version: 66.06
glider: 139
mission: 8
dive: 524
start: 9 24 110 11 57 46
data:
$ID,139
$MISSION,8
$DIVE,524
$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,-2162019.5
$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
$GPS1,114614,2102.492,-15752.394,11,1.4,11,9.8
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-74.0
$GPS2,115726,2102.370,-15752.494,14,1.6,14,9.8
$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,59.1,17734,-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,-116.8,0.0,0.0,0,81,0.00,0.00,-64.15,0.000,2,0.000,0.000,427,1701,2753,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.4,-3.8,12,111,12.62,2.35,-6.45,0.000,4,0.133,0.034,2783,3118,3109,0,0,0,0,0,0
$GC,183,-1.08,-116.8,25.9,-15.0,32,190,0.10,2.42,0.00,0.000,6,0.085,0.032,2808,1702,3110,0,0,0,0,0,0
$GC,389,-0.91,-116.8,56.5,-14.6,51,394,0.20,2.42,0.00,0.000,4,0.089,0.044,2850,290,3111,0,0,0,0,0,0
$GC,429,-0.76,-116.8,62.3,-14.0,54,434,0.15,2.30,0.00,0.000,6,0.092,0.018,2881,1736,3110,0,0,0,0,0,0
$GC,699,-0.82,-116.8,85.3,-7.0,75,703,0.00,2.47,0.00,0.000,4,0.000,0.044,2881,292,3111,0,0,0,0,0,0
$GC,782,-0.87,-116.8,92.1,-7.8,81,786,0.00,2.22,0.00,0.000,6,0.000,0.018,2881,1717,3111,0,0,0,0,0,0
$GC,1048,-0.99,-116.8,113.7,-8.8,102,1053,0.20,2.45,0.00,0.000,4,0.044,0.044,2815,290,3112,0,0,0,0,0,0
$GC,1077,-0.90,-116.8,117.6,-13.3,104,1082,0.17,2.22,0.00,0.000,6,0.084,0.018,2852,1700,3112,0,0,0,0,0,0
$GC,1336,-0.96,-116.8,142.3,-8.0,124,1340,0.00,2.25,0.00,0.000,4,0.000,0.023,2852,3078,3112,0,0,0,0,0,0
$GC,1368,-1.08,-116.8,144.6,-6.5,126,1376,0.15,2.33,0.00,0.000,6,0.029,0.030,2792,1701,3112,0,0,0,0,0,0
$GC,1631,-1.01,-116.8,168.4,-9.5,147,1636,0.17,2.40,0.00,0.000,4,0.084,0.046,2830,297,3112,0,0,0,0,0,0
$GC,1700,-1.01,-116.8,175.8,-9.5,152,1704,0.00,2.22,0.00,0.000,6,0.000,0.019,2830,1705,3112,0,0,0,0,0,0
$GC,1967,-1.01,-116.8,200.3,-9.5,173,1972,0.00,2.42,0.00,0.000,4,0.000,0.046,2829,296,3113,0,0,0,0,0,0
$GC,2019,-1.01,-116.8,205.6,-9.8,175,2023,0.00,2.22,0.00,0.000,6,0.000,0.019,2830,1704,3113,0,0,0,0,0,0
$GC,2346,-1.05,-116.8,232.4,-7.6,191,2350,0.00,2.42,0.00,0.000,4,0.000,0.047,2829,299,3112,0,0,0,0,0,0
$GC,2380,-1.05,-116.8,235.1,-8.0,192,2384,0.00,2.22,0.00,0.000,6,0.000,0.020,2830,1702,3112,0,0,0,0,0,0
$GC,2697,-1.09,-116.8,256.9,-7.1,207,2701,0.00,2.42,0.00,0.000,4,0.000,0.048,2830,290,3112,0,0,0,0,0,0
$GC,2744,-1.09,-116.8,260.3,-7.7,209,2748,0.00,2.22,0.00,0.000,6,0.000,0.021,2830,1696,3112,0,0,0,0,0,0
$GC,3079,-1.16,-116.8,281.0,-5.5,225,3084,0.15,2.42,0.00,0.000,4,0.056,0.049,2780,297,3111,0,0,0,0,0,0
$GC,3100,-1.11,-116.8,282.7,-6.2,226,3105,0.12,2.22,0.00,0.000,6,0.097,0.021,2807,1699,3111,0,0,0,0,0,0
$GC,3453,-1.11,-116.8,307.2,-7.4,241,3457,0.00,2.42,0.00,0.000,4,0.000,0.050,2807,293,3109,0,0,0,0,0,0
$GC,3518,-1.11,-116.8,313.0,-8.4,242,3522,0.00,2.25,0.00,0.000,6,0.000,0.022,2807,1698,3109,0,0,0,0,0,0
$GC,3865,-1.11,-116.8,342.8,-8.9,251,3869,0.00,2.45,0.00,0.000,4,0.000,0.052,2806,299,3107,0,0,0,0,0,0
$GC,3897,-1.11,-116.8,346.2,-10.5,251,3901,0.00,2.25,0.00,0.000,6,0.000,0.023,2806,1701,3106,0,0,0,0,0,0
$GC,4228,-1.11,-116.8,376.1,-8.8,259,4232,0.00,2.45,0.00,0.000,4,0.000,0.054,2807,296,3104,0,0,0,0,0,0
$GC,4327,-1.11,-116.8,385.3,-9.8,261,4331,0.00,2.30,0.00,0.000,6,0.000,0.024,2807,1704,3104,0,0,0,0,0,0
$GC,4645,-1.11,-116.8,411.8,-8.1,269,4649,0.00,2.45,0.00,0.000,4,0.000,0.054,2806,299,3102,0,0,0,0,0,0
$GC,4692,-1.11,-116.8,415.9,-9.1,270,4697,0.00,2.28,0.00,0.000,6,0.000,0.025,2806,1708,3102,0,0,0,0,0,0
$GC,5016,-1.15,-116.8,439.3,-6.9,278,5020,0.00,2.47,0.00,0.000,4,0.000,0.057,2806,295,3099,0,0,0,0,0,0
$GC,5115,-1.15,-116.8,445.4,-5.4,280,5119,0.00,2.30,0.00,0.000,6,0.000,0.025,2807,1699,3099,0,0,0,0,0,0
$STATE,5227,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5227,begin apogee
$GC,5233,-0.31,0.0,450.4,4.0,283,5332,0.80,0.00,95.57,0.831,6,0.064,0.000,2980,1703,2630,0,0,0,0,0,0
$STATE,5333,end apogee,CONTROL_FINISHED_OK
$STATE,5333,begin climb
$GC,5335,1.18,116.8,449.2,0.0,285,5448,1.42,2.45,100.72,0.812,4,0.037,0.033,3311,3088,2152,0,0,0,0,0,0
$GC,5477,0.99,116.8,441.8,9.2,288,5482,0.22,2.40,0.00,0.000,6,0.099,0.040,3267,1703,2151,0,0,0,0,0,0
$GC,5793,0.92,152.9,419.0,6.3,296,5830,0.00,2.45,31.17,0.784,4,0.000,0.034,3267,3083,2005,0,0,0,0,0,0
$GC,5875,0.89,169.4,413.5,7.2,297,5896,0.12,2.40,15.82,0.742,6,0.106,0.041,3244,1701,1939,0,0,0,0,0,0
$GC,6216,0.92,220.2,393.3,5.6,306,6268,0.00,2.55,45.05,0.790,4,0.000,0.058,3244,294,1730,0,0,0,0,0,0
$GC,6321,0.82,220.2,384.2,10.2,308,6325,0.00,2.35,0.00,0.000,6,0.000,0.027,3244,1697,1726,0,0,0,0,0,0
$GC,6672,0.82,220.2,354.8,8.2,317,6676,0.00,2.50,0.00,0.000,4,0.000,0.058,3244,294,1722,0,0,0,0,0,0
$GC,6809,0.74,220.2,341.2,9.5,320,6814,0.17,2.35,0.00,0.000,6,0.104,0.027,3211,1707,1718,0,0,0,0,0,0
$GC,7141,0.85,257.2,320.1,6.2,328,7178,0.10,2.60,31.40,0.750,4,0.081,0.058,3240,291,1581,0,0,0,0,0,0
$GC,7286,0.77,257.2,307.2,9.7,330,7291,0.00,2.35,0.00,0.000,6,0.000,0.026,3240,1707,1575,0,0,0,0,0,0
$GC,7604,0.77,257.2,281.2,7.9,343,7609,0.00,2.53,0.00,0.000,4,0.000,0.056,3240,295,1574,0,0,0,0,0,0
$GC,7760,0.73,257.2,265.4,9.0,349,7767,0.15,2.33,0.00,0.000,6,0.104,0.026,3211,1704,1571,0,0,0,0,0,0
$GC,8078,0.88,293.9,246.4,6.2,365,8115,0.15,2.58,31.65,0.699,4,0.063,0.055,3254,289,1432,0,0,0,0,0,0
$GC,8319,0.82,293.9,221.9,10.6,374,8326,0.10,2.35,0.00,0.000,6,0.084,0.025,3231,1702,1425,0,0,0,0,0,0
$GC,8647,0.89,293.9,193.9,8.8,392,8651,0.00,2.50,0.00,0.000,4,0.000,0.054,3230,293,1424,0,0,0,0,0,0
$GC,8822,0.89,293.9,175.9,9.8,405,8827,0.00,2.28,0.00,0.000,6,0.000,0.024,3230,1708,1423,0,0,0,0,0,0
$GC,9089,0.97,293.9,155.0,8.1,426,9094,0.15,2.47,0.00,0.000,4,0.058,0.051,3277,296,1422,0,0,0,0,0,0
$GC,9224,0.89,293.9,139.1,11.0,436,9229,0.15,2.28,0.00,0.000,6,0.096,0.022,3247,1701,1422,0,0,0,0,0,0
$GC,9492,0.97,296.8,118.6,7.8,457,9496,0.00,2.45,0.00,0.000,4,0.000,0.050,3246,292,1421,0,0,0,0,0,0
$GC,9545,1.00,296.8,114.0,8.5,461,9550,0.00,2.28,0.00,0.000,6,0.000,0.021,3246,1709,1422,0,0,0,0,0,0
$GC,9816,1.12,296.8,93.3,8.1,482,9821,0.20,2.47,0.00,0.000,4,0.048,0.047,3307,293,1421,0,0,0,0,0,0
$GC,10035,1.06,296.8,72.0,8.8,498,10040,0.12,2.22,0.00,0.000,6,0.094,0.021,3281,1707,1421,0,0,0,0,0,0
$GC,10299,1.20,342.6,57.0,5.8,518,10348,0.12,2.50,40.90,0.524,4,0.062,0.047,3325,294,1232,0,0,0,0,0,0
$GC,10467,1.08,342.6,38.0,13.4,530,10472,0.20,2.25,0.00,0.000,6,0.084,0.019,3283,1703,1227,0,0,0,0,0,0
$GC,10731,1.15,342.8,13.5,7.9,580,10738,0.00,2.50,0.00,0.000,4,0.000,0.050,3283,293,1227,0,0,0,0,0,0
$STATE,10833,end climb,SURFACE_DEPTH_REACHED
$STATE,10833,begin surface coast
$FINISH,0.9,1.023153
$STATE,10867,end surface coast,CONTROL_FINISHED_OK
$STATE,10867,begin surface
$SM_CCo,10892,38.55,0.469,0,0,957,410.14
$SM_GC,1.64,0.00,0.00,38.55,0.000,0.000,0.469,426,1698,957,-12.07,-0.06,410.14
$IRIDIUM_FIX,2054.83,-15751.76,191299,080856
$TT8_MAMPS,0.029146
$HUMID,57.28
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.20
$XPDR_PINGS,1
$24V_AH,23.4,46.457
$10V_AH,10.1,38.556
$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,30.450,132.950,392.300,38.550,0.000,96.695,156.186,167.650,4.750,0.000,14.541,1258.418,7066.802,460.913,2077.553,736.603,0.000,1399.993,0.000,2048.471,0.000,29.252,0.000
$DEVICE_MAMPS,132.691,57.525,830.661,469.404,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,411.307,395.016,879.789,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,34943,610
$CAP_FILE_SIZE,130295,0
$CFSIZE,260165632,185569280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240910,150107,2102.216,-15752.834,32,0.9,32,9.8