version: 66.06
glider: 139
mission: 8
dive: 514
start: 9 23 110 5 7 22
data:
$ID,139
$MISSION,8
$DIVE,514
$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,-2161852.2
$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
$GPS1,050106,2102.902,-15751.047,68,0.9,73,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-70.8
$GPS2,050702,2102.891,-15751.104,14,2.0,14,9.8
$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,59.3,15146,-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,-64.30,0.000,2,0.000,0.000,428,1708,2758,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.5,-3.9,12,110,12.60,2.40,-6.47,0.000,4,0.133,0.045,2784,3107,3108,0,0,0,0,0,0
$GC,171,-1.04,-116.8,23.8,-17.3,29,178,0.15,2.40,0.00,0.000,6,0.074,0.031,2820,1703,3110,0,0,0,0,0,0
$GC,371,-0.90,-116.8,57.1,-16.3,49,376,0.15,2.42,0.00,0.000,4,0.094,0.047,2852,295,3111,0,0,0,0,0,0
$GC,414,-0.78,-116.8,64.0,-15.3,52,419,0.12,2.30,0.00,0.000,6,0.096,0.018,2877,1741,3112,0,0,0,0,0,0
$GC,674,-0.82,-116.8,93.2,-9.5,72,679,0.00,2.50,0.00,0.000,4,0.000,0.044,2877,295,3112,0,0,0,0,0,0
$GC,730,-0.88,-116.8,98.3,-8.9,76,735,0.00,2.22,0.00,0.000,6,0.000,0.018,2877,1717,3112,0,0,0,0,0,0
$GC,997,-0.98,-116.8,121.7,-9.5,97,1002,0.17,2.47,0.00,0.000,4,0.048,0.045,2817,292,3113,0,0,0,0,0,0
$GC,1079,-0.91,-116.8,133.6,-14.1,103,1084,0.15,2.22,0.00,0.000,6,0.087,0.018,2849,1709,3113,0,0,0,0,0,0
$GC,1343,-0.96,-116.8,161.3,-9.8,124,1347,0.00,2.45,0.00,0.000,4,0.000,0.046,2849,293,3113,0,0,0,0,0,0
$GC,1383,-0.96,-116.8,165.1,-9.8,127,1387,0.00,2.20,0.00,0.000,6,0.000,0.018,2849,1703,3114,0,0,0,0,0,0
$GC,1648,-1.02,-116.8,185.5,-6.6,148,1653,0.00,2.42,0.00,0.000,4,0.000,0.047,2849,294,3114,0,0,0,0,0,0
$GC,1696,-1.06,-116.8,189.3,-7.8,151,1702,0.12,2.22,0.00,0.000,6,0.061,0.019,2802,1700,3114,0,0,0,0,0,0
$GC,1962,-1.02,-116.8,216.7,-10.4,168,1967,0.12,2.45,0.00,0.000,4,0.094,0.047,2829,295,3114,0,0,0,0,0,0
$GC,1991,-1.02,-116.8,220.0,-10.8,169,1995,0.00,2.22,0.00,0.000,6,0.000,0.019,2829,1700,3114,0,0,0,0,0,0
$GC,2319,-1.07,-116.8,249.5,-8.4,185,2323,0.00,2.42,0.00,0.000,4,0.000,0.048,2829,289,3113,0,0,0,0,0,0
$GC,2402,-1.10,-116.8,258.5,-10.8,188,2409,0.00,2.28,0.00,0.000,6,0.000,0.020,2829,1695,3113,0,0,0,0,0,0
$GC,2722,-1.16,-116.8,285.2,-7.4,204,2727,0.15,2.42,0.00,0.000,4,0.055,0.049,2777,295,3112,0,0,0,0,0,0
$GC,2769,-1.05,-116.8,289.9,-10.3,206,2774,0.20,2.25,0.00,0.000,6,0.081,0.021,2822,1702,3112,0,0,0,0,0,0
$GC,3094,-1.10,-116.8,311.2,-6.3,218,3098,0.00,2.45,0.00,0.000,4,0.000,0.050,2821,294,3112,0,0,0,0,0,0
$GC,3151,-1.14,-116.8,315.3,-7.3,219,3155,0.00,2.28,0.00,0.000,6,0.000,0.021,2821,1704,3111,0,0,0,0,0,0
$GC,3471,-1.19,-116.8,336.6,-7.2,227,3476,0.12,2.47,0.00,0.000,4,0.064,0.051,2778,287,3110,0,0,0,0,0,0
$GC,3552,-1.11,-116.8,345.9,-12.3,228,3557,0.15,2.28,0.00,0.000,6,0.088,0.022,2810,1704,3109,0,0,0,0,0,0
$GC,3886,-1.15,-116.8,380.4,-10.5,236,3890,0.00,2.45,0.00,0.000,4,0.000,0.054,2810,296,3107,0,0,0,0,0,0
$GC,3923,-1.15,-116.8,385.0,-11.3,236,3928,0.00,2.30,0.00,0.000,6,0.000,0.024,2811,1706,3107,0,0,0,0,0,0
$GC,4254,-1.20,-116.8,417.3,-9.4,245,4259,0.00,2.50,0.00,0.000,4,0.000,0.055,2810,291,3105,0,0,0,0,0,0
$GC,4298,-1.20,-116.8,421.3,-9.8,246,4303,0.00,2.30,0.00,0.000,6,0.000,0.025,2810,1707,3104,0,0,0,0,0,0
$GC,4628,-1.24,-116.8,443.5,-6.4,254,4633,0.15,2.53,0.00,0.000,4,0.059,0.058,2765,292,3102,0,0,0,0,0,0
$GC,4665,-1.12,-116.8,446.9,-10.4,254,4670,0.20,2.33,0.00,0.000,6,0.085,0.025,2807,1704,3102,0,0,0,0,0,0
$STATE,4709,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4709,begin apogee
$GC,4715,-0.31,0.0,451.0,8.8,255,4814,0.80,0.00,95.82,0.830,6,0.064,0.000,2981,1708,2630,0,0,0,0,0,0
$STATE,4815,end apogee,CONTROL_FINISHED_OK
$STATE,4815,begin climb
$GC,4817,1.18,116.8,453.4,0.0,257,4930,1.42,2.45,100.28,0.815,4,0.037,0.033,3311,3088,2152,0,0,0,0,0,0
$GC,4993,1.02,135.7,450.2,7.0,261,5018,0.20,2.42,17.55,0.754,6,0.097,0.039,3273,1700,2075,0,0,0,0,0,0
$GC,5368,0.93,159.0,423.6,6.8,270,5396,0.00,2.42,20.48,0.769,4,0.000,0.031,3273,3088,1980,0,0,0,0,0,0
$GC,5440,0.89,169.0,418.3,7.4,271,5459,0.15,2.42,10.30,0.704,6,0.099,0.042,3244,1698,1940,0,0,0,0,0,0
$GC,5787,0.88,194.1,394.5,6.8,280,5815,0.00,2.60,22.62,0.771,4,0.000,0.059,3243,293,1838,0,0,0,0,0,0
$GC,5858,0.79,194.1,387.9,10.2,281,5862,0.00,2.35,0.00,0.000,6,0.000,0.027,3244,1702,1833,0,0,0,0,0,0
$GC,6200,0.80,205.0,361.0,7.4,290,6216,0.00,2.60,10.05,0.696,4,0.000,0.058,3244,294,1793,0,0,0,0,0,0
$GC,6263,0.71,205.0,355.6,8.5,291,6268,0.20,2.35,0.00,0.000,6,0.098,0.028,3205,1710,1790,0,0,0,0,0,0
$GC,6615,0.83,234.3,332.7,6.6,300,6648,0.12,2.58,26.62,0.755,4,0.072,0.057,3240,294,1674,0,0,0,0,0,0
$GC,6788,0.77,234.3,311.5,12.8,303,6793,0.12,2.35,0.00,0.000,6,0.110,0.027,3217,1708,1668,0,0,0,0,0,0
$GC,7105,0.90,272.3,286.8,6.2,315,7149,0.12,2.62,33.40,0.730,4,0.069,0.057,3253,293,1517,0,0,0,0,0,0
$GC,7261,0.82,272.3,270.6,11.4,321,7267,0.12,2.33,0.00,0.000,6,0.108,0.027,3230,1704,1512,0,0,0,0,0,0
$GC,7579,0.91,288.3,245.7,7.2,337,7601,0.00,2.60,14.02,0.658,4,0.000,0.055,3230,290,1453,0,0,0,0,0,0
$GC,7745,0.91,288.3,230.9,10.4,344,7749,0.00,2.33,0.00,0.000,6,0.000,0.025,3230,1708,1448,0,0,0,0,0,0
$GC,8070,0.99,288.3,200.5,9.5,360,8075,0.15,2.53,0.00,0.000,4,0.059,0.054,3275,286,1448,0,0,0,0,0,0
$GC,8212,0.90,288.3,180.6,15.7,370,8219,0.10,2.33,0.00,0.000,6,0.075,0.024,3250,1698,1446,0,0,0,0,0,0
$GC,8475,0.95,288.3,155.4,8.1,391,8480,0.00,2.45,0.00,0.000,4,0.000,0.051,3249,293,1446,0,0,0,0,0,0
$GC,8589,0.95,288.3,144.9,8.8,399,8595,0.00,2.30,0.00,0.000,6,0.000,0.022,3250,1714,1445,0,0,0,0,0,0
$GC,8852,1.06,317.4,125.6,6.6,420,8883,0.12,2.58,25.00,0.579,4,0.064,0.051,3292,286,1336,0,0,0,0,0,0
$GC,9003,0.96,317.4,109.6,11.2,431,9008,0.15,2.28,0.00,0.000,6,0.091,0.021,3261,1702,1331,0,0,0,0,0,0
$GC,9267,1.07,337.0,92.3,7.0,451,9295,0.10,2.50,17.77,0.534,4,0.074,0.048,3299,290,1254,0,0,0,0,0,0
$GC,9415,1.05,342.2,77.8,7.7,461,9426,0.08,2.30,5.03,0.401,6,0.071,0.020,3278,1708,1235,0,0,0,0,0,0
$GC,9691,1.13,347.6,59.5,7.7,483,9706,0.00,2.53,6.32,0.421,4,0.000,0.048,3278,293,1212,0,0,0,0,0,0
$GC,9844,1.13,347.6,44.0,10.3,494,9848,0.00,2.25,0.00,0.000,6,0.000,0.019,3278,1712,1210,0,0,0,0,0,0
$GC,10108,1.22,347.6,21.4,8.5,530,10115,0.15,2.53,0.00,0.000,4,0.053,0.049,3332,291,1210,0,0,0,0,0,0
$GC,10213,1.06,347.6,7.0,13.8,553,10221,0.20,2.22,0.00,0.000,6,0.065,0.018,3284,1702,1210,0,0,0,0,0,0
$STATE,10247,end climb,SURFACE_DEPTH_REACHED
$STATE,10247,begin surface coast
$FINISH,1.2,1.023091
$STATE,10274,end surface coast,CONTROL_FINISHED_OK
$STATE,10274,begin surface
$SM_CCo,10297,37.22,0.470,0,0,958,410.14
$SM_GC,1.86,0.00,0.00,37.22,0.000,0.000,0.470,426,1707,958,-12.07,0.20,410.14
$IRIDIUM_FIX,2052.52,-15749.62,181299,020220
$TT8_MAMPS,0.029146
$HUMID,57.16
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.4,45.418
$10V_AH,10.1,37.727
$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,31.100,129.375,405.275,37.225,0.000,28.612,28.754,169.821,4.500,0.000,14.902,1167.577,6634.017,482.299,1881.233,522.670,0.000,1362.796,0.000,1849.970,0.000,30.993,0.000
$DEVICE_MAMPS,132.691,59.059,829.894,470.171,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,380.291,363.936,802.527,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,31826,566
$CAP_FILE_SIZE,125543,0
$CFSIZE,260165632,186179584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230910,080055,2103.094,-15750.614,40,1.6,40,9.8