version: 66.06
glider: 139
mission: 8
dive: 534
start: 9 25 110 19 21 3
data:
$ID,139
$MISSION,8
$DIVE,534
$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,-2162266
$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
$GPS1,191331,2102.778,-15753.084,41,1.7,41,9.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-73.4
$GPS2,192043,2102.794,-15753.104,12,1.8,12,9.8
$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,62.6,18468,-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,-116.8,0.0,0.0,0,82,0.00,0.00,-64.43,0.000,2,0.000,0.000,428,1707,2760,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.5,-3.9,12,111,12.62,2.47,-6.22,0.000,4,0.133,0.056,2785,286,3108,0,0,0,0,0,0
$GC,132,-0.28,-116.8,18.8,-31.6,20,139,0.90,2.38,0.00,0.000,6,0.078,0.019,2985,1733,3109,0,0,0,0,0,0
$GC,343,-0.56,-116.8,32.9,-5.5,60,348,0.25,2.47,0.00,0.000,4,0.039,0.042,2905,294,3111,0,0,0,0,0,0
$GC,426,-0.62,-116.8,41.0,-10.0,66,430,0.00,2.25,0.00,0.000,6,0.000,0.018,2905,1721,3111,0,0,0,0,0,0
$GC,689,-0.69,-116.8,62.5,-7.8,86,693,0.00,2.45,0.00,0.000,4,0.000,0.045,2905,295,3111,0,0,0,0,0,0
$GC,761,-0.77,-116.8,69.0,-8.2,91,768,0.00,2.25,0.00,0.000,6,0.000,0.018,2905,1705,3112,0,0,0,0,0,0
$GC,1021,-0.88,-116.8,85.7,-6.6,112,1026,0.22,2.45,0.00,0.000,4,0.042,0.044,2833,293,3112,0,0,0,0,0,0
$GC,1065,-0.77,-116.8,90.8,-12.6,115,1070,0.22,2.20,0.00,0.000,6,0.080,0.018,2881,1702,3112,0,0,0,0,0,0
$GC,1328,-0.87,-116.8,116.6,-10.1,135,1332,0.00,2.40,0.00,0.000,4,0.000,0.045,2881,295,3113,0,0,0,0,0,0
$GC,1381,-0.97,-116.8,122.4,-10.7,139,1386,0.20,2.20,0.00,0.000,6,0.044,0.018,2817,1704,3113,0,0,0,0,0,0
$GC,1648,-0.97,-116.8,149.1,-8.3,160,1653,0.10,2.45,0.00,0.000,4,0.100,0.046,2838,294,3113,0,0,0,0,0,0
$GC,1704,-0.97,-116.8,153.8,-7.2,164,1708,0.00,2.20,0.00,0.000,6,0.000,0.018,2839,1703,3113,0,0,0,0,0,0
$GC,1966,-1.00,-116.8,173.1,-9.2,184,1970,0.00,2.40,0.00,0.000,4,0.000,0.045,2839,294,3114,0,0,0,0,0,0
$GC,1984,-1.00,-116.8,175.5,-10.3,185,1990,0.00,2.22,0.00,0.000,6,0.000,0.018,2839,1703,3114,0,0,0,0,0,0
$GC,2263,-1.04,-116.8,205.4,-10.4,206,2267,0.00,2.42,0.00,0.000,4,0.000,0.047,2839,286,3114,0,0,0,0,0,0
$GC,2301,-1.04,-116.8,209.9,-10.9,207,2306,0.00,2.22,0.00,0.000,6,0.000,0.019,2839,1704,3114,0,0,0,0,0,0
$GC,2618,-1.08,-116.8,237.9,-8.8,223,2623,0.12,2.45,0.00,0.000,4,0.061,0.048,2793,287,3113,0,0,0,0,0,0
$GC,2677,-1.01,-116.8,244.2,-10.3,225,2682,0.17,2.22,0.00,0.000,6,0.085,0.019,2831,1698,3113,0,0,0,0,0,0
$GC,2995,-1.07,-116.8,269.0,-7.6,240,2999,0.00,2.42,0.00,0.000,4,0.000,0.048,2831,295,3113,0,0,0,0,0,0
$GC,3079,-1.10,-116.8,275.8,-7.9,243,3084,0.00,2.22,0.00,0.000,6,0.000,0.020,2831,1706,3113,0,0,0,0,0,0
$GC,3397,-1.17,-116.8,300.1,-8.0,259,3402,0.15,2.45,0.00,0.000,4,0.055,0.049,2780,287,3112,0,0,0,0,0,0
$GC,3460,-1.09,-116.8,307.2,-12.0,260,3465,0.15,2.25,0.00,0.000,6,0.089,0.021,2813,1704,3112,0,0,0,0,0,0
$GC,3813,-1.13,-116.8,335.1,-6.8,269,3817,0.00,2.42,0.00,0.000,4,0.000,0.050,2813,295,3111,0,0,0,0,0,0
$GC,3837,-1.13,-116.8,336.6,-5.9,269,3841,0.00,2.25,0.00,0.000,6,0.000,0.022,2813,1708,3111,0,0,0,0,0,0
$GC,4183,-1.17,-116.8,359.6,-7.6,278,4188,0.00,2.42,0.00,0.000,4,0.000,0.051,2813,297,3109,0,0,0,0,0,0
$GC,4211,-1.17,-116.8,362.4,-9.5,278,4215,0.00,2.25,0.00,0.000,6,0.000,0.022,2813,1707,3109,0,0,0,0,0,0
$GC,4552,-1.21,-116.8,393.2,-9.1,287,4557,0.12,2.50,0.00,0.000,4,0.064,0.053,2773,292,3106,0,0,0,0,0,0
$GC,4664,-1.13,-116.8,404.5,-9.9,289,4669,0.15,2.25,0.00,0.000,6,0.092,0.024,2805,1692,3105,0,0,0,0,0,0
$GC,5017,-1.16,-116.8,429.8,-6.3,298,5022,0.00,2.42,0.00,0.000,4,0.000,0.054,2804,296,3103,0,0,0,0,0,0
$GC,5073,-1.16,-116.8,433.1,-6.3,299,5078,0.00,2.28,0.00,0.000,6,0.000,0.025,2804,1702,3102,0,0,0,0,0,0
$STATE,5384,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5385,begin apogee
$GC,5390,-0.31,0.0,453.0,7.1,307,5489,0.80,0.00,95.72,0.835,6,0.064,0.000,2979,1707,2630,0,0,0,0,0,0
$STATE,5490,end apogee,CONTROL_FINISHED_OK
$STATE,5490,begin climb
$GC,5494,1.18,116.8,455.9,0.0,309,5606,1.42,2.38,100.90,0.818,4,0.040,0.032,3308,3084,2152,0,0,0,0,0,0
$GC,5798,1.01,116.8,438.0,9.6,315,5803,0.20,2.42,0.00,0.000,6,0.099,0.040,3269,1696,2147,0,0,0,0,0,0
$GC,6130,0.94,159.8,413.9,6.0,323,6172,0.00,2.55,37.38,0.795,4,0.000,0.055,3269,296,1976,0,0,0,0,0,0
$GC,6309,0.76,164.3,401.4,7.7,326,6319,0.25,2.35,3.90,0.485,6,0.097,0.027,3220,1704,1960,0,0,0,0,0,0
$GC,6646,0.80,196.9,381.1,6.4,335,6682,0.00,2.60,30.38,0.781,4,0.000,0.058,3219,300,1826,0,0,0,0,0,0
$GC,6775,0.76,196.9,369.5,9.6,337,6780,0.00,2.33,0.00,0.000,6,0.000,0.028,3220,1707,1821,0,0,0,0,0,0
$GC,7108,0.80,200.2,342.2,7.7,346,7112,0.00,2.50,0.00,0.000,4,0.000,0.057,3220,294,1819,0,0,0,0,0,0
$GC,7197,0.80,200.2,334.1,9.5,348,7201,0.00,2.35,0.00,0.000,6,0.000,0.028,3220,1708,1816,0,0,0,0,0,0
$GC,7526,0.85,208.8,308.7,7.5,356,7542,0.00,2.60,10.20,0.673,4,0.000,0.057,3220,292,1778,0,0,0,0,0,0
$GC,7594,0.85,208.8,303.2,8.5,357,7598,0.00,2.33,0.00,0.000,6,0.000,0.027,3220,1699,1775,0,0,0,0,0,0
$GC,7929,0.92,218.6,279.6,7.5,372,7945,0.12,2.58,9.82,0.657,4,0.070,0.056,3256,296,1737,0,0,0,0,0,0
$GC,7994,0.83,218.6,272.8,10.9,374,8001,0.10,2.35,0.00,0.000,6,0.087,0.027,3233,1700,1735,0,0,0,0,0,0
$GC,8311,0.88,218.6,246.1,8.5,390,8315,0.00,2.50,0.00,0.000,4,0.000,0.055,3233,294,1734,0,0,0,0,0,0
$GC,8403,0.88,218.6,236.8,10.2,394,8407,0.00,2.33,0.00,0.000,6,0.000,0.025,3233,1707,1732,0,0,0,0,0,0
$GC,8729,1.02,273.7,215.3,5.4,410,8784,0.17,2.55,48.15,0.682,4,0.056,0.053,3283,293,1513,0,0,0,0,0,0
$GC,8897,0.90,273.7,199.1,12.7,417,8902,0.17,2.33,0.00,0.000,6,0.095,0.024,3249,1708,1507,0,0,0,0,0,0
$GC,9225,0.94,273.7,168.8,10.4,443,9229,0.00,2.50,0.00,0.000,4,0.000,0.053,3248,288,1506,0,0,0,0,0,0
$GC,9406,0.94,273.7,149.6,9.1,456,9410,0.00,2.30,0.00,0.000,6,0.000,0.022,3249,1711,1504,0,0,0,0,0,0
$GC,9667,1.10,334.7,132.9,5.1,476,9727,0.17,2.53,51.78,0.599,4,0.053,0.050,3301,294,1264,0,0,0,0,0,0
$GC,9820,0.96,334.7,116.9,13.2,487,9825,0.20,2.28,0.00,0.000,6,0.088,0.021,3260,1706,1259,0,0,0,0,0,0
$GC,10087,1.07,334.7,93.5,8.1,508,10092,0.10,2.47,0.00,0.000,4,0.074,0.049,3296,294,1258,0,0,0,0,0,0
$GC,10226,1.04,334.7,78.3,10.7,518,10230,0.00,2.25,0.00,0.000,6,0.000,0.020,3296,1705,1256,0,0,0,0,0,0
$GC,10489,1.08,334.7,52.2,10.1,538,10493,0.00,2.47,0.00,0.000,4,0.000,0.049,3296,291,1256,0,0,0,0,0,0
$GC,10637,1.05,334.7,35.1,11.4,549,10641,0.00,2.20,0.00,0.000,6,0.000,0.019,3297,1708,1256,0,0,0,0,0,0
$GC,10902,1.08,334.7,11.2,8.4,603,10908,0.00,2.47,0.00,0.000,4,0.000,0.048,3296,298,1256,0,0,0,0,0,0
$STATE,10980,end climb,SURFACE_DEPTH_REACHED
$STATE,10981,begin surface coast
$FINISH,1.0,1.022876
$STATE,11014,end surface coast,CONTROL_FINISHED_OK
$STATE,11015,begin surface
$SM_CCo,11040,42.95,0.471,0,0,958,410.14
$SM_GC,1.58,0.00,0.00,42.95,0.000,0.000,0.471,426,1697,958,-12.07,-0.08,410.14
$IRIDIUM_FIX,2057.14,-15753.90,201299,161602
$TT8_MAMPS,0.029146
$HUMID,57.75
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.4,47.510
$10V_AH,10.1,39.399
$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,31.325,133.025,388.225,42.950,0.000,30.554,30.007,241.684,4.500,0.000,12.317,1280.553,7045.365,469.597,2101.946,614.570,0.000,1406.315,0.000,2077.206,0.000,29.269,0.000
$DEVICE_MAMPS,132.691,57.525,835.263,470.938,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,422.558,404.443,930.046,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355832
$DATA_FILE_SIZE,34859,628
$CAP_FILE_SIZE,130612,0
$CFSIZE,260165632,184963072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250910,222707,2103.004,-15752.452,43,0.9,43,9.8