version: 66.06
glider: 139
mission: 8
dive: 458
start: 9 15 110 23 47 22
data:
$ID,139
$MISSION,8
$DIVE,458
$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,-2160617.2
$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
$GPS1,234050,2056.334,-15757.290,13,2.0,13,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-70.1
$GPS2,234704,2056.254,-15757.356,14,2.1,33,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$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,330.2,23803,-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,-64.25,0.000,2,0.000,0.000,427,1709,2727,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.0,-2.6,12,116,12.60,2.38,-7.38,0.000,4,0.132,0.035,2785,3111,3109,0,0,0,0,0,0
$GC,234,-1.12,-116.8,31.6,-14.4,42,240,0.00,2.42,0.00,0.000,6,0.000,0.035,2784,1701,3111,0,0,0,0,0,0
$GC,495,-0.93,-116.8,72.7,-17.5,63,500,0.28,2.42,0.00,0.000,4,0.089,0.045,2845,294,3112,0,0,0,0,0,0
$GC,541,-0.85,-116.8,80.0,-13.4,66,548,0.00,2.33,0.00,0.000,6,0.000,0.018,2845,1735,3112,0,0,0,0,0,0
$GC,802,-0.85,-116.8,106.7,-10.5,87,803,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1735,3113,0,0,0,0,0,0
$GC,1054,-0.85,-116.8,131.0,-9.8,107,1059,0.00,2.50,0.00,0.000,4,0.000,0.045,2845,289,3114,0,0,0,0,0,0
$GC,1121,-0.88,-116.8,138.5,-10.8,112,1126,0.00,2.25,0.00,0.000,6,0.000,0.018,2845,1720,3114,0,0,0,0,0,0
$GC,1389,-0.93,-116.8,163.2,-8.7,133,1393,0.00,2.47,0.00,0.000,4,0.000,0.046,2845,290,3114,0,0,0,0,0,0
$GC,1462,-0.93,-116.8,170.4,-9.2,138,1469,0.00,2.25,0.00,0.000,6,0.000,0.019,2845,1698,3114,0,0,0,0,0,0
$GC,1725,-0.98,-116.8,189.7,-6.6,159,1730,0.00,2.42,0.00,0.000,4,0.000,0.046,2845,294,3114,0,0,0,0,0,0
$GC,1779,-1.02,-116.8,194.1,-8.2,163,1783,0.00,2.22,0.00,0.000,6,0.000,0.020,2845,1699,3114,0,0,0,0,0,0
$GC,2044,-1.09,-116.8,215.5,-8.3,178,2049,0.15,2.42,0.00,0.000,4,0.056,0.048,2795,294,3114,0,0,0,0,0,0
$GC,2092,-1.02,-116.8,221.1,-11.5,180,2097,0.15,2.20,0.00,0.000,6,0.089,0.020,2827,1694,3113,0,0,0,0,0,0
$GC,2421,-1.02,-116.8,251.9,-9.2,196,2425,0.00,2.40,0.00,0.000,4,0.000,0.048,2828,294,3113,0,0,0,0,0,0
$GC,2467,-1.02,-116.8,257.1,-10.2,198,2471,0.00,2.22,0.00,0.000,6,0.000,0.021,2828,1702,3113,0,0,0,0,0,0
$GC,2794,-1.07,-116.8,282.3,-7.2,214,2798,0.00,2.45,0.00,0.000,4,0.000,0.049,2827,293,3112,0,0,0,0,0,0
$GC,2880,-1.10,-116.8,289.8,-9.0,217,2885,0.00,2.22,0.00,0.000,6,0.000,0.021,2827,1699,3112,0,0,0,0,0,0
$GC,3213,-1.16,-116.8,316.9,-7.9,229,3218,0.12,2.47,0.00,0.000,4,0.063,0.050,2785,288,3112,0,0,0,0,0,0
$GC,3239,-1.09,-116.8,319.3,-9.9,229,3244,0.12,2.25,0.00,0.000,6,0.096,0.022,2812,1698,3112,0,0,0,0,0,0
$GC,3580,-1.09,-116.8,348.8,-8.6,238,3584,0.00,2.45,0.00,0.000,4,0.000,0.051,2812,296,3110,0,0,0,0,0,0
$GC,3640,-1.09,-116.8,354.8,-10.2,239,3644,0.00,2.25,0.00,0.000,6,0.000,0.023,2812,1702,3109,0,0,0,0,0,0
$GC,3991,-1.13,-116.8,384.9,-8.8,248,3995,0.00,2.28,0.00,0.000,4,0.000,0.028,2812,3078,3107,0,0,0,0,0,0
$GC,4005,-1.19,-116.8,386.2,-8.5,248,4009,0.00,2.35,0.00,0.000,6,0.000,0.037,2812,1700,3107,0,0,0,0,0,0
$GC,4358,-1.24,-116.8,412.6,-7.3,257,4363,0.15,2.47,0.00,0.000,4,0.059,0.055,2767,297,3105,0,0,0,0,0,0
$GC,4433,-1.16,-116.8,419.8,-9.8,258,4441,0.15,2.25,0.00,0.000,6,0.091,0.025,2799,1692,3105,0,0,0,0,0,0
$GC,4779,-1.16,-116.8,447.9,-8.4,267,4783,0.00,2.47,0.00,0.000,4,0.000,0.058,2799,297,3103,0,0,0,0,0,0
$STATE,4800,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4800,begin apogee
$GC,4809,-0.31,0.0,450.5,10.2,267,4908,0.82,0.00,95.90,0.831,6,0.070,0.000,2980,1708,2629,0,0,0,0,0,0
$STATE,4909,end apogee,CONTROL_FINISHED_OK
$STATE,4909,begin climb
$GC,4912,1.18,116.8,454.6,0.0,270,5024,1.42,2.42,100.68,0.815,4,0.038,0.032,3310,3078,2153,0,0,0,0,0,0
$GC,5111,1.05,160.0,451.5,5.9,274,5156,0.15,2.40,38.30,0.795,6,0.105,0.041,3282,1698,1976,0,0,0,0,0,0
$GC,5502,0.92,160.0,418.9,9.1,284,5507,0.15,2.50,0.00,0.000,4,0.107,0.058,3252,294,1968,0,0,0,0,0,0
$GC,5527,0.76,160.0,416.5,9.9,284,5532,0.17,2.35,0.00,0.000,6,0.106,0.026,3219,1704,1965,0,0,0,0,0,0
$GC,5869,0.78,179.7,392.5,7.0,293,5892,0.00,2.58,16.30,0.757,4,0.000,0.057,3219,288,1896,0,0,0,0,0,0
$GC,6019,0.75,179.7,380.1,8.2,296,6023,0.00,2.35,0.00,0.000,6,0.000,0.027,3219,1704,1892,0,0,0,0,0,0
$GC,6333,0.80,190.0,357.1,7.4,304,6344,0.00,0.00,9.65,0.696,6,0.000,0.000,3219,1708,1855,0,0,0,0,0,0
$GC,6657,0.89,226.7,335.5,6.2,312,6700,0.10,2.60,33.83,0.769,4,0.080,0.056,3249,303,1704,0,0,0,0,0,0
$GC,6826,0.80,226.7,320.8,9.6,315,6831,0.12,2.33,0.00,0.000,6,0.110,0.026,3226,1701,1699,0,0,0,0,0,0
$GC,7164,0.91,266.4,299.5,6.1,324,7208,0.00,2.60,34.85,0.742,4,0.000,0.055,3226,297,1541,0,0,0,0,0,0
$GC,7325,0.91,266.4,283.2,12.0,331,7329,0.00,2.33,0.00,0.000,6,0.000,0.026,3226,1710,1536,0,0,0,0,0,0
$GC,7656,0.98,266.4,250.2,9.4,347,7661,0.15,2.50,0.00,0.000,4,0.061,0.054,3270,293,1535,0,0,0,0,0,0
$GC,7818,0.86,266.4,230.6,11.7,354,7823,0.17,2.30,0.00,0.000,6,0.098,0.024,3236,1705,1531,0,0,0,0,0,0
$GC,8147,0.92,269.4,206.5,7.8,370,8151,0.00,2.50,0.00,0.000,4,0.000,0.052,3236,293,1531,0,0,0,0,0,0
$GC,8277,0.92,269.4,192.3,11.1,377,8283,0.00,2.28,0.00,0.000,6,0.000,0.023,3236,1707,1530,0,0,0,0,0,0
$GC,8536,0.98,269.4,168.4,8.8,398,8541,0.12,2.50,0.00,0.000,4,0.065,0.051,3276,286,1530,0,0,0,0,0,0
$GC,8646,0.89,269.4,156.0,11.5,406,8651,0.15,2.30,0.00,0.000,6,0.095,0.022,3246,1712,1529,0,0,0,0,0,0
$GC,8913,0.98,287.1,134.8,7.1,427,8940,0.00,2.53,16.95,0.577,4,0.000,0.049,3246,288,1458,0,0,0,0,0,0
$GC,9068,0.98,287.1,120.7,9.2,438,9072,0.00,2.28,0.00,0.000,6,0.000,0.021,3246,1708,1454,0,0,0,0,0,0
$GC,9334,1.08,293.8,102.0,7.6,459,9349,0.17,2.53,6.72,0.469,4,0.051,0.051,3300,298,1432,0,0,0,0,0,0
$GC,9401,0.97,293.8,93.2,14.0,463,9407,0.20,2.25,0.00,0.000,6,0.086,0.020,3259,1705,1430,0,0,0,0,0,0
$GC,9663,1.05,293.8,66.8,9.8,484,9667,0.00,2.47,0.00,0.000,4,0.000,0.048,3259,286,1430,0,0,0,0,0,0
$GC,9817,1.12,293.8,51.5,9.0,495,9824,0.10,2.28,0.00,0.000,6,0.034,0.019,3307,1701,1429,0,0,0,0,0,0
$GC,10079,1.12,293.8,27.8,8.7,518,10086,0.00,2.47,0.00,0.000,4,0.000,0.047,3306,291,1429,0,0,0,0,0,0
$GC,10161,1.05,293.8,19.7,10.0,536,10168,0.10,2.25,0.00,0.000,6,0.071,0.018,3281,1703,1429,0,0,0,0,0,0
$GC,10365,1.13,305.2,4.3,7.4,582,10383,0.00,2.47,11.52,0.445,4,0.000,0.051,3280,288,1383,0,0,0,0,0,0
$STATE,10388,end climb,SURFACE_DEPTH_REACHED
$STATE,10388,begin surface coast
$FINISH,0.9,1.010529
$STATE,10428,end surface coast,CONTROL_FINISHED_OK
$STATE,10430,begin surface
$SM_CCo,10455,58.40,0.477,0,0,957,410.14
$SM_GC,1.69,0.00,0.00,58.40,0.000,0.000,0.477,426,1709,957,-12.07,0.23,410.14
$IRIDIUM_FIX,2047.91,-15800.78,101299,202022
$TT8_MAMPS,0.029146
$HUMID,56.49
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.20
$XPDR_PINGS,1
$24V_AH,23.4,39.627
$10V_AH,10.2,33.107
$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,30.075,123.800,364.700,58.400,0.000,28.955,36.868,162.004,4.750,0.000,34.208,1188.469,6781.401,476.326,1930.636,507.497,0.000,1346.437,0.000,1881.533,0.000,29.261,0.000
$DEVICE_MAMPS,131.924,58.292,830.661,477.074,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,399.958,375.591,852.411,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,31807,595
$CAP_FILE_SIZE,120413,0
$CFSIZE,260165632,189542400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160910,024355,2056.138,-15757.810,41,1.3,41,9.8