version: 66.06
glider: 139
mission: 8
dive: 475
start: 9 18 110 4 12 4
data:
$ID,139
$MISSION,8
$DIVE,475
$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,-2161024.5
$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
$GPS1,040531,2103.766,-15800.699,70,0.9,70,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-68.4
$GPS2,041144,2103.726,-15800.702,14,1.8,14,9.8
$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,334.8,8852,-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,-116.8,0.0,0.0,0,79,0.00,0.00,-59.47,0.000,2,0.000,0.000,426,1690,2601,0,0,0,0,0,0
$GC,82,-1.18,-116.8,3.1,-3.1,11,112,12.60,2.38,-10.18,0.000,4,0.132,0.035,2784,3112,3107,0,0,0,0,0,0
$GC,210,-1.18,-116.8,26.4,-13.7,38,217,0.00,2.42,0.00,0.000,6,0.000,0.033,2783,1700,3109,0,0,0,0,0,0
$GC,420,-0.95,-116.8,61.9,-18.2,58,425,0.25,2.42,0.00,0.000,4,0.093,0.045,2838,289,3110,0,0,0,0,0,0
$GC,446,-0.75,-116.8,66.9,-17.8,60,451,0.22,2.33,0.00,0.000,6,0.087,0.018,2885,1739,3110,0,0,0,0,0,0
$GC,715,-0.83,-116.8,93.3,-6.5,81,719,0.00,2.50,0.00,0.000,4,0.000,0.044,2885,291,3111,0,0,0,0,0,0
$GC,803,-0.92,-116.8,99.8,-6.5,87,813,0.17,2.22,0.00,0.000,6,0.049,0.018,2827,1717,3111,0,0,0,0,0,0
$GC,1064,-0.89,-116.8,125.5,-10.2,108,1069,0.12,2.47,0.00,0.000,4,0.092,0.045,2855,292,3112,0,0,0,0,0,0
$GC,1112,-0.89,-116.8,130.5,-10.4,111,1117,0.00,2.20,0.00,0.000,6,0.000,0.018,2855,1706,3112,0,0,0,0,0,0
$GC,1372,-0.93,-116.8,152.3,-8.8,132,1373,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1710,3112,0,0,0,0,0,0
$GC,1624,-1.00,-116.8,173.8,-7.9,152,1628,0.00,2.42,0.00,0.000,4,0.000,0.045,2855,287,3112,0,0,0,0,0,0
$GC,1697,-1.05,-116.8,180.7,-9.2,157,1702,0.15,2.20,0.00,0.000,6,0.054,0.019,2804,1694,3112,0,0,0,0,0,0
$GC,1960,-1.00,-116.8,207.3,-10.1,175,1964,0.12,2.45,0.00,0.000,4,0.094,0.048,2831,289,3112,0,0,0,0,0,0
$GC,2004,-1.00,-116.8,212.4,-10.4,177,2009,0.00,2.22,0.00,0.000,6,0.000,0.019,2830,1700,3112,0,0,0,0,0,0
$GC,2338,-1.04,-116.8,241.9,-9.0,193,2342,0.00,2.42,0.00,0.000,4,0.000,0.048,2831,294,3112,0,0,0,0,0,0
$GC,2393,-1.04,-116.8,247.7,-9.2,195,2397,0.00,2.22,0.00,0.000,6,0.000,0.020,2830,1702,3112,0,0,0,0,0,0
$GC,2716,-1.10,-116.8,275.5,-8.8,211,2720,0.00,2.45,0.00,0.000,4,0.000,0.048,2831,290,3112,0,0,0,0,0,0
$GC,2753,-1.10,-116.8,279.1,-9.7,212,2760,0.00,2.28,0.00,0.000,6,0.000,0.021,2831,1694,3111,0,0,0,0,0,0
$GC,3068,-1.17,-116.8,304.8,-8.0,227,3073,0.15,2.45,0.00,0.000,4,0.056,0.051,2779,294,3111,0,0,0,0,0,0
$GC,3195,-1.07,-116.8,317.8,-10.4,229,3200,0.17,2.22,0.00,0.000,6,0.084,0.021,2818,1696,3111,0,0,0,0,0,0
$GC,3527,-1.11,-116.8,340.0,-6.2,237,3531,0.00,2.42,0.00,0.000,4,0.000,0.051,2818,294,3109,0,0,0,0,0,0
$GC,3552,-1.11,-116.8,341.9,-7.4,237,3556,0.00,2.25,0.00,0.000,6,0.000,0.023,2818,1700,3109,0,0,0,0,0,0
$GC,3892,-1.16,-116.8,367.5,-8.1,246,3897,0.00,2.45,0.00,0.000,4,0.000,0.054,2818,292,3107,0,0,0,0,0,0
$GC,3920,-1.16,-116.8,370.4,-10.1,246,3925,0.00,2.28,0.00,0.000,6,0.000,0.024,2818,1704,3106,0,0,0,0,0,0
$GC,4258,-1.22,-116.8,399.9,-8.9,255,4263,0.15,2.47,0.00,0.000,4,0.058,0.056,2770,301,3104,0,0,0,0,0,0
$GC,4319,-1.14,-116.8,407.0,-12.2,256,4324,0.15,2.28,0.00,0.000,6,0.091,0.025,2802,1701,3103,0,0,0,0,0,0
$GC,4637,-1.18,-116.8,434.4,-8.2,264,4641,0.00,2.47,0.00,0.000,4,0.000,0.058,2802,296,3102,0,0,0,0,0,0
$GC,4702,-1.18,-116.8,440.2,-8.0,265,4707,0.00,2.28,0.00,0.000,6,0.000,0.025,2802,1698,3101,0,0,0,0,0,0
$STATE,4842,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4842,begin apogee
$GC,4849,-0.31,0.0,450.3,7.1,269,4947,0.82,0.00,95.40,0.832,6,0.064,0.000,2982,1702,2630,0,0,0,0,0,0
$STATE,4948,end apogee,CONTROL_FINISHED_OK
$STATE,4948,begin climb
$GC,4951,1.18,116.8,452.2,0.0,271,5063,1.40,2.42,100.45,0.814,4,0.037,0.034,3310,3090,2153,0,0,0,0,0,0
$GC,5130,1.01,122.6,448.5,7.6,275,5143,0.20,2.42,6.15,0.615,6,0.096,0.041,3271,1696,2129,0,0,0,0,0,0
$GC,5459,0.94,162.8,427.7,6.1,283,5497,0.00,0.00,35.67,0.796,6,0.000,0.000,3271,1696,1966,0,0,0,0,0,0
$GC,5823,0.84,162.8,398.2,8.5,292,5828,0.20,2.53,0.00,0.000,4,0.097,0.058,3230,293,1959,0,0,0,0,0,0
$GC,5886,0.76,162.8,393.0,8.0,293,5890,0.00,2.35,0.00,0.000,6,0.000,0.027,3230,1701,1955,0,0,0,0,0,0
$GC,6237,0.82,207.7,371.6,5.9,302,6282,0.00,2.58,39.15,0.790,4,0.000,0.058,3230,294,1782,0,0,0,0,0,0
$GC,6312,0.73,207.7,366.1,8.5,303,6316,0.00,2.38,0.00,0.000,6,0.000,0.027,3230,1709,1779,0,0,0,0,0,0
$GC,6649,0.73,207.7,337.1,9.0,312,6653,0.00,2.53,0.00,0.000,4,0.000,0.058,3230,288,1775,0,0,0,0,0,0
$GC,6711,0.67,207.7,330.4,10.9,313,6716,0.17,2.35,0.00,0.000,6,0.100,0.027,3196,1704,1773,0,0,0,0,0,0
$GC,7062,0.80,224.4,303.5,7.1,322,7083,0.12,2.60,14.25,0.711,4,0.071,0.057,3231,292,1715,0,0,0,0,0,0
$GC,7212,0.76,224.4,289.9,9.3,327,7216,0.00,2.35,0.00,0.000,6,0.000,0.026,3231,1708,1711,0,0,0,0,0,0
$GC,7534,0.83,250.2,269.1,6.7,343,7563,0.00,2.58,23.27,0.712,4,0.000,0.056,3231,289,1610,0,0,0,0,0,0
$GC,7696,0.83,250.2,253.2,10.3,350,7700,0.00,2.35,0.00,0.000,6,0.000,0.025,3230,1708,1605,0,0,0,0,0,0
$GC,8022,0.89,250.2,225.8,8.5,366,8026,0.00,2.50,0.00,0.000,4,0.000,0.054,3231,293,1604,0,0,0,0,0,0
$GC,8165,0.89,250.2,213.1,8.3,372,8170,0.00,2.30,0.00,0.000,6,0.000,0.025,3231,1707,1603,0,0,0,0,0,0
$GC,8498,0.96,250.4,188.2,7.9,393,8502,0.12,2.50,0.00,0.000,4,0.064,0.052,3271,290,1602,0,0,0,0,0,0
$GC,8597,0.87,250.4,177.3,10.9,400,8602,0.15,2.30,0.00,0.000,6,0.099,0.023,3241,1708,1601,0,0,0,0,0,0
$GC,8859,0.95,266.8,157.7,7.2,420,8880,0.00,2.53,14.75,0.595,4,0.000,0.049,3241,293,1540,0,0,0,0,0,0
$GC,8991,0.95,266.8,145.8,10.0,429,8998,0.00,2.30,0.00,0.000,6,0.000,0.022,3241,1713,1536,0,0,0,0,0,0
$GC,9250,1.04,279.3,125.6,7.3,450,9269,0.15,2.55,11.60,0.551,4,0.058,0.050,3288,296,1490,0,0,0,0,0,0
$GC,9332,0.96,279.3,116.7,12.2,455,9338,0.15,2.28,0.00,0.000,6,0.091,0.021,3258,1711,1487,0,0,0,0,0,0
$GC,9593,1.06,299.4,96.8,7.0,476,9621,0.10,2.53,18.48,0.549,4,0.074,0.048,3293,286,1407,0,0,0,0,0,0
$GC,9727,0.99,299.4,82.6,11.1,485,9733,0.15,2.30,0.00,0.000,6,0.089,0.021,3262,1718,1404,0,0,0,0,0,0
$GC,9989,1.14,328.9,65.5,6.6,506,10021,0.15,2.58,25.50,0.528,4,0.054,0.048,3313,297,1288,0,0,0,0,0,0
$GC,10119,1.05,328.9,51.3,11.7,515,10124,0.17,2.25,0.00,0.000,6,0.084,0.019,3277,1710,1284,0,0,0,0,0,0
$GC,10389,1.13,331.8,29.5,7.8,536,10396,0.00,2.50,0.00,0.000,4,0.000,0.047,3276,287,1284,0,0,0,0,0,0
$GC,10552,1.13,331.8,14.0,11.7,573,10559,0.00,2.25,0.00,0.000,6,0.000,0.019,3277,1702,1283,0,0,0,0,0,0
$STATE,10686,end climb,SURFACE_DEPTH_REACHED
$STATE,10686,begin surface coast
$FINISH,0.8,1.009877
$STATE,10726,end surface coast,CONTROL_FINISHED_OK
$STATE,10726,begin surface
$SM_CCo,10748,46.25,0.476,0,0,958,410.14
$SM_GC,1.52,0.00,0.00,46.25,0.000,0.000,0.476,427,1703,958,-12.07,0.08,410.14
$IRIDIUM_FIX,2054.83,-15759.05,131299,010125
$TT8_MAMPS,0.029146
$HUMID,56.49
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,41.376
$10V_AH,10.2,34.495
$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,30.550,124.275,384.675,46.250,0.000,24.640,35.130,185.749,4.500,0.000,14.884,1221.104,6989.493,481.862,1931.678,542.350,0.000,1350.300,0.000,1905.972,0.000,29.269,0.000
$DEVICE_MAMPS,131.924,58.292,832.195,475.540,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,411.725,394.766,882.857,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,35049,612
$CAP_FILE_SIZE,123129,0
$CFSIZE,260165632,188514304
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180910,071324,2104.592,-15801.188,36,2.0,46,9.8