version: 66.06
glider: 139
mission: 8
dive: 466
start: 9 17 110 0 30 22
data:
$ID,139
$MISSION,8
$DIVE,466
$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,-2160820.5
$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
$GPS1,002407,2058.257,-15759.589,34,1.2,34,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-71.6
$GPS2,003002,2058.194,-15759.646,12,1.4,12,9.8
$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,337.7,19238,-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,-116.8,0.0,0.0,0,76,0.00,0.00,-59.30,0.000,2,0.000,0.000,426,1708,2600,0,0,0,0,0,0
$GC,80,-1.18,-116.8,3.1,-3.0,11,110,12.60,2.35,-10.05,0.000,4,0.132,0.034,2785,3121,3108,0,0,0,0,0,0
$GC,234,-1.10,-116.8,30.9,-14.4,44,239,0.12,2.42,0.00,0.000,6,0.103,0.033,2810,1689,3110,0,0,0,0,0,0
$GC,502,-0.94,-116.8,71.9,-15.8,65,507,0.15,2.42,0.00,0.000,4,0.097,0.047,2842,293,3111,0,0,0,0,0,0
$GC,535,-0.80,-116.8,78.2,-16.4,67,542,0.12,2.33,0.00,0.000,6,0.074,0.018,2872,1736,3111,0,0,0,0,0,0
$GC,795,-0.86,-116.8,102.7,-9.6,88,800,0.00,2.47,0.00,0.000,4,0.000,0.044,2873,289,3112,0,0,0,0,0,0
$GC,848,-0.90,-116.8,108.1,-10.8,92,852,0.00,2.22,0.00,0.000,6,0.000,0.018,2873,1714,3112,0,0,0,0,0,0
$GC,1114,-0.96,-116.8,131.8,-8.9,113,1119,0.15,2.47,0.00,0.000,4,0.054,0.047,2820,295,3112,0,0,0,0,0,0
$GC,1149,-0.88,-116.8,136.2,-13.2,115,1155,0.17,2.20,0.00,0.000,6,0.085,0.018,2856,1705,3112,0,0,0,0,0,0
$GC,1410,-0.95,-116.8,155.6,-5.8,136,1414,0.00,2.42,0.00,0.000,4,0.000,0.045,2857,294,3113,0,0,0,0,0,0
$GC,1480,-1.02,-116.8,160.0,-5.5,141,1485,0.12,2.20,0.00,0.000,6,0.061,0.018,2811,1706,3113,0,0,0,0,0,0
$GC,1742,-0.98,-116.8,183.6,-9.9,161,1747,0.12,2.25,0.00,0.000,4,0.093,0.023,2839,3071,3113,0,0,0,0,0,0
$GC,1763,-1.04,-116.8,185.7,-8.9,162,1770,0.00,2.33,0.00,0.000,6,0.000,0.032,2839,1697,3113,0,0,0,0,0,0
$GC,2039,-1.09,-116.8,208.9,-8.5,181,2044,0.12,2.40,0.00,0.000,4,0.062,0.047,2794,296,3113,0,0,0,0,0,0
$GC,2133,-0.98,-116.8,219.2,-11.3,185,2141,0.20,2.20,0.00,0.000,6,0.081,0.019,2838,1702,3113,0,0,0,0,0,0
$GC,2474,-1.04,-116.8,245.2,-7.2,201,2479,0.00,2.40,0.00,0.000,4,0.000,0.047,2838,298,3113,0,0,0,0,0,0
$GC,2505,-1.07,-116.8,247.7,-8.3,202,2510,0.00,2.20,0.00,0.000,6,0.000,0.020,2838,1696,3112,0,0,0,0,0,0
$GC,2828,-1.14,-116.8,270.8,-7.2,218,2833,0.17,2.42,0.00,0.000,4,0.051,0.048,2780,293,3113,0,0,0,0,0,0
$GC,2853,-1.06,-116.8,273.4,-10.3,219,2858,0.17,2.25,0.00,0.000,6,0.086,0.021,2818,1696,3112,0,0,0,0,0,0
$GC,3184,-1.06,-116.8,301.0,-8.2,235,3188,0.00,2.42,0.00,0.000,4,0.000,0.050,2818,299,3110,0,0,0,0,0,0
$GC,3226,-1.06,-116.8,305.3,-9.2,236,3230,0.00,2.22,0.00,0.000,6,0.000,0.021,2818,1701,3111,0,0,0,0,0,0
$GC,3555,-1.09,-116.8,332.2,-8.1,244,3559,0.00,2.42,0.00,0.000,4,0.000,0.051,2818,297,3110,0,0,0,0,0,0
$GC,3644,-1.09,-116.8,341.4,-10.6,246,3648,0.00,2.25,0.00,0.000,6,0.000,0.023,2818,1707,3109,0,0,0,0,0,0
$GC,3973,-1.13,-116.8,371.2,-8.7,254,3974,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1711,3107,0,0,0,0,0,0
$GC,4297,-1.18,-116.8,397.4,-8.1,262,4302,0.12,2.50,0.00,0.000,4,0.065,0.054,2776,296,3105,0,0,0,0,0,0
$GC,4381,-1.11,-116.8,405.8,-10.7,263,4386,0.15,2.25,0.00,0.000,6,0.091,0.025,2809,1696,3105,0,0,0,0,0,0
$GC,4713,-1.15,-116.8,432.9,-7.8,271,4717,0.00,2.50,0.00,0.000,4,0.000,0.057,2809,295,3103,0,0,0,0,0,0
$GC,4755,-1.15,-116.8,436.6,-8.5,272,4760,0.00,2.30,0.00,0.000,6,0.000,0.025,2808,1701,3103,0,0,0,0,0,0
$STATE,4958,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4958,begin apogee
$GC,4965,-0.31,0.0,453.0,7.9,277,5064,0.80,0.00,95.50,0.835,6,0.064,0.000,2983,1705,2630,0,0,0,0,0,0
$STATE,5065,end apogee,CONTROL_FINISHED_OK
$STATE,5065,begin climb
$GC,5068,1.18,116.8,455.5,0.0,279,5181,1.40,2.45,100.45,0.818,4,0.038,0.033,3308,3081,2153,0,0,0,0,0,0
$GC,5316,1.01,116.8,446.4,8.5,284,5321,0.20,2.40,0.00,0.000,6,0.097,0.041,3269,1699,2148,0,0,0,0,0,0
$GC,5659,0.92,142.1,422.3,6.8,293,5687,0.00,2.60,21.65,0.779,4,0.000,0.058,3269,292,2050,0,0,0,0,0,0
$GC,5693,0.82,166.9,419.8,6.8,293,5723,0.20,2.38,23.40,0.775,6,0.101,0.027,3231,1710,1949,0,0,0,0,0,0
$GC,6068,0.85,187.3,393.3,7.0,303,6093,0.00,2.62,18.08,0.762,4,0.000,0.058,3231,294,1865,0,0,0,0,0,0
$GC,6140,0.79,187.3,387.5,8.3,304,6144,0.00,2.35,0.00,0.000,6,0.000,0.027,3231,1701,1861,0,0,0,0,0,0
$GC,6481,0.79,187.3,359.6,8.7,313,6485,0.00,2.50,0.00,0.000,4,0.000,0.058,3231,294,1859,0,0,0,0,0,0
$GC,6595,0.74,187.3,348.6,9.6,315,6598,0.00,2.33,0.00,0.000,6,0.000,0.027,3231,1701,1856,0,0,0,0,0,0
$GC,6945,0.78,220.1,323.9,6.4,324,6981,0.00,2.55,29.05,0.759,4,0.000,0.056,3231,296,1731,0,0,0,0,0,0
$GC,7088,0.75,220.1,311.6,9.4,327,7092,0.00,2.33,0.00,0.000,6,0.000,0.026,3231,1701,1725,0,0,0,0,0,0
$GC,7411,0.78,220.1,283.6,8.6,339,7416,0.00,2.47,0.00,0.000,4,0.000,0.054,3231,294,1725,0,0,0,0,0,0
$GC,7533,0.78,220.1,272.1,9.6,344,7537,0.00,2.33,0.00,0.000,6,0.000,0.025,3231,1706,1722,0,0,0,0,0,0
$GC,7855,0.85,235.9,248.7,7.2,360,7878,0.00,2.60,13.55,0.667,4,0.000,0.054,3231,291,1667,0,0,0,0,0,0
$GC,7984,0.85,235.9,236.5,9.4,365,7988,0.00,2.30,0.00,0.000,6,0.000,0.024,3231,1706,1663,0,0,0,0,0,0
$GC,8300,0.92,246.1,214.2,7.4,380,8316,0.00,2.58,9.85,0.607,4,0.000,0.053,3231,292,1625,0,0,0,0,0,0
$GC,8428,0.92,246.1,201.8,9.9,385,8432,0.00,2.30,0.00,0.000,6,0.000,0.023,3231,1705,1622,0,0,0,0,0,0
$GC,8761,0.99,246.1,174.6,8.0,410,8766,0.15,2.47,0.00,0.000,4,0.058,0.051,3277,294,1622,0,0,0,0,0,0
$GC,8885,0.88,246.1,160.6,11.4,419,8890,0.17,2.28,0.00,0.000,6,0.094,0.022,3243,1703,1621,0,0,0,0,0,0
$GC,9151,1.01,289.6,141.2,5.9,440,9196,0.12,2.53,38.03,0.607,4,0.064,0.050,3283,294,1448,0,0,0,0,0,0
$GC,9279,0.94,289.6,126.7,14.1,449,9284,0.15,2.30,0.00,0.000,6,0.094,0.021,3253,1703,1443,0,0,0,0,0,0
$GC,9541,1.02,289.6,103.2,8.8,469,9545,0.00,2.47,0.00,0.000,4,0.000,0.049,3253,294,1443,0,0,0,0,0,0
$GC,9634,1.02,289.6,93.6,9.7,476,9639,0.00,2.28,0.00,0.000,6,0.000,0.021,3253,1711,1441,0,0,0,0,0,0
$GC,9901,1.16,305.6,71.1,7.2,497,9923,0.20,2.50,14.25,0.512,4,0.047,0.047,3315,287,1382,0,0,0,0,0,0
$GC,10014,1.07,305.6,58.7,11.7,505,10019,0.15,2.28,0.00,0.000,6,0.091,0.019,3284,1706,1380,0,0,0,0,0,0
$GC,10277,1.16,337.6,39.2,6.5,525,10312,0.00,2.50,27.80,0.505,4,0.000,0.046,3284,289,1251,0,0,0,0,0,0
$GC,10460,1.13,337.6,21.2,10.8,550,10467,0.00,2.28,0.00,0.000,6,0.000,0.018,3284,1709,1246,0,0,0,0,0,0
$GC,10664,1.14,339.7,4.5,7.8,596,10671,0.00,2.50,0.00,0.000,4,0.000,0.048,3284,290,1246,0,0,0,0,0,0
$STATE,10677,end climb,SURFACE_DEPTH_REACHED
$STATE,10677,begin surface coast
$FINISH,1.0,1.022968
$STATE,10708,end surface coast,CONTROL_FINISHED_OK
$STATE,10708,begin surface
$SM_CCo,10734,41.17,0.474,0,0,957,410.14
$SM_GC,1.47,0.00,0.00,41.17,0.000,0.000,0.474,426,1689,957,-12.07,-0.37,410.14
$IRIDIUM_FIX,2047.91,-15757.78,111299,212134
$TT8_MAMPS,0.029146
$HUMID,56.30
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.4,40.444
$10V_AH,10.3,33.761
$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,30.275,128.550,391.600,41.175,0.000,40.632,36.053,153.019,4.500,0.000,12.582,1232.231,6926.166,467.503,1969.322,532.678,0.000,1368.003,0.000,1946.036,0.000,29.260,0.000
$DEVICE_MAMPS,131.924,57.525,835.263,474.006,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,407.515,392.262,867.865,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,34968,605
$CAP_FILE_SIZE,125243,0
$CFSIZE,260165632,189054976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170910,033044,2058.579,-15759.708,8,1.3,8,9.8