version: 66.06
glider: 139
mission: 8
dive: 512
start: 9 22 110 22 58 40
data:
$ID,139
$MISSION,8
$DIVE,512
$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,-2161823
$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
$GPS1,225200,2103.314,-15749.941,40,1.5,40,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-73.3
$GPS2,225822,2103.285,-15749.994,12,2.5,31,9.8
$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,59.2,13093,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.18,-116.8,0.0,0.0,0,84,0.00,0.00,-64.32,0.000,2,0.000,0.000,425,1686,2738,0,0,0,0,0,0
$GC,87,-1.18,-116.8,3.2,-3.0,12,117,12.62,2.45,-7.00,0.000,4,0.133,0.038,2784,3112,3110,0,0,0,0,0,0
$GC,139,-0.52,-116.8,17.1,-25.6,21,146,0.68,2.42,0.00,0.000,6,0.068,0.034,2933,1704,3111,0,0,0,0,0,0
$GC,342,-0.66,-116.8,35.1,-7.9,57,347,0.12,2.45,0.00,0.000,4,0.062,0.046,2888,287,3112,0,0,0,0,0,0
$GC,423,-0.66,-116.8,44.1,-11.3,63,427,0.00,2.33,0.00,0.000,6,0.000,0.018,2888,1742,3112,0,0,0,0,0,0
$GC,690,-0.71,-116.8,72.5,-10.0,84,694,0.00,2.50,0.00,0.000,4,0.000,0.045,2888,294,3113,0,0,0,0,0,0
$GC,812,-0.80,-116.8,84.1,-8.4,93,816,0.00,2.25,0.00,0.000,6,0.000,0.018,2888,1715,3113,0,0,0,0,0,0
$GC,1083,-0.92,-116.8,105.2,-7.9,114,1088,0.17,2.47,0.00,0.000,4,0.048,0.045,2828,293,3114,0,0,0,0,0,0
$GC,1179,-0.88,-116.8,116.4,-12.8,121,1184,0.15,2.20,0.00,0.000,6,0.086,0.018,2861,1701,3114,0,0,0,0,0,0
$GC,1447,-0.96,-116.8,141.1,-8.8,142,1451,0.00,2.40,0.00,0.000,4,0.000,0.046,2861,294,3115,0,0,0,0,0,0
$GC,1480,-1.01,-116.8,144.6,-9.2,144,1487,0.10,2.25,0.00,0.000,6,0.032,0.018,2815,1707,3115,0,0,0,0,0,0
$GC,1742,-1.01,-116.8,169.2,-9.5,165,1747,0.00,2.42,0.00,0.000,4,0.000,0.047,2815,292,3115,0,0,0,0,0,0
$GC,1797,-0.96,-116.8,175.3,-10.0,169,1802,0.12,2.22,0.00,0.000,6,0.092,0.019,2842,1695,3115,0,0,0,0,0,0
$GC,2060,-1.01,-116.8,193.5,-6.1,189,2065,0.00,2.42,0.00,0.000,4,0.000,0.047,2842,293,3115,0,0,0,0,0,0
$GC,2136,-1.01,-116.8,199.1,-7.3,194,2142,0.00,2.25,0.00,0.000,6,0.000,0.020,2842,1698,3115,0,0,0,0,0,0
$GC,2404,-1.07,-116.8,217.4,-7.6,208,2409,0.10,2.42,0.00,0.000,4,0.074,0.048,2802,294,3114,0,0,0,0,0,0
$GC,2442,-1.00,-116.8,221.5,-10.9,209,2448,0.15,2.25,0.00,0.000,6,0.089,0.020,2835,1702,3114,0,0,0,0,0,0
$GC,2761,-1.05,-116.8,247.0,-8.9,225,2765,0.00,2.45,0.00,0.000,4,0.000,0.048,2835,290,3114,0,0,0,0,0,0
$GC,2836,-1.10,-116.8,254.4,-9.1,228,2841,0.12,2.22,0.00,0.000,6,0.063,0.020,2791,1698,3114,0,0,0,0,0,0
$GC,3159,-1.10,-116.8,287.0,-10.5,244,3160,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1703,3114,0,0,0,0,0,0
$GC,3465,-1.10,-116.8,317.8,-9.7,255,3469,0.00,2.42,0.00,0.000,4,0.000,0.050,2791,292,3113,0,0,0,0,0,0
$GC,3489,-1.04,-116.8,320.2,-10.3,255,3494,0.15,2.25,0.00,0.000,6,0.087,0.021,2824,1698,3113,0,0,0,0,0,0
$GC,3832,-1.11,-116.8,343.3,-6.7,264,3836,0.00,2.42,0.00,0.000,4,0.000,0.051,2824,296,3112,0,0,0,0,0,0
$GC,3902,-1.15,-116.8,349.0,-8.0,265,3907,0.12,2.25,0.00,0.000,6,0.064,0.023,2782,1698,3111,0,0,0,0,0,0
$GC,4244,-1.15,-116.8,382.5,-10.2,274,4248,0.00,2.45,0.00,0.000,4,0.000,0.054,2782,293,3109,0,0,0,0,0,0
$GC,4297,-1.10,-116.8,388.7,-11.3,275,4302,0.12,2.28,0.00,0.000,6,0.096,0.024,2809,1706,3108,0,0,0,0,0,0
$GC,4618,-1.14,-116.8,413.2,-6.7,283,4622,0.00,2.47,0.00,0.000,4,0.000,0.055,2809,291,3106,0,0,0,0,0,0
$GC,4698,-1.14,-116.8,418.7,-6.3,284,4703,0.00,2.30,0.00,0.000,6,0.000,0.025,2809,1696,3106,0,0,0,0,0,0
$GC,5037,-1.19,-116.8,440.6,-7.0,293,5041,0.00,2.45,0.00,0.000,4,0.000,0.056,2809,296,3104,0,0,0,0,0,0
$GC,5075,-1.19,-116.8,444.1,-8.6,293,5080,0.00,2.30,0.00,0.000,6,0.000,0.025,2809,1700,3103,0,0,0,0,0,0
$STATE,5159,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5159,begin apogee
$GC,5167,-0.31,0.0,451.1,8.2,296,5266,0.80,0.00,95.88,0.835,6,0.064,0.000,2983,1704,2629,0,0,0,0,0,0
$STATE,5266,end apogee,CONTROL_FINISHED_OK
$STATE,5267,begin climb
$GC,5269,1.18,116.8,453.9,0.0,298,5382,1.40,2.45,100.30,0.818,4,0.037,0.033,3309,3084,2152,0,0,0,0,0,0
$GC,5482,1.04,151.0,450.0,6.4,302,5520,0.15,2.42,30.30,0.788,6,0.104,0.041,3281,1699,2013,0,0,0,0,0,0
$GC,5861,0.91,151.0,419.5,8.3,312,5865,0.15,2.35,0.00,0.000,4,0.104,0.032,3252,3084,2004,0,0,0,0,0,0
$GC,5898,0.91,151.0,416.5,7.9,312,5904,0.00,2.40,0.00,0.000,6,0.000,0.041,3252,1698,2004,0,0,0,0,0,0
$GC,6230,0.88,172.2,393.4,6.9,321,6254,0.00,2.58,17.92,0.763,4,0.000,0.058,3252,301,1927,0,0,0,0,0,0
$GC,6289,0.76,172.2,388.8,8.3,322,6294,0.17,2.35,0.00,0.000,6,0.104,0.027,3218,1706,1924,0,0,0,0,0,0
$GC,6603,0.81,219.6,369.7,5.8,330,6653,0.00,2.58,42.55,0.788,4,0.000,0.058,3218,294,1733,0,0,0,0,0,0
$GC,6774,0.81,219.6,355.7,8.0,333,6779,0.00,2.35,0.00,0.000,6,0.000,0.027,3216,1702,1727,0,0,0,0,0,0
$GC,7107,0.90,245.1,333.8,6.7,341,7136,0.12,2.62,22.30,0.747,4,0.071,0.058,3253,292,1629,0,0,0,0,0,0
$GC,7300,0.81,245.1,312.6,12.6,345,7305,0.12,2.35,0.00,0.000,6,0.110,0.027,3230,1703,1623,0,0,0,0,0,0
$GC,7626,0.86,245.1,278.8,11.1,357,7630,0.00,2.53,0.00,0.000,4,0.000,0.057,3229,287,1622,0,0,0,0,0,0
$GC,7771,0.86,245.1,260.9,10.6,363,7775,0.00,2.35,0.00,0.000,6,0.000,0.025,3229,1706,1619,0,0,0,0,0,0
$GC,8095,0.98,299.4,240.3,5.4,379,8150,0.15,2.60,46.62,0.703,4,0.061,0.054,3273,298,1408,0,0,0,0,0,0
$GC,8289,0.86,299.4,220.3,12.5,387,8295,0.17,2.33,0.00,0.000,6,0.097,0.025,3239,1716,1402,0,0,0,0,0,0
$GC,8614,0.91,299.4,189.3,10.1,405,8618,0.00,2.53,0.00,0.000,4,0.000,0.053,3238,286,1401,0,0,0,0,0,0
$GC,8759,0.91,299.4,171.4,12.3,415,8764,0.00,2.30,0.00,0.000,6,0.000,0.023,3238,1703,1398,0,0,0,0,0,0
$GC,9019,1.00,312.4,149.3,7.3,436,9038,0.12,2.58,10.95,0.564,4,0.065,0.051,3279,286,1355,0,0,0,0,0,0
$GC,9148,0.91,312.4,135.3,11.6,445,9153,0.15,2.33,0.00,0.000,6,0.094,0.022,3249,1712,1352,0,0,0,0,0,0
$GC,9412,0.99,314.5,113.7,7.8,465,9416,0.00,2.47,0.00,0.000,4,0.000,0.049,3249,292,1352,0,0,0,0,0,0
$GC,9578,1.02,314.5,94.8,10.8,477,9582,0.00,2.25,0.00,0.000,6,0.000,0.021,3249,1711,1351,0,0,0,0,0,0
$GC,9839,1.14,314.5,69.8,8.3,497,9844,0.22,2.50,0.00,0.000,4,0.044,0.048,3316,286,1351,0,0,0,0,0,0
$GC,9949,1.06,314.5,58.3,11.6,505,9954,0.17,2.28,0.00,0.000,6,0.086,0.020,3279,1709,1351,0,0,0,0,0,0
$GC,10218,1.15,314.5,35.6,8.8,526,10222,0.00,2.45,0.00,0.000,4,0.000,0.048,3279,290,1351,0,0,0,0,0,0
$GC,10323,1.18,314.5,25.8,9.1,539,10330,0.10,2.28,0.00,0.000,6,0.035,0.019,3324,1710,1351,0,0,0,0,0,0
$GC,10524,1.18,314.5,5.3,10.3,585,10531,0.00,2.47,0.00,0.000,4,0.000,0.046,3323,293,1351,0,0,0,0,0,0
$STATE,10549,end climb,SURFACE_DEPTH_REACHED
$STATE,10549,begin surface coast
$FINISH,1.0,1.023070
$STATE,10583,end surface coast,CONTROL_FINISHED_OK
$STATE,10583,begin surface
$SM_CCo,10609,54.15,0.481,0,0,957,410.14
$SM_GC,1.79,0.00,0.00,54.15,0.000,0.000,0.481,428,1706,957,-12.06,0.17,410.14
$IRIDIUM_FIX,2057.14,-15748.75,171299,191927
$TT8_MAMPS,0.029146
$HUMID,57.75
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.00
$XPDR_PINGS,1
$24V_AH,23.4,45.212
$10V_AH,10.2,37.566
$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,31.250,128.925,366.825,54.150,0.000,23.565,25.888,183.288,4.750,0.000,32.563,1220.032,6786.111,469.273,2013.662,551.769,0.000,1374.214,0.000,1977.328,0.000,29.255,0.000
$DEVICE_MAMPS,132.691,58.292,835.263,480.909,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,401.938,385.501,872.800,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,34851,597
$CAP_FILE_SIZE,125981,0
$CFSIZE,260165632,186294272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230910,015737,2102.993,-15750.624,35,1.0,35,9.8