version: 66.06
glider: 139
mission: 8
dive: 543
start: 9 26 110 23 42 49
data:
$ID,139
$MISSION,8
$DIVE,543
$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,-2162507.8
$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
$GPS1,233602,2104.043,-15751.461,15,1.7,15,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-73.1
$GPS2,234231,2103.990,-15751.503,14,1.7,19,9.8
$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,67.4,15213,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.15,0.000,2,0.000,0.000,426,1701,2744,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.4,-3.6,12,111,12.62,2.40,-6.72,0.000,4,0.132,0.035,2785,3112,3111,0,0,0,0,0,0
$GC,132,-0.34,-116.8,17.1,-28.9,20,140,0.82,2.42,0.00,0.000,6,0.069,0.034,2972,1704,3112,0,0,0,0,0,0
$GC,336,-0.57,-116.8,30.1,-5.6,66,341,0.22,2.42,0.00,0.000,4,0.041,0.043,2902,286,3113,0,0,0,0,0,0
$GC,410,-0.64,-116.8,37.0,-9.2,71,416,0.00,2.35,0.00,0.000,6,0.000,0.018,2903,1736,3114,0,0,0,0,0,0
$GC,671,-0.71,-116.8,61.1,-9.7,92,675,0.00,2.50,0.00,0.000,4,0.000,0.046,2902,295,3114,0,0,0,0,0,0
$GC,737,-0.80,-116.8,68.4,-10.8,97,742,0.12,2.22,0.00,0.000,6,0.061,0.018,2856,1714,3114,0,0,0,0,0,0
$GC,1002,-0.80,-116.8,97.5,-9.9,118,1007,0.00,2.45,0.00,0.000,4,0.000,0.045,2856,294,3115,0,0,0,0,0,0
$GC,1082,-0.80,-116.8,105.1,-8.7,124,1086,0.00,2.22,0.00,0.000,6,0.000,0.018,2855,1702,3115,0,0,0,0,0,0
$GC,1348,-0.84,-116.8,128.6,-9.2,145,1352,0.00,2.20,0.00,0.000,4,0.000,0.021,2856,3071,3115,0,0,0,0,0,0
$GC,1375,-0.92,-116.8,131.0,-9.1,147,1379,0.00,2.28,0.00,0.000,6,0.000,0.029,2855,1693,3115,0,0,0,0,0,0
$GC,1641,-0.98,-116.8,151.5,-7.4,168,1644,0.00,2.38,0.00,0.000,4,0.000,0.045,2855,298,3116,0,0,0,0,0,0
$GC,1703,-1.03,-116.8,156.5,-7.8,172,1708,0.12,2.20,0.00,0.000,6,0.060,0.018,2809,1710,3116,0,0,0,0,0,0
$GC,1966,-1.00,-116.8,181.3,-10.0,192,1968,0.10,0.00,0.00,0.000,6,0.102,0.000,2832,1715,3116,0,0,0,0,0,0
$GC,2220,-1.04,-116.8,203.8,-8.3,211,2225,0.00,2.42,0.00,0.000,4,0.000,0.046,2832,301,3116,0,0,0,0,0,0
$GC,2304,-1.07,-116.8,211.0,-8.7,214,2311,0.00,2.22,0.00,0.000,6,0.000,0.019,2832,1699,3116,0,0,0,0,0,0
$GC,2621,-1.10,-116.8,234.3,-7.8,230,2625,0.00,2.40,0.00,0.000,4,0.000,0.047,2831,297,3116,0,0,0,0,0,0
$GC,2644,-1.10,-116.8,236.2,-7.8,231,2648,0.00,2.22,0.00,0.000,6,0.000,0.020,2831,1706,3115,0,0,0,0,0,0
$GC,2973,-1.17,-116.8,259.7,-7.9,247,2979,0.17,2.45,0.00,0.000,4,0.051,0.048,2775,300,3115,0,0,0,0,0,0
$GC,3087,-1.07,-116.8,272.2,-10.4,251,3093,0.20,2.20,0.00,0.000,6,0.083,0.021,2818,1696,3114,0,0,0,0,0,0
$GC,3407,-1.13,-116.8,297.0,-8.4,267,3411,0.00,2.40,0.00,0.000,4,0.000,0.049,2819,300,3114,0,0,0,0,0,0
$GC,3476,-1.13,-116.8,303.6,-8.9,269,3480,0.00,2.22,0.00,0.000,6,0.000,0.021,2818,1703,3114,0,0,0,0,0,0
$GC,3817,-1.18,-116.8,325.9,-6.0,278,3822,0.12,2.45,0.00,0.000,4,0.063,0.051,2776,303,3112,0,0,0,0,0,0
$GC,3839,-1.13,-116.8,327.5,-7.4,278,3843,0.12,2.22,0.00,0.000,6,0.095,0.022,2804,1702,3112,0,0,0,0,0,0
$GC,4184,-1.13,-116.8,351.2,-7.5,287,4189,0.00,2.45,0.00,0.000,4,0.000,0.053,2803,303,3110,0,0,0,0,0,0
$GC,4204,-1.13,-116.8,353.1,-9.2,287,4208,0.00,2.28,0.00,0.000,6,0.000,0.024,2803,1710,3109,0,0,0,0,0,0
$GC,4554,-1.13,-116.8,382.9,-8.1,296,4558,0.00,2.47,0.00,0.000,4,0.000,0.054,2803,299,3107,0,0,0,0,0,0
$GC,4634,-1.13,-116.8,391.2,-10.4,297,4639,0.00,2.25,0.00,0.000,6,0.000,0.025,2803,1693,3106,0,0,0,0,0,0
$GC,4968,-1.16,-116.8,421.5,-8.9,305,4972,0.00,2.45,0.00,0.000,4,0.000,0.055,2803,302,3104,0,0,0,0,0,0
$GC,5001,-1.16,-116.8,424.9,-9.2,305,5005,0.00,2.30,0.00,0.000,6,0.000,0.025,2803,1706,3104,0,0,0,0,0,0
$STATE,5331,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5331,begin apogee
$GC,5338,-0.31,0.0,451.1,7.5,313,5438,0.82,0.00,96.53,0.836,6,0.065,0.000,2982,1710,2629,0,0,0,0,0,0
$STATE,5439,end apogee,CONTROL_FINISHED_OK
$STATE,5439,begin climb
$GC,5441,1.18,116.8,453.0,0.0,315,5553,1.40,2.35,101.38,0.816,4,0.038,0.032,3306,3079,2152,0,0,0,0,0,0
$GC,5792,1.04,142.3,437.1,6.7,322,5821,0.15,2.40,22.73,0.780,6,0.105,0.039,3278,1702,2048,0,0,0,0,0,0
$GC,6131,0.94,157.2,413.2,7.2,331,6151,0.12,2.58,13.38,0.743,4,0.110,0.058,3254,301,1988,0,0,0,0,0,0
$GC,6210,0.80,157.2,406.9,8.5,332,6215,0.15,2.35,0.00,0.000,6,0.108,0.027,3226,1704,1984,0,0,0,0,0,0
$GC,6548,0.83,177.2,383.4,7.0,341,6572,0.00,2.60,18.15,0.764,4,0.000,0.058,3226,301,1907,0,0,0,0,0,0
$GC,6685,0.77,177.2,371.7,9.2,344,6689,0.00,2.35,0.00,0.000,6,0.000,0.028,3226,1708,1902,0,0,0,0,0,0
$GC,7013,0.77,177.2,345.4,8.2,352,7017,0.00,2.50,0.00,0.000,4,0.000,0.056,3225,296,1901,0,0,0,0,0,0
$GC,7069,0.74,177.2,340.0,9.7,353,7073,0.00,2.35,0.00,0.000,6,0.000,0.028,3226,1706,1898,0,0,0,0,0,0
$GC,7384,0.80,197.4,316.7,7.0,361,7404,0.00,0.00,18.15,0.736,6,0.000,0.000,3226,1710,1825,0,0,0,0,0,0
$GC,7689,0.86,219.2,295.8,6.9,370,7715,0.00,2.60,20.40,0.725,4,0.000,0.057,3226,302,1736,0,0,0,0,0,0
$GC,7767,0.86,219.2,289.3,9.5,373,7772,0.00,2.33,0.00,0.000,6,0.000,0.027,3226,1710,1732,0,0,0,0,0,0
$GC,8091,0.98,264.7,268.6,5.8,389,8138,0.17,2.58,40.55,0.723,4,0.057,0.057,3274,297,1549,0,0,0,0,0,0
$GC,8260,0.88,264.7,248.0,13.3,396,8265,0.17,2.35,0.00,0.000,6,0.096,0.026,3240,1706,1543,0,0,0,0,0,0
$GC,8581,0.93,264.7,217.1,8.8,412,8585,0.00,2.50,0.00,0.000,4,0.000,0.054,3239,290,1542,0,0,0,0,0,0
$GC,8671,0.93,264.7,209.4,8.6,416,8675,0.00,2.35,0.00,0.000,6,0.000,0.025,3240,1713,1539,0,0,0,0,0,0
$GC,8995,0.99,264.7,185.2,8.0,437,9000,0.12,2.50,0.00,0.000,4,0.066,0.053,3279,288,1538,0,0,0,0,0,0
$GC,9132,0.87,264.7,169.3,12.4,447,9137,0.20,2.33,0.00,0.000,6,0.091,0.023,3240,1715,1536,0,0,0,0,0,0
$GC,9399,0.93,266.0,146.6,7.8,468,9403,0.00,2.50,0.00,0.000,4,0.000,0.051,3239,293,1536,0,0,0,0,0,0
$GC,9513,0.93,266.0,136.8,8.0,476,9520,0.00,2.30,0.00,0.000,6,0.000,0.022,3239,1702,1536,0,0,0,0,0,0
$GC,9777,1.01,268.0,118.1,7.8,497,9782,0.12,2.45,0.00,0.000,4,0.064,0.050,3280,294,1535,0,0,0,0,0,0
$GC,9881,0.92,268.0,105.3,12.4,504,9888,0.12,2.28,0.00,0.000,6,0.071,0.021,3250,1700,1535,0,0,0,0,0,0
$GC,10145,1.10,349.5,89.6,4.2,525,10226,0.17,2.55,70.25,0.563,4,0.051,0.051,3303,301,1204,0,0,0,0,0,0
$GC,10250,0.97,349.5,79.6,13.5,532,10257,0.17,2.28,0.00,0.000,6,0.068,0.021,3263,1703,1201,0,0,0,0,0,0
$GC,10515,1.14,391.6,59.7,6.0,553,10558,0.15,2.50,35.20,0.523,4,0.054,0.048,3311,296,1032,0,0,0,0,0,0
$GC,10711,1.08,391.6,38.1,10.5,567,10716,0.12,2.22,0.00,0.000,6,0.095,0.020,3286,1705,1027,0,0,0,0,0,0
$GC,10977,1.16,391.6,15.4,8.9,613,10984,0.00,2.50,0.00,0.000,4,0.000,0.050,3285,297,1027,0,0,0,0,0,0
$STATE,11092,end climb,SURFACE_DEPTH_REACHED
$STATE,11092,begin surface coast
$FINISH,0.9,1.011289
$STATE,11118,end surface coast,CONTROL_FINISHED_OK
$STATE,11119,begin surface
$SM_CCo,11144,13.95,0.449,0,0,957,410.14
$SM_GC,1.43,0.00,0.00,13.95,0.000,0.000,0.449,423,1699,957,-12.08,-0.03,410.14
$IRIDIUM_FIX,2057.14,-15753.90,211299,202059
$TT8_MAMPS,0.029146
$HUMID,59.45
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.4,48.460
$10V_AH,10.1,40.154
$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,31.100,128.300,436.700,13.950,0.000,24.977,34.867,191.341,4.500,0.000,19.988,1281.965,7129.496,472.577,2096.945,561.373,0.000,1412.289,0.000,2064.124,0.000,29.260,0.000
$DEVICE_MAMPS,131.924,57.525,836.030,448.695,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,433.893,416.589,954.951,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355832
$DATA_FILE_SIZE,34939,645
$CAP_FILE_SIZE,128443,0
$CFSIZE,260165632,184414208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270910,025007,2103.908,-15751.867,41,1.0,41,9.8