version: 66.06
glider: 139
mission: 8
dive: 472
start: 9 17 110 19 0 47
data:
$ID,139
$MISSION,8
$DIVE,472
$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,-2160948.5
$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
$GPS1,185101,2101.615,-15800.174,56,1.0,56,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-70.2
$GPS2,190025,2101.483,-15800.199,14,1.5,14,9.8
$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,336.0,13091,-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,15,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.25,0.000,2,0.000,0.000,426,1709,2748,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.4,-3.2,12,110,12.62,2.35,-6.62,0.000,4,0.132,0.035,2786,3120,3108,0,0,0,0,0,0
$GC,267,-1.15,-116.8,37.3,-12.9,43,272,0.00,2.40,0.00,0.000,6,0.000,0.032,2786,1698,3110,0,0,0,0,0,0
$GC,532,-0.96,-116.8,81.1,-16.5,64,537,0.25,2.33,0.00,0.000,4,0.084,0.020,2839,3114,3111,0,0,0,0,0,0
$GC,561,-0.96,-116.8,85.2,-11.9,66,566,0.00,2.35,0.00,0.000,6,0.000,0.031,2839,1699,3111,0,0,0,0,0,0
$GC,820,-0.96,-116.8,113.8,-10.0,86,824,0.00,2.40,0.00,0.000,4,0.000,0.045,2839,297,3111,0,0,0,0,0,0
$GC,894,-0.92,-116.8,122.1,-11.5,91,900,0.00,2.30,0.00,0.000,6,0.000,0.018,2839,1736,3111,0,0,0,0,0,0
$GC,1153,-0.92,-116.8,146.0,-8.5,112,1157,0.00,2.50,0.00,0.000,4,0.000,0.045,2839,290,3112,0,0,0,0,0,0
$GC,1220,-0.92,-116.8,152.5,-9.4,117,1224,0.00,2.25,0.00,0.000,6,0.000,0.018,2839,1720,3112,0,0,0,0,0,0
$GC,1485,-0.92,-116.8,177.3,-9.6,138,1489,0.00,2.45,0.00,0.000,4,0.000,0.045,2839,295,3112,0,0,0,0,0,0
$GC,1525,-0.92,-116.8,181.9,-11.6,141,1529,0.00,2.20,0.00,0.000,6,0.000,0.019,2839,1706,3112,0,0,0,0,0,0
$GC,1787,-0.96,-116.8,207.1,-9.5,159,1791,0.00,2.45,0.00,0.000,4,0.000,0.046,2839,289,3112,0,0,0,0,0,0
$GC,1837,-0.96,-116.8,212.7,-10.0,161,1841,0.00,2.22,0.00,0.000,6,0.000,0.019,2839,1705,3112,0,0,0,0,0,0
$GC,2160,-1.00,-116.8,243.4,-9.7,177,2164,0.00,2.42,0.00,0.000,4,0.000,0.048,2839,292,3112,0,0,0,0,0,0
$GC,2209,-1.04,-116.8,248.4,-9.9,179,2213,0.00,2.22,0.00,0.000,6,0.000,0.020,2839,1702,3112,0,0,0,0,0,0
$GC,2544,-1.10,-116.8,275.0,-7.5,195,2549,0.12,2.45,0.00,0.000,4,0.062,0.048,2795,297,3112,0,0,0,0,0,0
$GC,2601,-1.03,-116.8,281.0,-10.2,197,2606,0.15,2.22,0.00,0.000,6,0.088,0.021,2828,1702,3112,0,0,0,0,0,0
$GC,2916,-1.09,-116.8,307.3,-8.2,210,2920,0.00,2.45,0.00,0.000,4,0.000,0.050,2828,291,3111,0,0,0,0,0,0
$GC,2995,-1.12,-116.8,314.4,-8.9,211,3000,0.10,2.25,0.00,0.000,6,0.073,0.021,2791,1706,3111,0,0,0,0,0,0
$GC,3331,-1.12,-116.8,345.7,-9.7,220,3336,0.00,2.47,0.00,0.000,4,0.000,0.051,2791,290,3110,0,0,0,0,0,0
$GC,3366,-1.06,-116.8,349.5,-12.0,220,3371,0.12,2.25,0.00,0.000,6,0.096,0.023,2818,1694,3109,0,0,0,0,0,0
$GC,3697,-1.11,-116.8,379.5,-8.5,228,3702,0.00,2.47,0.00,0.000,4,0.000,0.054,2819,297,3108,0,0,0,0,0,0
$GC,3736,-1.11,-116.8,382.7,-8.4,228,3740,0.00,2.25,0.00,0.000,6,0.000,0.024,2818,1702,3107,0,0,0,0,0,0
$GC,4068,-1.16,-116.8,407.0,-7.3,236,4072,0.00,2.45,0.00,0.000,4,0.000,0.056,2818,300,3105,0,0,0,0,0,0
$GC,4133,-1.20,-116.8,412.4,-8.1,237,4138,0.15,2.28,0.00,0.000,6,0.059,0.025,2773,1704,3104,0,0,0,0,0,0
$GC,4481,-1.16,-116.8,442.8,-9.0,246,4486,0.10,2.50,0.00,0.000,4,0.107,0.058,2793,293,3102,0,0,0,0,0,0
$STATE,4559,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4559,begin apogee
$GC,4567,-0.31,0.0,450.4,8.9,247,4666,0.85,0.00,95.62,0.828,6,0.068,0.000,2981,1704,2630,0,0,0,0,0,0
$STATE,4667,end apogee,CONTROL_FINISHED_OK
$STATE,4667,begin climb
$GC,4671,1.18,116.8,452.4,0.0,250,4783,1.42,2.38,100.35,0.811,4,0.038,0.032,3310,3079,2153,0,0,0,0,0,0
$GC,4850,1.01,124.7,446.8,7.5,254,4864,0.20,2.42,7.90,0.660,6,0.097,0.041,3272,1696,2121,0,0,0,0,0,0
$GC,5176,0.92,143.7,424.4,7.0,262,5200,0.10,2.53,16.75,0.756,4,0.119,0.056,3252,296,2043,0,0,0,0,0,0
$GC,5285,0.77,143.7,415.1,8.7,264,5290,0.17,2.35,0.00,0.000,6,0.104,0.026,3219,1708,2039,0,0,0,0,0,0
$GC,5635,0.83,191.5,394.3,5.7,273,5684,0.00,2.62,42.35,0.795,4,0.000,0.058,3219,295,1849,0,0,0,0,0,0
$GC,5716,0.77,191.5,388.6,9.4,274,5720,0.00,2.38,0.00,0.000,6,0.000,0.027,3219,1710,1845,0,0,0,0,0,0
$GC,6048,0.81,196.8,362.8,7.7,282,6060,0.00,2.55,5.07,0.570,4,0.000,0.056,3218,289,1826,0,0,0,0,0,0
$GC,6085,0.76,196.8,359.7,8.8,282,6089,0.00,2.35,0.00,0.000,6,0.000,0.027,3219,1703,1825,0,0,0,0,0,0
$GC,6417,0.83,217.6,335.8,7.0,290,6441,0.00,2.58,19.48,0.745,4,0.000,0.057,3219,294,1742,0,0,0,0,0,0
$GC,6581,0.83,217.6,321.7,10.0,293,6585,0.00,2.35,0.00,0.000,6,0.000,0.026,3219,1704,1737,0,0,0,0,0,0
$GC,6897,0.89,217.6,294.9,8.5,302,6902,0.10,2.55,0.00,0.000,4,0.079,0.056,3249,287,1736,0,0,0,0,0,0
$GC,7057,0.81,217.6,277.7,10.1,309,7062,0.12,2.35,0.00,0.000,6,0.110,0.025,3226,1708,1733,0,0,0,0,0,0
$GC,7391,0.89,235.8,252.5,7.1,325,7413,0.00,2.55,16.02,0.684,4,0.000,0.053,3226,287,1667,0,0,0,0,0,0
$GC,7481,0.89,235.8,244.2,9.8,328,7488,0.00,2.38,0.00,0.000,6,0.000,0.025,3226,1704,1663,0,0,0,0,0,0
$GC,7796,0.96,235.8,218.2,8.3,344,7801,0.15,2.50,0.00,0.000,4,0.060,0.053,3270,291,1663,0,0,0,0,0,0
$GC,7898,0.85,235.8,206.5,12.3,348,7903,0.17,2.33,0.00,0.000,6,0.096,0.024,3236,1715,1661,0,0,0,0,0,0
$GC,8226,0.95,268.3,182.7,6.4,372,8261,0.00,2.60,28.58,0.645,4,0.000,0.052,3236,294,1535,0,0,0,0,0,0
$GC,8372,0.95,270.4,170.5,7.8,382,8379,0.00,2.33,0.00,0.000,6,0.000,0.022,3236,1702,1530,0,0,0,0,0,0
$GC,8634,1.05,281.4,152.0,7.4,403,8652,0.17,2.50,12.20,0.572,4,0.052,0.049,3288,293,1481,0,0,0,0,0,0
$GC,8735,0.93,281.4,140.0,12.9,410,8743,0.15,2.33,0.00,0.000,6,0.071,0.022,3253,1711,1477,0,0,0,0,0,0
$GC,8999,0.99,281.4,117.7,8.6,431,9003,0.00,2.47,0.00,0.000,4,0.000,0.050,3253,292,1477,0,0,0,0,0,0
$GC,9184,0.99,281.4,98.6,9.3,444,9191,0.00,2.30,0.00,0.000,6,0.000,0.021,3253,1706,1476,0,0,0,0,0,0
$GC,9445,1.10,287.9,78.7,7.6,465,9460,0.15,2.53,6.38,0.446,4,0.055,0.048,3302,294,1455,0,0,0,0,0,0
$GC,9575,1.03,287.9,65.1,10.2,474,9580,0.15,2.28,0.00,0.000,6,0.090,0.020,3271,1714,1454,0,0,0,0,0,0
$GC,9843,1.15,315.7,48.1,6.6,495,9875,0.12,2.55,24.83,0.511,4,0.062,0.048,3315,295,1342,0,0,0,0,0,0
$GC,9919,1.06,315.7,40.3,12.7,500,9924,0.17,2.22,0.00,0.000,6,0.085,0.019,3279,1710,1339,0,0,0,0,0,0
$GC,10183,1.14,321.3,18.1,7.6,542,10196,0.00,2.47,5.93,0.390,4,0.000,0.045,3278,293,1319,0,0,0,0,0,0
$STATE,10354,end climb,SURFACE_DEPTH_REACHED
$STATE,10354,begin surface coast
$FINISH,0.8,1.023262
$STATE,10385,end surface coast,CONTROL_FINISHED_OK
$STATE,10385,begin surface
$SM_CCo,10410,50.65,0.476,0,0,958,410.14
$SM_GC,1.69,0.00,0.00,50.65,0.000,0.000,0.476,429,1695,958,-12.06,-0.17,410.14
$IRIDIUM_FIX,2054.83,-15756.91,121299,191948
$TT8_MAMPS,0.029146
$HUMID,55.55
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.5,41.067
$10V_AH,10.2,34.247
$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,30.050,129.225,381.450,50.650,0.000,53.201,62.815,252.224,4.500,0.000,14.295,1184.772,6772.775,465.815,1924.266,676.577,0.000,1343.198,0.000,1905.166,0.000,29.261,0.000
$DEVICE_MAMPS,131.924,58.292,827.593,475.540,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,395.645,374.872,852.831,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,31854,588
$CAP_FILE_SIZE,125260,0
$CFSIZE,260165632,188698624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170910,215621,2102.364,-15800.386,15,2.3,34,9.8