version: 66.06
glider: 139
mission: 8
dive: 473
start: 9 17 110 22 5 43
data:
$ID,139
$MISSION,8
$DIVE,473
$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,-2160992.2
$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
$GPS1,215621,2102.364,-15800.386,15,2.3,34,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-70.4
$GPS2,220525,2102.264,-15800.460,42,1.4,42,9.8
$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,336.3,11579,-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,17,-1.18,-116.8,0.0,0.0,0,84,0.00,0.00,-64.18,0.000,2,0.000,0.000,429,1695,2742,0,0,0,0,0,0
$GC,87,-1.18,-116.8,3.3,-3.0,12,112,12.60,2.42,-6.80,0.000,4,0.133,0.037,2785,3111,3110,0,0,0,0,0,0
$GC,178,-1.12,-116.8,22.6,-12.8,30,185,0.00,2.42,0.00,0.000,6,0.000,0.032,2785,1698,3112,0,0,0,0,0,0
$GC,383,-0.90,-116.8,57.2,-18.7,53,388,0.28,2.42,0.00,0.000,4,0.087,0.046,2847,296,3112,0,0,0,0,0,0
$GC,430,-0.79,-116.8,64.6,-13.5,56,437,0.10,2.33,0.00,0.000,6,0.075,0.018,2873,1734,3113,0,0,0,0,0,0
$GC,691,-0.83,-116.8,90.1,-9.7,77,695,0.00,2.50,0.00,0.000,4,0.000,0.045,2872,290,3113,0,0,0,0,0,0
$GC,732,-0.83,-116.8,94.3,-10.3,80,736,0.00,2.25,0.00,0.000,6,0.000,0.018,2872,1724,3113,0,0,0,0,0,0
$GC,998,-0.91,-116.8,117.6,-8.4,101,1002,0.00,2.47,0.00,0.000,4,0.000,0.044,2872,291,3114,0,0,0,0,0,0
$GC,1053,-0.99,-116.8,122.5,-8.6,105,1058,0.17,2.20,0.00,0.000,6,0.048,0.018,2815,1704,3114,0,0,0,0,0,0
$GC,1317,-0.94,-116.8,151.3,-11.0,126,1322,0.15,2.45,0.00,0.000,4,0.085,0.047,2848,297,3114,0,0,0,0,0,0
$GC,1370,-0.94,-116.8,156.3,-9.0,130,1375,0.00,2.17,0.00,0.000,6,0.000,0.018,2848,1699,3115,0,0,0,0,0,0
$GC,1637,-0.99,-116.8,177.0,-7.8,151,1642,0.00,2.42,0.00,0.000,4,0.000,0.046,2848,294,3114,0,0,0,0,0,0
$GC,1680,-0.99,-116.8,180.8,-8.3,154,1684,0.00,2.20,0.00,0.000,6,0.000,0.019,2848,1701,3115,0,0,0,0,0,0
$GC,1949,-1.06,-116.8,202.1,-7.9,174,1954,0.12,2.45,0.00,0.000,4,0.061,0.047,2803,294,3114,0,0,0,0,0,0
$GC,2007,-0.99,-116.8,208.3,-10.8,176,2012,0.15,2.20,0.00,0.000,6,0.089,0.019,2836,1694,3114,0,0,0,0,0,0
$GC,2326,-1.03,-116.8,237.7,-9.9,191,2330,0.00,2.42,0.00,0.000,4,0.000,0.048,2835,294,3114,0,0,0,0,0,0
$GC,2386,-1.03,-116.8,244.8,-10.4,193,2391,0.00,2.22,0.00,0.000,6,0.000,0.020,2835,1704,3114,0,0,0,0,0,0
$GC,2706,-1.08,-116.8,271.7,-8.2,209,2710,0.00,2.45,0.00,0.000,4,0.000,0.048,2835,292,3113,0,0,0,0,0,0
$GC,2725,-1.08,-116.8,273.8,-8.4,210,2729,0.00,2.22,0.00,0.000,6,0.000,0.021,2836,1697,3113,0,0,0,0,0,0
$GC,3078,-1.15,-116.8,304.1,-8.6,226,3083,0.17,2.45,0.00,0.000,4,0.050,0.050,2779,289,3112,0,0,0,0,0,0
$GC,3178,-1.08,-116.8,314.9,-9.5,228,3183,0.17,2.22,0.00,0.000,6,0.086,0.021,2816,1693,3112,0,0,0,0,0,0
$GC,3500,-1.11,-116.8,339.6,-7.6,236,3507,0.00,2.40,0.00,0.000,4,0.000,0.048,2815,297,3111,0,0,0,0,0,0
$GC,3545,-1.11,-116.8,343.7,-8.0,236,3550,0.00,2.25,0.00,0.000,6,0.000,0.022,2816,1704,3111,0,0,0,0,0,0
$GC,3878,-1.17,-116.8,368.1,-7.4,245,3882,0.00,2.45,0.00,0.000,4,0.000,0.054,2816,297,3109,0,0,0,0,0,0
$GC,3943,-1.20,-116.8,373.4,-7.6,246,3948,0.12,2.25,0.00,0.000,6,0.065,0.024,2776,1699,3109,0,0,0,0,0,0
$GC,4294,-1.16,-116.8,403.8,-8.8,255,4299,0.10,2.50,0.00,0.000,4,0.104,0.056,2797,294,3106,0,0,0,0,0,0
$GC,4338,-1.16,-116.8,407.8,-9.6,256,4343,0.00,2.30,0.00,0.000,6,0.000,0.025,2797,1699,3106,0,0,0,0,0,0
$GC,4666,-1.16,-116.8,436.5,-8.6,264,4670,0.00,2.47,0.00,0.000,4,0.000,0.058,2797,300,3104,0,0,0,0,0,0
$STATE,4704,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4704,begin apogee
$GC,4714,-0.31,0.0,440.1,9.6,264,4813,0.82,0.00,95.82,0.821,6,0.067,0.000,2979,1707,2630,0,0,0,0,0,0
$STATE,4814,end apogee,CONTROL_FINISHED_OK
$STATE,4814,begin climb
$GC,4817,1.18,116.8,443.4,0.0,267,4930,1.42,2.45,100.18,0.804,4,0.040,0.033,3307,3087,2153,0,0,0,0,0,0
$GC,4963,1.06,161.8,441.4,5.9,270,5009,0.12,2.42,39.75,0.782,6,0.108,0.041,3283,1696,1970,0,0,0,0,0,0
$GC,5355,0.93,161.8,404.3,9.9,280,5360,0.15,2.53,0.00,0.000,4,0.106,0.058,3254,290,1960,0,0,0,0,0,0
$GC,5375,0.77,161.8,402.3,9.9,280,5380,0.17,2.38,0.00,0.000,6,0.105,0.026,3221,1709,1957,0,0,0,0,0,0
$GC,5722,0.82,200.3,379.8,6.2,289,5764,0.00,2.60,32.65,0.777,4,0.000,0.057,3220,289,1812,0,0,0,0,0,0
$GC,5853,0.79,200.3,368.4,8.2,291,5858,0.00,2.38,0.00,0.000,6,0.000,0.027,3220,1706,1806,0,0,0,0,0,0
$GC,6185,0.82,201.4,341.7,7.8,300,6190,0.00,2.53,0.00,0.000,4,0.000,0.058,3220,287,1804,0,0,0,0,0,0
$GC,6309,0.82,201.4,332.1,8.0,302,6313,0.00,2.35,0.00,0.000,6,0.000,0.026,3220,1702,1801,0,0,0,0,0,0
$GC,6645,0.95,260.7,314.3,5.2,311,6706,0.15,2.58,52.35,0.759,4,0.063,0.057,3263,296,1565,0,0,0,0,0,0
$GC,6770,0.84,260.7,301.6,11.4,313,6775,0.15,2.35,0.00,0.000,6,0.103,0.026,3235,1708,1560,0,0,0,0,0,0
$GC,7088,0.88,260.7,274.8,7.9,327,7092,0.00,2.53,0.00,0.000,4,0.000,0.056,3234,295,1558,0,0,0,0,0,0
$GC,7248,0.88,260.7,257.1,10.5,334,7253,0.00,2.33,0.00,0.000,6,0.000,0.025,3235,1705,1554,0,0,0,0,0,0
$GC,7579,0.93,260.7,228.9,8.1,350,7583,0.00,2.50,0.00,0.000,4,0.000,0.053,3235,294,1553,0,0,0,0,0,0
$GC,7676,0.93,260.7,218.1,11.2,354,7680,0.00,2.30,0.00,0.000,6,0.000,0.024,3235,1711,1552,0,0,0,0,0,0
$GC,8000,1.01,275.4,191.0,7.2,373,8017,0.15,2.55,11.68,0.604,4,0.058,0.051,3281,287,1506,0,0,0,0,0,0
$GC,8115,0.91,275.4,178.6,11.5,381,8121,0.17,2.33,0.00,0.000,6,0.093,0.022,3247,1710,1503,0,0,0,0,0,0
$GC,8377,0.97,275.4,157.3,8.4,402,8381,0.00,2.50,0.00,0.000,4,0.000,0.050,3246,285,1502,0,0,0,0,0,0
$GC,8472,0.97,275.4,148.0,9.0,409,8476,0.00,2.30,0.00,0.000,6,0.000,0.021,3247,1707,1501,0,0,0,0,0,0
$GC,8735,1.04,279.7,128.3,7.7,429,8751,0.12,2.50,4.78,0.429,4,0.064,0.048,3289,287,1488,0,0,0,0,0,0
$GC,8844,0.94,279.7,116.0,11.5,436,8852,0.12,2.30,0.00,0.000,6,0.072,0.021,3258,1707,1487,0,0,0,0,0,0
$GC,9107,1.04,314.2,98.9,6.3,457,9146,0.00,2.53,30.90,0.560,4,0.000,0.047,3258,293,1347,0,0,0,0,0,0
$GC,9261,1.04,314.2,85.8,9.1,468,9265,0.00,2.25,0.00,0.000,6,0.000,0.020,3258,1708,1343,0,0,0,0,0,0
$GC,9523,1.19,346.9,69.7,6.4,488,9558,0.22,2.55,28.00,0.525,4,0.044,0.047,3327,296,1214,0,0,0,0,0,0
$GC,9629,1.08,346.9,57.0,13.7,495,9637,0.17,2.28,0.00,0.000,6,0.067,0.019,3285,1703,1211,0,0,0,0,0,0
$GC,9891,1.14,346.9,33.6,8.7,516,9895,0.00,2.47,0.00,0.000,4,0.000,0.047,3285,287,1210,0,0,0,0,0,0
$GC,10051,1.14,346.9,16.0,12.2,547,10058,0.00,2.28,0.00,0.000,6,0.000,0.018,3285,1713,1209,0,0,0,0,0,0
$STATE,10187,end climb,SURFACE_DEPTH_REACHED
$STATE,10187,begin surface coast
$FINISH,0.9,1.023139
$STATE,10223,end surface coast,CONTROL_FINISHED_OK
$STATE,10223,begin surface
$SM_CCo,10245,35.08,0.470,0,0,958,410.14
$SM_GC,1.71,0.00,0.00,35.08,0.000,0.000,0.470,430,1718,958,-12.05,0.51,410.14
$IRIDIUM_FIX,2054.83,-15801.19,121299,222209
$TT8_MAMPS,0.029146
$HUMID,56.77
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,440.1,7.7
$24V_AH,23.5,41.173
$10V_AH,10.2,34.329
$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,30.425,128.925,396.100,35.075,0.000,59.272,115.010,152.589,5.000,0.000,42.998,1171.419,6632.288,472.000,1920.138,623.702,0.000,1342.239,0.000,1863.058,0.000,32.136,0.000
$DEVICE_MAMPS,132.691,58.292,821.457,470.171,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,393.843,380.125,847.821,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,31779,586
$CAP_FILE_SIZE,121980,0
$CFSIZE,260165632,188641280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180910,005836,2103.032,-15800.621,40,1.3,54,9.8