version: 66.06
glider: 139
mission: 8
dive: 530
start: 9 25 110 6 46 55
data:
$ID,139
$MISSION,8
$DIVE,530
$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,-2162159.2
$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
$GPS1,064007,2102.321,-15753.760,29,1.6,29,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-71.1
$GPS2,064637,2102.258,-15753.839,15,1.9,20,9.8
$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,61.0,19985,-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,-64.28,0.000,2,0.000,0.000,430,1707,2751,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.6,-4.1,12,111,12.62,2.45,-6.55,0.000,4,0.133,0.054,2787,295,3109,0,0,0,0,0,0
$GC,145,-0.73,-116.8,20.5,-24.1,23,152,0.43,2.35,0.00,0.000,6,0.076,0.019,2888,1735,3110,0,0,0,0,0,0
$GC,354,-0.73,-116.8,45.4,-11.8,49,358,0.00,2.47,0.00,0.000,4,0.000,0.044,2888,294,3111,0,0,0,0,0,0
$GC,407,-0.73,-116.8,52.0,-12.5,53,411,0.00,2.22,0.00,0.000,6,0.000,0.018,2888,1715,3112,0,0,0,0,0,0
$GC,675,-0.83,-116.8,74.1,-6.8,74,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1719,3113,0,0,0,0,0,0
$GC,925,-0.94,-116.8,93.3,-7.6,94,930,0.20,2.45,0.00,0.000,4,0.044,0.044,2820,290,3113,0,0,0,0,0,0
$GC,1015,-0.84,-116.8,105.1,-14.1,100,1022,0.17,2.25,0.00,0.000,6,0.073,0.018,2862,1692,3113,0,0,0,0,0,0
$GC,1278,-0.88,-116.8,135.9,-11.5,121,1282,0.00,2.40,0.00,0.000,4,0.000,0.045,2862,290,3114,0,0,0,0,0,0
$GC,1332,-0.93,-116.8,141.9,-9.8,125,1336,0.00,2.22,0.00,0.000,6,0.000,0.018,2862,1708,3113,0,0,0,0,0,0
$GC,1599,-1.01,-116.8,162.0,-6.9,146,1604,0.15,2.45,0.00,0.000,4,0.054,0.046,2806,287,3114,0,0,0,0,0,0
$GC,1645,-0.92,-116.8,166.9,-10.8,149,1652,0.20,2.25,0.00,0.000,6,0.084,0.018,2848,1704,3114,0,0,0,0,0,0
$GC,1908,-0.98,-116.8,185.7,-6.9,170,1909,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1709,3114,0,0,0,0,0,0
$GC,2170,-1.05,-116.8,204.4,-6.8,189,2175,0.12,2.42,0.00,0.000,4,0.061,0.047,2800,293,3114,0,0,0,0,0,0
$GC,2232,-0.98,-116.8,211.0,-11.7,191,2239,0.17,2.25,0.00,0.000,6,0.086,0.019,2838,1704,3114,0,0,0,0,0,0
$GC,2551,-1.04,-116.8,237.3,-7.5,207,2556,0.00,2.42,0.00,0.000,4,0.000,0.047,2838,290,3113,0,0,0,0,0,0
$GC,2643,-1.09,-116.8,245.3,-8.8,211,2648,0.12,2.22,0.00,0.000,6,0.062,0.020,2793,1702,3113,0,0,0,0,0,0
$GC,2977,-1.04,-116.8,273.9,-8.7,227,2982,0.15,2.45,0.00,0.000,4,0.087,0.048,2826,294,3113,0,0,0,0,0,0
$GC,3048,-1.04,-116.8,280.7,-10.1,230,3052,0.00,2.22,0.00,0.000,6,0.000,0.021,2826,1702,3113,0,0,0,0,0,0
$GC,3372,-1.08,-116.8,313.5,-10.8,243,3377,0.00,2.42,0.00,0.000,4,0.000,0.049,2826,294,3112,0,0,0,0,0,0
$GC,3417,-1.12,-116.8,318.0,-10.2,244,3421,0.00,2.22,0.00,0.000,6,0.000,0.021,2826,1698,3112,0,0,0,0,0,0
$GC,3747,-1.18,-116.8,340.5,-6.1,252,3752,0.15,2.45,0.00,0.000,4,0.057,0.051,2776,290,3111,0,0,0,0,0,0
$GC,3808,-1.11,-116.8,346.9,-11.0,253,3813,0.15,2.28,0.00,0.000,6,0.089,0.022,2809,1700,3111,0,0,0,0,0,0
$GC,4162,-1.15,-116.8,372.8,-6.9,262,4166,0.00,2.47,0.00,0.000,4,0.000,0.053,2809,287,3108,0,0,0,0,0,0
$GC,4214,-1.15,-116.8,376.7,-7.8,263,4218,0.00,2.30,0.00,0.000,6,0.000,0.023,2809,1704,3108,0,0,0,0,0,0
$GC,4538,-1.18,-116.8,394.6,-5.6,271,4542,0.00,2.45,0.00,0.000,4,0.000,0.054,2809,296,3106,0,0,0,0,0,0
$GC,4571,-1.18,-116.8,396.9,-6.4,271,4576,0.00,2.28,0.00,0.000,6,0.000,0.025,2809,1705,3106,0,0,0,0,0,0
$GC,4905,-1.23,-116.8,420.7,-7.7,279,4910,0.12,2.50,0.00,0.000,4,0.066,0.056,2769,296,3103,0,0,0,0,0,0
$GC,5005,-1.15,-116.8,431.6,-11.1,281,5010,0.15,2.30,0.00,0.000,6,0.092,0.025,2800,1706,3103,0,0,0,0,0,0
$STATE,5240,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5241,begin apogee
$GC,5248,-0.31,0.0,450.7,7.8,287,5347,0.82,0.00,95.78,0.833,6,0.065,0.000,2980,1711,2630,0,0,0,0,0,0
$STATE,5347,end apogee,CONTROL_FINISHED_OK
$STATE,5348,begin climb
$GC,5350,1.18,116.8,452.6,0.0,289,5462,1.42,2.38,100.80,0.815,4,0.038,0.032,3310,3085,2153,0,0,0,0,0,0
$GC,5640,1.01,125.8,439.5,7.5,295,5656,0.20,2.42,8.27,0.676,6,0.103,0.040,3272,1699,2117,0,0,0,0,0,0
$GC,5991,0.97,187.7,419.2,5.1,304,6049,0.00,0.00,55.00,0.808,6,0.000,0.000,3273,1699,1865,0,0,0,0,0,0
$GC,6361,0.88,187.7,383.4,11.5,313,6366,0.15,2.53,0.00,0.000,4,0.106,0.059,3243,288,1856,0,0,0,0,0,0
$GC,6447,0.78,187.7,371.5,12.9,314,6453,0.12,2.33,0.00,0.000,6,0.114,0.027,3220,1700,1853,0,0,0,0,0,0
$GC,6778,0.84,209.0,343.9,6.9,323,6803,0.00,2.60,18.23,0.743,4,0.000,0.058,3220,297,1777,0,0,0,0,0,0
$GC,6886,0.84,209.0,335.4,8.2,325,6891,0.00,2.33,0.00,0.000,6,0.000,0.028,3220,1703,1771,0,0,0,0,0,0
$GC,7237,0.90,217.3,310.3,7.5,334,7250,0.12,2.55,7.60,0.638,4,0.070,0.058,3256,294,1744,0,0,0,0,0,0
$GC,7323,0.83,217.3,301.3,11.4,335,7330,0.12,2.35,0.00,0.000,6,0.110,0.028,3233,1704,1741,0,0,0,0,0,0
$GC,7639,0.90,240.8,277.1,6.8,350,7668,0.00,2.58,21.90,0.713,4,0.000,0.055,3232,293,1646,0,0,0,0,0,0
$GC,7770,0.87,240.8,265.7,10.6,355,7775,0.00,2.35,0.00,0.000,6,0.000,0.026,3232,1707,1642,0,0,0,0,0,0
$GC,8087,0.93,240.8,234.8,10.7,371,8091,0.00,2.50,0.00,0.000,4,0.000,0.055,3232,292,1641,0,0,0,0,0,0
$GC,8241,0.93,240.8,219.2,8.9,377,8247,0.00,2.30,0.00,0.000,6,0.000,0.025,3233,1705,1638,0,0,0,0,0,0
$GC,8560,1.03,261.3,195.5,7.0,395,8588,0.17,2.58,17.95,0.637,4,0.055,0.053,3283,296,1563,0,0,0,0,0,0
$GC,8634,0.91,261.3,188.8,10.5,400,8639,0.17,2.33,0.00,0.000,6,0.094,0.024,3248,1708,1560,0,0,0,0,0,0
$GC,8902,0.99,282.9,170.0,6.9,421,8929,0.00,2.58,19.38,0.613,4,0.000,0.052,3248,300,1475,0,0,0,0,0,0
$GC,9027,0.99,282.9,158.8,9.3,430,9031,0.00,2.30,0.00,0.000,6,0.000,0.023,3248,1708,1471,0,0,0,0,0,0
$GC,9299,1.08,288.4,137.5,7.6,451,9314,0.17,2.55,5.68,0.467,4,0.052,0.050,3300,290,1453,0,0,0,0,0,0
$GC,9469,0.99,288.4,119.2,10.5,463,9474,0.17,2.28,0.00,0.000,6,0.091,0.021,3264,1712,1450,0,0,0,0,0,0
$GC,9733,1.14,336.4,103.0,5.7,483,9781,0.15,2.58,41.67,0.565,4,0.057,0.049,3311,296,1258,0,0,0,0,0,0
$GC,9901,1.06,336.4,81.8,14.5,495,9906,0.15,2.25,0.00,0.000,6,0.091,0.021,3280,1715,1253,0,0,0,0,0,0
$GC,10164,1.15,342.8,59.2,7.6,515,10180,0.00,2.55,6.35,0.423,4,0.000,0.048,3280,290,1231,0,0,0,0,0,0
$GC,10327,1.15,342.8,42.7,10.7,526,10334,0.00,2.28,0.00,0.000,6,0.000,0.019,3281,1706,1229,0,0,0,0,0,0
$GC,10590,1.27,372.1,20.9,6.6,565,10626,0.20,2.53,25.40,0.479,4,0.046,0.046,3343,299,1112,0,0,0,0,0,0
$STATE,10721,end climb,SURFACE_DEPTH_REACHED
$STATE,10721,begin surface coast
$FINISH,1.0,1.023105
$STATE,10740,end surface coast,CONTROL_FINISHED_OK
$STATE,10740,begin surface
$SM_CCo,10766,23.17,0.460,0,0,957,410.14
$SM_GC,1.54,0.00,0.00,23.17,0.000,0.000,0.460,425,1716,957,-12.07,0.42,410.14
$IRIDIUM_FIX,2054.83,-15754.77,201299,030353
$TT8_MAMPS,0.029146
$HUMID,57.48
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.4,47.085
$10V_AH,10.1,39.058
$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,31.675,119.450,424.000,23.175,0.000,30.262,33.243,191.217,4.500,0.000,20.263,1203.106,6966.215,479.245,1973.768,554.029,0.000,1379.674,0.000,1936.000,0.000,29.256,0.000
$DEVICE_MAMPS,132.691,59.059,832.962,460.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,400.780,381.563,849.646,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,31925,597
$CAP_FILE_SIZE,125029,0
$CFSIZE,260165632,185212928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,250910,094758,2102.530,-15753.200,15,2.3,34,9.8