version: 66.06
glider: 139
mission: 8
dive: 515
start: 9 23 110 8 6 58
data:
$ID,139
$MISSION,8
$DIVE,515
$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,-2161866.8
$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
$GPS1,080055,2103.094,-15750.614,40,1.6,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-71.9
$GPS2,080638,2103.093,-15750.642,13,1.5,13,9.8
$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,59.5,14265,-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,-64.47,0.000,2,0.000,0.000,425,1708,2762,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.6,-3.9,12,110,12.65,2.45,-6.30,0.000,4,0.133,0.054,2784,294,3109,0,0,0,0,0,0
$GC,140,-0.57,-116.8,20.8,-28.6,22,147,0.60,2.35,0.00,0.000,6,0.077,0.019,2922,1737,3110,0,0,0,0,0,0
$GC,343,-0.67,-116.8,41.2,-9.2,48,348,0.00,2.47,0.00,0.000,4,0.000,0.045,2922,295,3112,0,0,0,0,0,0
$GC,399,-0.76,-116.8,47.3,-10.3,52,404,0.17,2.22,0.00,0.000,6,0.050,0.018,2865,1714,3112,0,0,0,0,0,0
$GC,658,-0.76,-116.8,77.3,-10.7,72,662,0.00,2.45,0.00,0.000,4,0.000,0.045,2865,289,3112,0,0,0,0,0,0
$GC,719,-0.71,-116.8,84.4,-11.7,76,726,0.10,2.25,0.00,0.000,6,0.068,0.018,2891,1698,3112,0,0,0,0,0,0
$GC,981,-0.81,-116.8,103.7,-6.5,97,985,0.00,2.42,0.00,0.000,4,0.000,0.044,2891,295,3113,0,0,0,0,0,0
$GC,1023,-0.91,-116.8,107.0,-7.3,100,1028,0.17,2.20,0.00,0.000,6,0.048,0.018,2831,1706,3113,0,0,0,0,0,0
$GC,1284,-0.91,-116.8,131.9,-10.4,120,1289,0.10,2.45,0.00,0.000,4,0.103,0.046,2853,288,3114,0,0,0,0,0,0
$GC,1324,-0.91,-116.8,136.2,-10.2,123,1328,0.00,2.20,0.00,0.000,6,0.000,0.018,2854,1700,3114,0,0,0,0,0,0
$GC,1590,-0.97,-116.8,158.8,-8.6,144,1594,0.00,2.40,0.00,0.000,4,0.000,0.045,2853,295,3114,0,0,0,0,0,0
$GC,1641,-1.00,-116.8,163.6,-8.9,147,1647,0.00,2.22,0.00,0.000,6,0.000,0.018,2853,1704,3114,0,0,0,0,0,0
$GC,1903,-1.07,-116.8,179.6,-5.5,168,1908,0.17,2.42,0.00,0.000,4,0.049,0.046,2794,294,3114,0,0,0,0,0,0
$GC,1946,-0.98,-116.8,183.2,-8.7,171,1951,0.20,2.22,0.00,0.000,6,0.083,0.019,2837,1694,3114,0,0,0,0,0,0
$GC,2210,-1.02,-116.8,199.9,-6.7,191,2217,0.00,2.40,0.00,0.000,4,0.000,0.046,2837,286,3114,0,0,0,0,0,0
$GC,2284,-1.02,-116.8,205.7,-7.9,195,2288,0.00,2.25,0.00,0.000,6,0.000,0.019,2837,1700,3114,0,0,0,0,0,0
$GC,2617,-1.09,-116.8,231.4,-8.2,211,2622,0.12,2.42,0.00,0.000,4,0.062,0.048,2792,295,3114,0,0,0,0,0,0
$GC,2692,-1.00,-116.8,239.8,-11.0,214,2697,0.20,2.25,0.00,0.000,6,0.082,0.020,2834,1706,3114,0,0,0,0,0,0
$GC,3021,-1.06,-116.8,267.1,-7.5,230,3026,0.00,2.42,0.00,0.000,4,0.000,0.048,2834,293,3113,0,0,0,0,0,0
$GC,3090,-1.12,-116.8,273.4,-8.9,233,3095,0.12,2.22,0.00,0.000,6,0.062,0.021,2791,1703,3113,0,0,0,0,0,0
$GC,3439,-1.12,-116.8,304.6,-8.4,249,3443,0.00,2.42,0.00,0.000,4,0.000,0.049,2791,296,3113,0,0,0,0,0,0
$GC,3495,-1.06,-116.8,309.6,-8.5,250,3499,0.12,2.25,0.00,0.000,6,0.094,0.021,2819,1697,3112,0,0,0,0,0,0
$GC,3815,-1.11,-116.8,330.2,-6.2,258,3819,0.00,2.30,0.00,0.000,4,0.000,0.028,2819,3082,3111,0,0,0,0,0,0
$GC,3830,-1.18,-116.8,331.3,-6.3,258,3835,0.12,2.35,0.00,0.000,6,0.061,0.035,2772,1690,3111,0,0,0,0,0,0
$GC,4183,-1.13,-116.8,363.0,-9.9,267,4188,0.15,2.45,0.00,0.000,4,0.088,0.054,2805,296,3109,0,0,0,0,0,0
$GC,4276,-1.13,-116.8,370.8,-7.3,269,4280,0.00,2.25,0.00,0.000,6,0.000,0.024,2805,1698,3108,0,0,0,0,0,0
$GC,4604,-1.17,-116.8,393.3,-6.8,277,4608,0.00,2.45,0.00,0.000,4,0.000,0.054,2805,293,3106,0,0,0,0,0,0
$GC,4656,-1.17,-116.8,397.5,-8.2,278,4660,0.00,2.30,0.00,0.000,6,0.000,0.025,2805,1702,3106,0,0,0,0,0,0
$GC,4976,-1.21,-116.8,420.9,-7.2,286,4980,0.00,2.47,0.00,0.000,4,0.000,0.057,2805,289,3103,0,0,0,0,0,0
$GC,5033,-1.21,-116.8,425.9,-8.5,287,5037,0.00,2.30,0.00,0.000,6,0.000,0.025,2805,1703,3103,0,0,0,0,0,0
$STATE,5344,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5344,begin apogee
$GC,5350,-0.31,0.0,450.5,7.9,295,5449,0.80,0.00,95.90,0.841,6,0.065,0.000,2979,1708,2630,0,0,0,0,0,0
$STATE,5450,end apogee,CONTROL_FINISHED_OK
$STATE,5450,begin climb
$GC,5452,1.18,116.8,452.6,0.0,297,5565,1.42,2.42,100.47,0.822,4,0.038,0.033,3309,3078,2152,0,0,0,0,0,0
$GC,5693,1.03,133.9,445.2,7.1,302,5714,0.17,2.42,15.57,0.754,6,0.101,0.041,3275,1695,2083,0,0,0,0,0,0
$GC,6042,0.93,157.0,420.6,6.9,310,6070,0.12,2.40,20.77,0.778,4,0.112,0.031,3252,3083,1988,0,0,0,0,0,0
$GC,6082,0.94,205.4,418.0,5.7,310,6131,0.00,2.42,43.62,0.800,6,0.000,0.041,3252,1693,1792,0,0,0,0,0,0
$GC,6459,0.89,205.4,384.1,9.5,320,6463,0.00,2.50,0.00,0.000,4,0.000,0.058,3251,296,1784,0,0,0,0,0,0
$GC,6578,0.77,205.4,370.7,11.4,322,6583,0.15,2.33,0.00,0.000,6,0.110,0.028,3222,1704,1780,0,0,0,0,0,0
$GC,6921,0.81,205.4,341.7,8.1,331,6925,0.00,2.53,0.00,0.000,4,0.000,0.058,3222,287,1778,0,0,0,0,0,0
$GC,7005,0.81,205.4,332.8,11.3,332,7011,0.00,2.35,0.00,0.000,6,0.000,0.028,3222,1700,1776,0,0,0,0,0,0
$GC,7337,0.87,221.4,304.7,7.2,341,7357,0.00,2.55,12.77,0.706,4,0.000,0.056,3221,287,1726,0,0,0,0,0,0
$GC,7460,0.87,221.4,295.0,8.4,344,7464,0.00,2.35,0.00,0.000,6,0.000,0.027,3222,1704,1722,0,0,0,0,0,0
$GC,7785,0.99,263.6,272.7,6.0,360,7830,0.20,2.58,37.60,0.732,4,0.054,0.054,3276,296,1554,0,0,0,0,0,0
$GC,7905,0.87,263.6,260.4,10.9,365,7911,0.17,2.33,0.00,0.000,6,0.097,0.026,3241,1701,1549,0,0,0,0,0,0
$GC,8234,0.91,263.6,232.1,8.0,381,8239,0.00,2.53,0.00,0.000,4,0.000,0.055,3241,289,1547,0,0,0,0,0,0
$GC,8389,0.91,263.6,217.7,9.0,387,8394,0.00,2.33,0.00,0.000,6,0.000,0.025,3241,1711,1544,0,0,0,0,0,0
$GC,8710,0.95,263.6,192.1,9.2,406,8715,0.00,2.53,0.00,0.000,4,0.000,0.053,3241,287,1544,0,0,0,0,0,0
$GC,8834,0.95,263.6,179.0,11.6,415,8839,0.00,2.30,0.00,0.000,6,0.000,0.024,3241,1708,1543,0,0,0,0,0,0
$GC,9100,1.01,263.6,154.9,8.7,436,9105,0.12,2.50,0.00,0.000,4,0.066,0.051,3282,286,1542,0,0,0,0,0,0
$GC,9204,0.92,263.6,142.4,13.5,443,9210,0.15,2.30,0.00,0.000,6,0.096,0.022,3252,1703,1542,0,0,0,0,0,0
$GC,9465,1.02,286.7,119.1,6.9,464,9493,0.00,2.53,19.15,0.577,4,0.000,0.048,3251,291,1459,0,0,0,0,0,0
$GC,9593,1.07,301.9,109.9,7.2,473,9614,0.15,2.28,13.95,0.547,6,0.058,0.021,3299,1713,1399,0,0,0,0,0,0
$GC,9874,1.07,301.9,85.6,8.9,495,9878,0.00,2.50,0.00,0.000,4,0.000,0.048,3299,285,1397,0,0,0,0,0,0
$GC,9921,1.04,301.9,81.1,9.0,498,9928,0.08,2.30,0.00,0.000,6,0.075,0.021,3279,1701,1395,0,0,0,0,0,0
$GC,10184,1.12,301.9,61.2,8.0,519,10188,0.00,2.45,0.00,0.000,4,0.000,0.048,3279,289,1395,0,0,0,0,0,0
$GC,10317,1.12,301.9,49.0,9.0,529,10322,0.00,2.25,0.00,0.000,6,0.000,0.019,3278,1708,1394,0,0,0,0,0,0
$GC,10585,1.24,333.7,30.6,6.5,550,10623,0.17,2.55,27.70,0.495,4,0.050,0.046,3336,290,1268,0,0,0,0,0,0
$GC,10688,1.08,333.7,18.1,13.5,569,10695,0.22,2.28,0.00,0.000,6,0.067,0.019,3284,1701,1265,0,0,0,0,0,0
$STATE,10835,end climb,SURFACE_DEPTH_REACHED
$STATE,10835,begin surface coast
$FINISH,0.9,1.021504
$STATE,10866,end surface coast,CONTROL_FINISHED_OK
$STATE,10866,begin surface
$SM_CCo,10888,43.50,0.472,0,0,957,410.14
$SM_GC,1.67,0.00,0.00,43.50,0.000,0.000,0.472,425,1707,957,-12.07,0.20,410.14
$IRIDIUM_FIX,2054.83,-15749.62,181299,050554
$TT8_MAMPS,0.029146
$HUMID,57.24
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.4,45.519
$10V_AH,10.1,37.810
$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,31.225,133.050,387.525,43.500,0.000,29.523,29.465,154.649,4.500,0.000,13.778,1231.857,7045.282,473.874,1998.001,524.711,0.000,1387.736,0.000,1970.665,0.000,29.268,0.000
$DEVICE_MAMPS,132.691,58.292,840.632,471.705,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,409.470,390.401,870.338,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,34953,609
$CAP_FILE_SIZE,127527,0
$CFSIZE,260165632,186109952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230910,111002,2103.225,-15750.490,12,2.0,12,9.8