version: 66.06
glider: 139
mission: 8
dive: 507
start: 9 22 110 7 26 24
data:
$ID,139
$MISSION,8
$DIVE,507
$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,-2161723.5
$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
$GPS1,071846,2104.187,-15749.815,15,6.5,34,9.8
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-73.4
$GPS2,072604,2104.166,-15749.838,14,6.5,33,9.8
$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,65.9,12339,-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,-64.38,0.000,2,0.000,0.000,425,1715,2751,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.4,-3.4,12,111,12.65,2.47,-6.53,0.000,4,0.133,0.055,2781,293,3107,0,0,0,0,0,0
$GC,123,0.07,-116.8,16.0,-28.4,18,131,1.30,2.35,0.00,0.000,6,0.083,0.020,3059,1738,3108,0,0,0,0,0,0
$GC,331,-0.51,-116.8,32.8,-9.6,61,338,0.50,2.47,0.00,0.000,4,0.039,0.040,2934,293,3110,0,0,0,0,0,0
$GC,393,-0.70,-116.8,38.6,-7.1,65,400,0.15,2.25,0.00,0.000,6,0.028,0.018,2878,1713,3110,0,0,0,0,0,0
$GC,653,-0.70,-116.8,67.9,-12.0,86,658,0.00,2.45,0.00,0.000,4,0.000,0.045,2878,288,3111,0,0,0,0,0,0
$GC,708,-0.70,-116.8,75.5,-13.8,90,712,0.00,2.20,0.00,0.000,6,0.000,0.018,2878,1699,3111,0,0,0,0,0,0
$GC,969,-0.76,-116.8,102.4,-8.6,110,973,0.00,2.40,0.00,0.000,4,0.000,0.044,2878,294,3111,0,0,0,0,0,0
$GC,1012,-0.84,-116.8,106.0,-7.9,113,1016,0.00,2.20,0.00,0.000,6,0.000,0.018,2878,1704,3112,0,0,0,0,0,0
$GC,1275,-0.94,-116.8,123.1,-6.6,133,1280,0.15,2.42,0.00,0.000,4,0.054,0.045,2825,294,3112,0,0,0,0,0,0
$GC,1345,-0.94,-116.8,130.4,-10.5,138,1349,0.00,2.20,0.00,0.000,6,0.000,0.018,2825,1701,3112,0,0,0,0,0,0
$GC,1603,-0.94,-116.8,159.7,-12.5,158,1604,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1705,3112,0,0,0,0,0,0
$GC,1857,-0.94,-116.8,187.4,-9.9,178,1861,0.00,2.42,0.00,0.000,4,0.000,0.046,2825,295,3112,0,0,0,0,0,0
$GC,1875,-0.94,-116.8,189.4,-9.8,179,1881,0.00,2.20,0.00,0.000,6,0.000,0.019,2825,1703,3112,0,0,0,0,0,0
$GC,2148,-0.94,-116.8,216.1,-9.1,196,2152,0.00,2.42,0.00,0.000,4,0.000,0.046,2825,286,3113,0,0,0,0,0,0
$GC,2226,-0.94,-116.8,223.8,-9.5,199,2230,0.00,2.22,0.00,0.000,6,0.000,0.019,2825,1695,3112,0,0,0,0,0,0
$GC,2543,-0.99,-116.8,248.3,-7.9,214,2547,0.00,2.45,0.00,0.000,4,0.000,0.047,2825,290,3113,0,0,0,0,0,0
$GC,2575,-0.99,-116.8,251.4,-8.9,215,2579,0.00,2.25,0.00,0.000,6,0.000,0.020,2825,1709,3113,0,0,0,0,0,0
$GC,2891,-1.04,-116.8,279.5,-10.1,230,2896,0.00,2.45,0.00,0.000,4,0.000,0.049,2825,287,3112,0,0,0,0,0,0
$GC,2971,-1.04,-116.8,288.4,-11.0,233,2976,0.00,2.25,0.00,0.000,6,0.000,0.021,2825,1704,3112,0,0,0,0,0,0
$GC,3289,-1.10,-116.8,317.1,-8.4,244,3293,0.00,2.42,0.00,0.000,4,0.000,0.051,2824,296,3111,0,0,0,0,0,0
$GC,3370,-1.15,-116.8,324.0,-9.1,245,3375,0.12,2.25,0.00,0.000,6,0.064,0.021,2782,1705,3111,0,0,0,0,0,0
$GC,3703,-1.15,-116.8,354.7,-9.0,253,3707,0.00,2.47,0.00,0.000,4,0.000,0.052,2782,291,3109,0,0,0,0,0,0
$GC,3727,-1.08,-116.8,357.3,-10.2,253,3732,0.15,2.28,0.00,0.000,6,0.091,0.023,2815,1707,3109,0,0,0,0,0,0
$GC,4071,-1.13,-116.8,385.1,-8.0,262,4075,0.00,2.45,0.00,0.000,4,0.000,0.054,2815,296,3107,0,0,0,0,0,0
$GC,4131,-1.13,-116.8,390.5,-8.4,263,4135,0.00,2.28,0.00,0.000,6,0.000,0.024,2815,1705,3106,0,0,0,0,0,0
$GC,4483,-1.19,-116.8,416.3,-7.5,272,4487,0.10,2.47,0.00,0.000,4,0.077,0.056,2781,296,3103,0,0,0,0,0,0
$GC,4593,-1.12,-116.8,427.0,-10.2,274,4598,0.12,2.28,0.00,0.000,6,0.095,0.025,2807,1701,3103,0,0,0,0,0,0
$STATE,4940,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4940,begin apogee
$GC,4948,-0.31,0.0,451.9,7.0,283,5047,0.80,0.00,95.78,0.835,6,0.064,0.000,2981,1706,2630,0,0,0,0,0,0
$STATE,5047,end apogee,CONTROL_FINISHED_OK
$STATE,5048,begin climb
$GC,5050,1.18,116.8,454.2,0.0,285,5163,1.42,2.45,100.72,0.819,4,0.038,0.034,3310,3083,2152,0,0,0,0,0,0
$GC,5285,1.03,140.6,447.3,6.8,290,5315,0.17,2.40,21.30,0.774,6,0.102,0.041,3277,1699,2056,0,0,0,0,0,0
$GC,5644,0.91,144.2,420.7,7.7,299,5645,0.15,0.00,0.00,0.000,6,0.108,0.000,3248,1699,2049,0,0,0,0,0,0
$GC,5965,0.89,168.0,398.9,6.8,307,5995,0.00,2.58,23.80,0.786,4,0.000,0.058,3248,294,1945,0,0,0,0,0,0
$GC,6025,0.76,168.0,394.5,8.3,308,6030,0.17,2.38,0.00,0.000,6,0.104,0.028,3215,1704,1941,0,0,0,0,0,0
$GC,6376,0.82,185.9,370.0,7.1,317,6399,0.00,2.58,16.52,0.758,4,0.000,0.057,3214,297,1871,0,0,0,0,0,0
$GC,6562,0.82,185.9,352.7,9.4,321,6566,0.00,2.33,0.00,0.000,6,0.000,0.028,3214,1707,1864,0,0,0,0,0,0
$GC,6885,0.87,185.9,325.9,8.4,329,6890,0.12,2.50,0.00,0.000,4,0.071,0.057,3249,297,1864,0,0,0,0,0,0
$GC,6991,0.77,185.9,315.7,8.7,331,6996,0.15,2.35,0.00,0.000,6,0.108,0.028,3221,1711,1861,0,0,0,0,0,0
$GC,7306,0.91,255.9,297.7,4.7,340,7375,0.12,2.62,61.20,0.759,4,0.071,0.056,3256,295,1586,0,0,0,0,0,0
$GC,7499,0.83,255.9,279.6,10.1,348,7504,0.12,2.35,0.00,0.000,6,0.109,0.027,3233,1705,1578,0,0,0,0,0,0
$GC,7823,0.89,255.9,253.0,8.7,364,7828,0.00,2.50,0.00,0.000,4,0.000,0.054,3233,293,1576,0,0,0,0,0,0
$GC,7959,0.89,255.9,238.9,9.6,370,7963,0.00,2.30,0.00,0.000,6,0.000,0.025,3233,1698,1574,0,0,0,0,0,0
$GC,8289,0.97,275.0,213.5,7.0,386,8313,0.12,2.55,15.82,0.647,4,0.068,0.054,3271,304,1507,0,0,0,0,0,0
$GC,8436,0.88,275.0,197.6,11.3,392,8440,0.15,2.30,0.00,0.000,6,0.100,0.024,3242,1715,1503,0,0,0,0,0,0
$GC,8703,0.93,275.0,175.1,8.6,413,8707,0.00,2.50,0.00,0.000,4,0.000,0.051,3240,287,1503,0,0,0,0,0,0
$GC,8813,0.93,275.0,163.8,9.0,421,8818,0.00,2.28,0.00,0.000,6,0.000,0.022,3241,1703,1500,0,0,0,0,0,0
$GC,9076,1.04,306.5,145.4,6.5,441,9110,0.15,2.55,27.45,0.604,4,0.059,0.051,3287,302,1380,0,0,0,0,0,0
$GC,9257,0.95,306.5,125.1,10.8,454,9262,0.15,2.25,0.00,0.000,6,0.092,0.021,3257,1709,1374,0,0,0,0,0,0
$GC,9519,1.04,321.8,107.9,7.2,474,9538,0.00,2.50,13.70,0.537,4,0.000,0.048,3257,294,1317,0,0,0,0,0,0
$GC,9671,1.07,321.8,89.5,13.3,485,9676,0.12,2.28,0.00,0.000,6,0.064,0.020,3301,1712,1313,0,0,0,0,0,0
$GC,9941,1.07,321.8,61.5,8.9,506,9945,0.00,2.45,0.00,0.000,4,0.000,0.048,3300,294,1313,0,0,0,0,0,0
$GC,10063,1.02,321.8,48.9,9.9,515,10068,0.15,2.22,0.00,0.000,6,0.091,0.019,3269,1702,1312,0,0,0,0,0,0
$GC,10333,1.14,334.9,29.2,7.3,536,10352,0.12,2.47,12.30,0.466,4,0.063,0.045,3313,293,1263,0,0,0,0,0,0
$GC,10448,1.05,334.9,15.1,13.1,560,10455,0.12,2.28,0.00,0.000,6,0.069,0.019,3282,1714,1260,0,0,0,0,0,0
$STATE,10597,end climb,SURFACE_DEPTH_REACHED
$STATE,10597,begin surface coast
$FINISH,0.9,1.023108
$STATE,10633,end surface coast,CONTROL_FINISHED_OK
$STATE,10633,begin surface
$SM_CCo,10656,42.40,0.474,0,0,957,410.14
$SM_GC,1.66,0.00,0.00,42.40,0.000,0.000,0.474,424,1714,957,-12.08,0.40,410.14
$IRIDIUM_FIX,2057.14,-15620.78,171299,040433
$TT8_MAMPS,0.029146
$HUMID,57.67
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.4,44.683
$10V_AH,10.2,37.143
$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,31.825,118.950,388.600,42.400,0.000,30.598,31.097,226.552,4.500,0.000,36.372,1221.816,6854.766,457.421,2011.756,589.535,0.000,1356.279,0.000,1968.697,0.000,29.264,0.000
$DEVICE_MAMPS,133.458,58.292,835.263,474.006,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,405.254,385.675,882.086,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,35044,602
$CAP_FILE_SIZE,123959,0
$CFSIZE,260165632,186601472
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220910,102606,2103.934,-15749.688,39,1.3,44,9.8