version: 66.06
glider: 139
mission: 8
dive: 529
start: 9 25 110 3 43 49
data:
$ID,139
$MISSION,8
$DIVE,529
$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,-2162138.2
$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
$GPS1,033702,2102.140,-15753.679,14,1.7,14,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-72.4
$GPS2,034331,2102.098,-15753.788,15,1.9,32,9.8
$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,60.1,20003,-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,-116.8,0.0,0.0,0,83,0.00,0.00,-64.75,0.000,2,0.000,0.000,424,1696,2766,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.6,-3.6,12,110,12.73,0.00,-6.28,0.000,6,0.134,0.000,2787,1696,3109,0,0,0,0,0,0
$GC,303,-0.96,-116.8,47.4,-16.5,45,308,0.25,2.42,0.00,0.000,4,0.089,0.047,2842,296,3111,0,0,0,0,0,0
$GC,356,-0.81,-116.8,55.2,-13.5,49,361,0.15,2.33,0.00,0.000,6,0.094,0.018,2873,1735,3112,0,0,0,0,0,0
$GC,624,-0.81,-116.8,78.2,-7.8,70,629,0.00,2.47,0.00,0.000,4,0.000,0.044,2874,295,3112,0,0,0,0,0,0
$GC,719,-0.81,-116.8,86.3,-8.0,77,723,0.00,2.25,0.00,0.000,6,0.000,0.018,2874,1716,3113,0,0,0,0,0,0
$GC,985,-0.88,-116.8,106.2,-8.2,98,989,0.00,2.45,0.00,0.000,4,0.000,0.045,2874,286,3114,0,0,0,0,0,0
$GC,1058,-0.98,-116.8,113.0,-8.5,103,1064,0.17,2.22,0.00,0.000,6,0.048,0.018,2814,1706,3114,0,0,0,0,0,0
$GC,1320,-0.98,-116.8,141.5,-12.2,124,1325,0.10,2.45,0.00,0.000,4,0.099,0.046,2837,286,3115,0,0,0,0,0,0
$GC,1353,-0.98,-116.8,146.3,-12.9,126,1360,0.00,2.25,0.00,0.000,6,0.000,0.018,2837,1699,3115,0,0,0,0,0,0
$GC,1616,-1.02,-116.8,171.5,-8.3,147,1620,0.00,2.40,0.00,0.000,4,0.000,0.046,2837,294,3115,0,0,0,0,0,0
$GC,1658,-1.02,-116.8,175.3,-8.9,150,1662,0.00,2.22,0.00,0.000,6,0.000,0.018,2837,1696,3115,0,0,0,0,0,0
$GC,1917,-1.02,-116.8,196.3,-8.0,170,1921,0.00,2.25,0.00,0.000,4,0.000,0.024,2837,3071,3115,0,0,0,0,0,0
$GC,1946,-1.12,-116.8,198.6,-7.6,172,1951,0.15,2.33,0.00,0.000,6,0.054,0.031,2787,1688,3115,0,0,0,0,0,0
$GC,2205,-1.03,-116.8,224.9,-10.7,185,2210,0.20,2.38,0.00,0.000,4,0.081,0.045,2825,296,3115,0,0,0,0,0,0
$GC,2227,-0.96,-116.8,227.6,-11.1,186,2232,0.00,2.22,0.00,0.000,6,0.000,0.020,2825,1713,3115,0,0,0,0,0,0
$GC,2559,-0.99,-116.8,258.6,-9.8,202,2563,0.00,2.42,0.00,0.000,4,0.000,0.047,2825,297,3114,0,0,0,0,0,0
$GC,2626,-0.99,-116.8,266.2,-11.2,205,2630,0.00,2.20,0.00,0.000,6,0.000,0.020,2825,1696,3114,0,0,0,0,0,0
$GC,2959,-1.03,-116.8,301.0,-9.3,221,2963,0.00,2.42,0.00,0.000,4,0.000,0.048,2825,293,3113,0,0,0,0,0,0
$GC,3008,-1.03,-116.8,305.9,-10.0,222,3012,0.00,2.25,0.00,0.000,6,0.000,0.021,2825,1700,3113,0,0,0,0,0,0
$GC,3340,-1.08,-116.8,333.5,-8.1,230,3344,0.00,2.42,0.00,0.000,4,0.000,0.050,2825,294,3112,0,0,0,0,0,0
$GC,3429,-1.13,-116.8,342.4,-10.5,232,3434,0.00,2.25,0.00,0.000,6,0.000,0.021,2825,1699,3112,0,0,0,0,0,0
$GC,3758,-1.20,-116.8,371.7,-8.1,240,3763,0.15,2.47,0.00,0.000,4,0.058,0.051,2777,292,3111,0,0,0,0,0,0
$GC,3806,-1.12,-116.8,375.6,-8.8,241,3811,0.15,2.25,0.00,0.000,6,0.087,0.022,2810,1698,3110,0,0,0,0,0,0
$GC,4134,-1.15,-116.8,394.8,-5.5,249,4135,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1703,3109,0,0,0,0,0,0
$GC,4455,-1.19,-116.8,419.7,-9.1,257,4460,0.00,2.42,0.00,0.000,4,0.000,0.055,2810,299,3107,0,0,0,0,0,0
$GC,4554,-1.19,-116.8,431.0,-11.8,259,4558,0.00,2.25,0.00,0.000,6,0.000,0.024,2810,1695,3106,0,0,0,0,0,0
$STATE,4752,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4752,begin apogee
$GC,4758,-0.31,0.0,450.7,9.7,264,4858,0.77,0.00,96.28,0.825,6,0.062,0.000,2979,1700,2630,0,0,0,0,0,0
$STATE,4858,end apogee,CONTROL_FINISHED_OK
$STATE,4859,begin climb
$GC,4861,1.18,116.8,454.1,0.0,266,4974,1.42,2.42,100.57,0.810,4,0.037,0.032,3311,3077,2153,0,0,0,0,0,0
$GC,5066,1.01,132.2,450.2,7.2,270,5087,0.20,2.38,14.30,0.734,6,0.098,0.039,3272,1703,2091,0,0,0,0,0,0
$GC,5416,0.90,132.2,420.8,8.2,279,5417,0.12,0.00,0.00,0.000,6,0.109,0.000,3248,1703,2083,0,0,0,0,0,0
$GC,5741,0.85,132.2,395.9,7.9,287,5742,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1703,2079,0,0,0,0,0,0
$GC,6067,0.85,164.0,372.8,6.5,295,6099,0.00,2.55,27.10,0.775,4,0.000,0.057,3248,292,1961,0,0,0,0,0,0
$GC,6111,0.81,197.0,370.0,6.4,296,6148,0.00,2.38,30.77,0.769,6,0.000,0.028,3248,1710,1825,0,0,0,0,0,0
$GC,6482,0.81,197.0,339.1,8.9,305,6486,0.00,2.53,0.00,0.000,4,0.000,0.056,3248,296,1818,0,0,0,0,0,0
$GC,6614,0.73,197.0,326.1,10.1,307,6620,0.20,2.33,0.00,0.000,6,0.098,0.027,3209,1696,1814,0,0,0,0,0,0
$GC,6947,0.87,225.0,302.4,6.6,316,6977,0.15,2.55,23.77,0.729,4,0.064,0.055,3251,297,1711,0,0,0,0,0,0
$GC,7003,0.79,225.0,297.4,9.6,317,7008,0.15,2.35,0.00,0.000,6,0.106,0.026,3223,1705,1708,0,0,0,0,0,0
$GC,7321,0.90,260.4,276.7,6.3,332,7359,0.10,2.60,31.35,0.715,4,0.081,0.054,3254,297,1568,0,0,0,0,0,0
$GC,7504,0.84,260.4,256.8,12.6,340,7509,0.00,2.30,0.00,0.000,6,0.000,0.025,3254,1702,1561,0,0,0,0,0,0
$GC,7833,0.84,260.4,222.2,10.3,356,7838,0.00,2.50,0.00,0.000,4,0.000,0.054,3254,296,1560,0,0,0,0,0,0
$GC,7966,0.79,260.4,206.6,12.2,361,7972,0.15,2.30,0.00,0.000,6,0.102,0.024,3224,1703,1557,0,0,0,0,0,0
$GC,8290,0.89,268.8,180.0,7.5,385,8304,0.00,2.55,6.97,0.529,4,0.000,0.052,3224,280,1533,0,0,0,0,0,0
$GC,8387,0.94,276.8,172.3,7.5,391,8401,0.12,2.33,8.40,0.547,6,0.069,0.023,3261,1712,1501,0,0,0,0,0,0
$GC,8654,0.95,291.6,152.0,7.2,412,8675,0.00,2.53,14.40,0.574,4,0.000,0.050,3261,289,1440,0,0,0,0,0,0
$GC,8767,0.91,291.6,140.3,10.6,420,8771,0.00,2.28,0.00,0.000,6,0.000,0.021,3261,1709,1436,0,0,0,0,0,0
$GC,9033,0.96,291.6,118.1,8.1,441,9037,0.00,2.47,0.00,0.000,4,0.000,0.050,3261,290,1436,0,0,0,0,0,0
$GC,9098,0.96,291.6,111.5,10.7,446,9102,0.00,2.25,0.00,0.000,6,0.000,0.021,3261,1699,1435,0,0,0,0,0,0
$GC,9369,1.02,295.3,88.8,7.7,467,9378,0.00,2.47,4.05,0.366,4,0.000,0.049,3261,294,1425,0,0,0,0,0,0
$GC,9444,1.02,295.3,82.3,9.1,471,9449,0.00,2.28,0.00,0.000,6,0.000,0.020,3261,1714,1424,0,0,0,0,0,0
$GC,9706,1.14,327.9,63.4,6.4,492,9741,0.17,2.58,29.10,0.525,4,0.051,0.048,3316,291,1292,0,0,0,0,0,0
$GC,9943,1.09,327.9,40.0,10.0,509,9948,0.15,2.25,0.00,0.000,6,0.088,0.019,3285,1703,1287,0,0,0,0,0,0
$GC,10208,1.17,327.9,20.7,8.2,547,10214,0.00,2.47,0.00,0.000,4,0.000,0.048,3284,300,1286,0,0,0,0,0,0
$GC,10380,1.17,327.9,5.1,7.9,586,10387,0.00,2.22,0.00,0.000,6,0.000,0.020,3284,1703,1285,0,0,0,0,0,0
$STATE,10405,end climb,SURFACE_DEPTH_REACHED
$STATE,10405,begin surface coast
$FINISH,0.9,1.023186
$STATE,10441,end surface coast,CONTROL_FINISHED_OK
$STATE,10442,begin surface
$SM_CCo,10464,45.03,0.473,0,0,957,410.14
$SM_GC,1.66,0.00,0.00,45.03,0.000,0.000,0.473,431,1710,957,-12.05,0.25,410.14
$IRIDIUM_FIX,2057.14,-15751.76,201299,000043
$TT8_MAMPS,0.029913
$HUMID,57.36
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.10
$XPDR_PINGS,1
$24V_AH,23.4,46.979
$10V_AH,10.1,38.976
$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,30.025,113.875,387.075,45.025,0.000,24.902,33.155,181.318,4.750,0.000,32.766,1193.792,6753.213,456.992,1949.744,539.407,0.000,1328.090,0.000,1905.789,0.000,29.263,0.000
$DEVICE_MAMPS,134.225,56.758,824.525,473.239,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,403.308,384.453,875.404,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355796
$DATA_FILE_SIZE,34944,599
$CAP_FILE_SIZE,119541,0
$CFSIZE,260165632,185270272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250910,064007,2102.321,-15753.760,29,1.6,29,9.8