version: 66.06
glider: 139
mission: 8
dive: 469
start: 9 17 110 9 44 52
data:
$ID,139
$MISSION,8
$DIVE,469
$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,-2160905.2
$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
$GPS1,093726,2059.715,-15800.275,12,1.9,12,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-70.8
$GPS2,094432,2059.656,-15800.342,18,1.9,18,9.8
$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,339.7,16344,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.18,-116.8,0.0,0.0,0,78,0.00,0.00,-59.03,0.000,2,0.000,0.000,426,1703,2611,0,0,0,0,0,0
$GC,81,-1.18,-116.8,3.4,-3.6,11,111,12.60,2.38,-9.82,0.000,4,0.131,0.037,2785,3119,3108,0,0,0,0,0,0
$GC,241,-1.13,-116.8,31.2,-14.3,44,247,0.00,2.42,0.00,0.000,6,0.000,0.034,2785,1703,3109,0,0,0,0,0,0
$GC,502,-0.94,-116.8,74.5,-14.9,65,507,0.25,2.42,0.00,0.000,4,0.091,0.045,2840,293,3110,0,0,0,0,0,0
$GC,528,-0.80,-116.8,78.4,-13.9,67,533,0.17,2.33,0.00,0.000,6,0.087,0.018,2877,1740,3111,0,0,0,0,0,0
$GC,797,-0.87,-116.8,101.9,-8.6,88,801,0.00,2.50,0.00,0.000,4,0.000,0.044,2877,293,3111,0,0,0,0,0,0
$GC,848,-0.92,-116.8,106.9,-9.1,92,853,0.12,2.25,0.00,0.000,6,0.061,0.018,2830,1715,3112,0,0,0,0,0,0
$GC,1115,-0.92,-116.8,134.2,-10.4,113,1119,0.00,2.45,0.00,0.000,4,0.000,0.046,2830,295,3112,0,0,0,0,0,0
$GC,1170,-0.87,-116.8,140.6,-11.9,117,1175,0.15,2.20,0.00,0.000,6,0.087,0.018,2862,1704,3112,0,0,0,0,0,0
$GC,1435,-0.97,-116.8,162.9,-7.9,138,1440,0.10,2.42,0.00,0.000,4,0.071,0.045,2819,295,3112,0,0,0,0,0,0
$GC,1492,-0.93,-116.8,169.2,-11.9,142,1497,0.12,2.20,0.00,0.000,6,0.092,0.018,2846,1699,3113,0,0,0,0,0,0
$GC,1754,-0.99,-116.8,194.3,-9.3,162,1758,0.00,2.40,0.00,0.000,4,0.000,0.046,2846,294,3113,0,0,0,0,0,0
$GC,1822,-1.03,-116.8,201.3,-10.5,167,1826,0.00,2.20,0.00,0.000,6,0.000,0.019,2846,1699,3113,0,0,0,0,0,0
$GC,2156,-1.11,-116.8,229.6,-8.1,183,2161,0.17,2.42,0.00,0.000,4,0.048,0.048,2788,294,3113,0,0,0,0,0,0
$GC,2236,-1.01,-116.8,239.2,-11.7,186,2242,0.20,2.22,0.00,0.000,6,0.082,0.020,2830,1704,3113,0,0,0,0,0,0
$GC,2563,-1.05,-116.8,265.6,-7.5,202,2567,0.00,2.25,0.00,0.000,4,0.000,0.025,2830,3080,3112,0,0,0,0,0,0
$GC,2585,-1.15,-116.8,267.3,-6.9,203,2590,0.15,2.35,0.00,0.000,6,0.054,0.033,2780,1688,3112,0,0,0,0,0,0
$GC,2919,-1.09,-116.8,300.1,-10.6,219,2924,0.15,2.40,0.00,0.000,4,0.087,0.050,2812,297,3112,0,0,0,0,0,0
$GC,2977,-1.09,-116.8,306.7,-11.2,220,2981,0.00,2.22,0.00,0.000,6,0.000,0.021,2812,1696,3111,0,0,0,0,0,0
$GC,3290,-1.09,-116.8,337.6,-9.7,228,3294,0.00,2.42,0.00,0.000,4,0.000,0.051,2812,294,3110,0,0,0,0,0,0
$GC,3328,-1.09,-116.8,341.4,-10.5,228,3334,0.00,2.25,0.00,0.000,6,0.000,0.022,2812,1702,3110,0,0,0,0,0,0
$GC,3660,-1.13,-116.8,369.7,-8.0,237,3664,0.00,2.47,0.00,0.000,4,0.000,0.053,2812,290,3109,0,0,0,0,0,0
$GC,3715,-1.13,-116.8,374.3,-8.0,238,3719,0.00,2.25,0.00,0.000,6,0.000,0.024,2812,1699,3108,0,0,0,0,0,0
$GC,4031,-1.18,-116.8,396.5,-7.0,246,4035,0.00,2.47,0.00,0.000,4,0.000,0.054,2812,293,3106,0,0,0,0,0,0
$GC,4091,-1.18,-116.8,401.6,-7.9,247,4095,0.00,2.28,0.00,0.000,6,0.000,0.025,2812,1700,3106,0,0,0,0,0,0
$GC,4407,-1.22,-116.8,424.9,-7.6,255,4412,0.12,2.50,0.00,0.000,4,0.065,0.057,2772,297,3104,0,0,0,0,0,0
$GC,4469,-1.13,-116.8,431.5,-11.2,256,4474,0.15,2.28,0.00,0.000,6,0.092,0.025,2804,1698,3103,0,0,0,0,0,0
$STATE,4695,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4695,begin apogee
$GC,4702,-0.31,0.0,450.3,8.0,262,4801,0.82,0.00,95.82,0.831,6,0.064,0.000,2983,1702,2630,0,0,0,0,0,0
$STATE,4802,end apogee,CONTROL_FINISHED_OK
$STATE,4802,begin climb
$GC,4804,1.18,116.8,452.5,0.0,264,4916,1.40,2.38,100.65,0.813,4,0.037,0.033,3308,3077,2153,0,0,0,0,0,0
$GC,5062,1.03,137.1,444.6,7.0,269,5087,0.17,2.38,18.48,0.759,6,0.098,0.040,3274,1701,2069,0,0,0,0,0,0
$GC,5403,0.93,146.2,420.2,7.5,278,5418,0.00,2.53,8.32,0.680,4,0.000,0.057,3274,296,2032,0,0,0,0,0,0
$GC,5433,0.75,146.2,417.4,8.4,278,5438,0.30,2.35,0.00,0.000,6,0.093,0.027,3214,1700,2030,0,0,0,0,0,0
$GC,5770,0.79,182.8,395.6,6.2,287,5812,0.00,2.58,33.15,0.790,4,0.000,0.057,3214,297,1882,0,0,0,0,0,0
$GC,5878,0.80,188.3,388.0,7.6,289,5890,0.00,2.35,5.30,0.580,6,0.000,0.027,3215,1705,1862,0,0,0,0,0,0
$GC,6232,0.86,206.7,363.7,7.1,298,6257,0.10,2.60,17.70,0.750,4,0.080,0.058,3245,297,1787,0,0,0,0,0,0
$GC,6405,0.78,206.7,348.4,8.9,301,6410,0.12,2.33,0.00,0.000,6,0.110,0.027,3222,1694,1781,0,0,0,0,0,0
$GC,6738,0.82,206.7,323.5,8.2,309,6742,0.00,2.47,0.00,0.000,4,0.000,0.057,3221,296,1779,0,0,0,0,0,0
$GC,6890,0.82,206.7,309.2,9.7,312,6894,0.00,2.33,0.00,0.000,6,0.000,0.027,3222,1711,1776,0,0,0,0,0,0
$GC,7225,0.89,211.6,282.1,7.7,325,7235,0.10,2.55,3.92,0.466,4,0.079,0.055,3254,290,1767,0,0,0,0,0,0
$GC,7302,0.81,211.6,274.7,10.6,328,7307,0.12,2.35,0.00,0.000,6,0.108,0.025,3229,1707,1765,0,0,0,0,0,0
$GC,7626,0.93,268.8,256.9,5.3,344,7684,0.10,2.60,51.20,0.716,4,0.077,0.054,3263,301,1533,0,0,0,0,0,0
$GC,7858,0.83,268.8,229.5,13.5,354,7863,0.15,2.33,0.00,0.000,6,0.100,0.024,3234,1707,1526,0,0,0,0,0,0
$GC,8186,0.91,276.5,202.8,7.5,370,8198,0.00,2.55,6.85,0.545,4,0.000,0.053,3233,300,1502,0,0,0,0,0,0
$GC,8333,0.91,282.0,190.9,7.6,379,8346,0.00,2.30,5.78,0.507,6,0.000,0.023,3233,1708,1480,0,0,0,0,0,0
$GC,8607,1.01,286.3,172.1,7.7,401,8621,0.15,2.47,5.68,0.489,4,0.057,0.050,3282,298,1461,0,0,0,0,0,0
$GC,8775,0.92,286.3,151.1,13.4,413,8780,0.15,2.28,0.00,0.000,6,0.094,0.021,3250,1704,1459,0,0,0,0,0,0
$GC,9042,0.99,286.7,128.0,7.9,434,9047,0.00,2.45,0.00,0.000,4,0.000,0.049,3250,295,1459,0,0,0,0,0,0
$GC,9125,0.99,286.7,120.7,8.3,440,9129,0.00,2.25,0.00,0.000,6,0.000,0.021,3250,1704,1458,0,0,0,0,0,0
$GC,9387,1.09,299.7,103.1,7.3,460,9405,0.17,2.47,12.77,0.527,4,0.051,0.048,3306,295,1408,0,0,0,0,0,0
$GC,9544,0.97,299.7,84.0,12.5,471,9550,0.22,2.25,0.00,0.000,6,0.080,0.020,3259,1695,1404,0,0,0,0,0,0
$GC,9806,1.15,354.9,67.3,5.4,492,9862,0.17,2.55,47.15,0.535,4,0.049,0.050,3317,296,1182,0,0,0,0,0,0
$GC,9967,1.05,354.9,49.1,13.6,503,9974,0.15,2.30,0.00,0.000,6,0.065,0.019,3281,1716,1177,0,0,0,0,0,0
$GC,10230,1.10,354.9,23.6,12.3,532,10237,0.00,2.53,0.00,0.000,4,0.000,0.049,3280,292,1177,0,0,0,0,0,0
$GC,10376,1.10,354.9,4.3,13.7,565,10383,0.00,2.25,0.00,0.000,6,0.000,0.019,3280,1708,1175,0,0,0,0,0,0
$STATE,10388,end climb,SURFACE_DEPTH_REACHED
$STATE,10388,begin surface coast
$FINISH,0.9,1.001126
$STATE,10411,end surface coast,CONTROL_FINISHED_OK
$STATE,10411,begin surface
$SM_CCo,10434,31.90,0.469,0,0,957,410.14
$SM_GC,1.68,0.00,0.00,31.90,0.000,0.000,0.469,425,1710,957,-12.07,0.31,410.14
$IRIDIUM_FIX,2050.21,-15802.06,121299,060633
$TT8_MAMPS,0.029146
$HUMID,56.49
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.4,40.755
$10V_AH,10.2,34.003
$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,31.125,123.725,412.775,31.900,0.000,29.456,51.502,205.038,4.500,0.000,18.162,1183.513,6706.842,470.868,1941.140,588.703,0.000,1370.348,0.000,1906.300,0.000,31.036,0.000
$DEVICE_MAMPS,131.157,57.525,831.428,469.404,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,384.711,365.109,799.953,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,31883,572
$CAP_FILE_SIZE,125364,0
$CFSIZE,260165632,188882944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,170910,124037,2100.208,-15800.261,40,1.6,40,9.8