version: 66.06
glider: 139
mission: 8
dive: 478
start: 9 18 110 13 29 15
data:
$ID,139
$MISSION,8
$DIVE,478
$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,-2161104.5
$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
$GPS1,132231,2106.882,-15802.110,13,2.0,13,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-72.5
$GPS2,132857,2106.867,-15802.130,21,3.7,40,9.8
$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,352.6,2718,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.18,0.000,2,0.000,0.000,427,1709,2746,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.4,-3.7,12,110,12.62,2.40,-6.70,0.000,4,0.133,0.035,2786,3122,3109,0,0,0,0,0,0
$GC,188,-1.11,-116.8,26.0,-14.5,33,195,0.08,2.45,0.00,0.000,6,0.085,0.033,2805,1694,3110,0,0,0,0,0,0
$GC,392,-0.91,-116.8,60.4,-17.7,52,397,0.22,2.42,0.00,0.000,4,0.087,0.044,2852,290,3111,0,0,0,0,0,0
$GC,420,-0.74,-116.8,64.9,-17.1,54,425,0.17,2.30,0.00,0.000,6,0.087,0.018,2889,1739,3112,0,0,0,0,0,0
$GC,688,-0.80,-116.8,95.6,-9.9,75,692,0.00,2.50,0.00,0.000,4,0.000,0.044,2889,292,3113,0,0,0,0,0,0
$GC,742,-0.85,-116.8,100.7,-9.4,79,747,0.12,2.22,0.00,0.000,6,0.061,0.018,2843,1712,3112,0,0,0,0,0,0
$GC,1008,-0.85,-116.8,130.0,-10.4,100,1013,0.10,2.47,0.00,0.000,4,0.103,0.044,2865,289,3113,0,0,0,0,0,0
$GC,1049,-0.85,-116.8,134.3,-10.3,103,1053,0.00,2.22,0.00,0.000,6,0.000,0.018,2865,1711,3113,0,0,0,0,0,0
$GC,1316,-0.92,-116.8,160.9,-9.5,124,1320,0.00,2.45,0.00,0.000,4,0.000,0.044,2865,290,3114,0,0,0,0,0,0
$GC,1368,-0.99,-116.8,166.2,-8.9,128,1373,0.15,2.20,0.00,0.000,6,0.054,0.018,2812,1702,3114,0,0,0,0,0,0
$GC,1634,-0.95,-116.8,192.8,-9.4,149,1636,0.15,0.00,0.00,0.000,6,0.087,0.000,2845,1707,3114,0,0,0,0,0,0
$GC,1886,-1.00,-116.8,215.7,-8.2,164,1890,0.00,2.42,0.00,0.000,4,0.000,0.045,2845,294,3114,0,0,0,0,0,0
$GC,1953,-1.04,-116.8,220.9,-8.4,167,1957,0.00,2.20,0.00,0.000,6,0.000,0.019,2845,1701,3114,0,0,0,0,0,0
$GC,2287,-1.10,-116.8,245.3,-6.9,183,2292,0.15,2.45,0.00,0.000,4,0.054,0.048,2792,294,3114,0,0,0,0,0,0
$GC,2348,-1.00,-116.8,252.5,-12.4,185,2354,0.17,2.20,0.00,0.000,6,0.084,0.020,2831,1690,3114,0,0,0,0,0,0
$GC,2669,-1.06,-116.8,275.3,-6.6,201,2673,0.00,2.25,0.00,0.000,4,0.000,0.025,2831,3074,3114,0,0,0,0,0,0
$GC,2689,-1.15,-116.8,276.9,-6.7,202,2694,0.15,2.30,0.00,0.000,6,0.057,0.032,2784,1697,3114,0,0,0,0,0,0
$GC,3024,-1.11,-116.8,311.2,-11.5,216,3029,0.12,2.45,0.00,0.000,4,0.093,0.050,2809,290,3114,0,0,0,0,0,0
$GC,3092,-1.11,-116.8,318.7,-10.4,217,3096,0.00,2.25,0.00,0.000,6,0.000,0.021,2809,1704,3113,0,0,0,0,0,0
$GC,3437,-1.14,-116.8,346.2,-7.0,226,3441,0.00,2.45,0.00,0.000,4,0.000,0.051,2809,298,3112,0,0,0,0,0,0
$GC,3485,-1.14,-116.8,350.1,-9.1,227,3489,0.00,2.22,0.00,0.000,6,0.000,0.023,2809,1700,3112,0,0,0,0,0,0
$GC,3810,-1.17,-116.8,374.4,-7.6,235,3814,0.00,2.45,0.00,0.000,4,0.000,0.053,2809,291,3110,0,0,0,0,0,0
$GC,3880,-1.17,-116.8,380.4,-8.5,236,3885,0.00,2.28,0.00,0.000,6,0.000,0.024,2809,1701,3109,0,0,0,0,0,0
$GC,4227,-1.21,-116.8,407.0,-7.2,245,4232,0.10,2.50,0.00,0.000,4,0.075,0.056,2775,293,3107,0,0,0,0,0,0
$GC,4289,-1.13,-116.8,412.5,-9.8,246,4294,0.12,2.28,0.00,0.000,6,0.100,0.025,2801,1695,3106,0,0,0,0,0,0
$GC,4641,-1.13,-116.8,438.7,-7.8,255,4642,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1700,3104,0,0,0,0,0,0
$STATE,4799,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4799,begin apogee
$GC,4805,-0.31,0.0,452.1,8.2,259,4905,0.82,0.00,96.43,0.834,6,0.066,0.000,2980,1701,2630,0,0,0,0,0,0
$STATE,4906,end apogee,CONTROL_FINISHED_OK
$STATE,4906,begin climb
$GC,4908,1.18,116.8,454.6,0.0,261,5021,1.42,2.45,100.95,0.816,4,0.038,0.033,3311,3084,2153,0,0,0,0,0,0
$GC,5187,1.00,116.8,439.5,9.3,267,5192,0.22,2.38,0.00,0.000,6,0.099,0.041,3267,1704,2147,0,0,0,0,0,0
$GC,5507,0.90,124.0,413.7,7.6,275,5519,0.12,2.42,5.53,0.598,4,0.112,0.032,3244,3088,2124,0,0,0,0,0,0
$GC,5545,0.93,153.5,411.1,6.6,275,5577,0.00,2.40,27.65,0.785,6,0.000,0.040,3244,1699,2005,0,0,0,0,0,0
$GC,5920,0.91,167.8,383.9,7.2,285,5941,0.00,2.53,13.38,0.738,4,0.000,0.058,3243,296,1944,0,0,0,0,0,0
$GC,5962,0.80,175.7,380.9,7.5,285,5975,0.00,2.35,8.23,0.672,6,0.000,0.027,3244,1705,1913,0,0,0,0,0,0
$GC,6295,0.77,175.7,353.3,8.2,294,6300,0.12,2.53,0.00,0.000,4,0.108,0.058,3219,294,1909,0,0,0,0,0,0
$GC,6411,0.74,175.7,343.6,8.2,296,6415,0.00,2.35,0.00,0.000,6,0.000,0.027,3220,1704,1905,0,0,0,0,0,0
$GC,6756,0.87,242.9,324.9,4.9,305,6821,0.00,2.58,59.25,0.773,4,0.000,0.058,3219,293,1639,0,0,0,0,0,0
$GC,7021,0.87,242.9,305.2,9.0,310,7026,0.00,2.33,0.00,0.000,6,0.000,0.026,3220,1705,1630,0,0,0,0,0,0
$GC,7336,0.94,244.5,281.6,7.8,324,7341,0.15,2.55,0.00,0.000,4,0.063,0.056,3261,289,1629,0,0,0,0,0,0
$GC,7481,0.84,244.5,265.1,11.5,330,7486,0.15,2.33,0.00,0.000,6,0.105,0.025,3233,1699,1626,0,0,0,0,0,0
$GC,7805,0.92,255.1,240.8,7.4,346,7822,0.00,2.55,9.70,0.624,4,0.000,0.054,3232,296,1589,0,0,0,0,0,0
$GC,7868,0.92,255.1,234.9,9.6,348,7875,0.00,2.35,0.00,0.000,6,0.000,0.025,3232,1708,1587,0,0,0,0,0,0
$GC,8185,0.99,255.1,209.0,7.9,364,8190,0.15,2.50,0.00,0.000,4,0.059,0.053,3278,293,1587,0,0,0,0,0,0
$GC,8337,0.89,255.1,192.8,11.1,373,8342,0.17,2.30,0.00,0.000,6,0.094,0.023,3243,1706,1584,0,0,0,0,0,0
$GC,8601,0.98,276.6,173.2,6.9,393,8628,0.00,2.58,19.27,0.617,4,0.000,0.051,3242,291,1501,0,0,0,0,0,0
$GC,8730,0.98,276.6,162.3,8.9,402,8734,0.00,2.28,0.00,0.000,6,0.000,0.021,3242,1708,1497,0,0,0,0,0,0
$GC,8992,1.07,284.9,143.9,7.5,422,9008,0.17,2.50,8.20,0.518,4,0.053,0.048,3295,294,1467,0,0,0,0,0,0
$GC,9109,0.97,284.9,130.1,12.6,430,9113,0.17,2.25,0.00,0.000,6,0.089,0.021,3260,1695,1464,0,0,0,0,0,0
$GC,9380,1.05,284.9,109.1,7.9,451,9385,0.00,2.45,0.00,0.000,4,0.000,0.049,3259,294,1464,0,0,0,0,0,0
$GC,9521,1.13,300.2,97.1,7.2,461,9546,0.15,2.25,14.43,0.528,6,0.056,0.020,3311,1719,1405,0,0,0,0,0,0
$GC,9797,1.13,300.2,73.3,8.8,483,9801,0.00,2.47,0.00,0.000,4,0.000,0.047,3311,294,1404,0,0,0,0,0,0
$GC,9898,1.05,300.2,63.4,9.3,490,9905,0.12,2.25,0.00,0.000,6,0.071,0.019,3280,1703,1401,0,0,0,0,0,0
$GC,10162,1.14,318.7,44.9,7.1,511,10184,0.00,2.50,16.77,0.486,4,0.000,0.047,3280,293,1330,0,0,0,0,0,0
$GC,10344,1.14,318.7,28.1,10.8,525,10351,0.00,2.25,0.00,0.000,6,0.000,0.018,3280,1711,1326,0,0,0,0,0,0
$GC,10548,1.21,318.7,10.4,9.1,571,10555,0.15,2.50,0.00,0.000,4,0.054,0.048,3332,298,1326,0,0,0,0,0,0
$STATE,10607,end climb,SURFACE_DEPTH_REACHED
$STATE,10607,begin surface coast
$FINISH,1.1,1.023125
$STATE,10633,end surface coast,CONTROL_FINISHED_OK
$STATE,10633,begin surface
$SM_CCo,10657,51.38,0.470,0,0,957,410.14
$SM_GC,1.70,0.00,0.00,51.38,0.000,0.000,0.470,427,1690,957,-12.07,-0.28,410.14
$IRIDIUM_FIX,2057.14,-15759.05,131299,101018
$TT8_MAMPS,0.028379
$HUMID,55.98
$INTERNAL_PRESSURE,9.30354
$TCM_TEMP,22.80
$XPDR_PINGS,0
$24V_AH,23.4,41.690
$10V_AH,10.2,34.738
$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,30.950,123.725,379.775,51.375,0.000,30.887,36.601,163.642,4.500,0.000,41.079,1212.696,6880.760,469.951,1987.744,539.100,0.000,1365.880,0.000,1935.538,0.000,29.250,0.000
$DEVICE_MAMPS,132.691,57.525,833.729,470.171,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,396.112,378.631,832.271,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,31803,589
$CAP_FILE_SIZE,125126,0
$CFSIZE,260165632,188338176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180910,162931,2108.046,-15802.077,69,1.0,69,9.8