version: 66.06
glider: 139
mission: 8
dive: 513
start: 9 23 110 2 3 22
data:
$ID,139
$MISSION,8
$DIVE,513
$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,-2161836.5
$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
$GPS1,015737,2102.993,-15750.624,35,1.0,35,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-71.8
$GPS2,020302,2102.944,-15750.705,12,1.3,12,9.8
$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,58.6,14466,-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,-64.38,0.000,2,0.000,0.000,428,1707,2762,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.8,-4.4,12,109,12.65,0.00,-6.22,0.000,6,0.133,0.000,2786,1709,3110,0,0,0,0,0,0
$GC,306,-0.96,-116.8,52.9,-18.8,44,311,0.25,2.45,0.00,0.000,4,0.091,0.048,2841,295,3112,0,0,0,0,0,0
$GC,347,-0.79,-116.8,60.0,-17.0,47,352,0.17,2.30,0.00,0.000,6,0.088,0.018,2877,1736,3112,0,0,0,0,0,0
$GC,614,-0.85,-116.8,90.9,-10.6,68,618,0.00,2.50,0.00,0.000,4,0.000,0.045,2878,289,3113,0,0,0,0,0,0
$GC,660,-0.93,-116.8,96.1,-9.7,71,667,0.15,2.22,0.00,0.000,6,0.054,0.018,2826,1711,3113,0,0,0,0,0,0
$GC,922,-0.90,-116.8,126.2,-11.1,92,927,0.12,2.45,0.00,0.000,4,0.090,0.046,2853,295,3114,0,0,0,0,0,0
$GC,989,-0.90,-116.8,132.5,-8.0,97,993,0.00,2.22,0.00,0.000,6,0.000,0.018,2854,1707,3114,0,0,0,0,0,0
$GC,1260,-0.94,-116.8,148.6,-5.4,118,1264,0.00,2.45,0.00,0.000,4,0.000,0.045,2854,286,3114,0,0,0,0,0,0
$GC,1300,-0.94,-116.8,151.2,-6.6,121,1304,0.00,2.22,0.00,0.000,6,0.000,0.018,2854,1703,3115,0,0,0,0,0,0
$GC,1566,-1.02,-116.8,168.4,-7.0,142,1571,0.12,2.42,0.00,0.000,4,0.062,0.046,2809,294,3115,0,0,0,0,0,0
$GC,1622,-0.94,-116.8,174.5,-10.4,146,1627,0.15,2.20,0.00,0.000,6,0.086,0.018,2842,1693,3115,0,0,0,0,0,0
$GC,1884,-1.00,-116.8,198.2,-9.2,166,1888,0.00,2.40,0.00,0.000,4,0.000,0.046,2842,292,3115,0,0,0,0,0,0
$GC,1912,-1.00,-116.8,201.5,-10.1,168,1916,0.00,2.22,0.00,0.000,6,0.000,0.020,2842,1708,3115,0,0,0,0,0,0
$GC,2232,-1.06,-116.8,228.4,-7.7,184,2237,0.10,2.45,0.00,0.000,4,0.074,0.047,2804,290,3115,0,0,0,0,0,0
$GC,2314,-1.01,-116.8,236.2,-10.5,187,2319,0.12,2.25,0.00,0.000,6,0.093,0.020,2831,1694,3115,0,0,0,0,0,0
$GC,2631,-1.07,-116.8,265.2,-9.7,202,2635,0.00,2.45,0.00,0.000,4,0.000,0.048,2831,294,3115,0,0,0,0,0,0
$GC,2676,-1.07,-116.8,269.7,-10.4,204,2680,0.00,2.25,0.00,0.000,6,0.000,0.021,2831,1702,3115,0,0,0,0,0,0
$GC,3008,-1.13,-116.8,298.9,-8.0,220,3009,0.12,0.00,0.00,0.000,6,0.064,0.000,2788,1707,3114,0,0,0,0,0,0
$GC,3312,-1.09,-116.8,330.2,-10.1,228,3317,0.10,2.45,0.00,0.000,4,0.100,0.051,2811,296,3113,0,0,0,0,0,0
$GC,3341,-1.09,-116.8,333.1,-9.2,228,3345,0.00,2.25,0.00,0.000,6,0.000,0.022,2810,1706,3113,0,0,0,0,0,0
$GC,3677,-1.13,-116.8,361.4,-8.7,237,3681,0.00,2.45,0.00,0.000,4,0.000,0.052,2811,293,3111,0,0,0,0,0,0
$GC,3745,-1.13,-116.8,367.3,-8.7,238,3749,0.00,2.25,0.00,0.000,6,0.000,0.023,2811,1693,3111,0,0,0,0,0,0
$GC,4090,-1.16,-116.8,396.7,-8.6,247,4094,0.00,2.42,0.00,0.000,4,0.000,0.053,2810,296,3109,0,0,0,0,0,0
$GC,4134,-1.16,-116.8,400.5,-8.8,248,4138,0.00,2.30,0.00,0.000,6,0.000,0.025,2811,1705,3109,0,0,0,0,0,0
$GC,4462,-1.20,-116.8,425.1,-7.0,256,4467,0.10,2.50,0.00,0.000,4,0.077,0.056,2777,289,3107,0,0,0,0,0,0
$GC,4520,-1.15,-116.8,430.1,-8.7,257,4525,0.10,2.33,0.00,0.000,6,0.105,0.025,2798,1704,3107,0,0,0,0,0,0
$STATE,4832,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4832,begin apogee
$GC,4838,-0.31,0.0,451.8,6.8,265,4938,0.85,0.00,96.15,0.831,6,0.065,0.000,2983,1709,2630,0,0,0,0,0,0
$STATE,4939,end apogee,CONTROL_FINISHED_OK
$STATE,4939,begin climb
$GC,4941,1.18,116.8,452.9,0.0,267,5054,1.40,2.42,100.65,0.815,4,0.037,0.033,3310,3078,2153,0,0,0,0,0,0
$GC,5205,1.01,116.8,439.7,8.3,272,5211,0.12,2.40,0.00,0.000,6,0.085,0.040,3273,1697,2148,0,0,0,0,0,0
$GC,5536,0.96,165.5,419.1,5.7,281,5585,0.00,2.47,41.97,0.800,4,0.000,0.032,3273,3085,1955,0,0,0,0,0,0
$GC,5647,0.91,179.1,412.0,7.3,283,5670,0.12,2.42,13.43,0.736,6,0.108,0.042,3249,1700,1899,0,0,0,0,0,0
$GC,5997,0.89,187.1,387.0,7.5,292,6009,0.00,2.58,7.25,0.654,4,0.000,0.059,3249,294,1867,0,0,0,0,0,0
$GC,6163,0.77,187.1,368.2,12.9,295,6168,0.15,2.35,0.00,0.000,6,0.107,0.027,3221,1698,1861,0,0,0,0,0,0
$GC,6504,0.82,198.4,339.8,7.4,304,6521,0.00,2.58,10.70,0.694,4,0.000,0.058,3220,301,1821,0,0,0,0,0,0
$GC,6637,0.84,211.3,330.0,7.3,306,6655,0.00,2.35,12.75,0.709,6,0.000,0.027,3220,1714,1768,0,0,0,0,0,0
$GC,6973,0.94,242.6,309.7,6.5,315,7010,0.15,2.60,28.95,0.743,4,0.064,0.055,3263,290,1638,0,0,0,0,0,0
$GC,7098,0.85,242.6,296.0,12.4,317,7103,0.12,2.35,0.00,0.000,6,0.110,0.027,3239,1702,1633,0,0,0,0,0,0
$GC,7415,0.89,242.6,268.8,8.0,332,7420,0.00,2.53,0.00,0.000,4,0.000,0.056,3239,291,1632,0,0,0,0,0,0
$GC,7524,0.85,242.6,258.2,10.0,336,7530,0.00,2.35,0.00,0.000,6,0.000,0.026,3239,1702,1630,0,0,0,0,0,0
$GC,7841,0.90,242.6,230.9,8.9,352,7845,0.00,2.47,0.00,0.000,4,0.000,0.054,3239,293,1630,0,0,0,0,0,0
$GC,7979,0.90,242.6,216.2,10.9,358,7983,0.00,2.33,0.00,0.000,6,0.000,0.025,3239,1707,1627,0,0,0,0,0,0
$GC,8300,0.98,254.0,188.6,7.4,378,8317,0.10,2.53,9.35,0.581,4,0.076,0.051,3273,291,1593,0,0,0,0,0,0
$GC,8407,0.89,254.0,177.1,10.9,385,8412,0.15,2.33,0.00,0.000,6,0.099,0.023,3243,1710,1591,0,0,0,0,0,0
$GC,8671,1.01,300.2,160.4,5.8,405,8717,0.12,2.58,40.50,0.624,4,0.066,0.051,3283,291,1406,0,0,0,0,0,0
$GC,8797,0.93,300.2,149.1,10.0,414,8801,0.15,2.30,0.00,0.000,6,0.094,0.022,3253,1700,1401,0,0,0,0,0,0
$GC,9057,1.06,331.4,133.2,6.5,434,9092,0.12,2.58,26.92,0.582,4,0.064,0.050,3293,293,1279,0,0,0,0,0,0
$GC,9182,0.96,331.4,119.4,13.0,443,9187,0.17,2.30,0.00,0.000,6,0.087,0.021,3258,1704,1274,0,0,0,0,0,0
$GC,9448,1.07,331.4,94.0,8.5,464,9453,0.10,2.47,0.00,0.000,4,0.074,0.050,3293,294,1274,0,0,0,0,0,0
$GC,9613,1.07,331.4,76.9,8.9,476,9617,0.00,2.25,0.00,0.000,6,0.000,0.020,3293,1714,1272,0,0,0,0,0,0
$GC,9876,1.11,331.4,55.9,8.8,496,9880,0.00,2.47,0.00,0.000,4,0.000,0.048,3293,293,1272,0,0,0,0,0,0
$GC,10017,1.11,331.4,40.9,9.8,506,10024,0.00,2.28,0.00,0.000,6,0.000,0.019,3293,1711,1271,0,0,0,0,0,0
$GC,10282,1.15,331.4,19.5,8.9,545,10288,0.00,2.50,0.00,0.000,4,0.000,0.047,3293,288,1272,0,0,0,0,0,0
$GC,10403,1.15,331.4,7.6,10.4,572,10409,0.00,2.25,0.00,0.000,6,0.000,0.018,3293,1707,1272,0,0,0,0,0,0
$STATE,10452,end climb,SURFACE_DEPTH_REACHED
$STATE,10452,begin surface coast
$FINISH,0.9,1.023110
$STATE,10486,end surface coast,CONTROL_FINISHED_OK
$STATE,10486,begin surface
$SM_CCo,10508,44.30,0.471,0,0,957,410.14
$SM_GC,1.50,0.00,0.00,44.30,0.000,0.000,0.471,429,1707,957,-12.06,0.20,410.14
$IRIDIUM_FIX,2054.83,-15749.62,171299,232344
$TT8_MAMPS,0.029146
$HUMID,56.61
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.4,45.313
$10V_AH,10.1,37.647
$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,30.325,119.450,388.625,44.300,0.000,23.409,29.005,144.966,4.500,0.000,12.789,1203.638,6763.247,463.532,1944.600,500.773,0.000,1350.630,0.000,1920.012,0.000,29.249,0.000
$DEVICE_MAMPS,133.458,59.059,831.428,470.938,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,397.144,378.903,837.876,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,31742,590
$CAP_FILE_SIZE,122335,0
$CFSIZE,260165632,186241024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230910,050106,2102.902,-15751.047,68,0.9,73,9.8