version: 66.06
glider: 139
mission: 8
dive: 471
start: 9 17 110 15 51 51
data:
$ID,139
$MISSION,8
$DIVE,471
$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,-2160933.5
$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
$GPS1,154544,2100.794,-15800.317,13,1.3,13,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-71.2
$GPS2,155132,2100.704,-15800.282,13,1.3,13,9.8
$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,337.9,14463,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.18,-116.8,0.0,0.0,0,77,0.00,0.00,-58.78,0.000,2,0.000,0.000,428,1699,2591,0,0,0,0,0,0
$GC,80,-1.18,-116.8,3.2,-3.3,11,110,12.60,2.35,-10.18,0.000,4,0.132,0.033,2783,3112,3108,0,0,0,0,0,0
$GC,236,-1.10,-116.8,31.5,-15.9,43,241,0.12,2.40,0.00,0.000,6,0.103,0.033,2808,1698,3110,0,0,0,0,0,0
$GC,505,-0.93,-116.8,73.2,-16.0,64,510,0.17,2.45,0.00,0.000,4,0.091,0.046,2844,290,3110,0,0,0,0,0,0
$GC,547,-0.82,-116.8,79.2,-12.8,67,552,0.12,2.30,0.00,0.000,6,0.099,0.018,2870,1740,3111,0,0,0,0,0,0
$GC,815,-0.88,-116.8,104.8,-8.3,88,819,0.00,2.50,0.00,0.000,4,0.000,0.044,2870,293,3112,0,0,0,0,0,0
$GC,833,-0.88,-116.8,106.8,-8.5,89,839,0.00,2.22,0.00,0.000,6,0.000,0.018,2870,1720,3112,0,0,0,0,0,0
$GC,1094,-0.93,-116.8,127.8,-7.4,110,1098,0.00,2.45,0.00,0.000,4,0.000,0.045,2871,289,3112,0,0,0,0,0,0
$GC,1177,-0.97,-116.8,133.8,-7.3,116,1182,0.15,2.20,0.00,0.000,6,0.054,0.018,2819,1702,3112,0,0,0,0,0,0
$GC,1443,-0.94,-116.8,160.5,-8.2,137,1448,0.12,2.45,0.00,0.000,4,0.091,0.046,2847,296,3113,0,0,0,0,0,0
$GC,1486,-0.94,-116.8,164.3,-8.7,140,1491,0.00,2.20,0.00,0.000,6,0.000,0.018,2847,1697,3113,0,0,0,0,0,0
$GC,1747,-0.98,-116.8,189.5,-9.6,160,1751,0.00,2.42,0.00,0.000,4,0.000,0.046,2847,292,3113,0,0,0,0,0,0
$GC,1780,-0.98,-116.8,192.9,-10.5,162,1787,0.00,2.25,0.00,0.000,6,0.000,0.019,2847,1694,3113,0,0,0,0,0,0
$GC,2048,-1.04,-116.8,215.4,-7.6,178,2053,0.10,2.42,0.00,0.000,4,0.072,0.047,2807,288,3113,0,0,0,0,0,0
$GC,2087,-0.96,-116.8,219.3,-10.7,179,2093,0.15,2.22,0.00,0.000,6,0.087,0.020,2840,1700,3113,0,0,0,0,0,0
$GC,2406,-1.02,-116.8,242.3,-7.1,195,2411,0.00,2.42,0.00,0.000,4,0.000,0.048,2840,297,3113,0,0,0,0,0,0
$GC,2444,-1.05,-116.8,245.6,-7.7,196,2451,0.00,2.25,0.00,0.000,6,0.000,0.021,2840,1703,3113,0,0,0,0,0,0
$GC,2762,-1.12,-116.8,269.3,-7.2,212,2766,0.15,2.45,0.00,0.000,4,0.056,0.048,2789,297,3113,0,0,0,0,0,0
$GC,2799,-1.04,-116.8,273.0,-9.9,213,2806,0.15,2.25,0.00,0.000,6,0.088,0.021,2822,1700,3113,0,0,0,0,0,0
$GC,3120,-1.09,-116.8,299.0,-7.8,229,3124,0.00,2.45,0.00,0.000,4,0.000,0.050,2822,293,3112,0,0,0,0,0,0
$GC,3194,-1.09,-116.8,306.1,-9.1,231,3198,0.00,2.25,0.00,0.000,6,0.000,0.021,2821,1704,3112,0,0,0,0,0,0
$GC,3531,-1.14,-116.8,335.0,-8.5,240,3535,0.00,2.47,0.00,0.000,4,0.000,0.052,2822,292,3110,0,0,0,0,0,0
$GC,3591,-1.14,-116.8,340.8,-9.4,241,3595,0.00,2.25,0.00,0.000,6,0.000,0.022,2822,1700,3110,0,0,0,0,0,0
$GC,3944,-1.20,-116.8,366.3,-7.4,250,3949,0.15,2.47,0.00,0.000,4,0.058,0.054,2773,290,3107,0,0,0,0,0,0
$GC,4001,-1.11,-116.8,372.3,-10.0,251,4006,0.17,2.28,0.00,0.000,6,0.088,0.024,2810,1699,3108,0,0,0,0,0,0
$GC,4318,-1.14,-116.8,398.0,-7.8,259,4322,0.00,2.47,0.00,0.000,4,0.000,0.056,2810,293,3105,0,0,0,0,0,0
$GC,4370,-1.14,-116.8,402.7,-8.8,260,4374,0.00,2.28,0.00,0.000,6,0.000,0.025,2810,1698,3105,0,0,0,0,0,0
$GC,4689,-1.18,-116.8,427.6,-7.9,268,4693,0.00,2.47,0.00,0.000,4,0.000,0.058,2810,300,3103,0,0,0,0,0,0
$GC,4741,-1.18,-116.8,432.2,-8.3,269,4745,0.00,2.28,0.00,0.000,6,0.000,0.025,2810,1700,3103,0,0,0,0,0,0
$STATE,4979,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4980,begin apogee
$GC,4986,-0.31,0.0,450.2,7.3,275,5084,0.80,0.00,95.65,0.832,6,0.065,0.000,2984,1705,2630,0,0,0,0,0,0
$STATE,5085,end apogee,CONTROL_FINISHED_OK
$STATE,5085,begin climb
$GC,5088,1.18,116.8,452.3,0.0,277,5201,1.40,2.42,100.88,0.815,4,0.037,0.033,3310,3076,2153,0,0,0,0,0,0
$GC,5302,1.00,116.8,446.6,8.4,281,5307,0.20,2.40,0.00,0.000,6,0.099,0.041,3271,1698,2149,0,0,0,0,0,0
$GC,5634,0.94,162.1,425.8,5.9,289,5678,0.00,2.55,39.22,0.799,4,0.000,0.059,3271,295,1969,0,0,0,0,0,0
$GC,5713,0.74,162.1,420.4,8.2,290,5719,0.30,2.33,0.00,0.000,6,0.096,0.026,3212,1697,1964,0,0,0,0,0,0
$GC,6046,0.83,206.3,401.2,5.9,298,6091,0.00,2.60,39.28,0.794,4,0.000,0.059,3212,288,1787,0,0,0,0,0,0
$GC,6162,0.83,206.3,391.5,9.9,300,6166,0.00,2.35,0.00,0.000,6,0.000,0.027,3212,1703,1781,0,0,0,0,0,0
$GC,6502,0.88,206.3,362.0,8.7,309,6507,0.12,2.53,0.00,0.000,4,0.071,0.058,3247,287,1780,0,0,0,0,0,0
$GC,6587,0.78,206.3,353.0,11.0,310,6593,0.15,2.38,0.00,0.000,6,0.108,0.027,3219,1711,1776,0,0,0,0,0,0
$GC,6920,0.87,242.1,329.8,6.3,319,6956,0.00,2.62,30.85,0.759,4,0.000,0.058,3219,287,1641,0,0,0,0,0,0
$GC,7110,0.87,242.1,310.7,9.9,323,7114,0.00,2.35,0.00,0.000,6,0.000,0.026,3219,1708,1635,0,0,0,0,0,0
$GC,7437,0.98,272.4,285.1,6.5,335,7470,0.17,2.62,26.62,0.723,4,0.057,0.057,3269,291,1519,0,0,0,0,0,0
$GC,7641,0.86,272.4,261.1,13.5,344,7646,0.15,2.33,0.00,0.000,6,0.101,0.026,3240,1705,1512,0,0,0,0,0,0
$GC,7975,0.90,272.4,232.8,8.3,360,7979,0.00,2.53,0.00,0.000,4,0.000,0.055,3240,289,1511,0,0,0,0,0,0
$GC,8113,0.90,272.4,219.3,9.6,366,8117,0.00,2.33,0.00,0.000,6,0.000,0.025,3240,1705,1509,0,0,0,0,0,0
$GC,8441,0.96,272.4,193.6,8.8,384,8445,0.00,2.50,0.00,0.000,4,0.000,0.053,3240,291,1508,0,0,0,0,0,0
$GC,8589,0.96,272.4,179.8,9.1,395,8593,0.00,2.30,0.00,0.000,6,0.000,0.023,3240,1705,1507,0,0,0,0,0,0
$GC,8855,1.02,272.4,159.7,8.5,416,8860,0.15,2.45,0.00,0.000,4,0.058,0.051,3286,294,1507,0,0,0,0,0,0
$GC,8968,0.92,272.4,145.4,12.8,424,8973,0.17,2.28,0.00,0.000,6,0.091,0.021,3252,1703,1506,0,0,0,0,0,0
$GC,9230,1.01,289.1,124.7,7.1,444,9251,0.00,2.53,14.10,0.556,4,0.000,0.049,3250,286,1450,0,0,0,0,0,0
$GC,9399,1.01,289.1,108.7,10.0,456,9403,0.00,2.28,0.00,0.000,6,0.000,0.020,3251,1703,1447,0,0,0,0,0,0
$GC,9659,1.11,289.1,87.9,8.0,476,9664,0.17,2.50,0.00,0.000,4,0.051,0.049,3305,286,1446,0,0,0,0,0,0
$GC,9813,1.03,289.1,69.1,11.7,487,9818,0.15,2.28,0.00,0.000,6,0.090,0.020,3274,1714,1446,0,0,0,0,0,0
$GC,10080,1.11,289.1,46.6,8.0,508,10085,0.00,2.45,0.00,0.000,4,0.000,0.047,3275,293,1446,0,0,0,0,0,0
$GC,10163,1.11,289.1,39.1,9.3,514,10167,0.00,2.22,0.00,0.000,6,0.000,0.019,3274,1703,1446,0,0,0,0,0,0
$GC,10426,1.25,327.9,19.7,6.1,556,10466,0.20,2.50,33.75,0.490,4,0.044,0.046,3340,293,1291,0,0,0,0,0,0
$STATE,10563,end climb,SURFACE_DEPTH_REACHED
$STATE,10563,begin surface coast
$FINISH,1.0,1.023025
$STATE,10581,end surface coast,CONTROL_FINISHED_OK
$STATE,10581,begin surface
$SM_CCo,10606,47.95,0.475,0,0,958,410.14
$SM_GC,1.66,0.00,0.00,47.95,0.000,0.000,0.475,426,1710,958,-12.07,0.28,410.14
$IRIDIUM_FIX,2052.52,-15759.92,121299,121229
$TT8_MAMPS,0.029146
$HUMID,56.34
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.30
$XPDR_PINGS,1
$24V_AH,23.4,40.959
$10V_AH,10.2,34.164
$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,30.750,128.775,380.350,47.950,0.000,30.825,27.670,162.041,4.750,0.000,13.854,1203.695,6875.729,459.185,1945.950,515.229,0.000,1349.130,0.000,1919.888,0.000,29.254,0.000
$DEVICE_MAMPS,131.924,59.059,832.195,474.773,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,396.224,378.459,835.289,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,31834,589
$CAP_FILE_SIZE,124026,0
$CFSIZE,260165632,188755968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170910,185101,2101.615,-15800.174,56,1.0,56,9.8