version: 66.06
glider: 139
mission: 8
dive: 509
start: 9 22 110 13 41 40
data:
$ID,139
$MISSION,8
$DIVE,509
$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,-2161759
$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
$GPS1,132836,2103.530,-15750.263,14,0.8,30,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-72.8
$GPS2,134120,2103.493,-15750.421,15,0.9,15,9.8
$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,61.9,13658,-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,-64.53,0.000,2,0.000,0.000,427,1709,2747,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.3,-3.6,12,110,12.62,2.40,-6.75,0.000,4,0.132,0.037,2786,3112,3110,0,0,0,0,0,0
$GC,128,-0.15,-116.8,16.4,-29.4,19,135,1.02,2.42,0.00,0.000,6,0.069,0.034,3014,1704,3112,0,0,0,0,0,0
$GC,334,-0.55,-116.8,31.1,-6.7,64,339,0.35,2.40,0.00,0.000,4,0.043,0.041,2922,295,3114,0,0,0,0,0,0
$GC,391,-0.64,-116.8,35.3,-7.6,68,395,0.00,2.30,0.00,0.000,6,0.000,0.018,2922,1731,3113,0,0,0,0,0,0
$GC,653,-0.74,-116.8,56.4,-7.0,88,658,0.15,2.47,0.00,0.000,4,0.054,0.044,2870,297,3113,0,0,0,0,0,0
$GC,721,-0.70,-116.8,63.5,-10.8,93,726,0.12,2.22,0.00,0.000,6,0.093,0.018,2897,1719,3114,0,0,0,0,0,0
$GC,987,-0.78,-116.8,85.5,-9.0,114,991,0.00,2.45,0.00,0.000,4,0.000,0.044,2897,292,3114,0,0,0,0,0,0
$GC,1056,-0.90,-116.8,92.2,-9.5,119,1061,0.20,2.22,0.00,0.000,6,0.045,0.018,2832,1712,3114,0,0,0,0,0,0
$GC,1321,-0.90,-116.8,116.9,-9.1,140,1325,0.00,2.45,0.00,0.000,4,0.000,0.045,2832,292,3114,0,0,0,0,0,0
$GC,1362,-0.86,-116.8,121.1,-10.7,143,1367,0.12,2.20,0.00,0.000,6,0.092,0.018,2859,1704,3115,0,0,0,0,0,0
$GC,1630,-0.94,-116.8,142.2,-7.1,164,1634,0.00,2.40,0.00,0.000,4,0.000,0.045,2859,298,3115,0,0,0,0,0,0
$GC,1697,-1.01,-116.8,147.5,-7.5,169,1702,0.12,2.20,0.00,0.000,6,0.061,0.018,2814,1706,3115,0,0,0,0,0,0
$GC,1962,-1.01,-116.8,174.2,-8.9,190,1966,0.00,2.42,0.00,0.000,4,0.000,0.046,2814,298,3115,0,0,0,0,0,0
$GC,2001,-0.94,-116.8,178.1,-10.0,192,2008,0.10,2.25,0.00,0.000,6,0.066,0.019,2842,1697,3115,0,0,0,0,0,0
$GC,2263,-1.01,-116.8,197.8,-7.8,213,2264,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1702,3116,0,0,0,0,0,0
$GC,2527,-1.08,-116.8,221.1,-9.8,227,2532,0.12,2.42,0.00,0.000,4,0.063,0.048,2796,294,3115,0,0,0,0,0,0
$GC,2597,-1.02,-116.8,230.7,-13.2,230,2602,0.15,2.25,0.00,0.000,6,0.087,0.020,2829,1703,3114,0,0,0,0,0,0
$GC,2926,-1.08,-116.8,265.6,-10.1,246,2930,0.00,2.40,0.00,0.000,4,0.000,0.048,2829,300,3114,0,0,0,0,0,0
$GC,3018,-1.08,-116.8,275.5,-10.8,250,3022,0.00,2.22,0.00,0.000,6,0.000,0.020,2829,1708,3114,0,0,0,0,0,0
$GC,3364,-1.13,-116.8,307.3,-8.3,265,3369,0.12,2.45,0.00,0.000,4,0.063,0.050,2785,298,3113,0,0,0,0,0,0
$GC,3389,-1.08,-116.8,309.5,-9.0,265,3394,0.15,2.22,0.00,0.000,6,0.090,0.021,2817,1697,3113,0,0,0,0,0,0
$GC,3730,-1.12,-116.8,331.3,-6.8,274,3735,0.00,2.45,0.00,0.000,4,0.000,0.051,2817,294,3111,0,0,0,0,0,0
$GC,3783,-1.12,-116.8,335.7,-9.2,275,3787,0.00,2.25,0.00,0.000,6,0.000,0.022,2817,1703,3111,0,0,0,0,0,0
$GC,4101,-1.16,-116.8,365.7,-9.9,283,4102,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1709,3109,0,0,0,0,0,0
$GC,4428,-1.21,-116.8,390.1,-6.6,291,4433,0.15,2.47,0.00,0.000,4,0.058,0.054,2771,293,3107,0,0,0,0,0,0
$GC,4484,-1.13,-116.8,395.0,-8.9,292,4489,0.15,2.28,0.00,0.000,6,0.090,0.024,2803,1700,3107,0,0,0,0,0,0
$GC,4805,-1.13,-116.8,416.3,-7.0,300,4809,0.00,2.47,0.00,0.000,4,0.000,0.055,2802,297,3104,0,0,0,0,0,0
$GC,4869,-1.13,-116.8,421.9,-8.5,301,4873,0.00,2.28,0.00,0.000,6,0.000,0.025,2803,1698,3104,0,0,0,0,0,0
$GC,5219,-1.16,-116.8,444.5,-6.1,310,5223,0.00,2.47,0.00,0.000,4,0.000,0.058,2803,301,3101,0,0,0,0,0,0
$GC,5301,-1.16,-116.8,449.0,-5.6,311,5305,0.00,2.28,0.00,0.000,6,0.000,0.025,2802,1704,3101,0,0,0,0,0,0
$STATE,5345,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5345,begin apogee
$GC,5351,-0.31,0.0,451.1,4.5,312,5450,0.82,0.00,95.47,0.834,6,0.065,0.000,2982,1708,2630,0,0,0,0,0,0
$STATE,5451,end apogee,CONTROL_FINISHED_OK
$STATE,5451,begin climb
$GC,5453,1.18,116.8,450.5,0.0,314,5567,1.42,2.42,100.28,0.815,4,0.038,0.033,3313,3079,2152,0,0,0,0,0,0
$GC,5653,1.00,116.8,437.4,10.8,318,5658,0.22,2.40,0.00,0.000,6,0.099,0.040,3269,1704,2149,0,0,0,0,0,0
$GC,6000,0.89,116.8,407.4,8.0,327,6005,0.12,2.50,0.00,0.000,4,0.111,0.057,3245,298,2141,0,0,0,0,0,0
$GC,6020,0.81,159.7,406.0,6.0,327,6064,0.00,2.33,36.83,0.789,6,0.000,0.027,3245,1712,1978,0,0,0,0,0,0
$GC,6412,0.84,206.3,382.3,5.8,337,6460,0.00,2.60,41.17,0.786,4,0.000,0.057,3245,298,1786,0,0,0,0,0,0
$GC,6532,0.74,206.3,373.3,8.7,339,6537,0.17,2.35,0.00,0.000,6,0.104,0.028,3212,1700,1780,0,0,0,0,0,0
$GC,6869,0.80,207.6,348.6,7.8,348,6873,0.00,2.50,0.00,0.000,4,0.000,0.058,3211,297,1778,0,0,0,0,0,0
$GC,6920,0.80,207.6,343.2,10.7,349,6924,0.00,2.33,0.00,0.000,6,0.000,0.028,3211,1698,1775,0,0,0,0,0,0
$GC,7239,0.87,207.6,315.4,8.1,357,7244,0.12,2.50,0.00,0.000,4,0.072,0.057,3247,291,1775,0,0,0,0,0,0
$GC,7365,0.78,207.6,303.4,9.8,359,7370,0.15,2.35,0.00,0.000,6,0.107,0.026,3218,1708,1772,0,0,0,0,0,0
$GC,7681,0.95,294.8,288.4,4.0,372,7768,0.17,2.58,74.82,0.741,4,0.058,0.056,3266,292,1425,0,0,0,0,0,0
$GC,7822,0.84,294.8,275.6,13.1,378,7827,0.17,2.35,0.00,0.000,6,0.099,0.026,3232,1708,1421,0,0,0,0,0,0
$GC,8149,0.90,294.8,242.5,10.6,394,8153,0.00,2.53,0.00,0.000,4,0.000,0.055,3232,296,1418,0,0,0,0,0,0
$GC,8316,0.90,294.8,221.8,13.4,401,8320,0.00,2.33,0.00,0.000,6,0.000,0.025,3232,1705,1415,0,0,0,0,0,0
$GC,8642,1.02,340.6,194.3,5.8,420,8686,0.17,2.58,37.97,0.655,4,0.055,0.054,3283,290,1241,0,0,0,0,0,0
$GC,8824,0.91,340.6,174.1,12.1,433,8829,0.17,2.30,0.00,0.000,6,0.094,0.023,3248,1707,1234,0,0,0,0,0,0
$GC,9087,0.96,340.6,152.1,9.4,453,9091,0.00,2.47,0.00,0.000,4,0.000,0.051,3247,294,1234,0,0,0,0,0,0
$GC,9271,0.96,340.6,126.5,14.6,466,9278,0.00,2.30,0.00,0.000,6,0.000,0.022,3248,1706,1233,0,0,0,0,0,0
$GC,9535,1.15,408.9,103.4,4.8,487,9601,0.22,2.58,56.53,0.572,4,0.045,0.051,3313,297,962,0,0,0,0,0,0
$GC,9786,1.06,408.9,67.3,17.0,505,9791,0.15,2.28,0.00,0.000,6,0.093,0.021,3282,1712,956,0,0,0,0,0,0
$GC,10056,1.14,408.9,39.2,9.8,526,10060,0.00,2.47,0.00,0.000,4,0.000,0.048,3282,297,956,0,0,0,0,0,0
$GC,10205,1.14,408.9,20.6,12.5,548,10212,0.00,2.25,0.00,0.000,6,0.000,0.020,3282,1704,955,0,0,0,0,0,0
$STATE,10375,end climb,SURFACE_DEPTH_REACHED
$STATE,10375,begin surface coast
$FINISH,1.0,1.012016
$STATE,10410,end surface coast,CONTROL_FINISHED_OK
$STATE,10411,begin surface
$SM_CCo,10493,0.00,0.000,0,0,953,411.37
$SM_GC,1.85,12.27,0.00,0.00,0.026,0.000,0.000,426,1708,953,-12.00,0.23,411.37
$IRIDIUM_FIX,2057.14,-15748.75,171299,131335
$TT8_MAMPS,0.028379
$HUMID,58.93
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.4,44.907
$10V_AH,10.1,37.311
$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,32.075,119.025,443.075,0.000,0.000,108.562,145.914,252.379,4.500,0.000,15.943,1197.682,6826.532,451.009,1970.763,804.808,0.000,1352.541,0.000,1942.156,0.000,29.257,0.000
$DEVICE_MAMPS,131.924,57.525,834.496,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,399.978,379.655,877.779,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,31781,595
$CAP_FILE_SIZE,126253,0
$CFSIZE,260165632,186482688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220910,163737,2103.441,-15750.699,29,1.3,29,9.8