version: 66.06
glider: 139
mission: 8
dive: 468
start: 9 17 110 6 36 4
data:
$ID,139
$MISSION,8
$DIVE,468
$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,-2160886.2
$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
$GPS1,062936,2059.186,-15759.947,36,1.2,42,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-71.7
$GPS2,063544,2059.099,-15759.982,16,1.2,16,9.8
$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,338.3,17476,-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,-59.28,0.000,2,0.000,0.000,429,1680,2596,0,0,0,0,0,0
$GC,80,-1.18,-116.8,3.0,-2.9,11,110,12.65,2.40,-10.32,0.000,4,0.134,0.033,2785,3121,3108,0,0,0,0,0,0
$GC,221,-1.12,-116.8,27.9,-14.5,41,228,0.00,2.45,0.00,0.000,6,0.000,0.035,2785,1698,3110,0,0,0,0,0,0
$GC,430,-0.93,-116.8,62.8,-16.7,59,435,0.25,2.42,0.00,0.000,4,0.088,0.045,2841,289,3110,0,0,0,0,0,0
$GC,472,-0.86,-116.8,68.8,-12.5,62,476,0.00,2.30,0.00,0.000,6,0.000,0.018,2841,1739,3111,0,0,0,0,0,0
$GC,731,-0.83,-116.8,98.7,-10.8,82,736,0.12,2.53,0.00,0.000,4,0.096,0.045,2868,293,3111,0,0,0,0,0,0
$GC,765,-0.83,-116.8,102.5,-10.8,84,772,0.00,2.28,0.00,0.000,6,0.000,0.018,2868,1718,3112,0,0,0,0,0,0
$GC,1028,-0.90,-116.8,126.2,-9.2,105,1032,0.00,2.47,0.00,0.000,4,0.000,0.044,2868,286,3112,0,0,0,0,0,0
$GC,1095,-0.96,-116.8,132.6,-8.7,110,1100,0.12,2.22,0.00,0.000,6,0.061,0.018,2823,1710,3112,0,0,0,0,0,0
$GC,1360,-0.96,-116.8,158.7,-8.3,131,1361,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1715,3112,0,0,0,0,0,0
$GC,1613,-0.96,-116.8,181.7,-8.9,151,1618,0.00,2.42,0.00,0.000,4,0.000,0.046,2823,294,3113,0,0,0,0,0,0
$GC,1694,-0.96,-116.8,189.7,-9.7,157,1698,0.00,2.20,0.00,0.000,6,0.000,0.019,2823,1696,3113,0,0,0,0,0,0
$GC,1952,-0.96,-116.8,214.1,-9.6,173,1956,0.00,2.40,0.00,0.000,4,0.000,0.046,2823,293,3113,0,0,0,0,0,0
$GC,1985,-0.93,-116.8,217.7,-10.4,174,1990,0.12,2.22,0.00,0.000,6,0.092,0.020,2850,1700,3113,0,0,0,0,0,0
$GC,2305,-1.02,-116.8,243.6,-7.5,189,2309,0.00,2.42,0.00,0.000,4,0.000,0.047,2850,287,3113,0,0,0,0,0,0
$GC,2334,-1.07,-116.8,246.0,-7.9,190,2339,0.15,2.25,0.00,0.000,6,0.055,0.020,2799,1706,3113,0,0,0,0,0,0
$GC,2661,-1.07,-116.8,276.7,-9.9,206,2665,0.00,2.45,0.00,0.000,4,0.000,0.049,2799,295,3113,0,0,0,0,0,0
$GC,2710,-1.03,-116.8,281.8,-10.7,208,2715,0.12,2.22,0.00,0.000,6,0.094,0.021,2826,1697,3113,0,0,0,0,0,0
$GC,3061,-1.09,-116.8,310.7,-8.0,222,3065,0.00,2.45,0.00,0.000,4,0.000,0.050,2826,292,3112,0,0,0,0,0,0
$GC,3109,-1.12,-116.8,314.9,-8.7,223,3113,0.00,2.25,0.00,0.000,6,0.000,0.022,2826,1696,3112,0,0,0,0,0,0
$GC,3432,-1.19,-116.8,339.6,-7.6,231,3438,0.15,2.47,0.00,0.000,4,0.056,0.052,2777,290,3110,0,0,0,0,0,0
$GC,3473,-1.10,-116.8,343.8,-10.6,231,3478,0.15,2.25,0.00,0.000,6,0.091,0.023,2809,1697,3110,0,0,0,0,0,0
$GC,3807,-1.13,-116.8,370.5,-8.0,239,3811,0.00,2.47,0.00,0.000,4,0.000,0.054,2809,289,3108,0,0,0,0,0,0
$GC,3890,-1.13,-116.8,378.3,-8.3,240,3896,0.00,2.30,0.00,0.000,6,0.000,0.025,2810,1700,3107,0,0,0,0,0,0
$GC,4225,-1.17,-116.8,404.3,-7.7,249,4229,0.00,2.47,0.00,0.000,4,0.000,0.056,2809,297,3105,0,0,0,0,0,0
$GC,4268,-1.17,-116.8,407.9,-8.1,250,4272,0.00,2.28,0.00,0.000,6,0.000,0.025,2809,1698,3105,0,0,0,0,0,0
$GC,4599,-1.21,-116.8,430.2,-6.6,258,4600,0.10,0.00,0.00,0.000,6,0.077,0.000,2777,1703,3102,0,0,0,0,0,0
$STATE,4877,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4877,begin apogee
$GC,4883,-0.31,0.0,453.4,8.7,265,4982,0.95,0.00,95.65,0.840,6,0.068,0.000,2981,1704,2630,0,0,0,0,0,0
$STATE,4982,end apogee,CONTROL_FINISHED_OK
$STATE,4983,begin climb
$GC,4985,1.18,116.8,455.2,0.0,267,5098,1.42,2.42,100.70,0.822,4,0.039,0.034,3310,3074,2153,0,0,0,0,0,0
$GC,5276,1.02,131.9,441.6,7.2,273,5300,0.17,2.42,13.75,0.743,6,0.101,0.042,3276,1693,2091,0,0,0,0,0,0
$GC,5626,0.90,134.5,414.1,7.8,282,5628,0.15,0.00,0.00,0.000,6,0.105,0.000,3246,1693,2084,0,0,0,0,0,0
$GC,5949,0.90,177.7,394.7,5.9,290,5995,0.00,2.42,40.10,0.802,4,0.000,0.032,3246,3081,1905,0,0,0,0,0,0
$GC,6037,0.90,177.7,388.0,8.4,292,6041,0.00,2.42,0.00,0.000,6,0.000,0.042,3246,1700,1904,0,0,0,0,0,0
$GC,6365,0.87,181.5,362.0,7.7,300,6369,0.00,2.55,0.00,0.000,4,0.000,0.060,3246,290,1898,0,0,0,0,0,0
$GC,6479,0.77,181.5,353.1,8.0,302,6484,0.15,2.35,0.00,0.000,6,0.107,0.027,3218,1700,1895,0,0,0,0,0,0
$GC,6825,0.86,219.8,331.2,6.2,311,6868,0.00,2.58,36.80,0.775,4,0.000,0.058,3217,287,1732,0,0,0,0,0,0
$GC,6943,0.86,219.8,321.7,8.9,313,6947,0.00,2.35,0.00,0.000,6,0.000,0.027,3217,1703,1728,0,0,0,0,0,0
$GC,7264,0.95,238.3,298.1,7.1,322,7288,0.17,2.58,16.62,0.717,4,0.058,0.056,3265,289,1657,0,0,0,0,0,0
$GC,7414,0.84,238.3,280.8,12.3,328,7420,0.17,2.35,0.00,0.000,6,0.100,0.026,3231,1703,1652,0,0,0,0,0,0
$GC,7739,0.89,238.3,255.0,8.7,344,7743,0.00,2.53,0.00,0.000,4,0.000,0.056,3231,289,1650,0,0,0,0,0,0
$GC,7864,0.89,238.3,242.8,9.5,349,7868,0.00,2.33,0.00,0.000,6,0.000,0.025,3231,1699,1648,0,0,0,0,0,0
$GC,8181,0.96,250.2,219.1,7.4,364,8198,0.12,2.55,10.52,0.624,4,0.067,0.054,3269,298,1608,0,0,0,0,0,0
$GC,8298,0.86,250.2,206.9,10.6,369,8303,0.15,2.30,0.00,0.000,6,0.098,0.024,3239,1704,1605,0,0,0,0,0,0
$GC,8623,0.91,250.2,182.8,8.0,391,8627,0.00,2.50,0.00,0.000,4,0.000,0.052,3239,290,1605,0,0,0,0,0,0
$GC,8723,0.91,250.2,172.8,10.1,398,8730,0.00,2.33,0.00,0.000,6,0.000,0.022,3239,1705,1603,0,0,0,0,0,0
$GC,8987,1.01,274.5,152.9,6.8,419,9015,0.12,2.53,21.92,0.607,4,0.064,0.050,3281,293,1509,0,0,0,0,0,0
$GC,9122,0.93,274.5,139.0,10.1,428,9130,0.10,2.30,0.00,0.000,6,0.074,0.021,3256,1696,1504,0,0,0,0,0,0
$GC,9385,0.99,279.2,120.4,7.7,449,9398,0.00,2.47,4.93,0.430,4,0.000,0.048,3255,287,1490,0,0,0,0,0,0
$GC,9442,0.99,279.2,115.1,8.6,453,9447,0.00,2.28,0.00,0.000,6,0.000,0.021,3255,1704,1488,0,0,0,0,0,0
$GC,9709,1.11,310.0,96.9,6.5,474,9743,0.15,2.58,27.45,0.558,4,0.056,0.050,3304,289,1366,0,0,0,0,0,0
$GC,9891,1.01,310.0,76.4,12.1,487,9896,0.17,2.30,0.00,0.000,6,0.085,0.019,3267,1710,1361,0,0,0,0,0,0
$GC,10158,1.13,331.4,56.3,6.9,508,10188,0.12,2.55,18.73,0.508,4,0.062,0.048,3310,294,1278,0,0,0,0,0,0
$GC,10302,1.05,331.4,39.7,11.8,518,10307,0.15,2.28,0.00,0.000,6,0.089,0.019,3279,1716,1274,0,0,0,0,0,0
$GC,10568,1.14,347.1,18.9,7.2,560,10592,0.00,2.55,14.12,0.463,4,0.000,0.048,3279,297,1214,0,0,0,0,0,0
$GC,10716,1.14,347.1,5.2,12.3,592,10723,0.00,2.25,0.00,0.000,6,0.000,0.018,3280,1696,1210,0,0,0,0,0,0
$STATE,10739,end climb,SURFACE_DEPTH_REACHED
$STATE,10740,begin surface coast
$FINISH,1.0,1.023348
$STATE,10771,end surface coast,CONTROL_FINISHED_OK
$STATE,10771,begin surface
$SM_CCo,10793,37.80,0.472,0,0,958,410.14
$SM_GC,1.68,0.00,0.00,37.80,0.000,0.000,0.472,427,1702,958,-12.07,0.06,410.14
$IRIDIUM_FIX,2050.21,-15802.06,121299,030330
$TT8_MAMPS,0.028379
$HUMID,55.90
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.4,40.649
$10V_AH,10.2,33.923
$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,30.500,119.675,401.300,37.800,0.000,30.933,35.162,171.039,5.000,0.000,16.478,1211.964,7027.896,468.536,1940.241,549.253,0.000,1360.227,0.000,1916.347,0.000,34.900,0.000
$DEVICE_MAMPS,134.225,59.826,839.865,472.472,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,405.422,387.922,860.316,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,34897,603
$CAP_FILE_SIZE,122895,0
$CFSIZE,260165632,188936192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170910,093726,2059.715,-15800.275,12,1.9,12,9.8