version: 66.06
glider: 139
mission: 8
dive: 518
start: 9 23 110 17 33 33
data:
$ID,139
$MISSION,8
$DIVE,518
$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,-2161917.8
$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
$GPS1,172728,2102.805,-15751.390,14,2.4,33,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-73.0
$GPS2,173314,2102.799,-15751.432,16,1.6,16,9.8
$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,59.4,15734,-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,-64.22,0.000,2,0.000,0.000,428,1708,2738,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.5,-4.0,12,111,12.62,2.40,-6.93,0.000,4,0.133,0.035,2786,3115,3110,0,0,0,0,0,0
$GC,136,-0.53,-116.8,17.7,-26.8,21,144,0.62,2.42,0.00,0.000,6,0.065,0.035,2933,1704,3111,0,0,0,0,0,0
$GC,339,-0.67,-116.8,33.7,-7.5,59,344,0.15,2.45,0.00,0.000,4,0.054,0.046,2881,294,3113,0,0,0,0,0,0
$GC,426,-0.67,-116.8,43.8,-11.8,65,433,0.08,2.33,0.00,0.000,6,0.075,0.018,2901,1735,3113,0,0,0,0,0,0
$GC,689,-0.75,-116.8,68.5,-8.5,86,693,0.00,2.47,0.00,0.000,4,0.000,0.044,2901,292,3113,0,0,0,0,0,0
$GC,755,-0.81,-116.8,74.6,-8.7,91,760,0.12,2.25,0.00,0.000,6,0.061,0.018,2855,1711,3113,0,0,0,0,0,0
$GC,1021,-0.81,-116.8,101.2,-10.1,112,1025,0.00,2.42,0.00,0.000,4,0.000,0.044,2855,295,3114,0,0,0,0,0,0
$GC,1054,-0.81,-116.8,104.9,-10.4,114,1061,0.00,2.25,0.00,0.000,6,0.000,0.018,2855,1710,3114,0,0,0,0,0,0
$GC,1316,-0.87,-116.8,129.0,-9.4,135,1321,0.00,2.42,0.00,0.000,4,0.000,0.045,2855,292,3115,0,0,0,0,0,0
$GC,1378,-0.92,-116.8,134.8,-8.1,139,1383,0.00,2.20,0.00,0.000,6,0.000,0.018,2855,1704,3115,0,0,0,0,0,0
$GC,1638,-0.98,-116.8,154.7,-8.4,160,1642,0.00,2.45,0.00,0.000,4,0.000,0.045,2854,286,3115,0,0,0,0,0,0
$GC,1663,-1.01,-116.8,157.0,-9.2,162,1667,0.12,2.22,0.00,0.000,6,0.060,0.018,2808,1707,3116,0,0,0,0,0,0
$GC,1928,-0.98,-116.8,186.0,-10.3,183,1933,0.12,2.45,0.00,0.000,4,0.091,0.046,2836,294,3115,0,0,0,0,0,0
$GC,1975,-0.98,-116.8,191.0,-9.7,186,1982,0.00,2.25,0.00,0.000,6,0.000,0.019,2836,1702,3116,0,0,0,0,0,0
$GC,2250,-1.03,-116.8,214.2,-8.6,203,2254,0.00,2.42,0.00,0.000,4,0.000,0.047,2836,287,3116,0,0,0,0,0,0
$GC,2306,-1.06,-116.8,219.4,-8.7,205,2310,0.00,2.22,0.00,0.000,6,0.000,0.019,2836,1698,3116,0,0,0,0,0,0
$GC,2624,-1.12,-116.8,243.7,-7.8,220,2629,0.12,2.45,0.00,0.000,4,0.061,0.048,2789,293,3115,0,0,0,0,0,0
$GC,2662,-1.04,-116.8,247.9,-11.3,221,2668,0.15,2.22,0.00,0.000,6,0.087,0.020,2822,1702,3115,0,0,0,0,0,0
$GC,2980,-1.04,-116.8,274.3,-8.3,237,2984,0.00,2.42,0.00,0.000,4,0.000,0.048,2822,293,3115,0,0,0,0,0,0
$GC,3026,-1.04,-116.8,278.5,-9.0,239,3030,0.00,2.25,0.00,0.000,6,0.000,0.021,2822,1710,3114,0,0,0,0,0,0
$GC,3374,-1.09,-116.8,303.6,-7.8,255,3378,0.00,2.47,0.00,0.000,4,0.000,0.049,2822,289,3113,0,0,0,0,0,0
$GC,3493,-1.14,-116.8,315.1,-9.1,257,3498,0.00,2.25,0.00,0.000,6,0.000,0.021,2822,1700,3113,0,0,0,0,0,0
$GC,3836,-1.20,-116.8,340.9,-7.2,266,3841,0.15,2.45,0.00,0.000,4,0.057,0.051,2774,295,3112,0,0,0,0,0,0
$GC,3912,-1.11,-116.8,348.3,-10.3,267,3917,0.15,2.28,0.00,0.000,6,0.090,0.022,2807,1703,3112,0,0,0,0,0,0
$GC,4248,-1.11,-116.8,374.4,-8.0,276,4252,0.00,2.47,0.00,0.000,4,0.000,0.053,2806,292,3109,0,0,0,0,0,0
$GC,4278,-1.11,-116.8,377.0,-9.4,276,4282,0.00,2.28,0.00,0.000,6,0.000,0.024,2807,1705,3109,0,0,0,0,0,0
$GC,4613,-1.15,-116.8,409.5,-10.4,285,4618,0.00,2.47,0.00,0.000,4,0.000,0.055,2806,289,3107,0,0,0,0,0,0
$GC,4665,-1.15,-116.8,415.4,-10.7,286,4669,0.00,2.30,0.00,0.000,6,0.000,0.025,2806,1696,3107,0,0,0,0,0,0
$GC,4984,-1.19,-116.8,445.4,-9.1,294,4989,0.00,2.45,0.00,0.000,4,0.000,0.056,2806,294,3104,0,0,0,0,0,0
$STATE,5033,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5033,begin apogee
$GC,5042,-0.31,0.0,450.3,9.1,295,5141,0.77,0.00,96.25,0.827,6,0.065,0.000,2980,1707,2630,0,0,0,0,0,0
$STATE,5142,end apogee,CONTROL_FINISHED_OK
$STATE,5142,begin climb
$GC,5146,1.18,116.8,452.5,0.0,297,5258,1.42,2.38,100.57,0.811,4,0.036,0.033,3311,3078,2153,0,0,0,0,0,0
$GC,5385,1.02,130.5,443.5,7.3,302,5406,0.20,2.42,12.68,0.726,6,0.096,0.040,3272,1693,2097,0,0,0,0,0,0
$GC,5741,0.97,175.8,422.1,5.8,311,5789,0.00,2.55,40.42,0.795,4,0.000,0.056,3272,293,1912,0,0,0,0,0,0
$GC,5820,0.78,175.8,415.7,10.3,312,5825,0.25,2.33,0.00,0.000,6,0.094,0.026,3223,1700,1907,0,0,0,0,0,0
$GC,6152,0.80,189.7,392.4,7.3,320,6171,0.00,2.58,12.32,0.726,4,0.000,0.056,3222,289,1855,0,0,0,0,0,0
$GC,6280,0.75,189.7,380.9,10.0,322,6284,0.00,2.35,0.00,0.000,6,0.000,0.027,3222,1700,1850,0,0,0,0,0,0
$GC,6612,0.75,189.7,351.8,8.9,330,6616,0.00,2.38,0.00,0.000,4,0.000,0.032,3223,3088,1849,0,0,0,0,0,0
$GC,6632,0.80,189.7,349.8,9.7,330,6636,0.00,2.40,0.00,0.000,6,0.000,0.040,3223,1693,1849,0,0,0,0,0,0
$GC,6982,0.86,203.6,320.4,7.3,339,7002,0.00,2.50,12.40,0.703,4,0.000,0.055,3223,293,1799,0,0,0,0,0,0
$GC,7061,0.86,203.6,314.0,8.6,340,7065,0.00,2.35,0.00,0.000,6,0.000,0.026,3223,1702,1796,0,0,0,0,0,0
$GC,7377,0.95,252.1,294.4,5.7,350,7428,0.15,2.60,43.65,0.742,4,0.062,0.055,3265,297,1601,0,0,0,0,0,0
$GC,7586,0.87,252.1,273.6,12.0,359,7591,0.12,2.33,0.00,0.000,6,0.104,0.026,3241,1707,1594,0,0,0,0,0,0
$GC,7921,0.91,252.1,241.6,9.4,375,7925,0.00,2.50,0.00,0.000,4,0.000,0.054,3241,291,1593,0,0,0,0,0,0
$GC,8034,0.91,252.1,229.8,10.0,380,8038,0.00,2.33,0.00,0.000,6,0.000,0.025,3241,1715,1590,0,0,0,0,0,0
$GC,8364,0.96,252.1,199.7,10.2,396,8368,0.00,2.53,0.00,0.000,4,0.000,0.052,3241,289,1590,0,0,0,0,0,0
$GC,8499,0.96,252.1,184.3,11.5,406,8504,0.00,2.33,0.00,0.000,6,0.000,0.023,3241,1710,1589,0,0,0,0,0,0
$GC,8767,1.02,252.1,160.0,8.3,427,8772,0.12,2.47,0.00,0.000,4,0.064,0.050,3282,293,1589,0,0,0,0,0,0
$GC,8887,0.93,252.1,146.0,12.2,436,8892,0.15,2.28,0.00,0.000,6,0.094,0.022,3252,1710,1588,0,0,0,0,0,0
$GC,9156,1.04,278.9,126.8,6.7,457,9184,0.12,2.53,22.23,0.580,4,0.064,0.048,3294,291,1491,0,0,0,0,0,0
$GC,9387,0.96,278.9,106.2,9.1,473,9393,0.17,2.30,0.00,0.000,6,0.086,0.021,3257,1716,1486,0,0,0,0,0,0
$GC,9648,1.11,307.9,89.8,6.6,494,9681,0.15,2.53,25.62,0.544,4,0.056,0.047,3307,287,1373,0,0,0,0,0,0
$GC,9722,1.04,307.9,83.3,9.6,499,9727,0.15,2.28,0.00,0.000,6,0.086,0.020,3275,1704,1369,0,0,0,0,0,0
$GC,9984,1.20,360.2,67.3,5.5,519,10035,0.15,2.50,44.12,0.528,4,0.054,0.046,3326,291,1160,0,0,0,0,0,0
$GC,10143,1.09,360.2,49.8,14.3,529,10150,0.15,2.28,0.00,0.000,6,0.067,0.019,3289,1697,1155,0,0,0,0,0,0
$GC,10407,1.14,360.2,24.8,9.5,558,10413,0.00,2.47,0.00,0.000,4,0.000,0.048,3289,296,1155,0,0,0,0,0,0
$GC,10538,1.14,360.2,10.2,11.2,587,10545,0.00,2.25,0.00,0.000,6,0.000,0.019,3289,1712,1154,0,0,0,0,0,0
$STATE,10606,end climb,SURFACE_DEPTH_REACHED
$STATE,10606,begin surface coast
$FINISH,0.9,1.023118
$STATE,10640,end surface coast,CONTROL_FINISHED_OK
$STATE,10640,begin surface
$SM_CCo,10662,29.58,0.463,0,0,958,410.14
$SM_GC,1.62,0.00,0.00,29.58,0.000,0.000,0.463,427,1714,958,-12.07,0.40,410.14
$IRIDIUM_FIX,2057.14,-15751.76,181299,141457
$TT8_MAMPS,0.029146
$HUMID,56.61
$INTERNAL_PRESSURE,9.30354
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.4,45.823
$10V_AH,10.1,38.061
$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,30.775,133.475,410.275,29.575,0.000,23.332,26.504,166.823,4.500,0.000,16.474,1225.397,6808.257,461.237,2005.380,534.290,0.000,1383.174,0.000,1982.383,0.000,29.262,0.000
$DEVICE_MAMPS,132.691,55.991,826.826,462.501,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,409.125,398.225,897.827,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,34913,609
$CAP_FILE_SIZE,126207,0
$CFSIZE,260165632,185929728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230910,203306,2102.973,-15751.038,42,1.3,42,9.8