version: 66.06
glider: 139
mission: 8
dive: 538
start: 9 26 110 8 7 42
data:
$ID,139
$MISSION,8
$DIVE,538
$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,-2162382.5
$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
$GPS1,080016,2102.963,-15752.906,14,2.6,33,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-70.9
$GPS2,080724,2102.900,-15752.958,28,1.0,45,9.8
$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,62.9,18167,-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,-64.20,0.000,2,0.000,0.000,429,1709,2768,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.7,-4.4,12,110,12.68,2.33,-6.25,0.000,4,0.134,0.034,2786,3112,3109,0,0,0,0,0,0
$GC,188,-1.10,-116.8,26.2,-15.0,33,195,0.08,2.42,0.00,0.000,6,0.084,0.031,2806,1699,3111,0,0,0,0,0,0
$GC,392,-0.95,-116.8,57.2,-14.4,52,397,0.17,2.42,0.00,0.000,4,0.090,0.047,2842,296,3112,0,0,0,0,0,0
$GC,435,-0.84,-116.8,63.4,-14.3,55,440,0.12,2.30,0.00,0.000,6,0.098,0.018,2868,1744,3112,0,0,0,0,0,0
$GC,697,-0.88,-116.8,89.4,-9.7,75,701,0.00,2.50,0.00,0.000,4,0.000,0.044,2868,295,3113,0,0,0,0,0,0
$GC,787,-0.94,-116.8,97.7,-9.4,81,792,0.00,2.25,0.00,0.000,6,0.000,0.018,2868,1718,3113,0,0,0,0,0,0
$GC,1049,-0.99,-116.8,120.1,-9.6,102,1054,0.15,2.45,0.00,0.000,4,0.054,0.046,2816,294,3114,0,0,0,0,0,0
$GC,1076,-0.89,-116.8,123.3,-11.5,104,1080,0.17,2.22,0.00,0.000,6,0.086,0.018,2852,1709,3114,0,0,0,0,0,0
$GC,1343,-0.93,-116.8,148.5,-9.1,125,1344,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1714,3114,0,0,0,0,0,0
$GC,1595,-0.99,-116.8,168.1,-7.4,145,1599,0.00,2.42,0.00,0.000,4,0.000,0.046,2852,293,3115,0,0,0,0,0,0
$GC,1650,-1.05,-116.8,172.8,-7.9,149,1655,0.15,2.20,0.00,0.000,6,0.054,0.018,2800,1700,3114,0,0,0,0,0,0
$GC,1913,-1.00,-116.8,199.9,-11.3,169,1921,0.15,2.40,0.00,0.000,4,0.087,0.047,2832,299,3115,0,0,0,0,0,0
$GC,1936,-0.95,-116.8,202.9,-10.8,170,1943,0.00,2.25,0.00,0.000,6,0.000,0.019,2833,1709,3115,0,0,0,0,0,0
$GC,2253,-0.99,-116.8,230.3,-7.4,186,2257,0.00,2.42,0.00,0.000,4,0.000,0.047,2833,295,3115,0,0,0,0,0,0
$GC,2313,-0.99,-116.8,235.0,-7.5,188,2320,0.00,2.25,0.00,0.000,6,0.000,0.020,2833,1702,3115,0,0,0,0,0,0
$GC,2629,-1.04,-116.8,259.1,-9.1,204,2633,0.00,2.45,0.00,0.000,4,0.000,0.047,2833,287,3114,0,0,0,0,0,0
$GC,2704,-1.10,-116.8,266.1,-9.7,207,2709,0.10,2.25,0.00,0.000,6,0.074,0.020,2795,1699,3114,0,0,0,0,0,0
$GC,3033,-1.10,-116.8,293.8,-7.3,223,3034,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1704,3114,0,0,0,0,0,0
$GC,3336,-1.10,-116.8,318.1,-8.2,233,3341,0.00,2.42,0.00,0.000,4,0.000,0.049,2794,293,3113,0,0,0,0,0,0
$GC,3406,-1.10,-116.8,325.3,-10.3,234,3410,0.00,2.25,0.00,0.000,6,0.000,0.021,2794,1701,3112,0,0,0,0,0,0
$GC,3747,-1.10,-116.8,359.7,-10.4,243,3752,0.00,2.45,0.00,0.000,4,0.000,0.051,2794,295,3111,0,0,0,0,0,0
$GC,3776,-1.05,-116.8,362.9,-10.9,243,3781,0.12,2.25,0.00,0.000,6,0.094,0.023,2821,1706,3111,0,0,0,0,0,0
$GC,4118,-1.10,-116.8,385.9,-5.7,252,4122,0.00,2.47,0.00,0.000,4,0.000,0.053,2821,292,3109,0,0,0,0,0,0
$GC,4168,-1.14,-116.8,388.6,-5.8,253,4172,0.00,2.28,0.00,0.000,6,0.000,0.024,2821,1704,3108,0,0,0,0,0,0
$GC,4491,-1.20,-116.8,403.8,-5.7,261,4496,0.15,2.50,0.00,0.000,4,0.058,0.054,2775,293,3105,0,0,0,0,0,0
$GC,4577,-1.14,-116.8,412.0,-9.7,262,4583,0.12,2.30,0.00,0.000,6,0.096,0.025,2802,1696,3105,0,0,0,0,0,0
$GC,4908,-1.14,-116.8,437.3,-7.6,271,4913,0.00,2.45,0.00,0.000,4,0.000,0.055,2802,296,3103,0,0,0,0,0,0
$GC,4993,-1.14,-116.8,444.2,-7.9,272,4998,0.00,2.28,0.00,0.000,6,0.000,0.026,2802,1699,3102,0,0,0,0,0,0
$STATE,5077,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5078,begin apogee
$GC,5083,-0.31,0.0,450.6,7.4,275,5183,0.82,0.00,96.10,0.838,6,0.065,0.000,2981,1703,2630,0,0,0,0,0,0
$STATE,5184,end apogee,CONTROL_FINISHED_OK
$STATE,5184,begin climb
$GC,5186,1.18,116.8,452.6,0.0,277,5299,1.42,2.42,100.88,0.819,4,0.038,0.033,3310,3078,2152,0,0,0,0,0,0
$GC,5411,1.01,127.0,445.7,7.4,282,5428,0.20,2.40,9.62,0.700,6,0.098,0.040,3272,1695,2111,0,0,0,0,0,0
$GC,5747,0.92,151.9,423.0,6.8,290,5776,0.00,2.58,22.33,0.781,4,0.000,0.058,3272,297,2009,0,0,0,0,0,0
$GC,5848,0.73,151.9,414.5,8.6,292,5853,0.30,2.35,0.00,0.000,6,0.097,0.027,3213,1699,2004,0,0,0,0,0,0
$GC,6169,0.81,186.9,395.4,6.3,300,6205,0.00,2.60,31.20,0.792,4,0.000,0.058,3213,290,1868,0,0,0,0,0,0
$GC,6285,0.81,186.9,385.0,10.0,301,6289,0.00,2.38,0.00,0.000,6,0.000,0.028,3213,1702,1861,0,0,0,0,0,0
$GC,6621,0.86,186.9,357.1,8.4,310,6626,0.10,2.53,0.00,0.000,4,0.083,0.059,3242,295,1860,0,0,0,0,0,0
$GC,6721,0.78,186.9,346.3,10.9,312,6726,0.10,2.33,0.00,0.000,6,0.122,0.028,3223,1707,1857,0,0,0,0,0,0
$GC,7042,0.82,191.2,319.9,7.7,320,7046,0.00,2.53,0.00,0.000,4,0.000,0.057,3223,292,1856,0,0,0,0,0,0
$GC,7080,0.78,191.2,316.8,8.0,320,7085,0.00,2.35,0.00,0.000,6,0.000,0.028,3223,1703,1855,0,0,0,0,0,0
$GC,7413,0.91,272.9,300.4,4.2,329,7499,0.12,2.58,74.40,0.759,4,0.071,0.056,3259,288,1515,0,0,0,0,0,0
$GC,7631,0.81,272.9,279.8,12.8,337,7637,0.17,2.35,0.00,0.000,6,0.101,0.027,3226,1704,1508,0,0,0,0,0,0
$GC,7947,0.87,272.9,251.3,9.3,352,7951,0.00,2.53,0.00,0.000,4,0.000,0.057,3225,294,1506,0,0,0,0,0,0
$GC,8017,0.87,272.9,243.8,10.3,355,8022,0.00,2.35,0.00,0.000,6,0.000,0.026,3226,1709,1504,0,0,0,0,0,0
$GC,8345,1.00,298.4,220.4,6.7,371,8374,0.17,2.60,21.42,0.667,4,0.056,0.054,3275,296,1412,0,0,0,0,0,0
$GC,8517,0.91,298.4,199.9,11.7,378,8522,0.12,2.33,0.00,0.000,6,0.104,0.025,3250,1708,1406,0,0,0,0,0,0
$GC,8840,0.97,298.4,167.4,10.2,403,8844,0.00,2.47,0.00,0.000,4,0.000,0.052,3250,294,1406,0,0,0,0,0,0
$GC,8990,1.00,298.4,149.4,11.3,414,8994,0.00,2.28,0.00,0.000,6,0.000,0.023,3250,1703,1403,0,0,0,0,0,0
$GC,9258,1.11,313.8,127.3,7.2,435,9280,0.17,2.55,13.48,0.559,4,0.053,0.050,3302,296,1349,0,0,0,0,0,0
$GC,9349,1.01,313.8,117.2,11.4,441,9355,0.15,2.30,0.00,0.000,6,0.094,0.021,3271,1717,1346,0,0,0,0,0,0
$GC,9611,1.10,323.2,97.6,7.5,462,9627,0.00,2.53,9.10,0.492,4,0.000,0.048,3271,286,1311,0,0,0,0,0,0
$GC,9731,1.10,323.2,87.1,10.0,470,9735,0.00,2.25,0.00,0.000,6,0.000,0.020,3271,1705,1308,0,0,0,0,0,0
$GC,9994,1.23,350.3,67.7,6.7,490,10026,0.20,2.55,24.20,0.520,4,0.047,0.048,3333,293,1200,0,0,0,0,0,0
$GC,10161,1.12,350.3,49.3,11.9,502,10166,0.20,2.22,0.00,0.000,6,0.082,0.019,3292,1706,1196,0,0,0,0,0,0
$GC,10425,1.18,350.3,26.8,9.1,526,10431,0.00,2.50,0.00,0.000,4,0.000,0.048,3292,293,1196,0,0,0,0,0,0
$GC,10544,1.18,350.3,12.4,13.2,552,10551,0.00,2.25,0.00,0.000,6,0.000,0.019,3292,1703,1196,0,0,0,0,0,0
$STATE,10644,end climb,SURFACE_DEPTH_REACHED
$STATE,10644,begin surface coast
$FINISH,0.9,1.022977
$STATE,10698,end surface coast,CONTROL_FINISHED_OK
$STATE,10698,begin surface
$SM_CCo,10722,36.08,0.467,0,0,957,410.14
$SM_GC,1.73,0.00,0.00,36.08,0.000,0.000,0.467,426,1704,957,-12.07,0.11,410.14
$IRIDIUM_FIX,2052.52,-15751.76,211299,050515
$TT8_MAMPS,0.029146
$HUMID,57.52
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.4,47.934
$10V_AH,10.1,39.739
$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,30.650,124.275,402.725,36.075,0.000,25.527,33.873,201.471,4.500,0.000,45.505,1192.891,6993.655,473.955,1956.742,563.360,0.000,1365.126,0.000,1896.562,0.000,29.267,0.000
$DEVICE_MAMPS,134.225,59.059,837.564,467.103,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,394.800,372.545,830.337,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355796
$DATA_FILE_SIZE,31797,587
$CAP_FILE_SIZE,124332,0
$CFSIZE,260165632,184721408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260910,110750,2103.233,-15752.292,12,1.8,12,9.8