version: 66.06
glider: 139
mission: 8
dive: 523
start: 9 24 110 8 52 15
data:
$ID,139
$MISSION,8
$DIVE,523
$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,-2162004.2
$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
$GPS1,084607,2102.517,-15752.405,38,1.1,38,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-71.6
$GPS2,085156,2102.465,-15752.468,12,1.4,12,9.8
$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,59.6,17628,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.20,0.000,2,0.000,0.000,423,1711,2738,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.3,-3.0,12,111,12.65,2.40,-6.90,0.000,4,0.133,0.038,2785,3118,3109,0,0,0,0,0,0
$GC,172,-1.07,-116.8,22.5,-15.0,29,179,0.10,2.45,0.00,0.000,6,0.082,0.034,2810,1694,3111,0,0,0,0,0,0
$GC,374,-0.91,-116.8,54.9,-16.1,51,379,0.20,2.40,0.00,0.000,4,0.090,0.045,2851,295,3112,0,0,0,0,0,0
$GC,408,-0.76,-116.8,60.5,-15.8,53,415,0.12,2.33,0.00,0.000,6,0.071,0.018,2882,1737,3112,0,0,0,0,0,0
$GC,668,-0.76,-116.8,85.5,-7.8,74,672,0.00,2.50,0.00,0.000,4,0.000,0.044,2882,289,3113,0,0,0,0,0,0
$GC,767,-0.76,-116.8,93.6,-8.9,81,772,0.00,2.25,0.00,0.000,6,0.000,0.018,2882,1710,3113,0,0,0,0,0,0
$GC,1032,-0.84,-116.8,119.0,-8.5,102,1037,0.00,2.42,0.00,0.000,4,0.000,0.045,2882,293,3114,0,0,0,0,0,0
$GC,1090,-0.92,-116.8,123.6,-7.1,106,1095,0.15,2.22,0.00,0.000,6,0.054,0.018,2828,1707,3114,0,0,0,0,0,0
$GC,1351,-0.89,-116.8,148.3,-11.0,126,1356,0.12,2.42,0.00,0.000,4,0.092,0.045,2856,295,3115,0,0,0,0,0,0
$GC,1371,-0.89,-116.8,150.9,-11.7,127,1376,0.00,2.20,0.00,0.000,6,0.000,0.018,2856,1709,3115,0,0,0,0,0,0
$GC,1631,-0.97,-116.8,175.5,-8.9,148,1636,0.00,2.42,0.00,0.000,4,0.000,0.045,2855,289,3115,0,0,0,0,0,0
$GC,1678,-1.03,-116.8,180.0,-9.0,151,1685,0.15,2.20,0.00,0.000,6,0.054,0.018,2803,1697,3116,0,0,0,0,0,0
$GC,1953,-0.99,-116.8,205.7,-8.1,171,1958,0.15,2.42,0.00,0.000,4,0.087,0.047,2836,292,3115,0,0,0,0,0,0
$GC,1998,-0.99,-116.8,209.5,-6.8,173,2003,0.00,2.20,0.00,0.000,6,0.000,0.019,2836,1697,3116,0,0,0,0,0,0
$GC,2332,-1.05,-116.8,232.8,-8.2,189,2336,0.00,2.42,0.00,0.000,4,0.000,0.047,2836,295,3115,0,0,0,0,0,0
$GC,2406,-1.05,-116.8,239.8,-8.8,192,2413,0.00,2.22,0.00,0.000,6,0.000,0.020,2836,1706,3116,0,0,0,0,0,0
$GC,2738,-1.11,-116.8,260.8,-6.8,208,2743,0.12,2.45,0.00,0.000,4,0.062,0.048,2790,289,3115,0,0,0,0,0,0
$GC,2808,-1.05,-116.8,268.6,-11.4,211,2812,0.15,2.25,0.00,0.000,6,0.087,0.021,2823,1694,3115,0,0,0,0,0,0
$GC,3138,-1.11,-116.8,294.5,-7.8,227,3142,0.00,2.45,0.00,0.000,4,0.000,0.050,2823,294,3114,0,0,0,0,0,0
$GC,3175,-1.11,-116.8,298.3,-9.6,228,3179,0.00,2.28,0.00,0.000,6,0.000,0.021,2823,1710,3114,0,0,0,0,0,0
$GC,3489,-1.16,-116.8,323.5,-8.1,236,3493,0.12,2.25,0.00,0.000,4,0.064,0.028,2779,3076,3113,0,0,0,0,0,0
$GC,3504,-1.21,-116.8,325.2,-8.3,236,3508,0.00,2.30,0.00,0.000,6,0.000,0.035,2779,1699,3112,0,0,0,0,0,0
$GC,3856,-1.18,-116.8,362.7,-11.2,245,3860,0.00,2.45,0.00,0.000,4,0.000,0.052,2779,291,3111,0,0,0,0,0,0
$GC,3876,-1.10,-116.8,365.2,-10.8,245,3881,0.15,2.28,0.00,0.000,6,0.091,0.023,2811,1699,3110,0,0,0,0,0,0
$GC,4222,-1.15,-116.8,394.5,-8.3,254,4226,0.00,2.47,0.00,0.000,4,0.000,0.054,2811,290,3108,0,0,0,0,0,0
$GC,4321,-1.15,-116.8,404.1,-10.2,256,4325,0.00,2.28,0.00,0.000,6,0.000,0.025,2811,1697,3107,0,0,0,0,0,0
$GC,4639,-1.20,-116.8,432.6,-8.8,264,4641,0.10,0.00,0.00,0.000,6,0.076,0.000,2778,1703,3105,0,0,0,0,0,0
$STATE,4880,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4880,begin apogee
$GC,4886,-0.31,0.0,452.2,7.9,270,4986,0.95,0.00,96.05,0.831,6,0.066,0.000,2983,1703,2630,0,0,0,0,0,0
$STATE,4986,end apogee,CONTROL_FINISHED_OK
$STATE,4987,begin climb
$GC,4990,1.18,116.8,452.6,0.0,272,5102,1.40,2.45,100.35,0.813,4,0.038,0.032,3309,3080,2152,0,0,0,0,0,0
$GC,5248,1.01,116.8,433.9,9.8,277,5253,0.20,2.42,0.00,0.000,6,0.099,0.041,3270,1694,2147,0,0,0,0,0,0
$GC,5580,0.91,132.8,406.8,7.2,285,5600,0.00,2.40,13.55,0.738,4,0.000,0.031,3270,3086,2087,0,0,0,0,0,0
$GC,5635,0.87,170.9,403.4,6.2,286,5676,0.15,2.42,34.95,0.784,6,0.101,0.041,3241,1700,1932,0,0,0,0,0,0
$GC,5999,0.92,207.2,378.1,6.3,295,6041,0.00,2.55,32.35,0.776,4,0.000,0.058,3241,296,1783,0,0,0,0,0,0
$GC,6116,0.83,207.2,369.3,8.8,297,6120,0.00,2.35,0.00,0.000,6,0.000,0.028,3241,1699,1778,0,0,0,0,0,0
$GC,6456,0.83,207.2,343.0,8.3,306,6460,0.00,2.50,0.00,0.000,4,0.000,0.058,3241,297,1777,0,0,0,0,0,0
$GC,6481,0.74,207.2,340.5,10.4,306,6486,0.15,2.33,0.00,0.000,6,0.107,0.028,3213,1704,1775,0,0,0,0,0,0
$GC,6822,0.81,207.2,310.3,9.2,315,6826,0.00,2.50,0.00,0.000,4,0.000,0.058,3213,296,1773,0,0,0,0,0,0
$GC,6962,0.81,207.2,295.1,10.7,318,6967,0.00,2.33,0.00,0.000,6,0.000,0.028,3212,1702,1770,0,0,0,0,0,0
$GC,7288,0.95,246.0,271.9,6.1,334,7327,0.20,2.58,32.83,0.726,4,0.054,0.057,3267,297,1627,0,0,0,0,0,0
$GC,7448,0.85,246.0,256.8,10.6,340,7452,0.15,2.35,0.00,0.000,6,0.101,0.027,3238,1710,1620,0,0,0,0,0,0
$GC,7775,0.90,246.0,228.8,9.6,356,7779,0.00,2.53,0.00,0.000,4,0.000,0.054,3238,293,1619,0,0,0,0,0,0
$GC,7919,0.90,246.0,212.6,11.6,362,7923,0.00,2.30,0.00,0.000,6,0.000,0.025,3238,1709,1616,0,0,0,0,0,0
$GC,8244,0.97,253.3,186.7,7.6,383,8259,0.10,2.55,6.28,0.528,4,0.077,0.052,3271,298,1596,0,0,0,0,0,0
$GC,8406,0.88,253.3,167.5,11.5,394,8413,0.10,2.30,0.00,0.000,6,0.078,0.025,3246,1701,1594,0,0,0,0,0,0
$GC,8669,0.93,253.3,143.3,9.2,415,8673,0.00,2.45,0.00,0.000,4,0.000,0.051,3246,292,1594,0,0,0,0,0,0
$GC,8777,0.94,267.7,134.1,7.2,423,8797,0.00,2.28,13.62,0.568,6,0.000,0.022,3246,1714,1537,0,0,0,0,0,0
$GC,9060,1.12,341.8,119.7,4.6,445,9135,0.20,2.53,63.97,0.588,4,0.049,0.049,3306,294,1234,0,0,0,0,0,0
$GC,9145,1.04,341.8,112.2,11.3,451,9150,0.15,2.30,0.00,0.000,6,0.094,0.022,3277,1713,1232,0,0,0,0,0,0
$GC,9407,1.10,341.8,88.7,9.0,471,9411,0.00,2.47,0.00,0.000,4,0.000,0.049,3277,294,1230,0,0,0,0,0,0
$GC,9538,1.13,341.8,75.8,10.6,480,9545,0.00,2.28,0.00,0.000,6,0.000,0.021,3277,1707,1227,0,0,0,0,0,0
$GC,9800,1.24,346.9,55.0,7.7,501,9815,0.20,2.45,4.50,0.364,4,0.046,0.047,3338,294,1215,0,0,0,0,0,0
$GC,9945,1.09,346.9,36.0,14.8,511,9950,0.25,2.22,0.00,0.000,6,0.081,0.019,3287,1698,1213,0,0,0,0,0,0
$GC,10211,1.16,346.9,11.6,10.3,563,10218,0.00,2.47,0.00,0.000,4,0.000,0.048,3286,296,1213,0,0,0,0,0,0
$STATE,10299,end climb,SURFACE_DEPTH_REACHED
$STATE,10299,begin surface coast
$FINISH,1.1,1.023074
$STATE,10327,end surface coast,CONTROL_FINISHED_OK
$STATE,10327,begin surface
$SM_CCo,10353,36.15,0.469,0,0,958,410.14
$SM_GC,1.68,0.00,0.00,36.15,0.000,0.000,0.469,428,1699,958,-12.07,0.00,410.14
$IRIDIUM_FIX,2054.83,-15753.90,191299,050555
$TT8_MAMPS,0.028379
$HUMID,57.44
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.4,46.346
$10V_AH,10.1,38.469
$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,30.775,123.500,398.450,36.150,0.000,29.096,28.745,163.496,4.500,0.000,12.478,1184.304,6644.092,471.420,1910.259,524.717,0.000,1344.655,0.000,1890.560,0.000,29.271,0.000
$DEVICE_MAMPS,132.691,58.292,831.428,469.404,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,396.056,381.586,850.307,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,31820,589
$CAP_FILE_SIZE,120874,0
$CFSIZE,260165632,185638912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240910,114614,2102.492,-15752.394,11,1.4,11,9.8