version: 66.06
glider: 139
mission: 8
dive: 463
start: 9 16 110 15 15 39
data:
$ID,139
$MISSION,8
$DIVE,463
$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,-2160759.2
$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
$GPS1,150855,2056.854,-15759.226,13,1.5,30,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-71.2
$GPS2,151521,2056.774,-15759.250,34,4.9,53,9.8
$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,337.4,21955,-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,-64.45,0.000,2,0.000,0.000,427,1704,2743,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.2,-3.0,12,111,12.60,2.40,-6.85,0.000,4,0.133,0.034,2785,3114,3110,0,0,0,0,0,0
$GC,206,-1.11,-116.8,27.7,-14.2,37,213,0.08,2.42,0.00,0.000,6,0.089,0.032,2804,1700,3112,0,0,0,0,0,0
$GC,414,-0.94,-116.8,62.3,-16.4,55,419,0.20,2.42,0.00,0.000,4,0.090,0.044,2846,286,3113,0,0,0,0,0,0
$GC,462,-0.84,-116.8,69.8,-13.9,58,469,0.08,2.35,0.00,0.000,6,0.077,0.018,2866,1737,3113,0,0,0,0,0,0
$GC,722,-0.84,-116.8,94.7,-8.4,79,726,0.00,2.50,0.00,0.000,4,0.000,0.044,2866,290,3114,0,0,0,0,0,0
$GC,764,-0.84,-116.8,98.4,-8.4,82,769,0.00,2.22,0.00,0.000,6,0.000,0.018,2866,1717,3113,0,0,0,0,0,0
$GC,1025,-0.89,-116.8,119.3,-8.2,102,1029,0.00,2.42,0.00,0.000,4,0.000,0.044,2866,294,3114,0,0,0,0,0,0
$GC,1083,-0.93,-116.8,124.5,-9.1,106,1087,0.00,2.20,0.00,0.000,6,0.000,0.018,2866,1711,3114,0,0,0,0,0,0
$GC,1343,-1.00,-116.8,146.2,-8.0,126,1345,0.15,0.00,0.00,0.000,6,0.054,0.000,2815,1717,3114,0,0,0,0,0,0
$GC,1597,-0.97,-116.8,173.9,-10.3,146,1602,0.12,2.47,0.00,0.000,4,0.090,0.047,2842,290,3115,0,0,0,0,0,0
$GC,1657,-0.97,-116.8,180.8,-9.7,150,1664,0.00,2.25,0.00,0.000,6,0.000,0.019,2842,1700,3115,0,0,0,0,0,0
$GC,1936,-1.01,-116.8,203.8,-8.1,171,1940,0.00,2.42,0.00,0.000,4,0.000,0.046,2842,290,3115,0,0,0,0,0,0
$GC,1996,-1.01,-116.8,209.1,-8.5,173,2000,0.00,2.20,0.00,0.000,6,0.000,0.019,2842,1699,3115,0,0,0,0,0,0
$GC,2312,-1.07,-116.8,234.1,-8.4,188,2317,0.12,2.45,0.00,0.000,4,0.063,0.048,2798,293,3115,0,0,0,0,0,0
$GC,2381,-1.02,-116.8,241.4,-11.1,191,2386,0.12,2.22,0.00,0.000,6,0.091,0.020,2825,1693,3115,0,0,0,0,0,0
$GC,2715,-1.05,-116.8,270.6,-8.6,207,2719,0.00,2.42,0.00,0.000,4,0.000,0.048,2825,292,3115,0,0,0,0,0,0
$GC,2812,-1.05,-116.8,279.9,-8.9,211,2817,0.00,2.25,0.00,0.000,6,0.000,0.021,2825,1704,3114,0,0,0,0,0,0
$GC,3160,-1.10,-116.8,307.0,-7.0,226,3164,0.00,2.45,0.00,0.000,4,0.000,0.050,2825,295,3113,0,0,0,0,0,0
$GC,3189,-1.10,-116.8,309.2,-7.7,226,3193,0.00,2.22,0.00,0.000,6,0.000,0.021,2826,1694,3113,0,0,0,0,0,0
$GC,3525,-1.14,-116.8,331.6,-6.8,235,3530,0.12,2.47,0.00,0.000,4,0.064,0.051,2782,288,3112,0,0,0,0,0,0
$GC,3554,-1.04,-116.8,334.4,-10.5,235,3560,0.17,2.25,0.00,0.000,6,0.086,0.023,2820,1697,3112,0,0,0,0,0,0
$GC,3893,-1.09,-116.8,362.8,-8.5,244,3897,0.00,2.45,0.00,0.000,4,0.000,0.053,2820,296,3110,0,0,0,0,0,0
$GC,3949,-1.13,-116.8,368.0,-8.5,245,3953,0.00,2.28,0.00,0.000,6,0.000,0.024,2820,1699,3110,0,0,0,0,0,0
$GC,4264,-1.19,-116.8,390.3,-6.7,253,4269,0.12,2.47,0.00,0.000,4,0.066,0.055,2779,297,3108,0,0,0,0,0,0
$GC,4312,-1.12,-116.8,394.5,-8.9,254,4317,0.12,2.28,0.00,0.000,6,0.096,0.025,2806,1702,3107,0,0,0,0,0,0
$GC,4638,-1.12,-116.8,419.0,-7.6,262,4642,0.00,2.50,0.00,0.000,4,0.000,0.057,2805,291,3105,0,0,0,0,0,0
$GC,4683,-1.12,-116.8,423.1,-8.7,263,4688,0.00,2.30,0.00,0.000,6,0.000,0.026,2806,1704,3104,0,0,0,0,0,0
$GC,5009,-1.15,-116.8,449.6,-8.4,271,5013,0.00,2.08,0.00,0.000,3,0.000,0.056,2806,524,3102,0,0,0,0,0,0
$STATE,5014,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5014,begin apogee
$GC,5022,-0.31,0.0,450.2,8.4,271,5122,0.77,0.00,95.62,0.836,6,0.067,0.000,2977,1710,2630,0,0,0,0,0,0
$STATE,5122,end apogee,CONTROL_FINISHED_OK
$STATE,5122,begin climb
$GC,5125,1.18,116.8,452.9,0.0,273,5238,1.45,2.40,101.15,0.818,4,0.039,0.034,3310,3072,2153,0,0,0,0,0,0
$GC,5435,1.01,121.7,440.1,7.7,279,5448,0.20,2.38,4.78,0.554,6,0.099,0.041,3272,1701,2132,0,0,0,0,0,0
$GC,5773,0.94,161.8,419.3,6.1,288,5815,0.00,2.55,35.80,0.802,4,0.000,0.059,3271,295,1970,0,0,0,0,0,0
$GC,5872,0.75,161.8,410.7,10.1,290,5877,0.30,2.35,0.00,0.000,6,0.097,0.027,3213,1700,1964,0,0,0,0,0,0
$GC,6192,0.85,219.5,392.4,5.3,298,6249,0.10,2.60,50.85,0.802,4,0.082,0.059,3242,292,1735,0,0,0,0,0,0
$GC,6336,0.76,219.5,379.9,11.2,301,6341,0.15,2.33,0.00,0.000,6,0.107,0.027,3214,1701,1728,0,0,0,0,0,0
$GC,6657,0.83,238.3,356.4,7.0,309,6680,0.00,2.55,16.52,0.746,4,0.000,0.058,3214,295,1657,0,0,0,0,0,0
$GC,6796,0.83,238.3,342.8,10.1,312,6800,0.00,2.35,0.00,0.000,6,0.000,0.028,3214,1707,1652,0,0,0,0,0,0
$GC,7120,0.89,238.3,313.8,8.8,320,7125,0.15,2.55,0.00,0.000,4,0.063,0.058,3256,292,1650,0,0,0,0,0,0
$GC,7250,0.81,238.3,298.2,12.0,322,7257,0.15,2.33,0.00,0.000,6,0.104,0.027,3227,1699,1648,0,0,0,0,0,0
$GC,7568,0.87,248.7,272.5,7.4,338,7584,0.00,2.53,9.12,0.648,4,0.000,0.054,3227,295,1614,0,0,0,0,0,0
$GC,7700,0.87,248.7,260.8,9.7,343,7705,0.00,2.33,0.00,0.000,6,0.000,0.025,3227,1701,1611,0,0,0,0,0,0
$GC,8018,0.94,248.7,233.6,8.5,359,8023,0.12,2.53,0.00,0.000,4,0.067,0.054,3264,290,1611,0,0,0,0,0,0
$GC,8137,0.86,248.7,219.7,11.8,364,8142,0.15,2.33,0.00,0.000,6,0.100,0.024,3235,1702,1609,0,0,0,0,0,0
$GC,8467,0.94,267.3,194.2,7.1,382,8489,0.00,2.53,16.70,0.637,4,0.000,0.052,3235,291,1540,0,0,0,0,0,0
$GC,8655,0.94,267.3,176.1,10.7,395,8660,0.00,2.33,0.00,0.000,6,0.000,0.022,3235,1717,1534,0,0,0,0,0,0
$GC,8916,1.04,270.5,154.9,7.8,416,8921,0.17,2.50,0.00,0.000,4,0.052,0.050,3288,294,1534,0,0,0,0,0,0
$GC,8959,0.93,270.5,150.1,12.0,419,8964,0.17,2.25,0.00,0.000,6,0.091,0.021,3253,1700,1533,0,0,0,0,0,0
$GC,9221,1.04,301.4,130.8,6.5,439,9261,0.10,2.50,30.08,0.592,4,0.074,0.048,3288,294,1399,0,0,0,0,0,0
$GC,9387,0.96,301.4,112.2,12.2,451,9392,0.15,2.28,0.00,0.000,6,0.091,0.021,3258,1705,1395,0,0,0,0,0,0
$GC,9653,1.02,301.4,87.5,9.6,472,9658,0.00,2.45,0.00,0.000,4,0.000,0.048,3258,293,1395,0,0,0,0,0,0
$GC,9790,1.02,301.4,71.8,11.1,482,9794,0.00,2.25,0.00,0.000,6,0.000,0.019,3258,1712,1394,0,0,0,0,0,0
$GC,10058,1.19,337.2,51.1,6.3,503,10095,0.22,2.53,30.52,0.516,4,0.043,0.050,3327,293,1254,0,0,0,0,0,0
$GC,10263,1.05,337.2,25.3,14.5,522,10270,0.20,2.28,0.00,0.000,6,0.067,0.019,3281,1701,1249,0,0,0,0,0,0
$GC,10467,1.10,376.9,6.5,6.1,568,10507,0.00,2.50,33.65,0.479,4,0.000,0.047,3281,292,1091,0,0,0,0,0,0
$STATE,10512,end climb,SURFACE_DEPTH_REACHED
$STATE,10513,begin surface coast
$FINISH,0.9,1.023427
$STATE,10563,end surface coast,CONTROL_FINISHED_OK
$STATE,10563,begin surface
$SM_CCo,10588,20.85,0.461,0,0,958,410.14
$SM_GC,1.72,0.00,0.00,20.85,0.000,0.000,0.461,424,1692,958,-12.08,-0.25,410.14
$IRIDIUM_FIX,2047.91,-15759.92,111299,121253
$TT8_MAMPS,0.029146
$HUMID,56.89
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.4,40.138
$10V_AH,10.2,33.516
$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,30.925,128.125,424.800,20.850,0.000,27.338,33.601,157.682,4.500,0.000,54.017,1195.829,6778.218,453.496,2044.784,519.708,0.000,1391.566,0.000,1978.038,0.000,29.260,0.000
$DEVICE_MAMPS,132.691,59.059,836.030,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,394.268,374.570,830.303,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,31732,587
$CAP_FILE_SIZE,126250,0
$CFSIZE,260165632,189243392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160910,181337,2057.437,-15759.262,30,1.1,30,9.8