version: 66.06
glider: 139
mission: 8
dive: 526
start: 9 24 110 18 5 55
data:
$ID,139
$MISSION,8
$DIVE,526
$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,-2162073.2
$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
$GPS1,175932,2102.273,-15752.980,11,2.0,11,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-72.8
$GPS2,180537,2102.240,-15753.033,38,1.5,38,9.8
$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,59.5,18688,-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,-64.07,0.000,2,0.000,0.000,428,1709,2735,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.3,-3.3,12,110,12.60,2.40,-6.97,0.000,4,0.132,0.036,2784,3116,3110,0,0,0,0,0,0
$GC,132,-0.34,-116.8,16.9,-28.9,20,139,0.82,2.45,0.00,0.000,6,0.064,0.035,2973,1698,3112,0,0,0,0,0,0
$GC,334,-0.59,-116.8,31.1,-6.3,64,339,0.22,2.42,0.00,0.000,4,0.041,0.044,2903,295,3113,0,0,0,0,0,0
$GC,415,-0.67,-116.8,39.4,-10.0,70,419,0.00,2.30,0.00,0.000,6,0.000,0.018,2904,1740,3114,0,0,0,0,0,0
$GC,683,-0.76,-116.8,62.7,-7.4,91,687,0.00,2.50,0.00,0.000,4,0.000,0.044,2904,292,3113,0,0,0,0,0,0
$GC,764,-0.87,-116.8,67.9,-6.4,97,769,0.20,2.22,0.00,0.000,6,0.044,0.018,2840,1713,3114,0,0,0,0,0,0
$GC,1030,-0.87,-116.8,95.2,-10.1,118,1034,0.00,2.22,0.00,0.000,4,0.000,0.022,2840,3069,3114,0,0,0,0,0,0
$GC,1074,-0.99,-116.8,99.1,-8.4,121,1079,0.00,2.28,0.00,0.000,6,0.000,0.031,2839,1695,3114,0,0,0,0,0,0
$GC,1339,-0.99,-116.8,123.7,-9.3,142,1343,0.00,2.40,0.00,0.000,4,0.000,0.044,2840,293,3115,0,0,0,0,0,0
$GC,1450,-0.99,-116.8,135.1,-9.5,150,1454,0.00,2.20,0.00,0.000,6,0.000,0.018,2839,1704,3115,0,0,0,0,0,0
$GC,1710,-0.99,-116.8,155.1,-7.7,170,1714,0.00,2.40,0.00,0.000,4,0.000,0.045,2839,299,3116,0,0,0,0,0,0
$GC,1744,-0.99,-116.8,158.1,-8.8,172,1751,0.00,2.22,0.00,0.000,6,0.000,0.019,2839,1706,3116,0,0,0,0,0,0
$GC,2005,-1.03,-116.8,181.6,-9.1,193,2010,0.00,2.42,0.00,0.000,4,0.000,0.047,2839,298,3116,0,0,0,0,0,0
$GC,2072,-1.07,-116.8,188.1,-9.7,198,2077,0.10,2.17,0.00,0.000,6,0.072,0.019,2800,1692,3116,0,0,0,0,0,0
$GC,2331,-1.02,-116.8,216.4,-11.3,214,2333,0.12,0.00,0.00,0.000,6,0.094,0.000,2827,1697,3116,0,0,0,0,0,0
$GC,2640,-1.02,-116.8,244.7,-8.3,229,2645,0.00,2.40,0.00,0.000,4,0.000,0.048,2827,292,3115,0,0,0,0,0,0
$GC,2709,-1.02,-116.8,250.9,-8.0,232,2713,0.00,2.22,0.00,0.000,6,0.000,0.020,2827,1702,3116,0,0,0,0,0,0
$GC,3036,-1.06,-116.8,274.5,-6.8,248,3040,0.00,2.42,0.00,0.000,4,0.000,0.047,2826,299,3114,0,0,0,0,0,0
$GC,3094,-1.11,-116.8,278.7,-7.5,250,3098,0.00,2.22,0.00,0.000,6,0.000,0.020,2826,1706,3114,0,0,0,0,0,0
$GC,3436,-1.16,-116.8,303.2,-7.3,266,3441,0.12,2.45,0.00,0.000,4,0.063,0.049,2782,295,3114,0,0,0,0,0,0
$GC,3538,-1.08,-116.8,312.7,-10.6,268,3542,0.15,2.22,0.00,0.000,6,0.089,0.021,2815,1693,3114,0,0,0,0,0,0
$GC,3859,-1.12,-116.8,336.9,-7.9,276,3863,0.00,2.40,0.00,0.000,4,0.000,0.050,2815,300,3113,0,0,0,0,0,0
$GC,3916,-1.12,-116.8,341.9,-9.0,277,3920,0.00,2.25,0.00,0.000,6,0.000,0.022,2815,1702,3113,0,0,0,0,0,0
$GC,4230,-1.16,-116.8,367.7,-8.3,285,4234,0.00,2.42,0.00,0.000,4,0.000,0.052,2815,300,3111,0,0,0,0,0,0
$GC,4259,-1.16,-116.8,370.1,-8.9,285,4263,0.00,2.25,0.00,0.000,6,0.000,0.023,2815,1705,3111,0,0,0,0,0,0
$GC,4595,-1.22,-116.8,390.4,-5.6,294,4600,0.12,2.47,0.00,0.000,4,0.065,0.054,2774,293,3109,0,0,0,0,0,0
$GC,4693,-1.14,-116.8,397.4,-7.3,296,4697,0.12,2.28,0.00,0.000,6,0.096,0.024,2801,1702,3108,0,0,0,0,0,0
$GC,5016,-1.14,-116.8,418.4,-7.1,304,5021,0.00,2.47,0.00,0.000,4,0.000,0.056,2801,297,3106,0,0,0,0,0,0
$GC,5044,-1.14,-116.8,420.9,-9.0,304,5048,0.00,2.30,0.00,0.000,6,0.000,0.025,2801,1704,3105,0,0,0,0,0,0
$GC,5382,-1.18,-116.8,446.9,-7.6,313,5386,0.00,2.50,0.00,0.000,4,0.000,0.058,2801,293,3103,0,0,0,0,0,0
$STATE,5417,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5417,begin apogee
$GC,5425,-0.31,0.0,450.2,8.0,313,5525,0.80,0.00,96.43,0.834,6,0.068,0.000,2977,1704,2630,0,0,0,0,0,0
$STATE,5526,end apogee,CONTROL_FINISHED_OK
$STATE,5526,begin climb
$GC,5530,1.18,116.8,452.8,0.0,316,5642,1.45,2.38,100.75,0.817,4,0.038,0.032,3313,3078,2152,0,0,0,0,0,0
$GC,5863,1.01,129.4,436.0,7.3,323,5880,0.20,2.40,11.32,0.720,6,0.105,0.041,3274,1705,2102,0,0,0,0,0,0
$GC,6216,0.92,146.0,411.3,7.1,332,6233,0.12,0.00,15.27,0.753,6,0.114,0.000,3251,1706,2033,0,0,0,0,0,0
$GC,6539,0.87,151.6,385.8,7.6,340,6551,0.00,2.58,5.62,0.603,4,0.000,0.058,3250,297,2011,0,0,0,0,0,0
$GC,6562,0.80,167.7,383.9,7.2,340,6585,0.15,2.35,15.98,0.751,6,0.108,0.028,3222,1711,1946,0,0,0,0,0,0
$GC,6912,0.84,200.1,362.0,6.4,349,6948,0.00,2.62,29.42,0.775,4,0.000,0.057,3222,297,1813,0,0,0,0,0,0
$GC,7055,0.84,200.1,349.2,10.1,352,7059,0.00,2.35,0.00,0.000,6,0.000,0.027,3222,1704,1807,0,0,0,0,0,0
$GC,7375,0.90,218.2,324.9,7.1,360,7399,0.10,2.55,16.42,0.727,4,0.081,0.056,3252,297,1739,0,0,0,0,0,0
$GC,7487,0.81,218.2,315.0,8.4,362,7492,0.12,2.35,0.00,0.000,6,0.111,0.027,3229,1702,1735,0,0,0,0,0,0
$GC,7817,0.87,237.6,291.8,7.0,373,7840,0.00,2.62,17.48,0.716,4,0.000,0.056,3229,291,1660,0,0,0,0,0,0
$GC,7887,0.87,237.6,285.6,9.9,376,7892,0.00,2.35,0.00,0.000,6,0.000,0.026,3229,1704,1657,0,0,0,0,0,0
$GC,8220,0.94,250.7,260.9,7.3,392,8243,0.12,2.53,12.55,0.668,4,0.067,0.054,3266,295,1605,0,0,0,0,0,0
$GC,8387,0.86,250.7,243.8,10.7,399,8392,0.15,2.33,0.00,0.000,6,0.099,0.025,3237,1705,1601,0,0,0,0,0,0
$GC,8716,0.94,263.5,218.5,7.3,415,8733,0.00,2.55,11.55,0.626,4,0.000,0.054,3237,293,1555,0,0,0,0,0,0
$GC,8844,0.94,263.5,207.0,8.7,419,8850,0.00,2.33,0.00,0.000,6,0.000,0.024,3237,1711,1552,0,0,0,0,0,0
$GC,9170,1.00,267.2,182.7,7.7,442,9185,0.12,2.50,4.28,0.436,4,0.065,0.051,3277,293,1540,0,0,0,0,0,0
$GC,9358,0.93,267.2,158.9,11.8,455,9363,0.12,2.28,0.00,0.000,6,0.098,0.022,3252,1708,1537,0,0,0,0,0,0
$GC,9621,1.00,285.1,137.7,7.1,475,9648,0.00,2.53,17.00,0.581,4,0.000,0.048,3251,294,1465,0,0,0,0,0,0
$GC,9735,1.00,285.1,126.9,11.0,483,9739,0.00,2.25,0.00,0.000,6,0.000,0.021,3252,1708,1462,0,0,0,0,0,0
$GC,9998,1.09,286.9,104.8,7.8,503,10003,0.15,2.50,0.00,0.000,4,0.056,0.049,3300,293,1462,0,0,0,0,0,0
$GC,10073,1.06,286.9,97.7,9.5,508,10080,0.00,2.28,0.00,0.000,6,0.000,0.021,3299,1700,1461,0,0,0,0,0,0
$GC,10335,1.14,323.4,80.5,6.2,529,10376,0.00,2.53,33.15,0.545,4,0.000,0.048,3300,301,1310,0,0,0,0,0,0
$GC,10505,1.14,323.4,65.3,9.6,541,10510,0.00,2.25,0.00,0.000,6,0.000,0.020,3299,1711,1306,0,0,0,0,0,0
$GC,10767,1.17,323.4,41.2,9.1,561,10771,0.00,2.45,0.00,0.000,4,0.000,0.045,3300,293,1306,0,0,0,0,0,0
$GC,10855,1.14,323.4,31.6,11.0,567,10862,0.00,2.25,0.00,0.000,6,0.000,0.019,3300,1703,1305,0,0,0,0,0,0
$GC,11119,1.14,323.4,8.5,8.8,626,11126,0.00,2.47,0.00,0.000,4,0.000,0.047,3300,294,1304,0,0,0,0,0,0
$STATE,11169,end climb,SURFACE_DEPTH_REACHED
$STATE,11169,begin surface coast
$FINISH,1.1,1.023101
$STATE,11196,end surface coast,CONTROL_FINISHED_OK
$STATE,11196,begin surface
$SM_CCo,11220,49.55,0.476,0,0,957,410.14
$SM_GC,1.50,0.00,0.00,49.55,0.000,0.000,0.476,428,1704,957,-12.07,0.11,410.14
$IRIDIUM_FIX,2054.83,-15753.90,191299,151556
$TT8_MAMPS,0.028379
$HUMID,56.34
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.4,46.658
$10V_AH,10.1,38.723
$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,30.500,133.075,387.225,49.550,0.000,30.313,28.047,151.799,4.500,0.000,39.074,1295.277,7168.142,488.363,2152.732,526.513,0.000,1436.224,0.000,2102.779,0.000,29.251,0.000
$DEVICE_MAMPS,131.924,57.525,833.729,475.540,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,432.701,412.409,950.126,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,34948,643
$CAP_FILE_SIZE,130983,0
$CFSIZE,260165632,185450496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240910,211458,2102.529,-15752.826,14,2.5,33,9.8