version: 66.06
glider: 139
mission: 8
dive: 533
start: 9 25 110 16 8 7
data:
$ID,139
$MISSION,8
$DIVE,533
$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,-2162253
$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
$GPS1,160107,2102.644,-15753.315,37,1.2,37,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-73.7
$GPS2,160749,2102.624,-15753.400,15,2.0,26,9.8
$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,62.1,19050,-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,13,begin dive
$GC,15,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.10,0.000,2,0.000,0.000,428,1712,2756,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.5,-3.7,12,110,12.65,2.33,-6.55,0.000,4,0.133,0.035,2786,3112,3109,0,0,0,0,0,0
$GC,140,-0.70,-116.8,18.2,-23.3,22,147,0.45,2.45,0.00,0.000,6,0.069,0.035,2896,1697,3110,0,0,0,0,0,0
$GC,350,-0.74,-116.8,39.4,-8.9,54,354,0.00,2.42,0.00,0.000,4,0.000,0.045,2896,293,3111,0,0,0,0,0,0
$GC,390,-0.74,-116.8,43.8,-10.7,57,394,0.00,2.30,0.00,0.000,6,0.000,0.018,2896,1741,3112,0,0,0,0,0,0
$GC,650,-0.79,-116.8,69.1,-10.1,77,654,0.00,2.50,0.00,0.000,4,0.000,0.046,2896,289,3112,0,0,0,0,0,0
$GC,731,-0.83,-116.8,76.3,-8.0,83,736,0.12,2.28,0.00,0.000,6,0.063,0.018,2851,1718,3112,0,0,0,0,0,0
$GC,997,-0.83,-116.8,102.2,-9.4,104,1001,0.00,2.47,0.00,0.000,4,0.000,0.046,2851,289,3112,0,0,0,0,0,0
$GC,1073,-0.87,-116.8,110.8,-12.4,109,1078,0.00,2.25,0.00,0.000,6,0.000,0.018,2851,1707,3113,0,0,0,0,0,0
$GC,1333,-0.91,-116.8,137.2,-10.5,130,1337,0.00,2.42,0.00,0.000,4,0.000,0.046,2851,293,3113,0,0,0,0,0,0
$GC,1429,-0.91,-116.8,146.5,-9.5,137,1433,0.00,2.22,0.00,0.000,6,0.000,0.018,2851,1704,3114,0,0,0,0,0,0
$GC,1699,-0.97,-116.8,164.8,-7.6,158,1703,0.00,2.42,0.00,0.000,4,0.000,0.045,2851,285,3114,0,0,0,0,0,0
$GC,1724,-0.97,-116.8,167.2,-8.6,160,1728,0.00,2.22,0.00,0.000,6,0.000,0.018,2851,1706,3114,0,0,0,0,0,0
$GC,1990,-1.03,-116.8,190.3,-8.3,181,1995,0.12,2.45,0.00,0.000,4,0.063,0.046,2804,286,3114,0,0,0,0,0,0
$GC,2009,-1.03,-116.8,192.6,-9.8,182,2016,0.00,2.25,0.00,0.000,6,0.000,0.019,2804,1693,3114,0,0,0,0,0,0
$GC,2278,-1.00,-116.8,218.3,-8.7,198,2283,0.12,2.42,0.00,0.000,4,0.094,0.047,2832,289,3114,0,0,0,0,0,0
$GC,2323,-1.00,-116.8,222.0,-8.2,200,2327,0.00,2.22,0.00,0.000,6,0.000,0.019,2832,1700,3114,0,0,0,0,0,0
$GC,2655,-1.05,-116.8,249.1,-8.6,216,2659,0.00,2.45,0.00,0.000,4,0.000,0.048,2832,286,3114,0,0,0,0,0,0
$GC,2701,-1.05,-116.8,253.9,-10.0,218,2705,0.00,2.25,0.00,0.000,6,0.000,0.020,2832,1699,3114,0,0,0,0,0,0
$GC,3030,-1.12,-116.8,283.0,-8.3,234,3035,0.12,2.45,0.00,0.000,4,0.064,0.049,2788,287,3113,0,0,0,0,0,0
$GC,3074,-1.02,-116.8,287.7,-10.8,236,3079,0.17,2.25,0.00,0.000,6,0.084,0.021,2826,1702,3113,0,0,0,0,0,0
$GC,3406,-1.06,-116.8,310.5,-6.3,248,3410,0.00,2.45,0.00,0.000,4,0.000,0.048,2825,292,3112,0,0,0,0,0,0
$GC,3439,-1.10,-116.8,313.6,-8.3,248,3443,0.00,2.25,0.00,0.000,6,0.000,0.021,2825,1704,3113,0,0,0,0,0,0
$GC,3772,-1.17,-116.8,339.3,-8.4,256,3777,0.12,2.45,0.00,0.000,4,0.064,0.050,2782,294,3111,0,0,0,0,0,0
$GC,3820,-1.11,-116.8,344.7,-11.6,257,3825,0.12,2.25,0.00,0.000,6,0.093,0.022,2810,1707,3111,0,0,0,0,0,0
$GC,4144,-1.14,-116.8,374.2,-8.6,265,4145,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1712,3109,0,0,0,0,0,0
$GC,4471,-1.17,-116.8,395.9,-6.3,273,4475,0.00,2.47,0.00,0.000,4,0.000,0.054,2809,289,3107,0,0,0,0,0,0
$GC,4554,-1.17,-116.8,402.5,-8.4,274,4559,0.00,2.25,0.00,0.000,6,0.000,0.024,2810,1690,3107,0,0,0,0,0,0
$GC,4885,-1.21,-116.8,428.9,-8.1,283,4890,0.10,2.47,0.00,0.000,4,0.077,0.055,2776,296,3104,0,0,0,0,0,0
$GC,4978,-1.13,-116.8,437.6,-8.7,285,4983,0.12,2.30,0.00,0.000,6,0.099,0.025,2802,1705,3104,0,0,0,0,0,0
$STATE,5182,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5182,begin apogee
$GC,5188,-0.31,0.0,452.6,6.8,290,5288,0.82,0.00,96.20,0.828,6,0.064,0.000,2982,1710,2630,0,0,0,0,0,0
$STATE,5288,end apogee,CONTROL_FINISHED_OK
$STATE,5288,begin climb
$GC,5292,1.18,116.8,454.3,0.0,292,5404,1.42,2.35,100.97,0.812,4,0.038,0.031,3312,3077,2152,0,0,0,0,0,0
$GC,5531,1.00,116.8,444.9,9.0,297,5536,0.22,2.40,0.00,0.000,6,0.097,0.041,3268,1700,2149,0,0,0,0,0,0
$GC,5882,0.92,140.5,420.0,6.8,306,5910,0.00,2.53,20.40,0.769,4,0.000,0.055,3268,297,2056,0,0,0,0,0,0
$GC,5930,0.74,140.5,416.1,8.5,307,5935,0.30,2.33,0.00,0.000,6,0.094,0.026,3209,1700,2053,0,0,0,0,0,0
$GC,6255,0.86,210.5,398.8,4.7,315,6327,0.12,2.60,62.17,0.801,4,0.071,0.058,3245,301,1770,0,0,0,0,0,0
$GC,6421,0.77,210.5,385.1,10.3,318,6426,0.15,2.35,0.00,0.000,6,0.108,0.027,3217,1706,1763,0,0,0,0,0,0
$GC,6759,0.82,210.5,358.3,7.9,327,6763,0.00,2.53,0.00,0.000,4,0.000,0.057,3216,297,1761,0,0,0,0,0,0
$GC,6814,0.82,210.5,353.0,9.2,328,6819,0.00,2.33,0.00,0.000,6,0.000,0.027,3216,1707,1758,0,0,0,0,0,0
$GC,7133,0.89,215.1,327.8,7.7,336,7138,0.12,2.55,0.00,0.000,4,0.071,0.057,3252,291,1757,0,0,0,0,0,0
$GC,7210,0.82,215.1,319.5,11.7,337,7214,0.12,2.30,0.00,0.000,6,0.110,0.027,3229,1695,1754,0,0,0,0,0,0
$GC,7531,0.93,267.3,298.4,5.5,346,7586,0.10,2.60,47.88,0.745,4,0.079,0.057,3260,294,1540,0,0,0,0,0,0
$GC,7682,0.83,267.3,285.1,10.2,352,7687,0.15,2.35,0.00,0.000,6,0.104,0.026,3231,1708,1533,0,0,0,0,0,0
$GC,8002,0.93,298.2,263.6,6.5,367,8035,0.00,2.58,27.00,0.698,4,0.000,0.055,3230,291,1414,0,0,0,0,0,0
$GC,8163,0.93,298.2,249.6,9.0,374,8167,0.00,2.33,0.00,0.000,6,0.000,0.025,3231,1711,1408,0,0,0,0,0,0
$GC,8489,0.99,298.2,223.0,8.9,390,8494,0.15,2.53,0.00,0.000,4,0.060,0.054,3275,293,1406,0,0,0,0,0,0
$GC,8619,0.90,298.2,205.3,14.2,395,8626,0.15,2.30,0.00,0.000,6,0.097,0.024,3245,1697,1404,0,0,0,0,0,0
$GC,8948,0.95,298.2,172.4,10.5,420,8952,0.00,2.47,0.00,0.000,4,0.000,0.052,3245,296,1404,0,0,0,0,0,0
$GC,9104,0.95,298.2,154.4,10.5,431,9111,0.00,2.28,0.00,0.000,6,0.000,0.022,3245,1716,1403,0,0,0,0,0,0
$GC,9362,1.01,298.2,129.6,8.5,452,9367,0.10,2.47,0.00,0.000,4,0.075,0.051,3280,294,1402,0,0,0,0,0,0
$GC,9514,0.93,298.2,114.4,10.6,463,9519,0.12,2.25,0.00,0.000,6,0.097,0.021,3255,1708,1402,0,0,0,0,0,0
$GC,9776,1.02,311.5,94.8,7.3,483,9793,0.00,2.53,11.10,0.515,4,0.000,0.049,3254,300,1360,0,0,0,0,0,0
$GC,9897,1.04,323.4,85.6,7.4,491,9917,0.10,2.25,11.68,0.509,6,0.074,0.021,3291,1712,1309,0,0,0,0,0,0
$GC,10170,1.08,323.4,66.8,8.3,513,10175,0.00,2.45,0.00,0.000,4,0.000,0.049,3291,295,1309,0,0,0,0,0,0
$GC,10279,1.08,323.4,56.1,8.3,521,10283,0.00,2.22,0.00,0.000,6,0.000,0.020,3291,1704,1306,0,0,0,0,0,0
$GC,10542,1.13,323.4,37.3,7.9,541,10546,0.00,2.45,0.00,0.000,4,0.000,0.048,3291,289,1306,0,0,0,0,0,0
$GC,10600,1.13,323.4,31.3,9.5,545,10607,0.00,2.28,0.00,0.000,6,0.000,0.019,3291,1710,1306,0,0,0,0,0,0
$GC,10866,1.20,325.9,9.9,7.8,604,10872,0.00,2.47,0.00,0.000,4,0.000,0.046,3291,295,1306,0,0,0,0,0,0
$STATE,10936,end climb,SURFACE_DEPTH_REACHED
$STATE,10936,begin surface coast
$FINISH,0.8,1.023150
$STATE,10969,end surface coast,CONTROL_FINISHED_OK
$STATE,10969,begin surface
$SM_CCo,10995,49.47,0.474,0,0,958,410.14
$SM_GC,1.53,0.00,0.00,49.47,0.000,0.000,0.474,429,1706,958,-12.06,0.17,410.14
$IRIDIUM_FIX,2054.83,-15753.90,201299,131332
$TT8_MAMPS,0.028379
$HUMID,57.28
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.50
$XPDR_PINGS,1
$24V_AH,23.4,47.403
$10V_AH,10.1,39.311
$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,30.650,133.250,377.400,49.475,0.000,30.258,31.892,196.987,4.750,0.000,27.058,1265.304,7060.300,471.643,2071.493,573.388,0.000,1390.621,0.000,2036.549,0.000,29.257,0.000
$DEVICE_MAMPS,132.691,58.292,828.360,474.006,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,422.113,405.709,925.135,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,34944,627
$CAP_FILE_SIZE,128720,0
$CFSIZE,260165632,185024512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,250910,191331,2102.778,-15753.084,41,1.7,41,9.8