version: 66.06
glider: 139
mission: 8
dive: 535
start: 9 25 110 22 33 34
data:
$ID,139
$MISSION,8
$DIVE,535
$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,-2162282.2
$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
$GPS1,222707,2103.004,-15752.452,43,0.9,43,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-72.4
$GPS2,223314,2102.936,-15752.473,15,1.9,15,9.8
$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,62.3,17348,-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,-64.20,0.000,2,0.000,0.000,425,1698,2754,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.5,-4.1,12,110,12.62,2.35,-6.53,0.000,4,0.132,0.034,2787,3112,3108,0,0,0,0,0,0
$GC,132,-0.33,-116.8,17.2,-28.8,20,139,0.82,2.42,0.00,0.000,6,0.067,0.034,2976,1702,3109,0,0,0,0,0,0
$GC,339,-0.57,-116.8,31.3,-5.0,63,344,0.22,2.42,0.00,0.000,4,0.041,0.044,2906,290,3111,0,0,0,0,0,0
$GC,437,-0.62,-116.8,39.7,-8.5,70,441,0.00,2.33,0.00,0.000,6,0.000,0.018,2906,1742,3111,0,0,0,0,0,0
$GC,698,-0.70,-116.8,61.0,-7.9,90,702,0.00,2.47,0.00,0.000,4,0.000,0.045,2906,295,3112,0,0,0,0,0,0
$GC,770,-0.77,-116.8,67.8,-9.0,95,777,0.08,2.25,0.00,0.000,6,0.037,0.018,2866,1709,3111,0,0,0,0,0,0
$GC,1029,-0.77,-116.8,93.1,-10.8,116,1033,0.00,2.42,0.00,0.000,4,0.000,0.046,2866,293,3113,0,0,0,0,0,0
$GC,1156,-0.77,-116.8,108.6,-12.3,125,1161,0.00,2.22,0.00,0.000,6,0.000,0.018,2866,1704,3112,0,0,0,0,0,0
$GC,1418,-0.83,-116.8,131.0,-7.4,146,1422,0.00,2.42,0.00,0.000,4,0.000,0.045,2865,294,3113,0,0,0,0,0,0
$GC,1459,-0.88,-116.8,134.8,-8.0,149,1463,0.00,2.20,0.00,0.000,6,0.000,0.018,2866,1704,3113,0,0,0,0,0,0
$GC,1721,-0.96,-116.8,155.5,-8.4,169,1726,0.12,2.42,0.00,0.000,4,0.061,0.045,2818,292,3113,0,0,0,0,0,0
$GC,1756,-0.87,-116.8,159.4,-11.6,171,1763,0.20,2.22,0.00,0.000,6,0.084,0.018,2860,1709,3113,0,0,0,0,0,0
$GC,2017,-0.97,-116.8,175.9,-5.2,192,2022,0.10,2.45,0.00,0.000,4,0.073,0.046,2820,293,3114,0,0,0,0,0,0
$GC,2047,-0.92,-116.8,178.1,-7.7,194,2052,0.15,2.20,0.00,0.000,6,0.087,0.018,2853,1703,3114,0,0,0,0,0,0
$GC,2308,-0.99,-116.8,192.5,-5.9,214,2310,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1707,3114,0,0,0,0,0,0
$GC,2558,-1.07,-116.8,208.2,-6.3,230,2563,0.15,2.42,0.00,0.000,4,0.055,0.047,2800,294,3114,0,0,0,0,0,0
$GC,2628,-0.99,-116.8,214.7,-9.1,233,2633,0.15,2.22,0.00,0.000,6,0.090,0.019,2833,1693,3114,0,0,0,0,0,0
$GC,2958,-1.06,-116.8,235.0,-5.6,249,2963,0.00,2.40,0.00,0.000,4,0.000,0.048,2832,292,3113,0,0,0,0,0,0
$GC,3029,-1.10,-116.8,240.1,-6.5,252,3033,0.00,2.22,0.00,0.000,6,0.000,0.020,2832,1703,3113,0,0,0,0,0,0
$GC,3357,-1.17,-116.8,264.7,-8.6,268,3362,0.17,2.45,0.00,0.000,4,0.051,0.049,2776,290,3113,0,0,0,0,0,0
$GC,3404,-1.09,-116.8,270.7,-12.7,270,3409,0.17,2.25,0.00,0.000,6,0.084,0.021,2814,1693,3113,0,0,0,0,0,0
$GC,3736,-1.13,-116.8,300.3,-7.8,286,3740,0.00,2.40,0.00,0.000,4,0.000,0.049,2815,294,3112,0,0,0,0,0,0
$GC,3791,-1.13,-116.8,305.1,-8.0,287,3795,0.00,2.25,0.00,0.000,6,0.000,0.022,2814,1705,3112,0,0,0,0,0,0
$GC,4106,-1.17,-116.8,328.4,-7.8,295,4108,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1710,3110,0,0,0,0,0,0
$GC,4430,-1.21,-116.8,353.7,-7.7,303,4435,0.12,2.47,0.00,0.000,4,0.065,0.053,2774,290,3107,0,0,0,0,0,0
$GC,4526,-1.12,-116.8,363.4,-10.9,305,4531,0.15,2.25,0.00,0.000,6,0.091,0.024,2806,1693,3107,0,0,0,0,0,0
$GC,4852,-1.12,-116.8,393.7,-9.2,313,4856,0.00,2.45,0.00,0.000,4,0.000,0.054,2806,296,3105,0,0,0,0,0,0
$GC,4875,-1.12,-116.8,396.1,-9.4,313,4879,0.00,2.28,0.00,0.000,6,0.000,0.025,2806,1704,3105,0,0,0,0,0,0
$GC,5218,-1.15,-116.8,423.3,-7.7,322,5223,0.00,2.50,0.00,0.000,4,0.000,0.057,2806,288,3102,0,0,0,0,0,0
$GC,5261,-1.15,-116.8,427.1,-8.3,323,5265,0.00,2.33,0.00,0.000,6,0.000,0.025,2806,1706,3102,0,0,0,0,0,0
$STATE,5586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5586,begin apogee
$GC,5593,-0.31,0.0,452.4,7.5,331,5693,0.80,0.00,96.07,0.839,6,0.066,0.000,2980,1711,2629,0,0,0,0,0,0
$STATE,5694,end apogee,CONTROL_FINISHED_OK
$STATE,5694,begin climb
$GC,5696,1.18,116.8,454.0,0.0,333,5808,1.42,2.38,101.55,0.820,4,0.038,0.034,3310,3080,2152,0,0,0,0,0,0
$GC,5931,1.01,124.3,445.2,7.6,338,5944,0.20,2.40,7.15,0.651,6,0.098,0.040,3271,1700,2123,0,0,0,0,0,0
$GC,6292,0.95,165.3,422.9,6.0,347,6335,0.00,2.40,36.72,0.802,4,0.000,0.032,3271,3082,1955,0,0,0,0,0,0
$GC,6461,0.89,171.3,408.4,7.6,350,6475,0.12,2.40,6.55,0.638,6,0.105,0.042,3246,1700,1930,0,0,0,0,0,0
$GC,6801,0.86,179.4,383.7,7.5,359,6814,0.00,2.55,7.85,0.674,4,0.000,0.060,3246,289,1898,0,0,0,0,0,0
$GC,6872,0.76,179.4,377.2,9.7,360,6877,0.15,2.38,0.00,0.000,6,0.107,0.028,3217,1707,1895,0,0,0,0,0,0
$GC,7215,0.81,196.6,353.0,7.1,369,7239,0.00,2.58,16.30,0.747,4,0.000,0.057,3217,287,1827,0,0,0,0,0,0
$GC,7384,0.78,196.6,338.1,9.0,372,7389,0.00,2.35,0.00,0.000,6,0.000,0.027,3217,1704,1822,0,0,0,0,0,0
$GC,7720,0.84,196.6,311.0,8.1,381,7725,0.00,2.53,0.00,0.000,4,0.000,0.057,3217,292,1821,0,0,0,0,0,0
$GC,7799,0.84,196.6,304.0,8.4,382,7803,0.00,2.35,0.00,0.000,6,0.000,0.027,3218,1708,1818,0,0,0,0,0,0
$GC,8117,0.99,268.5,286.3,4.6,395,8189,0.22,2.62,62.83,0.746,4,0.051,0.057,3277,296,1534,0,0,0,0,0,0
$GC,8255,0.84,268.5,272.8,12.8,401,8260,0.22,2.35,0.00,0.000,6,0.093,0.028,3233,1703,1528,0,0,0,0,0,0
$GC,8588,0.89,268.5,242.2,8.9,417,8593,0.00,2.53,0.00,0.000,4,0.000,0.055,3233,292,1526,0,0,0,0,0,0
$GC,8701,0.89,268.5,229.8,11.3,422,8705,0.00,2.33,0.00,0.000,6,0.000,0.025,3233,1711,1522,0,0,0,0,0,0
$GC,9032,0.96,277.1,202.0,7.5,438,9045,0.12,2.58,6.75,0.550,4,0.068,0.054,3271,294,1500,0,0,0,0,0,0
$GC,9201,0.87,277.1,182.2,12.9,450,9206,0.15,2.33,0.00,0.000,6,0.099,0.025,3242,1711,1497,0,0,0,0,0,0
$GC,9469,0.93,277.1,157.6,9.1,471,9473,0.00,2.50,0.00,0.000,4,0.000,0.052,3241,294,1496,0,0,0,0,0,0
$GC,9593,0.93,277.1,145.9,8.6,480,9597,0.00,2.30,0.00,0.000,6,0.000,0.023,3241,1712,1495,0,0,0,0,0,0
$GC,9860,1.00,277.5,125.0,7.9,501,9865,0.12,2.53,0.00,0.000,4,0.065,0.051,3282,285,1495,0,0,0,0,0,0
$GC,9932,0.94,277.5,117.5,10.7,506,9937,0.12,2.30,0.00,0.000,6,0.098,0.021,3257,1705,1494,0,0,0,0,0,0
$GC,10193,1.04,305.7,99.7,6.6,526,10223,0.00,2.53,25.35,0.565,4,0.000,0.049,3256,293,1382,0,0,0,0,0,0
$GC,10316,1.08,305.7,89.3,8.3,535,10321,0.12,2.30,0.00,0.000,6,0.064,0.021,3299,1721,1379,0,0,0,0,0,0
$GC,10585,1.13,315.8,69.2,7.4,556,10600,0.00,2.53,9.62,0.483,4,0.000,0.048,3299,289,1341,0,0,0,0,0,0
$GC,10794,1.13,315.8,51.1,8.2,571,10798,0.00,2.25,0.00,0.000,6,0.000,0.019,3299,1714,1337,0,0,0,0,0,0
$GC,11060,1.17,315.8,30.3,8.1,592,11065,0.00,2.47,0.00,0.000,4,0.000,0.048,3299,292,1337,0,0,0,0,0,0
$GC,11133,1.17,315.8,22.8,10.7,607,11140,0.00,2.25,0.00,0.000,6,0.000,0.019,3299,1702,1337,0,0,0,0,0,0
$GC,11335,1.20,315.8,5.1,9.4,653,11343,0.00,2.47,0.00,0.000,4,0.000,0.049,3299,294,1337,0,0,0,0,0,0
$STATE,11357,end climb,SURFACE_DEPTH_REACHED
$STATE,11357,begin surface coast
$FINISH,1.1,1.023148
$STATE,11388,end surface coast,CONTROL_FINISHED_OK
$STATE,11388,begin surface
$SM_CCo,11414,54.50,0.475,0,0,957,410.14
$SM_GC,1.51,0.00,0.00,54.50,0.000,0.000,0.475,427,1687,957,-12.07,-0.37,410.14
$IRIDIUM_FIX,2057.14,-15753.90,201299,191922
$TT8_MAMPS,0.028379
$HUMID,57.83
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.50
$XPDR_PINGS,1
$24V_AH,23.4,47.613
$10V_AH,10.2,39.490
$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,31.475,133.425,376.750,54.500,0.000,24.649,27.650,184.217,4.750,0.000,15.526,1339.265,7297.483,472.173,2168.858,553.821,0.000,1424.585,0.000,2139.223,0.000,29.263,0.000
$DEVICE_MAMPS,131.924,59.826,839.098,474.773,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,447.439,428.568,988.844,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355796
$DATA_FILE_SIZE,38121,664
$CAP_FILE_SIZE,133848,0
$CFSIZE,260165632,184893440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260910,014552,2102.872,-15752.640,11,3.0,30,9.8