version: 66.06
glider: 139
mission: 8
dive: 464
start: 9 16 110 18 19 52
data:
$ID,139
$MISSION,8
$DIVE,464
$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,-2160773.5
$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
$GPS1,181337,2057.437,-15759.262,30,1.1,30,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-72.1
$GPS2,181932,2057.358,-15759.289,13,1.3,13,9.8
$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,336.9,20885,-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,12,begin dive
$GC,15,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.65,0.000,2,0.000,0.000,423,1692,2764,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.6,-3.5,12,110,12.62,2.38,-6.25,0.000,4,0.132,0.033,2785,3115,3108,0,0,0,0,0,0
$GC,294,-1.11,-116.8,42.9,-16.2,45,299,0.12,2.40,0.00,0.000,6,0.104,0.032,2810,1695,3110,0,0,0,0,0,0
$GC,561,-1.00,-116.8,81.7,-12.7,66,565,0.10,2.42,0.00,0.000,4,0.110,0.046,2831,294,3111,0,0,0,0,0,0
$GC,589,-0.88,-116.8,86.1,-13.3,68,594,0.12,2.30,0.00,0.000,6,0.097,0.018,2858,1745,3111,0,0,0,0,0,0
$GC,850,-0.88,-116.8,111.6,-10.4,88,855,0.00,2.50,0.00,0.000,4,0.000,0.045,2858,289,3112,0,0,0,0,0,0
$GC,905,-0.88,-116.8,118.3,-11.7,92,909,0.00,2.22,0.00,0.000,6,0.000,0.018,2857,1713,3112,0,0,0,0,0,0
$GC,1167,-0.93,-116.8,143.2,-9.3,112,1171,0.00,2.45,0.00,0.000,4,0.000,0.045,2858,294,3113,0,0,0,0,0,0
$GC,1234,-1.00,-116.8,149.5,-8.8,117,1239,0.12,2.20,0.00,0.000,6,0.061,0.018,2813,1701,3113,0,0,0,0,0,0
$GC,1501,-0.97,-116.8,177.7,-11.8,138,1505,0.12,2.25,0.00,0.000,4,0.092,0.023,2841,3070,3114,0,0,0,0,0,0
$GC,1520,-1.03,-116.8,179.9,-9.5,139,1527,0.00,2.30,0.00,0.000,6,0.000,0.031,2840,1695,3113,0,0,0,0,0,0
$GC,1792,-1.06,-116.8,204.6,-9.0,159,1796,0.00,2.38,0.00,0.000,4,0.000,0.046,2840,297,3113,0,0,0,0,0,0
$GC,1868,-1.09,-116.8,212.2,-9.3,162,1872,0.12,2.20,0.00,0.000,6,0.062,0.019,2796,1703,3114,0,0,0,0,0,0
$GC,2196,-1.06,-116.8,244.2,-9.2,178,2201,0.10,2.45,0.00,0.000,4,0.101,0.047,2818,298,3114,0,0,0,0,0,0
$GC,2254,-1.06,-116.8,249.7,-9.3,180,2258,0.00,2.20,0.00,0.000,6,0.000,0.020,2818,1703,3114,0,0,0,0,0,0
$GC,2570,-1.06,-116.8,275.2,-8.2,195,2574,0.00,2.42,0.00,0.000,4,0.000,0.048,2818,300,3113,0,0,0,0,0,0
$GC,2637,-1.06,-116.8,281.9,-9.9,198,2641,0.00,2.20,0.00,0.000,6,0.000,0.021,2818,1693,3113,0,0,0,0,0,0
$GC,2985,-1.10,-116.8,311.8,-8.9,212,2989,0.00,2.42,0.00,0.000,4,0.000,0.050,2818,292,3112,0,0,0,0,0,0
$GC,3069,-1.10,-116.8,319.6,-9.1,213,3078,0.00,2.22,0.00,0.000,6,0.000,0.021,2818,1696,3112,0,0,0,0,0,0
$GC,3403,-1.14,-116.8,343.2,-7.0,222,3407,0.00,2.42,0.00,0.000,4,0.000,0.052,2818,301,3111,0,0,0,0,0,0
$GC,3431,-1.14,-116.8,345.6,-7.8,222,3435,0.00,2.25,0.00,0.000,6,0.000,0.023,2818,1703,3111,0,0,0,0,0,0
$GC,3774,-1.19,-116.8,371.9,-8.5,231,3779,0.12,2.47,0.00,0.000,4,0.064,0.054,2776,301,3109,0,0,0,0,0,0
$GC,3808,-1.10,-116.8,375.8,-11.2,231,3813,0.15,2.28,0.00,0.000,6,0.091,0.024,2809,1702,3109,0,0,0,0,0,0
$GC,4142,-1.14,-116.8,403.1,-7.9,239,4146,0.00,2.47,0.00,0.000,4,0.000,0.056,2808,300,3106,0,0,0,0,0,0
$GC,4211,-1.14,-116.8,408.8,-8.0,240,4215,0.00,2.28,0.00,0.000,6,0.000,0.025,2809,1704,3106,0,0,0,0,0,0
$GC,4558,-1.19,-116.8,433.3,-7.2,249,4562,0.00,2.47,0.00,0.000,4,0.000,0.058,2809,294,3103,0,0,0,0,0,0
$GC,4610,-1.19,-116.8,437.7,-8.4,250,4614,0.00,2.30,0.00,0.000,6,0.000,0.026,2809,1699,3103,0,0,0,0,0,0
$STATE,4804,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4804,begin apogee
$GC,4810,-0.31,0.0,451.6,7.0,255,4908,0.80,0.00,95.50,0.839,6,0.064,0.000,2983,1704,2630,0,0,0,0,0,0
$STATE,4909,end apogee,CONTROL_FINISHED_OK
$STATE,4909,begin climb
$GC,4912,1.18,116.8,453.2,0.0,257,5025,1.42,2.45,100.75,0.821,4,0.038,0.033,3313,3084,2152,0,0,0,0,0,0
$GC,5063,1.03,143.5,451.8,6.7,260,5095,0.20,2.42,24.30,0.779,6,0.101,0.041,3274,1699,2043,0,0,0,0,0,0
$GC,5415,0.91,146.1,423.9,7.8,269,5420,0.12,2.53,0.00,0.000,4,0.114,0.059,3250,292,2035,0,0,0,0,0,0
$GC,5459,0.76,146.1,420.2,8.5,270,5464,0.17,2.35,0.00,0.000,6,0.107,0.027,3217,1700,2031,0,0,0,0,0,0
$GC,5788,0.82,190.5,400.5,5.9,278,5836,0.00,2.58,40.22,0.803,4,0.000,0.057,3217,288,1851,0,0,0,0,0,0
$GC,5880,0.78,190.5,394.0,9.0,280,5884,0.00,2.38,0.00,0.000,6,0.000,0.028,3217,1704,1847,0,0,0,0,0,0
$GC,6207,0.83,204.0,369.9,7.3,288,6225,0.00,2.58,12.23,0.729,4,0.000,0.057,3217,293,1798,0,0,0,0,0,0
$GC,6301,0.83,204.0,361.7,9.5,290,6305,0.00,2.35,0.00,0.000,6,0.000,0.027,3217,1698,1793,0,0,0,0,0,0
$GC,6626,0.92,242.4,340.1,6.2,298,6668,0.15,2.60,34.55,0.773,4,0.064,0.058,3258,274,1640,0,0,0,0,0,0
$GC,6778,0.82,242.4,322.3,12.8,301,6783,0.15,2.40,0.00,0.000,6,0.106,0.027,3230,1706,1634,0,0,0,0,0,0
$GC,7093,0.85,242.4,293.1,8.9,310,7097,0.00,2.53,0.00,0.000,4,0.000,0.057,3230,294,1632,0,0,0,0,0,0
$GC,7230,0.85,242.4,280.0,10.0,316,7234,0.00,2.35,0.00,0.000,6,0.000,0.026,3230,1711,1630,0,0,0,0,0,0
$GC,7560,0.93,260.5,254.0,7.1,332,7584,0.10,2.60,15.18,0.680,4,0.079,0.055,3262,295,1568,0,0,0,0,0,0
$GC,7715,0.85,260.5,237.7,11.2,338,7720,0.15,2.30,0.00,0.000,6,0.103,0.025,3233,1704,1563,0,0,0,0,0,0
$GC,8034,0.92,263.6,212.3,7.8,353,8038,0.00,2.50,0.00,0.000,4,0.000,0.052,3233,291,1563,0,0,0,0,0,0
$GC,8174,0.92,263.6,199.4,9.7,359,8179,0.00,2.28,0.00,0.000,6,0.000,0.023,3233,1708,1561,0,0,0,0,0,0
$GC,8441,0.99,263.6,178.7,8.1,380,8446,0.15,2.47,0.00,0.000,4,0.058,0.051,3280,293,1560,0,0,0,0,0,0
$GC,8569,0.89,263.6,163.7,11.8,389,8575,0.17,2.28,0.00,0.000,6,0.092,0.021,3244,1710,1560,0,0,0,0,0,0
$GC,8831,0.95,263.6,144.4,8.1,410,8834,0.00,2.45,0.00,0.000,4,0.000,0.048,3244,294,1560,0,0,0,0,0,0
$GC,8886,0.95,263.6,139.0,9.5,414,8890,0.00,2.25,0.00,0.000,6,0.000,0.021,3244,1699,1560,0,0,0,0,0,0
$GC,9158,1.07,283.7,119.4,7.0,435,9186,0.17,2.50,20.38,0.567,4,0.052,0.048,3299,289,1472,0,0,0,0,0,0
$GC,9246,0.95,283.7,110.1,12.8,441,9251,0.20,2.28,0.00,0.000,6,0.086,0.020,3257,1701,1468,0,0,0,0,0,0
$GC,9514,1.07,325.5,90.7,6.0,462,9556,0.12,2.53,36.03,0.551,4,0.064,0.048,3300,287,1302,0,0,0,0,0,0
$GC,9698,0.96,325.5,67.7,12.1,475,9703,0.20,2.25,0.00,0.000,6,0.086,0.019,3259,1710,1297,0,0,0,0,0,0
$GC,9961,1.11,350.6,48.2,6.8,495,9991,0.15,2.53,21.83,0.502,4,0.056,0.048,3310,288,1199,0,0,0,0,0,0
$GC,10176,1.02,350.6,22.6,13.0,518,10184,0.15,2.28,0.00,0.000,6,0.069,0.018,3273,1704,1194,0,0,0,0,0,0
$GC,10381,1.09,350.6,4.5,8.5,564,10387,0.00,2.47,0.00,0.000,4,0.000,0.046,3273,294,1194,0,0,0,0,0,0
$STATE,10394,end climb,SURFACE_DEPTH_REACHED
$STATE,10394,begin surface coast
$FINISH,0.9,1.023011
$STATE,10429,end surface coast,CONTROL_FINISHED_OK
$STATE,10429,begin surface
$SM_CCo,10454,34.75,0.472,0,0,957,410.14
$SM_GC,1.81,0.00,0.00,34.75,0.000,0.000,0.472,426,1705,957,-12.07,0.14,410.14
$IRIDIUM_FIX,2050.21,-15757.78,111299,151545
$TT8_MAMPS,0.029146
$HUMID,56.14
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.4,40.241
$10V_AH,10.2,33.595
$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,30.500,128.600,400.950,34.750,0.000,29.362,29.843,166.779,4.500,0.000,13.601,1185.487,6723.753,466.759,1935.901,530.613,0.000,1363.120,0.000,1911.034,0.000,29.261,0.000
$DEVICE_MAMPS,131.924,59.059,839.098,471.705,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,386.415,362.829,807.500,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,31734,574
$CAP_FILE_SIZE,123663,0
$CFSIZE,260165632,189181952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160910,211552,2057.958,-15759.423,11,2.3,30,9.8