version: 66.06
glider: 139
mission: 8
dive: 519
start: 9 23 110 20 40 37
data:
$ID,139
$MISSION,8
$DIVE,519
$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,-2161937.8
$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
$GPS1,203306,2102.973,-15751.038,42,1.3,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-70.9
$GPS2,204019,2102.942,-15751.087,14,1.4,19,9.8
$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,59.6,15084,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.18,-116.8,0.0,0.0,0,85,0.00,0.00,-64.40,0.000,2,0.000,0.000,426,1714,2758,0,0,0,0,0,0
$GC,89,-1.18,-116.8,3.5,-3.9,12,113,12.57,0.00,-6.38,0.000,6,0.130,0.000,2785,1717,3109,0,0,0,0,0,0
$GC,315,-0.95,-116.8,51.5,-19.2,45,320,0.25,2.45,0.00,0.000,4,0.090,0.046,2840,295,3111,0,0,0,0,0,0
$GC,343,-0.73,-116.8,56.7,-18.9,47,349,0.22,2.30,0.00,0.000,6,0.085,0.018,2887,1738,3112,0,0,0,0,0,0
$GC,609,-0.78,-116.8,87.6,-11.1,68,614,0.00,2.50,0.00,0.000,4,0.000,0.045,2887,294,3112,0,0,0,0,0,0
$GC,705,-0.84,-116.8,98.0,-10.4,75,710,0.00,2.22,0.00,0.000,6,0.000,0.018,2887,1713,3112,0,0,0,0,0,0
$GC,971,-0.94,-116.8,119.6,-7.3,96,976,0.20,2.45,0.00,0.000,4,0.045,0.044,2823,290,3113,0,0,0,0,0,0
$GC,1056,-0.89,-116.8,130.4,-12.9,102,1061,0.15,2.20,0.00,0.000,6,0.086,0.018,2855,1698,3113,0,0,0,0,0,0
$GC,1324,-0.95,-116.8,153.8,-7.7,123,1328,0.00,2.40,0.00,0.000,4,0.000,0.044,2855,292,3113,0,0,0,0,0,0
$GC,1350,-0.99,-116.8,156.0,-8.4,125,1354,0.00,2.20,0.00,0.000,6,0.000,0.018,2855,1705,3113,0,0,0,0,0,0
$GC,1616,-1.06,-116.8,172.0,-5.8,146,1621,0.17,2.45,0.00,0.000,4,0.049,0.046,2797,294,3113,0,0,0,0,0,0
$GC,1714,-0.96,-116.8,182.3,-11.5,153,1719,0.20,2.22,0.00,0.000,6,0.080,0.018,2841,1699,3113,0,0,0,0,0,0
$GC,1980,-1.02,-116.8,206.2,-9.1,172,1984,0.00,2.40,0.00,0.000,4,0.000,0.047,2840,294,3114,0,0,0,0,0,0
$GC,2017,-1.02,-116.8,210.3,-10.0,173,2022,0.00,2.20,0.00,0.000,6,0.000,0.019,2841,1696,3114,0,0,0,0,0,0
$GC,2336,-1.07,-116.8,237.5,-7.5,189,2341,0.12,2.42,0.00,0.000,4,0.062,0.047,2795,291,3114,0,0,0,0,0,0
$GC,2405,-0.99,-116.8,244.3,-9.3,192,2410,0.17,2.22,0.00,0.000,6,0.082,0.020,2833,1698,3113,0,0,0,0,0,0
$GC,2734,-1.05,-116.8,268.8,-7.8,208,2739,0.00,2.40,0.00,0.000,4,0.000,0.048,2833,296,3113,0,0,0,0,0,0
$GC,2781,-1.05,-116.8,273.0,-8.4,210,2785,0.00,2.25,0.00,0.000,6,0.000,0.021,2833,1704,3113,0,0,0,0,0,0
$GC,3109,-1.13,-116.8,296.1,-7.2,226,3114,0.12,2.47,0.00,0.000,4,0.063,0.049,2788,289,3112,0,0,0,0,0,0
$GC,3246,-1.06,-116.8,310.5,-11.3,230,3251,0.15,2.28,0.00,0.000,6,0.086,0.021,2821,1705,3112,0,0,0,0,0,0
$GC,3576,-1.12,-116.8,338.8,-8.6,238,3580,0.00,2.45,0.00,0.000,4,0.000,0.051,2821,289,3110,0,0,0,0,0,0
$GC,3641,-1.12,-116.8,344.7,-8.3,239,3645,0.00,2.25,0.00,0.000,6,0.000,0.022,2821,1700,3110,0,0,0,0,0,0
$GC,3987,-1.18,-116.8,371.9,-7.8,248,3992,0.12,2.47,0.00,0.000,4,0.064,0.054,2779,288,3107,0,0,0,0,0,0
$GC,4087,-1.11,-116.8,383.0,-11.4,250,4092,0.12,2.30,0.00,0.000,6,0.093,0.024,2806,1697,3107,0,0,0,0,0,0
$GC,4407,-1.11,-116.8,409.3,-7.7,258,4412,0.00,2.47,0.00,0.000,4,0.000,0.055,2806,290,3104,0,0,0,0,0,0
$GC,4426,-1.11,-116.8,410.9,-7.7,258,4431,0.00,2.30,0.00,0.000,6,0.000,0.025,2806,1700,3104,0,0,0,0,0,0
$GC,4772,-1.11,-116.8,437.0,-8.1,267,4777,0.00,2.47,0.00,0.000,4,0.000,0.057,2805,289,3102,0,0,0,0,0,0
$GC,4832,-1.11,-116.8,442.7,-9.0,268,4837,0.00,2.33,0.00,0.000,6,0.000,0.026,2806,1692,3102,0,0,0,0,0,0
$STATE,4935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4936,begin apogee
$GC,4942,-0.31,0.0,451.3,8.2,271,5040,0.80,0.00,95.68,0.834,6,0.064,0.000,2980,1697,2629,0,0,0,0,0,0
$STATE,5041,end apogee,CONTROL_FINISHED_OK
$STATE,5041,begin climb
$GC,5045,1.18,116.8,453.1,0.0,273,5156,1.45,2.47,100.57,0.815,4,0.036,0.034,3314,3088,2152,0,0,0,0,0,0
$GC,5216,0.98,116.8,448.6,8.2,277,5221,0.25,2.42,0.00,0.000,6,0.094,0.041,3264,1702,2150,0,0,0,0,0,0
$GC,5557,0.87,116.8,422.1,8.0,286,5562,0.12,2.38,0.00,0.000,4,0.113,0.033,3241,3098,2142,0,0,0,0,0,0
$GC,5648,0.89,127.0,415.6,7.4,288,5662,0.00,2.42,8.20,0.681,6,0.000,0.041,3241,1697,2112,0,0,0,0,0,0
$GC,5978,0.90,174.4,395.0,5.8,296,6026,0.00,2.58,42.95,0.800,4,0.000,0.058,3241,291,1918,0,0,0,0,0,0
$GC,6116,0.82,177.6,385.8,7.8,299,6120,0.00,2.40,0.00,0.000,6,0.000,0.028,3241,1717,1911,0,0,0,0,0,0
$GC,6439,0.83,184.6,362.7,7.6,307,6450,0.00,0.00,9.00,0.687,6,0.000,0.000,3241,1717,1877,0,0,0,0,0,0
$GC,6765,0.84,192.2,336.0,7.6,315,6778,0.00,2.58,7.82,0.659,4,0.000,0.058,3241,296,1846,0,0,0,0,0,0
$GC,6900,0.75,192.2,324.2,8.6,318,6905,0.12,2.35,0.00,0.000,6,0.112,0.028,3217,1704,1842,0,0,0,0,0,0
$GC,7231,0.87,237.1,304.7,5.9,326,7280,0.10,2.58,40.53,0.756,4,0.081,0.056,3246,287,1661,0,0,0,0,0,0
$GC,7368,0.81,237.1,292.0,11.6,330,7372,0.00,2.38,0.00,0.000,6,0.000,0.027,3246,1707,1656,0,0,0,0,0,0
$GC,7698,0.81,237.1,259.8,9.9,346,7702,0.00,2.53,0.00,0.000,4,0.000,0.055,3247,294,1654,0,0,0,0,0,0
$GC,7813,0.76,237.1,247.7,10.4,351,7818,0.15,2.35,0.00,0.000,6,0.103,0.026,3217,1710,1651,0,0,0,0,0,0
$GC,8148,0.93,294.2,225.4,5.3,367,8203,0.15,2.58,48.85,0.692,4,0.061,0.054,3261,296,1429,0,0,0,0,0,0
$GC,8318,0.86,294.2,209.0,12.3,374,8323,0.12,2.33,0.00,0.000,6,0.105,0.025,3237,1707,1423,0,0,0,0,0,0
$GC,8650,0.93,294.2,176.9,8.8,397,8654,0.00,2.50,0.00,0.000,4,0.000,0.052,3237,294,1422,0,0,0,0,0,0
$GC,8800,0.93,294.2,161.7,10.0,408,8804,0.00,2.30,0.00,0.000,6,0.000,0.023,3237,1716,1420,0,0,0,0,0,0
$GC,9073,1.01,300.1,140.2,7.6,429,9087,0.15,2.50,5.18,0.450,4,0.057,0.050,3284,294,1405,0,0,0,0,0,0
$GC,9253,0.93,300.1,116.6,11.5,442,9258,0.15,2.28,0.00,0.000,6,0.093,0.021,3253,1701,1403,0,0,0,0,0,0
$GC,9521,1.08,351.5,101.7,5.6,463,9575,0.15,2.55,44.55,0.570,4,0.056,0.049,3301,300,1195,0,0,0,0,0,0
$GC,9689,1.02,351.5,83.9,12.4,475,9694,0.15,2.28,0.00,0.000,6,0.091,0.020,3270,1704,1190,0,0,0,0,0,0
$GC,9958,1.13,351.5,60.5,8.7,496,9963,0.12,2.50,0.00,0.000,4,0.063,0.048,3312,290,1190,0,0,0,0,0,0
$GC,10112,1.06,351.5,40.6,13.1,507,10119,0.12,2.30,0.00,0.000,6,0.068,0.019,3281,1712,1188,0,0,0,0,0,0
$GC,10376,1.14,351.5,17.2,8.4,550,10383,0.00,2.50,0.00,0.000,4,0.000,0.048,3281,294,1188,0,0,0,0,0,0
$GC,10487,1.14,351.5,5.7,10.2,575,10494,0.00,2.25,0.00,0.000,6,0.000,0.018,3281,1702,1188,0,0,0,0,0,0
$STATE,10516,end climb,SURFACE_DEPTH_REACHED
$STATE,10516,begin surface coast
$FINISH,0.9,1.023179
$STATE,10547,end surface coast,CONTROL_FINISHED_OK
$STATE,10547,begin surface
$SM_CCo,10570,33.10,0.469,0,0,958,410.14
$SM_GC,1.76,0.00,0.00,33.10,0.000,0.000,0.469,428,1708,958,-12.06,0.23,410.14
$IRIDIUM_FIX,2054.83,-15751.76,181299,171711
$TT8_MAMPS,0.028379
$HUMID,57.60
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.4,45.931
$10V_AH,10.1,38.143
$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,30.900,119.375,403.325,33.100,0.000,25.442,30.846,242.522,4.750,0.000,19.295,1210.413,6755.913,465.506,1999.523,600.652,0.000,1369.957,0.000,1959.536,0.000,32.002,0.000
$DEVICE_MAMPS,130.390,58.292,834.496,469.404,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,395.981,371.352,824.936,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,31780,588
$CAP_FILE_SIZE,125510,0
$CFSIZE,260165632,185868288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230910,233834,2102.815,-15751.270,15,2.5,34,9.8