version: 66.06
glider: 139
mission: 8
dive: 541
start: 9 26 110 17 30 46
data:
$ID,139
$MISSION,8
$DIVE,541
$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,-2162470
$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
$GPS1,172349,2103.583,-15752.578,17,1.9,34,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-71.4
$GPS2,173028,2103.611,-15752.646,16,2.8,35,9.8
$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,66.6,17296,-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,-116.8,0.0,0.0,0,77,0.00,0.00,-58.85,0.000,2,0.000,0.000,424,1722,2591,0,0,0,0,0,0
$GC,80,-1.18,-116.8,3.2,-3.3,11,110,12.65,2.50,-10.00,0.000,4,0.133,0.058,2785,292,3108,0,0,0,0,0,0
$GC,184,-0.89,-116.8,27.1,-21.8,32,191,0.28,2.35,0.00,0.000,6,0.080,0.019,2853,1734,3109,0,0,0,0,0,0
$GC,388,-0.85,-116.8,59.2,-13.4,49,392,0.00,2.47,0.00,0.000,4,0.000,0.047,2853,295,3110,0,0,0,0,0,0
$GC,417,-0.77,-116.8,63.6,-16.2,51,421,0.12,2.25,0.00,0.000,6,0.092,0.018,2880,1727,3110,0,0,0,0,0,0
$GC,679,-0.82,-116.8,89.6,-6.9,71,683,0.00,2.45,0.00,0.000,4,0.000,0.044,2880,295,3111,0,0,0,0,0,0
$GC,801,-0.82,-116.8,100.4,-9.2,80,805,0.00,2.20,0.00,0.000,6,0.000,0.018,2879,1706,3111,0,0,0,0,0,0
$GC,1068,-0.91,-116.8,122.0,-7.7,101,1073,0.12,2.47,0.00,0.000,4,0.061,0.045,2830,286,3111,0,0,0,0,0,0
$GC,1158,-0.85,-116.8,131.0,-9.4,107,1165,0.15,2.25,0.00,0.000,6,0.091,0.018,2862,1707,3111,0,0,0,0,0,0
$GC,1421,-0.92,-116.8,146.6,-5.5,128,1424,0.00,2.42,0.00,0.000,4,0.000,0.045,2862,287,3111,0,0,0,0,0,0
$GC,1453,-0.92,-116.8,149.0,-7.1,130,1457,0.00,2.20,0.00,0.000,6,0.000,0.018,2862,1703,3111,0,0,0,0,0,0
$GC,1714,-1.00,-116.8,169.4,-8.8,150,1718,0.15,2.42,0.00,0.000,4,0.054,0.046,2806,295,3111,0,0,0,0,0,0
$GC,1784,-0.95,-116.8,178.3,-12.6,155,1789,0.17,2.20,0.00,0.000,6,0.082,0.019,2843,1696,3112,0,0,0,0,0,0
$GC,2063,-1.01,-116.8,207.3,-10.3,175,2067,0.00,2.40,0.00,0.000,4,0.000,0.046,2844,293,3112,0,0,0,0,0,0
$GC,2102,-1.06,-116.8,211.7,-10.3,176,2109,0.08,2.25,0.00,0.000,6,0.036,0.019,2804,1699,3112,0,0,0,0,0,0
$GC,2420,-1.06,-116.8,240.3,-7.3,192,2424,0.00,2.40,0.00,0.000,4,0.000,0.047,2804,294,3112,0,0,0,0,0,0
$GC,2459,-0.99,-116.8,243.1,-7.3,193,2465,0.15,2.22,0.00,0.000,6,0.086,0.020,2837,1704,3112,0,0,0,0,0,0
$GC,2779,-1.05,-116.8,260.2,-5.7,209,2783,0.00,2.45,0.00,0.000,4,0.000,0.047,2837,288,3112,0,0,0,0,0,0
$GC,2825,-1.11,-116.8,263.5,-7.1,211,2830,0.12,2.22,0.00,0.000,6,0.062,0.021,2792,1700,3111,0,0,0,0,0,0
$GC,3158,-1.07,-116.8,294.8,-8.9,227,3163,0.10,2.45,0.00,0.000,4,0.104,0.049,2814,289,3110,0,0,0,0,0,0
$GC,3205,-1.07,-116.8,299.5,-9.2,229,3210,0.00,2.22,0.00,0.000,6,0.000,0.021,2814,1693,3110,0,0,0,0,0,0
$GC,3548,-1.11,-116.8,326.3,-7.7,238,3552,0.00,2.42,0.00,0.000,4,0.000,0.049,2814,287,3108,0,0,0,0,0,0
$GC,3608,-1.11,-116.8,331.7,-9.4,239,3612,0.00,2.25,0.00,0.000,6,0.000,0.022,2814,1698,3108,0,0,0,0,0,0
$GC,3924,-1.15,-116.8,356.0,-7.4,247,3928,0.00,2.45,0.00,0.000,4,0.000,0.051,2814,296,3106,0,0,0,0,0,0
$GC,3943,-1.15,-116.8,357.8,-7.5,247,3947,0.00,2.25,0.00,0.000,6,0.000,0.023,2814,1704,3106,0,0,0,0,0,0
$GC,4290,-1.19,-116.8,386.5,-8.9,256,4295,0.12,2.47,0.00,0.000,4,0.064,0.053,2772,292,3104,0,0,0,0,0,0
$GC,4387,-1.13,-116.8,399.2,-14.1,258,4392,0.15,2.28,0.00,0.000,6,0.091,0.024,2804,1693,3103,0,0,0,0,0,0
$GC,4719,-1.16,-116.8,432.6,-9.6,266,4723,0.00,2.45,0.00,0.000,4,0.000,0.054,2804,292,3101,0,0,0,0,0,0
$GC,4770,-1.16,-116.8,437.7,-9.3,267,4775,0.00,2.28,0.00,0.000,6,0.000,0.025,2804,1697,3101,0,0,0,0,0,0
$STATE,4923,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4923,begin apogee
$GC,4929,-0.31,0.0,450.2,8.1,271,5028,0.80,0.00,95.47,0.825,6,0.063,0.000,2979,1702,2630,0,0,0,0,0,0
$STATE,5029,end apogee,CONTROL_FINISHED_OK
$STATE,5029,begin climb
$GC,5033,1.18,116.8,452.2,0.0,273,5145,1.42,2.45,100.38,0.806,4,0.037,0.032,3310,3085,2152,0,0,0,0,0,0
$GC,5323,1.01,116.8,435.2,8.4,279,5328,0.20,2.40,0.00,0.000,6,0.097,0.039,3272,1701,2147,0,0,0,0,0,0
$GC,5669,0.92,138.2,410.0,6.9,288,5693,0.00,2.42,18.08,0.756,4,0.000,0.031,3271,3078,2066,0,0,0,0,0,0
$GC,5723,0.86,141.0,405.8,7.8,289,5733,0.17,2.40,4.00,0.489,6,0.097,0.041,3237,1694,2054,0,0,0,0,0,0
$GC,6044,0.90,173.6,384.0,6.4,297,6081,0.00,2.58,29.52,0.775,4,0.000,0.057,3237,297,1921,0,0,0,0,0,0
$GC,6102,0.83,186.1,379.9,7.3,298,6120,0.00,2.35,12.25,0.710,6,0.000,0.027,3237,1706,1871,0,0,0,0,0,0
$GC,6456,0.86,212.6,354.4,6.7,307,6487,0.00,2.55,24.20,0.754,4,0.000,0.056,3237,294,1762,0,0,0,0,0,0
$GC,6562,0.79,212.6,345.7,10.1,309,6567,0.00,2.33,0.00,0.000,6,0.000,0.027,3237,1695,1756,0,0,0,0,0,0
$GC,6912,0.81,230.0,321.1,7.1,318,6929,0.00,0.00,15.68,0.714,6,0.000,0.000,3237,1700,1692,0,0,0,0,0,0
$GC,7218,0.81,230.0,296.1,8.2,326,7222,0.00,2.53,0.00,0.000,4,0.000,0.058,3237,293,1688,0,0,0,0,0,0
$GC,7291,0.78,230.0,289.0,9.3,329,7295,0.00,2.35,0.00,0.000,6,0.000,0.027,3237,1714,1685,0,0,0,0,0,0
$GC,7617,0.86,278.0,268.4,5.7,345,7667,0.00,2.58,42.05,0.718,4,0.000,0.054,3237,292,1495,0,0,0,0,0,0
$GC,7792,0.88,292.2,255.8,7.3,352,7810,0.00,2.35,12.77,0.649,6,0.000,0.026,3237,1708,1438,0,0,0,0,0,0
$GC,8137,0.93,292.2,227.3,10.6,369,8141,0.00,2.53,0.00,0.000,4,0.000,0.054,3238,289,1435,0,0,0,0,0,0
$GC,8322,0.93,292.2,207.9,9.3,377,8326,0.00,2.30,0.00,0.000,6,0.000,0.024,3237,1705,1431,0,0,0,0,0,0
$GC,8653,1.01,300.2,182.4,7.5,400,8669,0.15,2.55,7.53,0.542,4,0.058,0.053,3283,294,1405,0,0,0,0,0,0
$GC,8812,0.94,300.2,166.6,9.4,411,8817,0.15,2.28,0.00,0.000,6,0.095,0.023,3253,1707,1402,0,0,0,0,0,0
$GC,9078,1.02,300.2,146.1,8.0,432,9083,0.00,2.47,0.00,0.000,4,0.000,0.050,3252,293,1402,0,0,0,0,0,0
$GC,9173,1.02,300.2,136.8,10.4,439,9177,0.00,2.25,0.00,0.000,6,0.000,0.021,3253,1701,1400,0,0,0,0,0,0
$GC,9438,1.12,300.2,113.5,8.1,460,9443,0.17,2.47,0.00,0.000,4,0.051,0.049,3306,293,1400,0,0,0,0,0,0
$GC,9557,0.99,300.2,100.3,11.3,468,9564,0.17,2.28,0.00,0.000,6,0.070,0.021,3265,1707,1400,0,0,0,0,0,0
$GC,9819,1.08,314.8,81.3,7.2,489,9839,0.00,2.55,13.65,0.511,4,0.000,0.047,3265,289,1345,0,0,0,0,0,0
$GC,9931,1.16,335.8,73.1,6.9,497,9961,0.17,2.22,18.73,0.515,6,0.049,0.019,3321,1708,1260,0,0,0,0,0,0
$GC,10213,1.16,335.8,44.3,11.1,519,10217,0.00,2.47,0.00,0.000,4,0.000,0.048,3321,290,1259,0,0,0,0,0,0
$GC,10294,1.08,335.8,33.8,12.8,525,10299,0.17,2.22,0.00,0.000,6,0.086,0.019,3284,1695,1257,0,0,0,0,0,0
$GC,10558,1.16,336.6,11.7,7.9,579,10565,0.00,2.47,0.00,0.000,4,0.000,0.048,3283,290,1257,0,0,0,0,0,0
$STATE,10651,end climb,SURFACE_DEPTH_REACHED
$STATE,10651,begin surface coast
$FINISH,0.8,1.008244
$STATE,10677,end surface coast,CONTROL_FINISHED_OK
$STATE,10677,begin surface
$SM_CCo,10702,42.17,0.469,0,0,957,410.14
$SM_GC,1.50,0.00,0.00,42.17,0.000,0.000,0.469,430,1694,957,-12.06,-0.17,410.14
$IRIDIUM_FIX,2054.83,-15751.76,211299,141421
$TT8_MAMPS,0.029146
$HUMID,57.79
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.40
$XPDR_PINGS,1
$24V_AH,23.4,48.247
$10V_AH,10.1,39.985
$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,30.225,128.300,394.300,42.175,0.000,27.425,27.024,190.510,4.750,0.000,36.643,1229.018,6875.026,474.144,1998.810,562.376,0.000,1373.972,0.000,1946.927,0.000,29.268,0.000
$DEVICE_MAMPS,132.691,57.525,824.525,469.404,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,407.361,389.142,857.555,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355796
$DATA_FILE_SIZE,34891,605
$CAP_FILE_SIZE,126014,0
$CFSIZE,260165632,184537088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,260910,203107,2103.917,-15752.142,38,0.9,38,9.8