version: 66.06
glider: 139
mission: 8
dive: 465
start: 9 16 110 21 22 10
data:
$ID,139
$MISSION,8
$DIVE,465
$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,-2160807.2
$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
$GPS1,211552,2057.958,-15759.423,11,2.3,30,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-74.2
$GPS2,212152,2057.866,-15759.487,12,2.3,31,9.8
$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,337.3,19890,-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,-64.30,0.000,2,0.000,0.000,425,1706,2757,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.5,-3.8,12,110,12.62,2.35,-6.55,0.000,4,0.133,0.032,2785,3119,3109,0,0,0,0,0,0
$GC,222,-1.12,-116.8,29.8,-14.1,41,228,0.00,2.45,0.00,0.000,6,0.000,0.033,2785,1693,3111,0,0,0,0,0,0
$GC,418,-0.91,-116.8,61.6,-14.8,57,423,0.28,2.35,0.00,0.000,4,0.086,0.020,2847,3121,3112,0,0,0,0,0,0
$GC,446,-0.91,-116.8,64.6,-10.3,59,450,0.00,2.40,0.00,0.000,6,0.000,0.031,2847,1691,3112,0,0,0,0,0,0
$GC,710,-0.91,-116.8,89.1,-10.2,80,714,0.00,2.40,0.00,0.000,4,0.000,0.048,2847,299,3113,0,0,0,0,0,0
$GC,778,-0.88,-116.8,96.0,-10.0,85,782,0.00,2.28,0.00,0.000,6,0.000,0.018,2847,1738,3113,0,0,0,0,0,0
$GC,1044,-0.88,-116.8,123.1,-10.1,106,1048,0.00,2.50,0.00,0.000,4,0.000,0.046,2847,292,3113,0,0,0,0,0,0
$GC,1083,-0.83,-116.8,127.9,-12.2,109,1088,0.10,2.22,0.00,0.000,6,0.107,0.018,2868,1710,3113,0,0,0,0,0,0
$GC,1347,-0.91,-116.8,152.0,-8.8,130,1351,0.00,2.42,0.00,0.000,4,0.000,0.045,2868,298,3114,0,0,0,0,0,0
$GC,1388,-0.97,-116.8,156.1,-10.3,133,1393,0.12,2.20,0.00,0.000,6,0.061,0.018,2823,1712,3114,0,0,0,0,0,0
$GC,1648,-0.97,-116.8,185.5,-11.2,153,1652,0.00,2.45,0.00,0.000,4,0.000,0.047,2823,297,3114,0,0,0,0,0,0
$GC,1690,-0.91,-116.8,190.3,-10.5,156,1695,0.12,2.20,0.00,0.000,6,0.092,0.019,2850,1704,3114,0,0,0,0,0,0
$GC,1958,-0.97,-116.8,211.3,-7.2,172,1962,0.00,2.42,0.00,0.000,4,0.000,0.047,2850,298,3115,0,0,0,0,0,0
$GC,2014,-1.00,-116.8,216.3,-8.7,174,2018,0.00,2.17,0.00,0.000,6,0.000,0.019,2851,1699,3114,0,0,0,0,0,0
$GC,2332,-1.08,-116.8,239.0,-7.0,189,2337,0.17,2.45,0.00,0.000,4,0.051,0.048,2795,294,3114,0,0,0,0,0,0
$GC,2384,-0.99,-116.8,244.7,-11.6,191,2389,0.17,2.20,0.00,0.000,6,0.084,0.020,2833,1694,3114,0,0,0,0,0,0
$GC,2710,-1.03,-116.8,270.8,-7.8,207,2714,0.00,2.42,0.00,0.000,4,0.000,0.048,2833,293,3113,0,0,0,0,0,0
$GC,2766,-1.03,-116.8,275.8,-7.2,209,2770,0.00,2.25,0.00,0.000,6,0.000,0.020,2833,1706,3113,0,0,0,0,0,0
$GC,3089,-1.10,-116.8,296.7,-5.6,225,3093,0.00,2.42,0.00,0.000,4,0.000,0.049,2833,297,3113,0,0,0,0,0,0
$GC,3159,-1.13,-116.8,301.5,-6.6,228,3164,0.12,2.22,0.00,0.000,6,0.064,0.021,2790,1704,3112,0,0,0,0,0,0
$GC,3501,-1.13,-116.8,330.8,-9.1,237,3505,0.00,2.45,0.00,0.000,4,0.000,0.051,2790,300,3112,0,0,0,0,0,0
$GC,3609,-1.07,-116.8,341.9,-10.2,239,3614,0.12,2.25,0.00,0.000,6,0.094,0.022,2817,1699,3111,0,0,0,0,0,0
$GC,3927,-1.11,-116.8,366.7,-7.6,247,3931,0.00,2.42,0.00,0.000,4,0.000,0.053,2817,300,3110,0,0,0,0,0,0
$GC,3961,-1.11,-116.8,369.8,-8.4,247,3965,0.00,2.25,0.00,0.000,6,0.000,0.023,2817,1702,3110,0,0,0,0,0,0
$GC,4292,-1.17,-116.8,396.9,-8.2,255,4297,0.00,2.47,0.00,0.000,4,0.000,0.055,2817,297,3108,0,0,0,0,0,0
$GC,4336,-1.17,-116.8,400.6,-7.9,256,4341,0.00,2.28,0.00,0.000,6,0.000,0.025,2817,1704,3108,0,0,0,0,0,0
$GC,4665,-1.23,-116.8,424.9,-7.2,264,4670,0.15,2.50,0.00,0.000,4,0.058,0.058,2771,299,3105,0,0,0,0,0,0
$GC,4723,-1.14,-116.8,430.8,-10.9,265,4728,0.15,2.28,0.00,0.000,6,0.093,0.025,2802,1699,3106,0,0,0,0,0,0
$STATE,4953,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4953,begin apogee
$GC,4959,-0.31,0.0,451.6,9.0,271,5058,0.82,0.00,95.55,0.833,6,0.064,0.000,2983,1703,2630,0,0,0,0,0,0
$STATE,5059,end apogee,CONTROL_FINISHED_OK
$STATE,5059,begin climb
$GC,5061,1.18,116.8,454.9,0.0,273,5175,1.40,2.45,100.47,0.818,4,0.037,0.033,3310,3081,2152,0,0,0,0,0,0
$GC,5287,1.00,121.6,450.5,7.7,278,5299,0.20,2.42,4.72,0.551,6,0.097,0.042,3271,1701,2134,0,0,0,0,0,0
$GC,5623,0.92,150.3,428.2,6.6,286,5655,0.00,2.60,25.65,0.792,4,0.000,0.059,3271,300,2016,0,0,0,0,0,0
$GC,5679,0.71,150.3,423.4,8.8,287,5684,0.32,2.33,0.00,0.000,6,0.096,0.027,3207,1699,2013,0,0,0,0,0,0
$GC,5996,0.78,177.2,402.2,6.7,295,6025,0.00,2.58,24.00,0.785,4,0.000,0.058,3207,296,1906,0,0,0,0,0,0
$GC,6105,0.78,177.2,393.8,8.5,297,6109,0.00,2.35,0.00,0.000,6,0.000,0.027,3207,1702,1902,0,0,0,0,0,0
$GC,6450,0.87,195.7,370.3,7.1,306,6475,0.15,2.58,16.98,0.759,4,0.064,0.057,3248,295,1831,0,0,0,0,0,0
$GC,6546,0.76,195.7,360.5,11.1,308,6551,0.17,2.33,0.00,0.000,6,0.104,0.028,3215,1701,1827,0,0,0,0,0,0
$GC,6870,0.85,221.9,337.0,6.7,316,6899,0.00,2.58,23.67,0.761,4,0.000,0.058,3214,288,1725,0,0,0,0,0,0
$GC,6967,0.85,221.9,330.4,8.0,318,6972,0.00,2.33,0.00,0.000,6,0.000,0.027,3214,1702,1720,0,0,0,0,0,0
$GC,7286,0.95,246.6,309.4,6.8,326,7315,0.20,2.60,22.25,0.738,4,0.053,0.057,3268,294,1624,0,0,0,0,0,0
$GC,7455,0.83,246.6,290.4,12.1,330,7460,0.17,2.35,0.00,0.000,6,0.099,0.025,3234,1707,1618,0,0,0,0,0,0
$GC,7778,0.87,246.6,261.0,9.4,346,7782,0.00,2.53,0.00,0.000,4,0.000,0.055,3233,290,1617,0,0,0,0,0,0
$GC,7931,0.87,246.6,243.0,10.4,352,7938,0.00,2.35,0.00,0.000,6,0.000,0.025,3233,1705,1615,0,0,0,0,0,0
$GC,8247,0.94,254.4,216.8,7.5,368,8260,0.00,2.55,6.78,0.563,4,0.000,0.054,3233,297,1593,0,0,0,0,0,0
$GC,8391,0.95,259.3,205.1,7.7,374,8404,0.10,2.28,5.93,0.528,6,0.078,0.023,3264,1706,1571,0,0,0,0,0,0
$GC,8725,0.95,259.3,175.1,9.6,398,8729,0.00,2.47,0.00,0.000,4,0.000,0.051,3263,290,1570,0,0,0,0,0,0
$GC,8850,0.87,259.3,159.7,12.8,407,8854,0.12,2.28,0.00,0.000,6,0.104,0.022,3240,1705,1568,0,0,0,0,0,0
$GC,9117,0.98,278.2,139.1,7.0,428,9140,0.10,2.50,17.48,0.587,4,0.075,0.050,3275,294,1494,0,0,0,0,0,0
$GC,9208,0.94,278.2,130.1,11.6,433,9213,0.00,2.28,0.00,0.000,6,0.000,0.021,3275,1698,1491,0,0,0,0,0,0
$GC,9467,0.94,284.2,109.8,7.6,454,9483,0.00,2.53,6.07,0.461,4,0.000,0.050,3275,291,1470,0,0,0,0,0,0
$GC,9555,0.90,284.2,101.6,10.4,460,9560,0.15,2.28,0.00,0.000,6,0.092,0.021,3244,1718,1469,0,0,0,0,0,0
$GC,9824,1.06,313.8,82.9,6.6,481,9858,0.15,2.53,26.70,0.545,4,0.055,0.047,3294,290,1349,0,0,0,0,0,0
$GC,10032,1.01,313.8,60.9,10.6,496,10037,0.12,2.28,0.00,0.000,6,0.093,0.019,3268,1707,1344,0,0,0,0,0,0
$GC,10299,1.11,323.0,41.7,7.5,517,10315,0.10,2.50,8.43,0.446,4,0.072,0.046,3308,300,1312,0,0,0,0,0,0
$GC,10418,1.03,323.0,28.8,10.9,526,10425,0.12,2.28,0.00,0.000,6,0.066,0.019,3277,1715,1310,0,0,0,0,0,0
$GC,10623,1.10,323.0,12.1,7.9,572,10630,0.00,2.50,0.00,0.000,4,0.000,0.045,3276,290,1310,0,0,0,0,0,0
$GC,10683,1.10,323.0,5.8,11.2,585,10690,0.00,2.25,0.00,0.000,6,0.000,0.018,3276,1701,1309,0,0,0,0,0,0
$STATE,10720,end climb,SURFACE_DEPTH_REACHED
$STATE,10720,begin surface coast
$FINISH,1.2,1.023291
$STATE,10773,end surface coast,CONTROL_FINISHED_OK
$STATE,10773,begin surface
$SM_CCo,10795,49.53,0.478,0,0,957,410.14
$SM_GC,1.51,0.00,0.00,49.53,0.000,0.000,0.478,426,1707,957,-12.07,0.20,410.14
$IRIDIUM_FIX,2050.21,-15759.92,111299,181825
$TT8_MAMPS,0.029146
$HUMID,55.86
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.4,40.342
$10V_AH,10.2,33.679
$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,30.700,133.525,384.675,49.525,0.000,22.671,27.306,162.208,4.500,0.000,32.924,1252.391,6909.212,474.639,2033.434,530.122,0.000,1398.967,0.000,1994.724,0.000,29.256,0.000
$DEVICE_MAMPS,132.691,59.059,832.962,477.841,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,407.039,388.299,867.802,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,34924,604
$CAP_FILE_SIZE,129747,0
$CFSIZE,260165632,189112320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170910,002407,2058.257,-15759.589,34,1.2,34,9.8