version: 66.06
glider: 139
mission: 8
dive: 517
start: 9 23 110 14 25 16
data:
$ID,139
$MISSION,8
$DIVE,517
$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,-2161900.5
$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
$GPS1,141907,2102.961,-15751.043,42,0.9,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-70.6
$GPS2,142456,2102.933,-15751.115,17,1.2,17,9.8
$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,59.6,15135,-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,-64.05,0.000,2,0.000,0.000,426,1699,2743,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.5,-3.9,12,110,12.62,2.42,-6.75,0.000,4,0.132,0.036,2785,3117,3109,0,0,0,0,0,0
$GC,140,-0.68,-116.8,19.2,-26.3,22,147,0.47,2.42,0.00,0.000,6,0.070,0.032,2900,1699,3111,0,0,0,0,0,0
$GC,341,-0.72,-116.8,41.6,-9.6,50,346,0.00,2.40,0.00,0.000,4,0.000,0.045,2900,295,3112,0,0,0,0,0,0
$GC,424,-0.72,-116.8,50.8,-10.2,56,428,0.00,2.33,0.00,0.000,6,0.000,0.018,2900,1740,3113,0,0,0,0,0,0
$GC,684,-0.78,-116.8,73.1,-8.4,76,688,0.00,2.47,0.00,0.000,4,0.000,0.044,2900,294,3113,0,0,0,0,0,0
$GC,753,-0.85,-116.8,79.9,-9.5,81,758,0.17,2.25,0.00,0.000,6,0.048,0.018,2841,1717,3113,0,0,0,0,0,0
$GC,1016,-0.85,-116.8,107.3,-8.6,101,1020,0.10,2.20,0.00,0.000,4,0.100,0.022,2864,3067,3114,0,0,0,0,0,0
$GC,1036,-0.91,-116.8,109.2,-7.6,102,1043,0.00,2.33,0.00,0.000,6,0.000,0.030,2864,1694,3114,0,0,0,0,0,0
$GC,1299,-0.98,-116.8,129.5,-8.9,123,1304,0.12,2.42,0.00,0.000,4,0.061,0.045,2817,290,3114,0,0,0,0,0,0
$GC,1381,-0.93,-116.8,138.3,-9.6,129,1386,0.15,2.22,0.00,0.000,6,0.087,0.018,2849,1702,3114,0,0,0,0,0,0
$GC,1652,-0.98,-116.8,159.0,-7.0,150,1656,0.00,2.40,0.00,0.000,4,0.000,0.045,2849,299,3115,0,0,0,0,0,0
$GC,1695,-1.02,-116.8,162.1,-6.6,153,1699,0.00,2.20,0.00,0.000,6,0.000,0.018,2849,1703,3115,0,0,0,0,0,0
$GC,1960,-1.08,-116.8,181.3,-8.2,174,1965,0.15,2.42,0.00,0.000,4,0.054,0.046,2796,296,3115,0,0,0,0,0,0
$GC,2016,-1.00,-116.8,187.8,-11.7,178,2021,0.15,2.20,0.00,0.000,6,0.088,0.019,2828,1694,3115,0,0,0,0,0,0
$GC,2273,-1.00,-116.8,211.6,-8.9,194,2274,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1700,3115,0,0,0,0,0,0
$GC,2583,-1.04,-116.8,236.9,-7.9,209,2587,0.00,2.42,0.00,0.000,4,0.000,0.048,2829,296,3115,0,0,0,0,0,0
$GC,2640,-1.09,-116.8,242.0,-8.4,211,2644,0.00,2.22,0.00,0.000,6,0.000,0.020,2829,1700,3115,0,0,0,0,0,0
$GC,2956,-1.14,-116.8,271.4,-10.5,226,2961,0.12,2.42,0.00,0.000,4,0.062,0.049,2784,299,3114,0,0,0,0,0,0
$GC,3027,-1.07,-116.8,280.1,-13.8,229,3032,0.15,2.22,0.00,0.000,6,0.090,0.021,2816,1701,3114,0,0,0,0,0,0
$GC,3375,-1.07,-116.8,315.9,-9.1,242,3379,0.00,2.42,0.00,0.000,4,0.000,0.049,2816,298,3113,0,0,0,0,0,0
$GC,3478,-1.07,-116.8,325.3,-9.3,244,3482,0.00,2.25,0.00,0.000,6,0.000,0.021,2816,1708,3113,0,0,0,0,0,0
$GC,3792,-1.11,-116.8,348.8,-7.5,252,3796,0.00,2.47,0.00,0.000,4,0.000,0.051,2816,292,3111,0,0,0,0,0,0
$GC,3844,-1.11,-116.8,353.1,-8.2,253,3848,0.00,2.28,0.00,0.000,6,0.000,0.022,2816,1700,3111,0,0,0,0,0,0
$GC,4164,-1.15,-116.8,374.2,-6.3,261,4168,0.00,2.28,0.00,0.000,4,0.000,0.028,2816,3078,3109,0,0,0,0,0,0
$GC,4184,-1.24,-116.8,375.5,-6.1,261,4189,0.17,2.35,0.00,0.000,6,0.050,0.036,2759,1698,3108,0,0,0,0,0,0
$GC,4533,-1.16,-116.8,407.3,-9.9,270,4537,0.17,2.45,0.00,0.000,4,0.086,0.054,2796,292,3106,0,0,0,0,0,0
$GC,4561,-1.16,-116.8,410.9,-10.6,270,4565,0.00,2.28,0.00,0.000,6,0.000,0.024,2796,1696,3107,0,0,0,0,0,0
$GC,4902,-1.16,-116.8,444.5,-10.4,279,4907,0.00,2.45,0.00,0.000,4,0.000,0.054,2796,293,3104,0,0,0,0,0,0
$STATE,4951,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4951,begin apogee
$GC,4960,-0.31,0.0,450.1,10.0,280,5059,0.82,0.00,95.78,0.827,6,0.067,0.000,2978,1707,2630,0,0,0,0,0,0
$STATE,5060,end apogee,CONTROL_FINISHED_OK
$STATE,5060,begin climb
$GC,5063,1.18,116.8,453.8,0.0,282,5176,1.42,2.42,100.43,0.812,4,0.037,0.031,3310,3080,2152,0,0,0,0,0,0
$GC,5271,1.01,116.8,447.3,9.1,286,5276,0.20,2.42,0.00,0.000,6,0.097,0.041,3271,1699,2149,0,0,0,0,0,0
$GC,5610,0.91,134.0,421.9,7.1,295,5630,0.10,2.58,14.70,0.746,4,0.117,0.057,3251,300,2083,0,0,0,0,0,0
$GC,5675,0.76,134.0,416.8,8.5,296,5680,0.17,2.33,0.00,0.000,6,0.104,0.026,3218,1704,2078,0,0,0,0,0,0
$GC,6026,0.82,181.6,395.5,5.7,305,6075,0.00,2.42,42.35,0.797,4,0.000,0.032,3218,3078,1889,0,0,0,0,0,0
$GC,6087,0.90,196.1,391.3,7.2,306,6108,0.12,2.40,14.50,0.731,6,0.067,0.041,3255,1698,1830,0,0,0,0,0,0
$GC,6443,0.85,196.1,360.8,8.2,315,6447,0.00,2.50,0.00,0.000,4,0.000,0.058,3255,289,1822,0,0,0,0,0,0
$GC,6634,0.73,196.1,340.3,11.4,319,6640,0.22,2.35,0.00,0.000,6,0.095,0.026,3211,1705,1817,0,0,0,0,0,0
$GC,6954,0.82,206.9,315.9,7.4,327,6970,0.00,2.53,8.68,0.660,4,0.000,0.054,3210,293,1785,0,0,0,0,0,0
$GC,7022,0.82,206.9,310.2,8.5,328,7027,0.00,2.33,0.00,0.000,6,0.000,0.027,3210,1703,1782,0,0,0,0,0,0
$GC,7356,0.93,222.9,284.7,7.2,341,7379,0.17,2.58,15.18,0.696,4,0.058,0.055,3259,291,1720,0,0,0,0,0,0
$GC,7488,0.84,222.9,271.7,10.5,346,7493,0.15,2.33,0.00,0.000,6,0.102,0.025,3230,1699,1715,0,0,0,0,0,0
$GC,7806,0.89,224.3,248.4,7.8,361,7810,0.00,2.47,0.00,0.000,4,0.000,0.054,3230,293,1715,0,0,0,0,0,0
$GC,7967,0.89,224.3,234.4,9.4,368,7971,0.00,2.33,0.00,0.000,6,0.000,0.025,3230,1707,1712,0,0,0,0,0,0
$GC,8297,0.97,244.6,210.0,7.0,384,8323,0.12,2.58,19.17,0.647,4,0.067,0.052,3268,298,1632,0,0,0,0,0,0
$GC,8450,0.88,244.6,195.8,8.9,392,8455,0.15,2.30,0.00,0.000,6,0.097,0.024,3239,1713,1627,0,0,0,0,0,0
$GC,8719,0.94,250.5,176.5,7.6,413,8733,0.00,2.55,6.07,0.505,4,0.000,0.051,3238,298,1608,0,0,0,0,0,0
$GC,8849,0.94,250.5,164.6,8.5,422,8853,0.00,2.30,0.00,0.000,6,0.000,0.022,3239,1710,1605,0,0,0,0,0,0
$GC,9111,1.04,274.3,145.4,6.8,442,9139,0.17,2.55,21.90,0.591,4,0.052,0.049,3292,291,1510,0,0,0,0,0,0
$GC,9306,0.94,274.3,123.1,12.8,456,9311,0.17,2.28,0.00,0.000,6,0.088,0.021,3255,1711,1505,0,0,0,0,0,0
$GC,9574,1.07,317.8,104.8,5.9,477,9618,0.12,2.53,37.47,0.567,4,0.064,0.048,3299,293,1333,0,0,0,0,0,0
$GC,9725,1.01,317.8,90.1,10.0,488,9730,0.15,2.25,0.00,0.000,6,0.088,0.020,3267,1701,1328,0,0,0,0,0,0
$GC,9988,1.12,317.8,70.1,8.3,508,9993,0.12,2.50,0.00,0.000,4,0.061,0.049,3311,288,1328,0,0,0,0,0,0
$GC,10062,1.04,317.8,61.3,11.5,513,10069,0.12,2.30,0.00,0.000,6,0.067,0.020,3280,1707,1326,0,0,0,0,0,0
$GC,10325,1.13,325.3,41.8,7.6,534,10340,0.00,2.53,6.68,0.416,4,0.000,0.048,3279,293,1304,0,0,0,0,0,0
$GC,10400,1.13,325.3,34.6,9.0,539,10404,0.00,2.22,0.00,0.000,6,0.000,0.019,3280,1706,1301,0,0,0,0,0,0
$GC,10663,1.22,325.3,13.6,9.5,589,10670,0.15,2.50,0.00,0.000,4,0.054,0.047,3332,294,1301,0,0,0,0,0,0
$STATE,10758,end climb,SURFACE_DEPTH_REACHED
$STATE,10758,begin surface coast
$FINISH,1.0,1.023152
$STATE,10785,end surface coast,CONTROL_FINISHED_OK
$STATE,10785,begin surface
$SM_CCo,10811,48.22,0.471,0,0,957,410.14
$SM_GC,1.60,0.00,0.00,48.22,0.000,0.000,0.471,428,1707,957,-12.06,0.17,410.14
$IRIDIUM_FIX,2057.14,-15751.76,181299,111150
$TT8_MAMPS,0.028379
$HUMID,56.22
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.4,45.720
$10V_AH,10.2,37.977
$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,31.725,133.200,382.900,48.225,0.000,30.545,28.330,159.143,4.500,0.000,17.496,1261.513,6912.213,461.108,2051.926,519.883,0.000,1388.737,0.000,2019.019,0.000,29.254,0.000
$DEVICE_MAMPS,131.924,58.292,826.826,470.938,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,414.763,395.693,900.341,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,34976,616
$CAP_FILE_SIZE,129324,0
$CFSIZE,260165632,185987072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230910,172728,2102.805,-15751.390,14,2.4,33,9.8