version: 66.06
glider: 139
mission: 8
dive: 528
start: 9 25 110 0 27 34
data:
$ID,139
$MISSION,8
$DIVE,528
$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,-2162104.8
$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
$GPS1,001725,2102.414,-15753.011,40,1.5,40,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-71.7
$GPS2,002714,2102.286,-15753.141,16,1.2,16,9.8
$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,59.9,18833,-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,16,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.15,0.000,2,0.000,0.000,426,1693,2744,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.4,-3.4,12,116,12.65,2.42,-6.90,0.000,4,0.133,0.035,2786,3118,3110,0,0,0,0,0,0
$GC,133,-0.35,-116.8,16.1,-26.6,20,140,0.82,2.45,0.00,0.000,6,0.067,0.034,2974,1697,3111,0,0,0,0,0,0
$GC,336,-0.60,-116.8,29.2,-6.9,66,343,0.25,2.45,0.00,0.000,4,0.038,0.044,2896,293,3113,0,0,0,0,0,0
$GC,423,-0.67,-116.8,37.5,-9.7,74,427,0.00,2.30,0.00,0.000,6,0.000,0.018,2896,1740,3112,0,0,0,0,0,0
$GC,689,-0.71,-116.8,62.6,-9.5,95,693,0.00,2.50,0.00,0.000,4,0.000,0.045,2896,289,3113,0,0,0,0,0,0
$GC,776,-0.75,-116.8,71.2,-8.8,101,783,0.00,2.28,0.00,0.000,6,0.000,0.018,2896,1710,3113,0,0,0,0,0,0
$GC,1035,-0.81,-116.8,92.6,-9.2,122,1040,0.10,2.47,0.00,0.000,4,0.074,0.046,2855,290,3113,0,0,0,0,0,0
$GC,1167,-0.86,-116.8,107.3,-10.8,131,1172,0.00,2.20,0.00,0.000,6,0.000,0.018,2855,1704,3114,0,0,0,0,0,0
$GC,1428,-0.93,-116.8,127.5,-5.8,152,1432,0.00,2.42,0.00,0.000,4,0.000,0.045,2855,294,3115,0,0,0,0,0,0
$GC,1461,-0.93,-116.8,129.7,-7.0,154,1468,0.00,2.22,0.00,0.000,6,0.000,0.018,2855,1701,3115,0,0,0,0,0,0
$GC,1724,-1.00,-116.8,148.3,-7.7,175,1729,0.10,2.45,0.00,0.000,4,0.071,0.045,2815,293,3115,0,0,0,0,0,0
$GC,1752,-0.97,-116.8,151.0,-10.0,177,1757,0.12,2.22,0.00,0.000,6,0.094,0.018,2841,1704,3115,0,0,0,0,0,0
$GC,2018,-1.01,-116.8,174.3,-7.7,198,2023,0.00,2.42,0.00,0.000,4,0.000,0.046,2841,288,3115,0,0,0,0,0,0
$GC,2061,-1.01,-116.8,177.9,-8.4,201,2065,0.00,2.20,0.00,0.000,6,0.000,0.019,2841,1699,3115,0,0,0,0,0,0
$GC,2325,-1.06,-116.8,195.9,-6.7,221,2330,0.10,2.45,0.00,0.000,4,0.074,0.048,2802,294,3115,0,0,0,0,0,0
$GC,2369,-0.98,-116.8,199.9,-9.1,224,2374,0.15,2.20,0.00,0.000,6,0.091,0.019,2834,1699,3115,0,0,0,0,0,0
$GC,2630,-1.03,-116.8,218.7,-7.1,237,2634,0.00,2.42,0.00,0.000,4,0.000,0.047,2834,295,3115,0,0,0,0,0,0
$GC,2663,-1.03,-116.8,221.5,-8.1,238,2667,0.00,2.20,0.00,0.000,6,0.000,0.020,2834,1697,3114,0,0,0,0,0,0
$GC,2982,-1.09,-116.8,248.5,-9.1,253,2986,0.00,2.40,0.00,0.000,4,0.000,0.048,2835,295,3114,0,0,0,0,0,0
$GC,3056,-1.12,-116.8,256.6,-11.0,256,3061,0.12,2.22,0.00,0.000,6,0.063,0.020,2790,1697,3114,0,0,0,0,0,0
$GC,3380,-1.12,-116.8,289.8,-8.3,272,3384,0.00,2.42,0.00,0.000,4,0.000,0.049,2790,287,3113,0,0,0,0,0,0
$GC,3431,-1.05,-116.8,294.7,-9.3,274,3436,0.15,2.25,0.00,0.000,6,0.087,0.021,2823,1698,3113,0,0,0,0,0,0
$GC,3751,-1.11,-116.8,312.8,-6.2,285,3755,0.00,2.42,0.00,0.000,4,0.000,0.050,2823,293,3112,0,0,0,0,0,0
$GC,3816,-1.15,-116.8,318.1,-8.0,286,3821,0.12,2.28,0.00,0.000,6,0.064,0.021,2781,1705,3112,0,0,0,0,0,0
$GC,4163,-1.12,-116.8,350.4,-9.5,295,4168,0.12,2.50,0.00,0.000,4,0.094,0.052,2808,289,3110,0,0,0,0,0,0
$GC,4220,-1.12,-116.8,356.7,-10.3,296,4224,0.00,2.28,0.00,0.000,6,0.000,0.023,2808,1696,3110,0,0,0,0,0,0
$GC,4539,-1.16,-116.8,382.6,-7.5,304,4543,0.00,2.45,0.00,0.000,4,0.000,0.054,2808,288,3107,0,0,0,0,0,0
$GC,4606,-1.16,-116.8,387.7,-7.7,305,4610,0.00,2.30,0.00,0.000,6,0.000,0.024,2808,1701,3107,0,0,0,0,0,0
$GC,4951,-1.20,-116.8,407.4,-5.8,314,4955,0.00,2.45,0.00,0.000,4,0.000,0.055,2807,296,3105,0,0,0,0,0,0
$GC,5022,-1.20,-116.8,413.0,-8.3,315,5026,0.00,2.25,0.00,0.000,6,0.000,0.025,2808,1696,3104,0,0,0,0,0,0
$GC,5363,-1.24,-116.8,438.5,-7.4,324,5368,0.12,2.47,0.00,0.000,4,0.067,0.056,2769,291,3101,0,0,0,0,0,0
$GC,5408,-1.15,-116.8,442.5,-9.6,325,5413,0.15,2.30,0.00,0.000,6,0.093,0.026,2800,1703,3101,0,0,0,0,0,0
$STATE,5531,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5531,begin apogee
$GC,5536,-0.31,0.0,452.4,7.5,328,5635,0.82,0.00,95.53,0.838,6,0.066,0.000,2980,1707,2630,0,0,0,0,0,0
$STATE,5636,end apogee,CONTROL_FINISHED_OK
$STATE,5636,begin climb
$GC,5639,1.18,116.8,454.7,0.0,330,5753,1.42,2.42,100.93,0.819,4,0.040,0.032,3308,3095,2152,0,0,0,0,0,0
$GC,5853,1.01,121.1,450.6,7.7,334,5864,0.20,2.42,4.25,0.515,6,0.100,0.041,3269,1702,2136,0,0,0,0,0,0
$GC,6190,0.94,149.9,428.3,6.6,343,6223,0.00,2.60,25.98,0.790,4,0.000,0.058,3268,296,2017,0,0,0,0,0,0
$GC,6303,0.75,149.9,418.1,10.3,345,6308,0.28,2.35,0.00,0.000,6,0.097,0.027,3215,1706,2011,0,0,0,0,0,0
$GC,6649,0.80,193.4,396.1,5.9,354,6693,0.00,2.62,38.38,0.798,4,0.000,0.058,3214,293,1841,0,0,0,0,0,0
$GC,6730,0.77,201.8,391.2,7.5,355,6743,0.00,2.35,8.40,0.676,6,0.000,0.028,3215,1707,1807,0,0,0,0,0,0
$GC,7071,0.84,219.6,369.0,7.1,364,7095,0.00,2.58,16.98,0.751,4,0.000,0.057,3215,287,1733,0,0,0,0,0,0
$GC,7188,0.84,219.6,357.6,10.1,366,7192,0.00,2.35,0.00,0.000,6,0.000,0.027,3214,1704,1728,0,0,0,0,0,0
$GC,7529,0.90,219.6,328.0,8.5,375,7534,0.15,2.53,0.00,0.000,4,0.064,0.058,3256,293,1727,0,0,0,0,0,0
$GC,7693,0.81,219.6,309.7,11.0,378,7698,0.15,2.35,0.00,0.000,6,0.106,0.027,3227,1706,1724,0,0,0,0,0,0
$GC,8019,0.91,258.5,287.6,6.1,391,8062,0.00,2.60,33.53,0.736,4,0.000,0.055,3227,298,1574,0,0,0,0,0,0
$GC,8108,0.91,258.5,280.7,8.7,394,8114,0.00,2.38,0.00,0.000,6,0.000,0.027,3227,1707,1571,0,0,0,0,0,0
$GC,8423,0.98,258.5,255.1,9.3,410,8428,0.15,2.53,0.00,0.000,4,0.061,0.055,3270,292,1570,0,0,0,0,0,0
$GC,8579,0.87,258.5,234.9,13.5,416,8586,0.12,2.35,0.00,0.000,6,0.080,0.025,3241,1705,1567,0,0,0,0,0,0
$GC,8895,0.93,274.7,208.5,7.2,432,8918,0.00,2.58,14.15,0.632,4,0.000,0.054,3241,298,1508,0,0,0,0,0,0
$GC,9004,0.93,274.7,199.5,9.2,436,9008,0.00,2.30,0.00,0.000,6,0.000,0.025,3241,1704,1505,0,0,0,0,0,0
$GC,9333,0.98,274.7,175.4,8.7,462,9338,0.10,2.50,0.00,0.000,4,0.077,0.052,3274,294,1504,0,0,0,0,0,0
$GC,9432,0.87,274.7,163.0,12.5,469,9437,0.17,2.30,0.00,0.000,6,0.094,0.023,3239,1711,1503,0,0,0,0,0,0
$GC,9695,0.94,274.7,136.2,9.8,489,9699,0.00,2.50,0.00,0.000,4,0.000,0.051,3239,292,1502,0,0,0,0,0,0
$GC,9775,0.94,274.7,127.8,9.6,495,9779,0.00,2.28,0.00,0.000,6,0.000,0.022,3239,1702,1502,0,0,0,0,0,0
$GC,10041,1.12,325.8,111.0,5.6,516,10095,0.22,2.53,43.90,0.581,4,0.046,0.048,3305,289,1300,0,0,0,0,0,0
$GC,10130,1.01,325.8,102.5,12.4,522,10135,0.17,2.30,0.00,0.000,6,0.088,0.021,3268,1704,1297,0,0,0,0,0,0
$GC,10392,1.14,345.3,83.2,7.0,542,10415,0.12,2.53,17.12,0.525,4,0.063,0.048,3310,293,1221,0,0,0,0,0,0
$GC,10577,1.09,345.3,61.1,12.5,554,10584,0.08,2.30,0.00,0.000,6,0.074,0.021,3290,1710,1216,0,0,0,0,0,0
$GC,10839,1.14,345.3,37.2,9.1,575,10843,0.00,2.45,0.00,0.000,4,0.000,0.048,3289,293,1216,0,0,0,0,0,0
$GC,10978,1.14,345.3,23.1,11.0,594,10984,0.00,2.25,0.00,0.000,6,0.000,0.019,3289,1707,1215,0,0,0,0,0,0
$GC,11180,1.23,345.3,4.1,10.6,640,11187,0.12,2.53,0.00,0.000,4,0.062,0.049,3335,289,1215,0,0,0,0,0,0
$STATE,11197,end climb,SURFACE_DEPTH_REACHED
$STATE,11197,begin surface coast
$FINISH,0.8,1.008400
$STATE,11252,end surface coast,CONTROL_FINISHED_OK
$STATE,11252,begin surface
$SM_CCo,11276,38.35,0.472,0,0,958,410.14
$SM_GC,1.77,0.00,0.00,38.35,0.000,0.000,0.472,424,1695,958,-12.08,-0.14,410.14
$IRIDIUM_FIX,2052.52,-15751.76,201299,000017
$TT8_MAMPS,0.029146
$HUMID,57.79
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.4,46.877
$10V_AH,10.1,38.894
$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,31.775,143.300,399.125,38.350,0.000,54.590,63.199,272.757,4.500,0.000,16.537,1320.827,7218.970,486.857,2149.142,726.835,0.000,1462.464,0.000,2122.370,0.000,29.263,0.000
$DEVICE_MAMPS,132.691,57.525,838.331,471.705,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,440.275,425.039,967.662,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355808
$DATA_FILE_SIZE,38024,655
$CAP_FILE_SIZE,139347,0
$CFSIZE,260165632,185315328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250910,033702,2102.140,-15753.679,14,1.7,14,9.8