,10245,1.08,346.5,42.1,12.1,534,10250,0.10,2.25,0.00,0.000,6,0.104,0.019,3286,1696,1213,0,0,0,0,0,0
$GC,10509,1.15,346.5,16.3,9.4,576,10516,0.00,2.47,0.00,0.000,4,0.000,0.048,3286,293,1213,0,0,0,0,0,0
$STATE,10643,end climb,SURFACE_DEPTH_REACHED
$STATE,10643,begin surface coast
$FINISH,1.0,1.023077
$STATE,10658,end surface coast,CONTROL_FINISHED_OK
$STATE,10658,begin surface
$SM_CCo,10683,37.40,0.472,0,0,957,410.14
$SM_GC,1.74,0.00,0.00,37.40,0.000,0.000,0.472,425,1714,957,-12.07,0.40,410.14
$IRIDIUM_FIX,2057.14,-15751.76,171299,010145
$TT8_MAMPS,0.028379
$HUMID,57.63
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.4,44.577
$10V_AH,10.1,37.059
$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,31.450,124.175,399.450,37.400,0.000,23.398,43.515,148.591,4.500,0.000,33.562,1235.728,6802.175,468.712,2050.088,521.042,0.000,1386.484,0.000,2006.181,0.000,29.259,0.000
$DEVICE_MAMPS,130.390,59.059,826.059,471.705,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,409.546,392.388,897.807,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,35026,609
$CAP_FILE_SIZE,126139,0
$CFSIZE,260165632,186662912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220910,071846,2104.187,-15749.815,15,6.5,34,9.8