version: 66.06
glider: 139
mission: 8
dive: 511
start: 9 22 110 19 47 52
data:
$ID,139
$MISSION,8
$DIVE,511
$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,-2161789.8
$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
$GPS1,194137,2103.514,-15750.162,35,0.9,35,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-72.0
$GPS2,194732,2103.502,-15750.164,12,1.5,12,9.8
$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,61.3,13233,-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,-64.50,0.000,2,0.000,0.000,426,1710,2745,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.3,-3.2,12,115,12.65,2.53,-6.80,0.000,4,0.133,0.057,2784,292,3111,0,0,0,0,0,0
$GC,128,-0.08,-116.8,16.4,-28.9,19,136,1.12,2.35,0.00,0.000,6,0.079,0.019,3028,1734,3112,0,0,0,0,0,0
$GC,338,-0.66,-116.8,31.3,-8.6,65,345,0.52,2.47,0.00,0.000,4,0.044,0.040,2900,287,3113,0,0,0,0,0,0
$GC,395,-0.77,-116.8,36.2,-8.8,69,399,0.00,2.25,0.00,0.000,6,0.000,0.018,2900,1717,3113,0,0,0,0,0,0
$GC,661,-0.85,-116.8,60.3,-8.8,90,666,0.17,2.47,0.00,0.000,4,0.049,0.045,2842,289,3114,0,0,0,0,0,0
$GC,735,-0.77,-116.8,70.2,-13.7,95,742,0.15,2.25,0.00,0.000,6,0.065,0.018,2879,1694,3114,0,0,0,0,0,0
$GC,996,-0.82,-116.8,94.5,-8.1,116,999,0.00,2.42,0.00,0.000,4,0.000,0.046,2879,294,3114,0,0,0,0,0,0
$GC,1101,-0.89,-116.8,104.0,-9.1,123,1107,0.10,2.22,0.00,0.000,6,0.072,0.018,2839,1707,3115,0,0,0,0,0,0
$GC,1361,-0.89,-116.8,131.3,-12.1,144,1365,0.00,2.42,0.00,0.000,4,0.000,0.045,2839,289,3115,0,0,0,0,0,0
$GC,1408,-0.89,-116.8,137.2,-11.2,147,1413,0.00,2.20,0.00,0.000,6,0.000,0.018,2839,1694,3116,0,0,0,0,0,0
$GC,1669,-0.89,-116.8,163.7,-10.4,168,1670,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1699,3116,0,0,0,0,0,0
$GC,1920,-0.94,-116.8,186.1,-8.4,188,1924,0.00,2.42,0.00,0.000,4,0.000,0.046,2839,290,3116,0,0,0,0,0,0
$GC,2000,-0.97,-116.8,193.0,-7.7,194,2004,0.00,2.22,0.00,0.000,6,0.000,0.019,2839,1703,3116,0,0,0,0,0,0
$GC,2265,-1.02,-116.8,212.5,-7.2,210,2270,0.00,2.42,0.00,0.000,4,0.000,0.047,2839,290,3116,0,0,0,0,0,0
$GC,2340,-1.05,-116.8,218.9,-8.6,213,2344,0.00,2.22,0.00,0.000,6,0.000,0.019,2839,1702,3116,0,0,0,0,0,0
$GC,2666,-1.12,-116.8,240.4,-6.2,229,2671,0.15,2.42,0.00,0.000,4,0.054,0.048,2787,294,3116,0,0,0,0,0,0
$GC,2759,-1.03,-116.8,248.8,-9.5,233,2764,0.17,2.22,0.00,0.000,6,0.084,0.020,2825,1698,3116,0,0,0,0,0,0
$GC,3093,-1.09,-116.8,275.5,-8.9,249,3098,0.00,2.42,0.00,0.000,4,0.000,0.048,2825,289,3115,0,0,0,0,0,0
$GC,3154,-1.13,-116.8,281.8,-9.1,251,3161,0.10,2.25,0.00,0.000,6,0.074,0.021,2789,1703,3115,0,0,0,0,0,0
$GC,3469,-1.13,-116.8,312.2,-9.3,264,3473,0.00,2.45,0.00,0.000,4,0.000,0.051,2788,294,3114,0,0,0,0,0,0
$GC,3506,-1.07,-116.8,315.8,-10.3,264,3511,0.12,2.25,0.00,0.000,6,0.094,0.021,2816,1698,3114,0,0,0,0,0,0
$GC,3838,-1.12,-116.8,336.8,-5.9,272,3842,0.00,2.42,0.00,0.000,4,0.000,0.051,2816,296,3113,0,0,0,0,0,0
$GC,3887,-1.12,-116.8,340.3,-7.2,273,3891,0.00,2.28,0.00,0.000,6,0.000,0.023,2815,1704,3113,0,0,0,0,0,0
$GC,4215,-1.17,-116.8,362.0,-6.6,281,4220,0.00,2.45,0.00,0.000,4,0.000,0.054,2815,296,3110,0,0,0,0,0,0
$GC,4287,-1.21,-116.8,367.7,-8.2,282,4291,0.12,2.25,0.00,0.000,6,0.065,0.025,2774,1698,3110,0,0,0,0,0,0
$GC,4633,-1.18,-116.8,401.9,-10.3,291,4637,0.00,2.47,0.00,0.000,4,0.000,0.055,2775,293,3107,0,0,0,0,0,0
$GC,4689,-1.11,-116.8,408.0,-10.8,292,4694,0.15,2.28,0.00,0.000,6,0.092,0.025,2807,1697,3106,0,0,0,0,0,0
$GC,5007,-1.15,-116.8,432.6,-7.5,300,5011,0.00,2.47,0.00,0.000,4,0.000,0.058,2807,296,3104,0,0,0,0,0,0
$GC,5030,-1.15,-116.8,434.9,-8.6,300,5034,0.00,2.28,0.00,0.000,6,0.000,0.026,2807,1699,3104,0,0,0,0,0,0
$STATE,5250,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5250,begin apogee
$GC,5258,-0.31,0.0,450.7,7.1,306,5357,0.80,0.00,95.97,0.838,6,0.065,0.000,2981,1704,2630,0,0,0,0,0,0
$STATE,5358,end apogee,CONTROL_FINISHED_OK
$STATE,5358,begin climb
$GC,5360,1.18,116.8,452.7,0.0,308,5472,1.42,2.45,100.45,0.821,4,0.038,0.034,3310,3081,2152,0,0,0,0,0,0
$GC,5651,1.02,131.7,441.7,7.2,314,5673,0.20,2.42,13.48,0.743,6,0.100,0.041,3272,1700,2092,0,0,0,0,0,0
$GC,6001,0.94,164.4,419.0,6.4,323,6037,0.00,2.40,29.17,0.795,4,0.000,0.031,3272,3081,1958,0,0,0,0,0,0
$GC,6064,0.93,214.3,415.2,5.6,324,6115,0.00,2.42,44.83,0.801,6,0.000,0.041,3272,1700,1756,0,0,0,0,0,0
$GC,6457,0.86,218.0,383.4,7.7,334,6462,0.17,2.55,0.00,0.000,4,0.100,0.061,3237,290,1747,0,0,0,0,0,0
$GC,6588,0.78,218.0,371.1,9.7,336,6594,0.00,2.35,0.00,0.000,6,0.000,0.028,3237,1698,1742,0,0,0,0,0,0
$GC,6919,0.78,218.0,341.6,9.1,345,6923,0.00,2.53,0.00,0.000,4,0.000,0.059,3237,293,1741,0,0,0,0,0,0
$GC,7051,0.71,218.0,328.1,10.1,347,7057,0.17,2.33,0.00,0.000,6,0.100,0.028,3203,1704,1739,0,0,0,0,0,0
$GC,7384,0.82,221.0,302.7,7.8,356,7393,0.10,2.55,3.97,0.483,4,0.081,0.056,3233,287,1729,0,0,0,0,0,0
$GC,7523,0.82,221.0,287.5,10.7,361,7527,0.00,2.35,0.00,0.000,6,0.000,0.027,3233,1701,1727,0,0,0,0,0,0
$GC,7854,0.91,252.4,262.9,6.5,377,7890,0.00,2.58,28.77,0.719,4,0.000,0.055,3233,291,1600,0,0,0,0,0,0
$GC,8023,0.91,252.4,248.0,9.7,384,8027,0.00,2.33,0.00,0.000,6,0.000,0.025,3233,1706,1594,0,0,0,0,0,0
$GC,8341,0.97,252.4,221.0,8.6,399,8346,0.12,2.50,0.00,0.000,4,0.067,0.054,3271,294,1593,0,0,0,0,0,0
$GC,8479,0.87,252.4,206.5,10.1,405,8484,0.15,2.30,0.00,0.000,6,0.100,0.025,3241,1708,1591,0,0,0,0,0,0
$GC,8802,0.93,252.4,180.7,8.6,428,8806,0.00,2.47,0.00,0.000,4,0.000,0.052,3241,294,1590,0,0,0,0,0,0
$GC,8952,0.93,252.4,164.5,10.3,439,8957,0.00,2.28,0.00,0.000,6,0.000,0.023,3242,1705,1590,0,0,0,0,0,0
$GC,9216,0.99,252.4,141.9,8.7,459,9221,0.10,2.45,0.00,0.000,4,0.076,0.051,3276,293,1590,0,0,0,0,0,0
$GC,9326,0.91,252.4,128.8,13.3,467,9331,0.12,2.28,0.00,0.000,6,0.098,0.021,3251,1706,1589,0,0,0,0,0,0
$GC,9594,1.01,279.5,106.0,6.7,488,9622,0.00,2.50,22.77,0.566,4,0.000,0.048,3251,294,1489,0,0,0,0,0,0
$GC,9722,1.03,291.3,96.9,7.4,497,9739,0.10,2.28,11.20,0.519,6,0.076,0.021,3287,1717,1441,0,0,0,0,0,0
$GC,10004,1.07,294.6,74.5,7.7,519,10013,0.00,2.50,4.32,0.377,4,0.000,0.047,3287,286,1428,0,0,0,0,0,0
$GC,10134,1.07,294.6,62.9,9.2,527,10141,0.00,2.30,0.00,0.000,6,0.000,0.020,3287,1702,1425,0,0,0,0,0,0
$GC,10397,1.17,321.8,45.0,6.7,548,10426,0.00,2.58,24.02,0.507,4,0.000,0.048,3287,287,1317,0,0,0,0,0,0
$GC,10537,1.17,321.8,32.6,8.4,558,10542,0.00,2.28,0.00,0.000,6,0.000,0.019,3287,1714,1313,0,0,0,0,0,0
$GC,10802,1.24,321.8,11.4,8.4,614,10809,0.15,2.53,0.00,0.000,4,0.054,0.048,3338,291,1313,0,0,0,0,0,0
$STATE,10869,end climb,SURFACE_DEPTH_REACHED
$STATE,10869,begin surface coast
$FINISH,0.9,0.999165
$STATE,10893,end surface coast,CONTROL_FINISHED_OK
$STATE,10894,begin surface
$SM_CCo,10919,50.03,0.475,0,0,957,410.14
$SM_GC,1.49,0.00,0.00,50.03,0.000,0.000,0.475,426,1681,957,-12.07,-0.54,410.14
$IRIDIUM_FIX,2057.14,-15750.89,171299,161627
$TT8_MAMPS,0.029146
$HUMID,57.08
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.4,45.109
$10V_AH,10.1,37.483
$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,31.625,128.575,378.975,50.025,0.000,31.074,30.648,165.800,4.500,0.000,12.968,1279.987,6893.660,474.756,2130.831,543.906,0.000,1416.234,0.000,2104.197,0.000,29.257,0.000
$DEVICE_MAMPS,132.691,60.593,838.331,474.773,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,426.515,412.261,952.796,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,34932,634
$CAP_FILE_SIZE,127999,0
$CFSIZE,260165632,186351616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220910,225200,2103.314,-15749.941,40,1.5,40,9.8