version: 66.06
glider: 139
mission: 8
dive: 549
start: 9 27 110 18 29 16
data:
$ID,139
$MISSION,8
$DIVE,549
$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,-2162604.8
$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
$GPS1,182236,2104.351,-15749.854,40,0.9,45,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-73.3
$GPS2,182856,2104.377,-15749.826,16,1.4,16,9.8
$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,67.6,12228,-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,-64.62,0.000,2,0.000,0.000,427,1708,2755,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.4,-3.4,12,110,12.62,2.33,-6.55,0.000,4,0.132,0.033,2787,3112,3109,0,0,0,0,0,0
$GC,149,-0.98,-116.8,19.4,-18.1,24,156,0.20,2.42,0.00,0.000,6,0.076,0.033,2833,1701,3109,0,0,0,0,0,0
$GC,350,-0.85,-116.8,48.4,-14.6,50,355,0.15,2.42,0.00,0.000,4,0.094,0.047,2864,295,3111,0,0,0,0,0,0
$GC,418,-0.82,-116.8,57.8,-12.0,55,422,0.00,2.30,0.00,0.000,6,0.000,0.018,2865,1738,3112,0,0,0,0,0,0
$GC,682,-0.82,-116.8,89.6,-11.3,76,687,0.00,2.47,0.00,0.000,4,0.000,0.045,2865,294,3112,0,0,0,0,0,0
$GC,724,-0.82,-116.8,95.0,-12.9,79,729,0.00,2.22,0.00,0.000,6,0.000,0.018,2865,1714,3112,0,0,0,0,0,0
$GC,987,-0.87,-116.8,116.6,-6.5,99,991,0.00,2.42,0.00,0.000,4,0.000,0.045,2865,295,3113,0,0,0,0,0,0
$GC,1058,-0.92,-116.8,122.3,-7.9,104,1062,0.00,2.20,0.00,0.000,6,0.000,0.018,2865,1708,3113,0,0,0,0,0,0
$GC,1320,-0.98,-116.8,143.9,-9.0,124,1325,0.12,2.45,0.00,0.000,4,0.061,0.046,2819,288,3113,0,0,0,0,0,0
$GC,1377,-0.91,-116.8,151.5,-13.3,128,1382,0.15,2.22,0.00,0.000,6,0.087,0.018,2851,1693,3113,0,0,0,0,0,0
$GC,1637,-0.97,-116.8,175.5,-8.0,148,1641,0.00,2.40,0.00,0.000,4,0.000,0.045,2851,287,3113,0,0,0,0,0,0
$GC,1707,-1.02,-116.8,180.8,-8.1,153,1712,0.10,2.22,0.00,0.000,6,0.072,0.018,2811,1707,3113,0,0,0,0,0,0
$GC,1982,-0.98,-116.8,201.9,-7.9,174,1987,0.12,2.45,0.00,0.000,4,0.093,0.046,2839,287,3113,0,0,0,0,0,0
$GC,2016,-0.98,-116.8,205.0,-8.2,175,2020,0.00,2.25,0.00,0.000,6,0.000,0.019,2839,1705,3113,0,0,0,0,0,0
$GC,2332,-1.02,-116.8,231.1,-8.4,190,2336,0.00,2.45,0.00,0.000,4,0.000,0.047,2839,288,3113,0,0,0,0,0,0
$GC,2369,-1.06,-116.8,234.5,-8.5,191,2375,0.00,2.22,0.00,0.000,6,0.000,0.020,2839,1703,3113,0,0,0,0,0,0
$GC,2688,-1.13,-116.8,255.4,-6.3,207,2693,0.15,2.42,0.00,0.000,4,0.054,0.048,2788,294,3113,0,0,0,0,0,0
$GC,2755,-1.07,-116.8,261.7,-9.4,210,2760,0.12,2.22,0.00,0.000,6,0.091,0.020,2815,1700,3112,0,0,0,0,0,0
$GC,3088,-1.07,-116.8,285.2,-7.2,226,3092,0.00,2.42,0.00,0.000,4,0.000,0.048,2815,289,3112,0,0,0,0,0,0
$GC,3134,-1.07,-116.8,289.2,-7.3,228,3139,0.00,2.25,0.00,0.000,6,0.000,0.021,2816,1705,3112,0,0,0,0,0,0
$GC,3458,-1.11,-116.8,316.1,-9.0,240,3462,0.00,2.42,0.00,0.000,4,0.000,0.049,2815,294,3110,0,0,0,0,0,0
$GC,3523,-1.11,-116.8,323.6,-11.4,241,3527,0.00,2.25,0.00,0.000,6,0.000,0.022,2816,1709,3110,0,0,0,0,0,0
$GC,3868,-1.16,-116.8,357.8,-9.5,250,3872,0.00,2.45,0.00,0.000,4,0.000,0.051,2815,293,3108,0,0,0,0,0,0
$GC,3945,-1.20,-116.8,365.2,-9.5,251,3950,0.12,2.25,0.00,0.000,6,0.064,0.023,2775,1695,3108,0,0,0,0,0,0
$GC,4282,-1.16,-116.8,398.5,-9.7,260,4286,0.10,2.30,0.00,0.000,4,0.105,0.029,2796,3079,3105,0,0,0,0,0,0
$GC,4312,-1.24,-116.8,401.2,-8.2,260,4316,0.00,2.38,0.00,0.000,6,0.000,0.039,2796,1692,3105,0,0,0,0,0,0
$GC,4648,-1.24,-116.8,427.0,-7.8,269,4652,0.00,2.45,0.00,0.000,4,0.000,0.055,2796,292,3103,0,0,0,0,0,0
$GC,4683,-1.21,-116.8,430.1,-9.1,269,4687,0.00,2.28,0.00,0.000,6,0.000,0.025,2796,1700,3102,0,0,0,0,0,0
$STATE,4930,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4930,begin apogee
$GC,4937,-0.31,0.0,450.5,7.9,275,5036,0.85,0.00,95.97,0.835,6,0.064,0.000,2981,1705,2630,0,0,0,0,0,0
$STATE,5037,end apogee,CONTROL_FINISHED_OK
$STATE,5037,begin climb
$GC,5040,1.18,116.8,452.9,0.0,277,5153,1.42,2.42,100.85,0.818,4,0.038,0.031,3311,3079,2152,0,0,0,0,0,0
$GC,5354,1.01,116.8,436.5,9.8,284,5359,0.20,2.40,0.00,0.000,6,0.101,0.040,3272,1692,2146,0,0,0,0,0,0
$GC,5684,0.92,141.4,412.7,6.8,292,5712,0.10,2.40,20.98,0.774,4,0.121,0.031,3253,3079,2052,0,0,0,0,0,0
$GC,5806,0.92,176.8,404.6,6.3,294,5843,0.00,2.42,32.03,0.789,6,0.000,0.041,3253,1692,1909,0,0,0,0,0,0
$GC,6186,0.87,176.8,376.4,8.0,304,6187,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1692,1902,0,0,0,0,0,0
$GC,6511,0.84,182.5,351.4,7.6,312,6523,0.00,2.50,4.85,0.557,4,0.000,0.057,3252,288,1885,0,0,0,0,0,0
$GC,6566,0.73,182.5,346.4,9.1,313,6571,0.22,2.35,0.00,0.000,6,0.100,0.027,3209,1698,1883,0,0,0,0,0,0
$GC,6885,0.87,239.8,328.1,5.3,321,6943,0.12,2.58,51.58,0.772,4,0.071,0.058,3244,289,1651,0,0,0,0,0,0
$GC,7021,0.79,239.8,316.6,9.7,324,7026,0.12,2.38,0.00,0.000,6,0.112,0.027,3221,1706,1645,0,0,0,0,0,0
$GC,7350,0.84,240.1,293.2,7.9,334,7354,0.00,2.53,0.00,0.000,4,0.000,0.057,3221,296,1643,0,0,0,0,0,0
$GC,7496,0.84,240.1,278.1,10.4,340,7501,0.00,2.35,0.00,0.000,6,0.000,0.026,3221,1710,1640,0,0,0,0,0,0
$GC,7815,0.92,241.7,254.0,7.8,355,7820,0.12,2.53,0.00,0.000,4,0.069,0.056,3258,291,1639,0,0,0,0,0,0
$GC,7940,0.84,241.7,241.5,9.1,360,7945,0.12,2.33,0.00,0.000,6,0.106,0.025,3234,1709,1637,0,0,0,0,0,0
$GC,8260,0.95,275.3,221.4,6.4,375,8297,0.10,2.60,29.58,0.678,4,0.078,0.053,3265,293,1506,0,0,0,0,0,0
$GC,8375,0.89,275.3,210.3,11.1,380,8380,0.12,2.33,0.00,0.000,6,0.105,0.025,3242,1700,1501,0,0,0,0,0,0
$GC,8702,0.95,275.3,182.4,8.5,402,8707,0.00,2.47,0.00,0.000,4,0.000,0.051,3241,289,1500,0,0,0,0,0,0
$GC,8813,0.95,275.3,172.0,8.1,410,8818,0.00,2.33,0.00,0.000,6,0.000,0.023,3241,1714,1498,0,0,0,0,0,0
$GC,9076,1.10,313.4,154.8,6.2,430,9117,0.20,2.60,32.78,0.615,4,0.049,0.051,3299,290,1351,0,0,0,0,0,0
$GC,9210,0.99,313.4,139.2,13.4,439,9216,0.17,2.30,0.00,0.000,6,0.092,0.021,3264,1709,1347,0,0,0,0,0,0
$GC,9471,1.06,313.4,115.1,9.3,460,9476,0.00,2.47,0.00,0.000,4,0.000,0.049,3263,289,1346,0,0,0,0,0,0
$GC,9620,1.06,313.4,97.6,11.0,471,9624,0.00,2.25,0.00,0.000,6,0.000,0.021,3264,1703,1345,0,0,0,0,0,0
$GC,9887,1.24,368.9,79.4,5.4,492,9943,0.22,2.55,46.70,0.542,4,0.044,0.048,3332,297,1125,0,0,0,0,0,0
$GC,10018,1.13,368.9,64.8,12.7,501,10023,0.17,2.25,0.00,0.000,6,0.086,0.020,3297,1707,1122,0,0,0,0,0,0
$GC,10283,1.18,368.9,38.2,10.4,521,10287,0.00,2.45,0.00,0.000,4,0.000,0.048,3297,293,1121,0,0,0,0,0,0
$GC,10391,1.18,368.9,26.3,10.3,534,10400,0.00,2.28,0.00,0.000,6,0.000,0.019,3297,1710,1119,0,0,0,0,0,0
$GC,10596,1.23,368.9,7.6,9.3,580,10602,0.00,2.50,0.00,0.000,4,0.000,0.048,3297,291,1119,0,0,0,0,0,0
$STATE,10637,end climb,SURFACE_DEPTH_REACHED
$STATE,10637,begin surface coast
$FINISH,0.9,1.023033
$STATE,10665,end surface coast,CONTROL_FINISHED_OK
$STATE,10665,begin surface
$SM_CCo,10691,24.38,0.459,0,0,957,410.14
$SM_GC,1.64,0.00,0.00,24.38,0.000,0.000,0.459,429,1709,957,-12.06,0.23,410.14
$IRIDIUM_FIX,2054.83,-15751.76,221299,151536
$TT8_MAMPS,0.029146
$HUMID,57.75
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.4,49.093
$10V_AH,10.1,40.653
$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,30.575,128.375,415.300,24.375,0.000,26.445,32.105,187.938,4.500,0.000,16.497,1213.543,6900.927,466.318,1962.825,549.247,0.000,1368.519,0.000,1934.094,0.000,29.254,0.000
$DEVICE_MAMPS,131.924,58.292,835.263,458.666,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,400.496,381.941,842.807,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355832
$DATA_FILE_SIZE,34905,595
$CAP_FILE_SIZE,125475,0
$CFSIZE,260165632,184053760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270910,212904,2104.584,-15749.011,14,2.5,33,9.8