version: 66.06
glider: 139
mission: 8
dive: 516
start: 9 23 110 11 16 4
data:
$ID,139
$MISSION,8
$DIVE,516
$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,-2161882.2
$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
$GPS1,111002,2103.225,-15750.490,12,2.0,12,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-72.7
$GPS2,111544,2103.198,-15750.535,14,1.9,14,9.8
$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,60.0,14024,-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,-64.25,0.000,2,0.000,0.000,425,1707,2761,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.7,-4.1,12,110,12.60,2.35,-6.22,0.000,4,0.131,0.033,2784,3119,3107,0,0,0,0,0,0
$GC,161,-1.08,-116.8,23.5,-17.3,27,168,0.10,2.45,0.00,0.000,6,0.079,0.034,2808,1697,3109,0,0,0,0,0,0
$GC,365,-0.93,-116.8,55.7,-14.6,48,370,0.17,2.42,0.00,0.000,4,0.092,0.046,2845,293,3109,0,0,0,0,0,0
$GC,406,-0.79,-116.8,61.1,-13.3,51,411,0.15,2.30,0.00,0.000,6,0.094,0.018,2876,1737,3110,0,0,0,0,0,0
$GC,673,-0.84,-116.8,87.0,-9.5,72,677,0.00,2.47,0.00,0.000,4,0.000,0.044,2876,293,3111,0,0,0,0,0,0
$GC,726,-0.87,-116.8,92.6,-10.1,76,730,0.00,2.25,0.00,0.000,6,0.000,0.018,2876,1712,3111,0,0,0,0,0,0
$GC,993,-0.97,-116.8,113.4,-7.0,97,998,0.17,2.45,0.00,0.000,4,0.048,0.045,2816,294,3112,0,0,0,0,0,0
$GC,1050,-0.91,-116.8,119.1,-10.4,101,1055,0.15,2.20,0.00,0.000,6,0.087,0.018,2848,1703,3112,0,0,0,0,0,0
$GC,1310,-0.97,-116.8,142.9,-8.9,121,1314,0.00,2.42,0.00,0.000,4,0.000,0.044,2848,294,3112,0,0,0,0,0,0
$GC,1391,-0.97,-116.8,150.8,-9.7,127,1395,0.00,2.20,0.00,0.000,6,0.000,0.018,2848,1697,3113,0,0,0,0,0,0
$GC,1656,-1.03,-116.8,173.9,-8.2,148,1660,0.00,2.40,0.00,0.000,4,0.000,0.046,2848,294,3113,0,0,0,0,0,0
$GC,1688,-1.03,-116.8,177.0,-9.1,150,1695,0.08,2.25,0.00,0.000,6,0.036,0.019,2809,1701,3113,0,0,0,0,0,0
$GC,1959,-1.03,-116.8,202.9,-8.9,171,1963,0.00,2.45,0.00,0.000,4,0.000,0.047,2809,287,3113,0,0,0,0,0,0
$GC,2019,-0.96,-116.8,209.2,-10.0,173,2025,0.15,2.25,0.00,0.000,6,0.087,0.019,2842,1695,3112,0,0,0,0,0,0
$GC,2339,-1.02,-116.8,232.9,-7.8,189,2344,0.00,2.40,0.00,0.000,4,0.000,0.047,2842,294,3112,0,0,0,0,0,0
$GC,2384,-1.07,-116.8,236.8,-8.3,191,2389,0.12,2.22,0.00,0.000,6,0.062,0.020,2798,1703,3112,0,0,0,0,0,0
$GC,2719,-1.07,-116.8,267.8,-9.0,207,2724,0.00,2.45,0.00,0.000,4,0.000,0.048,2798,293,3112,0,0,0,0,0,0
$GC,2757,-1.00,-116.8,272.3,-10.6,208,2764,0.12,2.28,0.00,0.000,6,0.066,0.021,2831,1692,3112,0,0,0,0,0,0
$GC,3076,-1.06,-116.8,298.0,-8.7,224,3080,0.00,2.42,0.00,0.000,4,0.000,0.049,2831,295,3111,0,0,0,0,0,0
$GC,3131,-1.11,-116.8,303.4,-9.8,226,3136,0.12,2.28,0.00,0.000,6,0.063,0.021,2788,1708,3111,0,0,0,0,0,0
$GC,3445,-1.08,-116.8,337.3,-10.7,234,3447,0.12,0.00,0.00,0.000,6,0.092,0.000,2816,1712,3110,0,0,0,0,0,0
$GC,3772,-1.13,-116.8,357.1,-4.0,242,3776,0.00,2.47,0.00,0.000,4,0.000,0.054,2815,289,3108,0,0,0,0,0,0
$GC,3805,-1.09,-116.8,359.8,-8.1,242,3810,0.00,2.25,0.00,0.000,6,0.000,0.024,2815,1691,3108,0,0,0,0,0,0
$GC,4143,-1.14,-116.8,383.0,-8.3,251,4147,0.00,2.45,0.00,0.000,4,0.000,0.054,2815,292,3106,0,0,0,0,0,0
$GC,4241,-1.18,-116.8,392.9,-9.7,253,4245,0.00,2.30,0.00,0.000,6,0.000,0.024,2815,1705,3106,0,0,0,0,0,0
$GC,4565,-1.23,-116.8,423.6,-9.3,261,4570,0.15,2.50,0.00,0.000,4,0.058,0.056,2768,289,3103,0,0,0,0,0,0
$GC,4603,-1.13,-116.8,427.8,-11.1,261,4609,0.17,2.33,0.00,0.000,6,0.087,0.025,2805,1705,3102,0,0,0,0,0,0
$STATE,4891,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4891,begin apogee
$GC,4897,-0.31,0.0,453.6,8.9,269,4996,0.80,0.00,95.65,0.837,6,0.064,0.000,2979,1709,2630,0,0,0,0,0,0
$STATE,4997,end apogee,CONTROL_FINISHED_OK
$STATE,4997,begin climb
$GC,5001,1.18,116.8,457.0,0.0,271,5113,1.42,2.40,100.57,0.819,4,0.038,0.033,3309,3082,2152,0,0,0,0,0,0
$GC,5272,1.02,123.4,447.7,7.6,277,5285,0.17,2.40,6.50,0.630,6,0.104,0.041,3275,1700,2125,0,0,0,0,0,0
$GC,5601,0.90,123.4,421.6,8.3,285,5603,0.15,0.00,0.00,0.000,6,0.107,0.000,3246,1699,2119,0,0,0,0,0,0
$GC,5926,0.89,159.1,400.5,6.3,293,5962,0.00,2.42,31.12,0.794,4,0.000,0.033,3245,3083,1981,0,0,0,0,0,0
$GC,6046,0.91,173.8,392.6,7.2,295,6066,0.00,2.42,14.62,0.746,6,0.000,0.041,3246,1698,1920,0,0,0,0,0,0
$GC,6394,0.88,173.8,365.9,8.2,304,6398,0.00,2.50,0.00,0.000,4,0.000,0.058,3245,287,1914,0,0,0,0,0,0
$GC,6464,0.77,173.8,357.0,11.6,305,6469,0.15,2.38,0.00,0.000,6,0.107,0.027,3217,1707,1910,0,0,0,0,0,0
$GC,6807,0.81,173.8,326.6,8.0,314,6811,0.00,2.50,0.00,0.000,4,0.000,0.056,3217,293,1909,0,0,0,0,0,0
$GC,6882,0.82,181.3,320.9,7.6,315,6896,0.00,2.33,5.97,0.601,6,0.000,0.027,3217,1708,1889,0,0,0,0,0,0
$GC,7222,0.93,226.9,301.6,5.8,324,7272,0.15,2.62,41.35,0.751,4,0.063,0.056,3259,292,1704,0,0,0,0,0,0
$GC,7334,0.82,226.9,290.5,11.7,328,7339,0.15,2.35,0.00,0.000,6,0.105,0.027,3231,1701,1700,0,0,0,0,0,0
$GC,7667,0.87,226.9,261.8,8.4,344,7671,0.00,2.50,0.00,0.000,4,0.000,0.055,3230,291,1698,0,0,0,0,0,0
$GC,7751,0.87,226.9,254.0,9.3,347,7756,0.00,2.35,0.00,0.000,6,0.000,0.026,3230,1705,1695,0,0,0,0,0,0
$GC,8069,0.93,226.9,227.1,8.5,363,8073,0.00,2.50,0.00,0.000,4,0.000,0.054,3230,289,1694,0,0,0,0,0,0
$GC,8260,0.94,239.0,210.7,7.3,371,8277,0.10,2.30,10.00,0.611,6,0.080,0.025,3260,1711,1655,0,0,0,0,0,0
$GC,8600,0.95,247.3,187.8,7.5,393,8614,0.00,2.53,8.82,0.577,4,0.000,0.051,3260,294,1620,0,0,0,0,0,0
$GC,8718,0.88,247.3,177.5,9.0,401,8722,0.00,2.30,0.00,0.000,6,0.000,0.024,3260,1700,1617,0,0,0,0,0,0
$GC,8981,0.88,247.3,156.0,8.1,422,8985,0.00,2.47,0.00,0.000,4,0.000,0.051,3260,285,1616,0,0,0,0,0,0
$GC,9033,0.82,247.3,151.2,10.3,426,9038,0.15,2.30,0.00,0.000,6,0.100,0.023,3231,1711,1615,0,0,0,0,0,0
$GC,9301,0.92,247.3,130.5,8.9,447,9305,0.00,2.50,0.00,0.000,4,0.000,0.049,3230,286,1615,0,0,0,0,0,0
$GC,9439,0.98,247.3,116.8,10.3,457,9444,0.15,2.28,0.00,0.000,6,0.061,0.021,3279,1711,1615,0,0,0,0,0,0
$GC,9705,1.08,293.2,95.6,5.8,478,9752,0.00,2.55,39.90,0.566,4,0.000,0.048,3279,292,1432,0,0,0,0,0,0
$GC,9844,1.09,298.9,85.1,7.6,488,9856,0.00,2.28,5.43,0.421,6,0.000,0.020,3279,1703,1410,0,0,0,0,0,0
$GC,10113,1.22,345.0,71.2,5.8,509,10159,0.15,2.53,39.67,0.535,4,0.055,0.050,3328,294,1222,0,0,0,0,0,0
$GC,10250,1.11,345.0,55.4,14.7,519,10255,0.17,2.28,0.00,0.000,6,0.087,0.019,3292,1712,1218,0,0,0,0,0,0
$GC,10518,1.16,345.0,31.2,9.7,540,10522,0.00,2.50,0.00,0.000,4,0.000,0.047,3292,285,1217,0,0,0,0,0,0
$GC,10648,1.13,345.0,16.8,10.1,568,10655,0.00,2.28,0.00,0.000,6,0.000,0.018,3292,1692,1215,0,0,0,0,0,0
$STATE,10810,end climb,SURFACE_DEPTH_REACHED
$STATE,10810,begin surface coast
$FINISH,0.9,1.014426
$STATE,10841,end surface coast,CONTROL_FINISHED_OK
$STATE,10841,begin surface
$SM_CCo,10863,37.92,0.470,0,0,957,410.14
$SM_GC,1.81,0.00,0.00,37.92,0.000,0.000,0.470,426,1698,957,-12.07,-0.06,410.14
$IRIDIUM_FIX,2052.52,-15749.62,181299,080845
$TT8_MAMPS,0.029146
$HUMID,56.93
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.4,45.620
$10V_AH,10.2,37.892
$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,30.400,123.975,399.625,37.925,0.000,26.344,30.031,156.601,4.500,0.000,14.657,1228.548,7078.578,468.689,1956.929,509.796,0.000,1357.348,0.000,1928.394,0.000,29.262,0.000
$DEVICE_MAMPS,131.157,57.525,836.797,470.171,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,411.651,390.056,867.442,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,35020,612
$CAP_FILE_SIZE,123908,0
$CFSIZE,260165632,186052608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230910,141907,2102.961,-15751.043,42,0.9,42,9.8