version: 66.06
glider: 139
mission: 8
dive: 462
start: 9 16 110 12 6 24
data:
$ID,139
$MISSION,8
$DIVE,462
$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,-2160704.5
$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
$GPS1,115959,2056.581,-15759.169,12,2.6,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-70.1
$GPS2,120606,2056.509,-15759.203,43,0.8,43,9.8
$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,337.5,22450,-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,13,begin dive
$GC,15,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.22,0.000,2,0.000,0.000,429,1708,2744,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.4,-3.6,12,110,12.62,2.40,-6.90,0.000,4,0.133,0.035,2787,3116,3110,0,0,0,0,0,0
$GC,239,-1.13,-116.8,31.1,-13.1,44,243,0.00,2.42,0.00,0.000,6,0.000,0.033,2787,1690,3112,0,0,0,0,0,0
$GC,504,-0.94,-116.8,75.3,-15.6,65,506,0.28,0.00,0.00,0.000,6,0.087,0.000,2844,1690,3112,0,0,0,0,0,0
$GC,757,-0.94,-116.8,104.2,-10.7,85,761,0.00,2.40,0.00,0.000,4,0.000,0.045,2844,295,3114,0,0,0,0,0,0
$GC,797,-0.90,-116.8,108.5,-11.3,88,801,0.00,2.30,0.00,0.000,6,0.000,0.018,2844,1744,3113,0,0,0,0,0,0
$GC,1062,-0.90,-116.8,134.3,-8.9,109,1066,0.00,2.47,0.00,0.000,4,0.000,0.044,2844,294,3114,0,0,0,0,0,0
$GC,1102,-0.90,-116.8,137.8,-8.7,112,1107,0.00,2.25,0.00,0.000,6,0.000,0.018,2844,1715,3114,0,0,0,0,0,0
$GC,1370,-0.95,-116.8,158.2,-7.2,133,1375,0.00,2.42,0.00,0.000,4,0.000,0.045,2844,294,3115,0,0,0,0,0,0
$GC,1470,-0.95,-116.8,167.9,-9.4,140,1477,0.00,2.25,0.00,0.000,6,0.000,0.019,2844,1705,3115,0,0,0,0,0,0
$GC,1733,-0.99,-116.8,189.6,-8.0,161,1738,0.00,2.45,0.00,0.000,4,0.000,0.046,2844,288,3115,0,0,0,0,0,0
$GC,1765,-0.99,-116.8,192.6,-8.4,163,1771,0.00,2.22,0.00,0.000,6,0.000,0.019,2844,1705,3115,0,0,0,0,0,0
$GC,2030,-1.05,-116.8,211.6,-7.9,180,2034,0.00,2.45,0.00,0.000,4,0.000,0.047,2844,289,3115,0,0,0,0,0,0
$GC,2114,-1.10,-116.8,218.9,-9.0,183,2120,0.15,2.22,0.00,0.000,6,0.055,0.020,2793,1703,3115,0,0,0,0,0,0
$GC,2434,-1.07,-116.8,250.7,-9.9,199,2439,0.10,2.45,0.00,0.000,4,0.104,0.048,2815,295,3115,0,0,0,0,0,0
$GC,2491,-1.07,-116.8,256.8,-9.7,201,2495,0.00,2.22,0.00,0.000,6,0.000,0.021,2815,1704,3115,0,0,0,0,0,0
$GC,2814,-1.07,-116.8,283.6,-7.6,217,2818,0.00,2.45,0.00,0.000,4,0.000,0.049,2815,294,3114,0,0,0,0,0,0
$GC,2852,-1.07,-116.8,287.1,-8.6,218,2859,0.00,2.28,0.00,0.000,6,0.000,0.021,2815,1695,3114,0,0,0,0,0,0
$GC,3166,-1.07,-116.8,310.2,-7.8,231,3167,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1699,3113,0,0,0,0,0,0
$GC,3491,-1.07,-116.8,339.5,-9.4,239,3495,0.00,2.45,0.00,0.000,4,0.000,0.051,2815,284,3112,0,0,0,0,0,0
$GC,3529,-1.07,-116.8,343.4,-10.6,239,3533,0.00,2.28,0.00,0.000,6,0.000,0.022,2816,1704,3112,0,0,0,0,0,0
$GC,3860,-1.11,-116.8,371.9,-8.3,247,3865,0.00,2.47,0.00,0.000,4,0.000,0.053,2815,294,3110,0,0,0,0,0,0
$GC,3930,-1.11,-116.8,377.6,-7.8,248,3934,0.00,2.28,0.00,0.000,6,0.000,0.024,2815,1701,3110,0,0,0,0,0,0
$GC,4278,-1.16,-116.8,400.1,-6.1,257,4282,0.00,2.45,0.00,0.000,4,0.000,0.055,2815,297,3107,0,0,0,0,0,0
$GC,4354,-1.16,-116.8,405.4,-6.9,258,4358,0.00,2.28,0.00,0.000,6,0.000,0.025,2815,1703,3107,0,0,0,0,0,0
$GC,4691,-1.22,-116.8,424.6,-5.7,267,4696,0.15,2.47,0.00,0.000,4,0.059,0.058,2769,297,3105,0,0,0,0,0,0
$GC,4743,-1.12,-116.8,429.3,-10.0,268,4748,0.17,2.28,0.00,0.000,6,0.087,0.025,2807,1697,3104,0,0,0,0,0,0
$STATE,5019,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5019,begin apogee
$GC,5026,-0.31,0.0,451.2,8.0,275,5126,0.80,0.00,96.35,0.841,6,0.064,0.000,2981,1702,2630,0,0,0,0,0,0
$STATE,5127,end apogee,CONTROL_FINISHED_OK
$STATE,5127,begin climb
$GC,5129,1.18,116.8,453.4,0.0,277,5242,1.42,2.45,101.10,0.821,4,0.038,0.034,3311,3085,2153,0,0,0,0,0,0
$GC,5368,1.01,116.8,444.1,8.5,282,5373,0.22,2.40,0.00,0.000,6,0.095,0.040,3267,1702,2148,0,0,0,0,0,0
$GC,5720,0.91,122.6,418.0,7.6,291,5730,0.00,2.53,4.32,0.528,4,0.000,0.057,3267,295,2129,0,0,0,0,0,0
$GC,5768,0.71,122.6,413.7,8.6,292,5773,0.30,2.33,0.00,0.000,6,0.094,0.027,3208,1701,2127,0,0,0,0,0,0
$GC,6093,0.83,183.3,395.1,5.2,300,6154,0.00,2.62,54.42,0.806,4,0.000,0.058,3208,293,1881,0,0,0,0,0,0
$GC,6174,0.85,207.3,390.3,6.8,301,6203,0.12,2.38,22.52,0.764,6,0.071,0.027,3241,1710,1783,0,0,0,0,0,0
$GC,6548,0.85,207.3,355.8,9.4,311,6552,0.00,2.53,0.00,0.000,4,0.000,0.058,3241,295,1776,0,0,0,0,0,0
$GC,6696,0.79,207.3,341.3,9.7,314,6700,0.00,2.33,0.00,0.000,6,0.000,0.027,3241,1694,1772,0,0,0,0,0,0
$GC,7015,0.79,207.3,314.6,8.2,322,7019,0.00,2.47,0.00,0.000,4,0.000,0.056,3241,295,1771,0,0,0,0,0,0
$GC,7154,0.74,207.3,301.9,9.3,325,7159,0.15,2.33,0.00,0.000,6,0.103,0.027,3213,1708,1768,0,0,0,0,0,0
$GC,7490,0.86,240.2,280.4,6.4,340,7524,0.10,2.60,27.30,0.729,4,0.080,0.055,3244,295,1650,0,0,0,0,0,0
$GC,7628,0.81,240.2,266.9,10.6,346,7632,0.00,2.35,0.00,0.000,6,0.000,0.025,3244,1709,1644,0,0,0,0,0,0
$GC,7957,0.81,240.2,238.1,9.4,362,7961,0.00,2.53,0.00,0.000,4,0.000,0.054,3244,291,1643,0,0,0,0,0,0
$GC,8089,0.81,240.2,224.4,9.2,367,8094,0.00,2.33,0.00,0.000,6,0.000,0.025,3244,1705,1640,0,0,0,0,0,0
$GC,8406,0.85,242.0,199.7,7.8,383,8410,0.00,2.47,0.00,0.000,4,0.000,0.052,3244,288,1640,0,0,0,0,0,0
$GC,8522,0.85,242.0,188.2,9.2,391,8528,0.00,2.33,0.00,0.000,6,0.000,0.022,3244,1715,1639,0,0,0,0,0,0
$GC,8783,0.91,249.5,167.4,7.6,412,8798,0.00,2.55,7.80,0.542,4,0.000,0.051,3244,295,1612,0,0,0,0,0,0
$GC,8870,0.91,249.5,160.3,8.7,418,8874,0.00,2.30,0.00,0.000,6,0.000,0.021,3244,1709,1610,0,0,0,0,0,0
$GC,9138,0.99,249.6,140.5,7.9,439,9142,0.00,2.47,0.00,0.000,4,0.000,0.049,3244,294,1610,0,0,0,0,0,0
$GC,9207,1.00,260.2,135.2,7.4,444,9225,0.10,2.28,10.62,0.545,6,0.074,0.021,3280,1713,1568,0,0,0,0,0,0
$GC,9483,1.00,260.2,113.6,8.0,466,9488,0.00,2.45,0.00,0.000,4,0.000,0.049,3280,294,1569,0,0,0,0,0,0
$GC,9535,0.95,260.2,108.8,9.8,470,9540,0.12,2.22,0.00,0.000,6,0.096,0.020,3255,1696,1567,0,0,0,0,0,0
$GC,9804,1.09,299.8,92.3,6.1,491,9847,0.15,2.58,34.88,0.553,4,0.055,0.048,3304,287,1407,0,0,0,0,0,0
$GC,9971,1.02,299.8,74.9,11.1,503,9976,0.15,2.25,0.00,0.000,6,0.087,0.019,3272,1705,1402,0,0,0,0,0,0
$GC,10233,1.11,299.8,52.2,8.9,523,10237,0.00,2.47,0.00,0.000,4,0.000,0.046,3272,288,1402,0,0,0,0,0,0
$GC,10305,1.11,299.8,45.2,10.4,528,10312,0.00,2.28,0.00,0.000,6,0.000,0.018,3272,1703,1400,0,0,0,0,0,0
$GC,10567,1.18,299.8,24.7,8.7,557,10574,0.15,2.50,0.00,0.000,4,0.054,0.048,3323,294,1400,0,0,0,0,0,0
$GC,10692,1.06,299.8,9.1,13.7,584,10699,0.17,2.25,0.00,0.000,6,0.065,0.018,3282,1697,1400,0,0,0,0,0,0
$STATE,10756,end climb,SURFACE_DEPTH_REACHED
$STATE,10756,begin surface coast
$FINISH,0.9,1.023677
$STATE,10798,end surface coast,CONTROL_FINISHED_OK
$STATE,10798,begin surface
$SM_CCo,10820,61.75,0.475,0,0,957,410.14
$SM_GC,1.53,0.00,0.00,61.75,0.000,0.000,0.475,428,1703,957,-12.07,0.08,410.14
$IRIDIUM_FIX,2045.60,-15750.49,111299,090953
$TT8_MAMPS,0.029146
$HUMID,55.82
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.4,40.033
$10V_AH,10.2,33.434
$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,29.550,124.175,359.325,61.750,0.000,31.295,31.812,146.112,4.500,0.000,43.194,1222.921,7082.679,467.004,1979.619,492.935,0.000,1350.038,0.000,1922.295,0.000,29.258,0.000
$DEVICE_MAMPS,132.691,58.292,841.399,474.773,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,408.444,388.792,854.920,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,34820,607
$CAP_FILE_SIZE,121087,0
$CFSIZE,260165632,189300736
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160910,150855,2056.854,-15759.226,13,1.5,30,9.8