version: 66.06
glider: 139
mission: 8
dive: 501
start: 9 21 110 12 38 28
data:
$ID,139
$MISSION,8
$DIVE,501
$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,-2161589.8
$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
$GPS1,123237,2104.883,-15750.531,33,0.9,33,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-71.0
$GPS2,123808,2104.882,-15750.625,12,1.2,12,9.8
$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,72.8,13428,-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,-116.8,0.0,0.0,0,81,0.00,0.00,-64.05,0.000,2,0.000,0.000,425,1715,2726,0,0,0,0,0,0
$GC,84,-1.18,-116.8,3.3,-3.1,12,115,12.65,2.53,-7.20,0.000,4,0.133,0.057,2784,291,3110,0,0,0,0,0,0
$GC,128,-0.09,-116.8,16.0,-27.9,19,135,1.12,2.35,0.00,0.000,6,0.081,0.019,3028,1732,3111,0,0,0,0,0,0
$GC,331,-0.61,-116.8,28.9,-6.7,65,338,0.47,2.50,0.00,0.000,4,0.052,0.040,2915,297,3113,0,0,0,0,0,0
$GC,384,-0.87,-116.8,33.5,-8.3,70,391,0.20,2.25,0.00,0.000,6,0.025,0.018,2844,1710,3113,0,0,0,0,0,0
$GC,646,-0.80,-116.8,64.6,-11.4,91,648,0.15,0.00,0.00,0.000,6,0.086,0.000,2878,1713,3114,0,0,0,0,0,0
$GC,897,-0.85,-116.8,88.5,-9.9,111,902,0.00,2.42,0.00,0.000,4,0.000,0.045,2876,293,3114,0,0,0,0,0,0
$GC,959,-0.92,-116.8,95.1,-9.6,115,965,0.12,2.22,0.00,0.000,6,0.061,0.018,2831,1700,3115,0,0,0,0,0,0
$GC,1221,-0.92,-116.8,123.2,-9.6,136,1226,0.00,2.42,0.00,0.000,4,0.000,0.046,2831,286,3115,0,0,0,0,0,0
$GC,1249,-0.87,-116.8,126.6,-11.5,138,1254,0.12,2.22,0.00,0.000,6,0.094,0.018,2859,1706,3115,0,0,0,0,0,0
$GC,1511,-0.95,-116.8,144.5,-5.6,158,1515,0.00,2.42,0.00,0.000,4,0.000,0.044,2859,287,3116,0,0,0,0,0,0
$GC,1563,-1.03,-116.8,148.0,-6.8,162,1568,0.15,2.22,0.00,0.000,6,0.054,0.018,2807,1706,3116,0,0,0,0,0,0
$GC,1831,-0.99,-116.8,172.3,-10.8,183,1836,0.12,2.45,0.00,0.000,4,0.091,0.047,2835,289,3116,0,0,0,0,0,0
$GC,1885,-0.99,-116.8,178.6,-10.8,187,1889,0.00,2.22,0.00,0.000,6,0.000,0.019,2835,1700,3117,0,0,0,0,0,0
$GC,2148,-1.04,-116.8,201.9,-8.7,207,2152,0.00,2.42,0.00,0.000,4,0.000,0.047,2834,294,3117,0,0,0,0,0,0
$GC,2208,-1.04,-116.8,207.5,-9.2,209,2213,0.00,2.22,0.00,0.000,6,0.000,0.020,2835,1701,3117,0,0,0,0,0,0
$GC,2526,-1.11,-116.8,232.3,-8.1,225,2531,0.12,2.45,0.00,0.000,4,0.063,0.048,2790,294,3117,0,0,0,0,0,0
$GC,2564,-1.02,-116.8,236.5,-11.1,226,2571,0.12,2.28,0.00,0.000,6,0.066,0.020,2823,1700,3117,0,0,0,0,0,0
$GC,2882,-1.06,-116.8,268.3,-10.0,242,2886,0.00,2.42,0.00,0.000,4,0.000,0.048,2822,292,3116,0,0,0,0,0,0
$GC,2951,-1.06,-116.8,275.6,-9.6,245,2955,0.00,2.25,0.00,0.000,6,0.000,0.021,2823,1707,3116,0,0,0,0,0,0
$GC,3284,-1.11,-116.8,299.2,-6.4,261,3288,0.00,2.45,0.00,0.000,4,0.000,0.051,2823,290,3115,0,0,0,0,0,0
$GC,3314,-1.11,-116.8,301.4,-7.3,262,3318,0.00,2.25,0.00,0.000,6,0.000,0.021,2822,1704,3114,0,0,0,0,0,0
$GC,3650,-1.17,-116.8,323.1,-6.5,271,3655,0.12,2.47,0.00,0.000,4,0.064,0.051,2781,291,3113,0,0,0,0,0,0
$GC,3731,-1.12,-116.8,331.4,-10.4,272,3736,0.12,2.25,0.00,0.000,6,0.094,0.022,2808,1696,3113,0,0,0,0,0,0
$GC,4063,-1.12,-116.8,361.1,-9.0,280,4067,0.00,2.42,0.00,0.000,4,0.000,0.052,2807,295,3111,0,0,0,0,0,0
$GC,4082,-1.12,-116.8,363.0,-9.1,280,4086,0.00,2.25,0.00,0.000,6,0.000,0.024,2807,1706,3111,0,0,0,0,0,0
$GC,4428,-1.15,-116.8,393.5,-8.7,289,4432,0.00,2.45,0.00,0.000,4,0.000,0.054,2808,297,3109,0,0,0,0,0,0
$GC,4479,-1.15,-116.8,398.8,-9.7,290,4483,0.00,2.25,0.00,0.000,6,0.000,0.024,2807,1693,3109,0,0,0,0,0,0
$GC,4800,-1.19,-116.8,426.0,-8.6,298,4804,0.00,2.47,0.00,0.000,4,0.000,0.056,2807,291,3107,0,0,0,0,0,0
$GC,4851,-1.19,-116.8,430.9,-8.9,299,4855,0.00,2.30,0.00,0.000,6,0.000,0.025,2807,1698,3106,0,0,0,0,0,0
$STATE,5085,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5085,begin apogee
$GC,5091,-0.31,0.0,451.1,8.3,305,5191,0.80,0.00,96.35,0.833,6,0.064,0.000,2981,1703,2630,0,0,0,0,0,0
$STATE,5192,end apogee,CONTROL_FINISHED_OK
$STATE,5192,begin climb
$GC,5196,1.18,116.8,453.5,0.0,307,5307,1.42,2.42,100.22,0.817,4,0.037,0.033,3312,3076,2152,0,0,0,0,0,0
$GC,5426,1.00,118.2,446.6,7.8,312,5431,0.22,2.42,0.00,0.000,6,0.097,0.041,3269,1693,2149,0,0,0,0,0,0
$GC,5745,0.92,147.2,424.7,6.6,320,5773,0.00,0.00,26.30,0.788,6,0.000,0.000,3269,1693,2029,0,0,0,0,0,0
$GC,6071,0.83,154.7,400.6,7.6,328,6085,0.17,2.55,7.03,0.658,4,0.101,0.058,3234,298,1999,0,0,0,0,0,0
$GC,6100,0.79,174.7,398.3,7.0,328,6124,0.00,2.33,19.38,0.773,6,0.000,0.027,3234,1707,1917,0,0,0,0,0,0
$GC,6450,0.79,174.7,372.2,8.0,337,6455,0.00,2.53,0.00,0.000,4,0.000,0.058,3234,294,1911,0,0,0,0,0,0
$GC,6516,0.71,174.7,366.0,9.6,338,6521,0.15,2.33,0.00,0.000,6,0.107,0.028,3205,1706,1909,0,0,0,0,0,0
$GC,6862,0.84,219.5,344.5,5.9,347,6907,0.12,2.58,39.17,0.782,4,0.073,0.057,3240,293,1734,0,0,0,0,0,0
$GC,6987,0.78,219.5,333.1,10.7,349,6991,0.00,2.33,0.00,0.000,6,0.000,0.027,3240,1701,1729,0,0,0,0,0,0
$GC,7319,0.78,219.5,304.4,8.9,357,7324,0.00,2.50,0.00,0.000,4,0.000,0.056,3239,291,1727,0,0,0,0,0,0
$GC,7428,0.73,219.5,292.9,10.9,360,7435,0.12,2.35,0.00,0.000,6,0.084,0.027,3211,1699,1724,0,0,0,0,0,0
$GC,7745,0.87,249.5,271.3,6.5,376,7779,0.12,2.58,25.90,0.717,4,0.071,0.054,3247,287,1610,0,0,0,0,0,0
$GC,7837,0.81,249.5,263.1,10.0,380,7841,0.00,2.33,0.00,0.000,6,0.000,0.025,3247,1700,1606,0,0,0,0,0,0
$GC,8167,0.81,251.6,237.9,7.8,396,8171,0.00,2.47,0.00,0.000,4,0.000,0.054,3247,294,1605,0,0,0,0,0,0
$GC,8333,0.78,251.6,220.6,10.0,403,8338,0.15,2.33,0.00,0.000,6,0.101,0.025,3217,1711,1602,0,0,0,0,0,0
$GC,8654,0.90,265.6,196.9,7.3,420,8674,0.12,2.53,13.85,0.624,4,0.068,0.051,3255,293,1546,0,0,0,0,0,0
$GC,8835,0.86,265.6,178.5,10.2,433,8840,0.00,2.30,0.00,0.000,6,0.000,0.023,3255,1705,1542,0,0,0,0,0,0
$GC,9095,0.86,265.6,155.3,9.1,453,9099,0.00,2.50,0.00,0.000,4,0.000,0.051,3255,287,1542,0,0,0,0,0,0
$GC,9197,0.86,265.6,144.2,10.1,460,9203,0.00,2.30,0.00,0.000,6,0.000,0.022,3255,1701,1540,0,0,0,0,0,0
$GC,9459,0.98,307.0,125.7,6.0,481,9501,0.00,2.55,35.80,0.591,4,0.000,0.050,3255,299,1377,0,0,0,0,0,0
$GC,9636,0.99,318.0,112.4,7.4,494,9652,0.00,2.25,9.98,0.515,6,0.000,0.021,3256,1714,1332,0,0,0,0,0,0
$GC,9906,1.11,324.6,95.9,7.6,515,9921,0.15,2.50,7.10,0.466,4,0.056,0.048,3304,290,1305,0,0,0,0,0,0
$GC,10024,1.04,324.6,81.2,12.1,523,10029,0.12,2.25,0.00,0.000,6,0.094,0.020,3278,1714,1303,0,0,0,0,0,0
$GC,10287,1.13,338.9,60.1,7.3,543,10306,0.00,2.50,13.32,0.490,4,0.000,0.049,3278,293,1247,0,0,0,0,0,0
$GC,10448,1.13,338.9,46.1,8.4,555,10452,0.00,2.22,0.00,0.000,6,0.000,0.019,3278,1708,1244,0,0,0,0,0,0
$GC,10716,1.23,350.9,29.6,7.4,576,10735,0.17,2.50,11.50,0.453,4,0.050,0.046,3335,286,1197,0,0,0,0,0,0
$GC,10844,1.08,350.9,11.3,16.5,603,10851,0.20,2.25,0.00,0.000,6,0.070,0.018,3281,1690,1195,0,0,0,0,0,0
$STATE,10914,end climb,SURFACE_DEPTH_REACHED
$STATE,10914,begin surface coast
$FINISH,0.9,1.023123
$STATE,10943,end surface coast,CONTROL_FINISHED_OK
$STATE,10943,begin surface
$SM_CCo,10965,34.80,0.468,0,0,956,410.14
$SM_GC,1.75,0.00,0.00,34.80,0.000,0.000,0.468,425,1697,956,-12.07,-0.08,410.14
$IRIDIUM_FIX,2057.14,-15751.76,161299,090951
$TT8_MAMPS,0.029146
$HUMID,56.85
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.4,44.058
$10V_AH,10.1,36.636
$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,31.950,128.550,405.900,34.800,0.000,23.327,26.065,155.506,4.500,0.000,12.902,1246.212,7091.979,483.076,2000.267,509.211,0.000,1387.994,0.000,1975.960,0.000,29.255,0.000
$DEVICE_MAMPS,133.458,58.292,832.962,467.870,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,419.974,403.780,916.751,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,34952,625
$CAP_FILE_SIZE,127499,0
$CFSIZE,260165632,186961920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210910,154238,2104.959,-15750.559,10,1.8,10,9.8