version: 66.06
glider: 139
mission: 8
dive: 521
start: 9 24 110 2 49 46
data:
$ID,139
$MISSION,8
$DIVE,521
$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,-2161974
$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
$GPS1,024337,2102.408,-15751.982,25,1.5,25,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-71.6
$GPS2,024926,2102.360,-15752.117,18,1.5,18,9.8
$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,58.3,17134,-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,-64.53,0.000,2,0.000,0.000,427,1698,2732,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.4,-3.5,12,110,12.62,2.42,-6.95,0.000,4,0.133,0.036,2786,3118,3111,0,0,0,0,0,0
$GC,149,-0.99,-116.8,20.4,-20.0,24,156,0.17,2.45,0.00,0.000,6,0.078,0.034,2827,1696,3111,0,0,0,0,0,0
$GC,350,-0.85,-116.8,52.0,-15.0,50,355,0.17,2.45,0.00,0.000,4,0.092,0.047,2864,288,3113,0,0,0,0,0,0
$GC,378,-0.72,-116.8,56.1,-15.3,52,383,0.15,2.30,0.00,0.000,6,0.097,0.018,2894,1739,3113,0,0,0,0,0,0
$GC,646,-0.76,-116.8,82.3,-8.7,73,650,0.00,2.47,0.00,0.000,4,0.000,0.044,2894,293,3114,0,0,0,0,0,0
$GC,693,-0.79,-116.8,87.0,-10.0,76,700,0.00,2.28,0.00,0.000,6,0.000,0.018,2895,1715,3114,0,0,0,0,0,0
$GC,956,-0.92,-116.8,107.2,-6.9,97,961,0.20,2.45,0.00,0.000,4,0.044,0.042,2827,295,3115,0,0,0,0,0,0
$GC,1052,-0.87,-116.8,117.8,-11.1,104,1057,0.15,2.22,0.00,0.000,6,0.089,0.018,2859,1705,3115,0,0,0,0,0,0
$GC,1319,-0.95,-116.8,138.2,-6.4,125,1323,0.00,2.42,0.00,0.000,4,0.000,0.044,2859,294,3115,0,0,0,0,0,0
$GC,1353,-0.99,-116.8,140.5,-6.2,127,1360,0.12,2.20,0.00,0.000,6,0.061,0.018,2814,1706,3116,0,0,0,0,0,0
$GC,1616,-0.96,-116.8,161.1,-8.6,148,1618,0.12,0.00,0.00,0.000,6,0.091,0.000,2842,1711,3116,0,0,0,0,0,0
$GC,1866,-1.01,-116.8,181.9,-8.4,168,1870,0.00,2.42,0.00,0.000,4,0.000,0.046,2842,290,3116,0,0,0,0,0,0
$GC,1905,-1.01,-116.8,185.5,-9.4,171,1909,0.00,2.22,0.00,0.000,6,0.000,0.019,2842,1694,3116,0,0,0,0,0,0
$GC,2183,-1.06,-116.8,207.6,-8.3,190,2188,0.10,2.42,0.00,0.000,4,0.073,0.048,2802,290,3116,0,0,0,0,0,0
$GC,2230,-0.98,-116.8,213.2,-11.6,192,2235,0.15,2.22,0.00,0.000,6,0.088,0.020,2835,1700,3116,0,0,0,0,0,0
$GC,2559,-1.04,-116.8,243.3,-8.9,208,2564,0.00,2.42,0.00,0.000,4,0.000,0.048,2835,289,3115,0,0,0,0,0,0
$GC,2611,-1.04,-116.8,249.1,-11.4,210,2615,0.00,2.25,0.00,0.000,6,0.000,0.021,2835,1700,3115,0,0,0,0,0,0
$GC,2934,-1.09,-116.8,281.4,-9.3,226,2938,0.10,2.45,0.00,0.000,4,0.074,0.049,2796,287,3115,0,0,0,0,0,0
$GC,2996,-1.03,-116.8,288.3,-10.6,228,3003,0.10,2.28,0.00,0.000,6,0.069,0.021,2823,1690,3114,0,0,0,0,0,0
$GC,3309,-1.07,-116.8,316.3,-8.9,240,3310,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1695,3114,0,0,0,0,0,0
$GC,3637,-1.12,-116.8,344.9,-9.0,248,3641,0.00,2.42,0.00,0.000,4,0.000,0.051,2823,296,3113,0,0,0,0,0,0
$GC,3707,-1.15,-116.8,352.3,-9.3,249,3712,0.10,2.25,0.00,0.000,6,0.075,0.022,2787,1692,3112,0,0,0,0,0,0
$GC,4049,-1.15,-116.8,387.0,-9.5,258,4051,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1698,3111,0,0,0,0,0,0
$GC,4374,-1.15,-116.8,417.3,-8.5,266,4378,0.00,2.45,0.00,0.000,4,0.000,0.055,2786,296,3109,0,0,0,0,0,0
$GC,4407,-1.11,-116.8,420.5,-10.4,266,4411,0.10,2.28,0.00,0.000,6,0.104,0.025,2808,1702,3109,0,0,0,0,0,0
$GC,4750,-1.15,-116.8,446.2,-7.3,275,4754,0.00,2.47,0.00,0.000,4,0.000,0.058,2808,290,3106,0,0,0,0,0,0
$STATE,4790,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4790,begin apogee
$GC,4799,-0.31,0.0,450.1,8.4,276,4899,0.80,0.00,96.28,0.825,6,0.067,0.000,2981,1705,2630,0,0,0,0,0,0
$STATE,4899,end apogee,CONTROL_FINISHED_OK
$STATE,4899,begin climb
$GC,4902,1.18,116.8,452.5,0.0,278,5015,1.42,2.42,100.25,0.807,4,0.038,0.033,3311,3080,2152,0,0,0,0,0,0
$GC,5067,1.02,138.1,449.6,6.9,281,5092,0.20,2.40,19.33,0.755,6,0.105,0.040,3273,1701,2067,0,0,0,0,0,0
$GC,5411,0.92,154.5,425.2,7.2,290,5432,0.10,2.45,14.48,0.742,4,0.125,0.032,3255,3085,1999,0,0,0,0,0,0
$GC,5542,0.89,154.5,414.4,8.3,292,5547,0.00,2.42,0.00,0.000,6,0.000,0.041,3255,1698,1999,0,0,0,0,0,0
$GC,5875,0.83,154.5,385.3,9.1,300,5880,0.12,2.50,0.00,0.000,4,0.108,0.057,3230,290,1994,0,0,0,0,0,0
$GC,5904,0.75,154.5,382.1,10.5,300,5908,0.00,2.33,0.00,0.000,6,0.000,0.027,3230,1700,1991,0,0,0,0,0,0
$GC,6246,0.82,209.9,358.4,5.4,309,6302,0.00,2.55,48.78,0.784,4,0.000,0.056,3230,294,1773,0,0,0,0,0,0
$GC,6336,0.78,233.3,353.7,6.8,311,6364,0.00,2.35,21.55,0.745,6,0.000,0.028,3230,1712,1678,0,0,0,0,0,0
$GC,6704,0.82,242.4,328.4,7.5,320,6719,0.00,2.58,8.48,0.654,4,0.000,0.056,3230,292,1640,0,0,0,0,0,0
$GC,6831,0.82,242.4,314.7,11.0,322,6835,0.00,2.35,0.00,0.000,6,0.000,0.027,3230,1705,1635,0,0,0,0,0,0
$GC,7146,0.87,242.4,285.3,8.8,333,7151,0.00,2.53,0.00,0.000,4,0.000,0.056,3230,291,1634,0,0,0,0,0,0
$GC,7243,0.88,246.0,276.8,7.7,337,7248,0.00,2.35,0.00,0.000,6,0.000,0.026,3230,1711,1632,0,0,0,0,0,0
$GC,7566,0.96,259.2,254.7,7.3,353,7589,0.12,2.60,14.60,0.670,4,0.068,0.055,3267,291,1572,0,0,0,0,0,0
$GC,7709,0.85,259.2,239.4,10.9,359,7714,0.15,2.33,0.00,0.000,6,0.100,0.025,3238,1705,1568,0,0,0,0,0,0
$GC,8044,0.90,259.2,211.0,8.4,375,8048,0.00,2.50,0.00,0.000,4,0.000,0.053,3238,293,1568,0,0,0,0,0,0
$GC,8171,0.90,259.2,197.8,10.3,381,8175,0.00,2.30,0.00,0.000,6,0.000,0.024,3238,1705,1566,0,0,0,0,0,0
$GC,8437,0.96,259.2,176.2,8.1,402,8441,0.00,2.50,0.00,0.000,4,0.000,0.051,3238,286,1566,0,0,0,0,0,0
$GC,8531,0.96,259.2,166.7,10.6,409,8535,0.00,2.28,0.00,0.000,6,0.000,0.023,3238,1705,1565,0,0,0,0,0,0
$GC,8797,1.03,259.2,144.9,9.1,430,8802,0.15,2.47,0.00,0.000,4,0.058,0.051,3286,290,1565,0,0,0,0,0,0
$GC,8937,0.95,259.2,128.2,12.2,440,8942,0.15,2.25,0.00,0.000,6,0.093,0.021,3255,1694,1564,0,0,0,0,0,0
$GC,9198,1.07,308.5,112.2,5.7,460,9246,0.12,2.50,42.22,0.577,4,0.064,0.051,3296,293,1371,0,0,0,0,0,0
$GC,9422,1.01,308.5,86.6,14.0,475,9428,0.12,2.30,0.00,0.000,6,0.094,0.021,3271,1714,1365,0,0,0,0,0,0
$GC,9685,1.14,334.6,65.2,6.7,496,9715,0.12,2.53,22.70,0.518,4,0.062,0.048,3314,291,1263,0,0,0,0,0,0
$GC,9827,1.06,334.6,51.0,10.5,506,9832,0.15,2.25,0.00,0.000,6,0.090,0.020,3283,1714,1259,0,0,0,0,0,0
$GC,10097,1.15,334.6,31.0,8.2,527,10101,0.00,2.47,0.00,0.000,4,0.000,0.047,3282,291,1259,0,0,0,0,0,0
$GC,10231,1.15,334.6,17.2,10.8,556,10237,0.00,2.25,0.00,0.000,6,0.000,0.019,3282,1706,1257,0,0,0,0,0,0
$STATE,10391,end climb,SURFACE_DEPTH_REACHED
$STATE,10391,begin surface coast
$FINISH,1.0,1.021240
$STATE,10424,end surface coast,CONTROL_FINISHED_OK
$STATE,10424,begin surface
$SM_CCo,10447,43.40,0.471,0,0,957,410.14
$SM_GC,1.53,0.00,0.00,43.40,0.000,0.000,0.471,425,1708,957,-12.07,0.23,410.14
$IRIDIUM_FIX,2052.52,-15749.62,181299,232324
$TT8_MAMPS,0.029146
$HUMID,57.28
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.4,46.142
$10V_AH,10.2,38.309
$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,30.375,119.350,388.650,43.400,0.000,24.735,30.122,161.580,4.500,0.000,18.491,1199.103,6758.641,460.722,1903.444,515.738,0.000,1317.434,0.000,1872.691,0.000,29.255,0.000
$DEVICE_MAMPS,132.691,57.525,824.525,470.938,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,403.849,387.661,875.047,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,34906,600
$CAP_FILE_SIZE,119993,0
$CFSIZE,260165632,185749504
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240910,054600,2102.352,-15752.556,45,1.0,45,9.8