version: 66.06
glider: 139
mission: 8
dive: 479
start: 9 18 110 16 35 28
data:
$ID,139
$MISSION,8
$DIVE,479
$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,-2161121.5
$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
$GPS1,162931,2108.046,-15802.077,69,1.0,69,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-72.8
$GPS2,163508,2108.011,-15802.073,16,2.0,16,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$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,87.2,33347,-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,-64.22,0.000,2,0.000,0.000,426,1690,2755,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.4,-3.7,12,109,12.62,0.00,-6.57,0.000,6,0.133,0.000,2783,1691,3109,0,0,0,0,0,0
$GC,302,-0.96,-116.8,48.2,-17.4,45,307,0.25,2.40,0.00,0.000,4,0.089,0.046,2839,294,3111,0,0,0,0,0,0
$GC,357,-0.81,-116.8,58.0,-16.8,49,362,0.17,2.30,0.00,0.000,6,0.090,0.018,2874,1740,3112,0,0,0,0,0,0
$GC,617,-0.81,-116.8,91.0,-11.8,69,622,0.00,2.47,0.00,0.000,4,0.000,0.044,2874,294,3112,0,0,0,0,0,0
$GC,665,-0.85,-116.8,97.1,-11.3,72,671,0.00,2.28,0.00,0.000,6,0.000,0.018,2874,1716,3112,0,0,0,0,0,0
$GC,928,-0.91,-116.8,118.7,-7.1,93,932,0.00,2.45,0.00,0.000,4,0.000,0.045,2874,294,3112,0,0,0,0,0,0
$GC,1008,-0.95,-116.8,125.4,-7.7,99,1013,0.15,2.20,0.00,0.000,6,0.054,0.018,2823,1707,3113,0,0,0,0,0,0
$GC,1276,-0.92,-116.8,149.1,-7.6,120,1281,0.12,2.45,0.00,0.000,4,0.092,0.046,2850,287,3113,0,0,0,0,0,0
$GC,1345,-0.92,-116.8,155.5,-8.8,125,1349,0.00,2.22,0.00,0.000,6,0.000,0.018,2850,1709,3114,0,0,0,0,0,0
$GC,1611,-0.96,-116.8,176.9,-8.3,146,1615,0.00,2.42,0.00,0.000,4,0.000,0.046,2850,294,3114,0,0,0,0,0,0
$GC,1693,-1.00,-116.8,184.7,-9.1,152,1697,0.00,2.22,0.00,0.000,6,0.000,0.018,2850,1704,3114,0,0,0,0,0,0
$GC,1967,-1.05,-116.8,207.3,-8.7,171,1972,0.12,2.42,0.00,0.000,4,0.063,0.047,2805,294,3114,0,0,0,0,0,0
$GC,2012,-0.96,-116.8,212.2,-10.7,173,2017,0.15,2.22,0.00,0.000,6,0.086,0.019,2839,1700,3114,0,0,0,0,0,0
$GC,2352,-1.01,-116.8,238.5,-7.4,189,2356,0.00,2.40,0.00,0.000,4,0.000,0.047,2838,294,3114,0,0,0,0,0,0
$GC,2422,-1.04,-116.8,244.4,-7.6,192,2426,0.00,2.22,0.00,0.000,6,0.000,0.020,2838,1708,3114,0,0,0,0,0,0
$GC,2748,-1.10,-116.8,270.9,-8.4,208,2749,0.12,0.00,0.00,0.000,6,0.063,0.000,2794,1713,3113,0,0,0,0,0,0
$GC,3058,-1.10,-116.8,298.3,-8.2,223,3062,0.00,2.45,0.00,0.000,4,0.000,0.049,2794,287,3112,0,0,0,0,0,0
$GC,3163,-1.05,-116.8,308.4,-9.4,226,3168,0.12,2.25,0.00,0.000,6,0.092,0.021,2822,1702,3112,0,0,0,0,0,0
$GC,3477,-1.10,-116.8,333.6,-8.1,234,3481,0.00,2.45,0.00,0.000,4,0.000,0.051,2822,295,3111,0,0,0,0,0,0
$GC,3525,-1.10,-116.8,337.3,-7.8,235,3530,0.00,2.25,0.00,0.000,6,0.000,0.023,2822,1705,3111,0,0,0,0,0,0
$GC,3850,-1.17,-116.8,356.5,-5.8,243,3855,0.12,2.47,0.00,0.000,4,0.065,0.054,2780,292,3109,0,0,0,0,0,0
$GC,3911,-1.10,-116.8,362.2,-9.6,244,3916,0.15,2.28,0.00,0.000,6,0.089,0.024,2813,1700,3109,0,0,0,0,0,0
$GC,4265,-1.14,-116.8,388.3,-7.1,253,4270,0.00,2.47,0.00,0.000,4,0.000,0.054,2813,292,3106,0,0,0,0,0,0
$GC,4298,-1.14,-116.8,391.4,-8.7,253,4302,0.00,2.28,0.00,0.000,6,0.000,0.025,2813,1698,3106,0,0,0,0,0,0
$GC,4631,-1.19,-116.8,416.7,-7.1,261,4636,0.10,2.47,0.00,0.000,4,0.076,0.057,2779,296,3103,0,0,0,0,0,0
$GC,4718,-1.13,-116.8,423.0,-6.9,262,4724,0.12,2.28,0.00,0.000,6,0.096,0.025,2805,1699,3103,0,0,0,0,0,0
$GC,5050,-1.13,-116.8,444.0,-7.1,271,5054,0.00,2.47,0.00,0.000,4,0.000,0.058,2805,292,3100,0,0,0,0,0,0
$GC,5083,-1.13,-116.8,447.0,-8.7,271,5087,0.00,2.30,0.00,0.000,6,0.000,0.027,2806,1705,3101,0,0,0,0,0,0
$STATE,5127,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5127,begin apogee
$GC,5133,-0.31,0.0,450.7,8.3,272,5232,0.80,0.00,95.97,0.840,6,0.066,0.000,2979,1709,2630,0,0,0,0,0,0
$STATE,5233,end apogee,CONTROL_FINISHED_OK
$STATE,5233,begin climb
$GC,5236,1.18,116.8,453.1,0.0,274,5348,1.42,2.42,100.97,0.821,4,0.040,0.034,3307,3079,2152,0,0,0,0,0,0
$GC,5365,1.11,219.0,453.7,3.3,277,5464,0.00,2.40,88.97,0.810,6,0.000,0.040,3308,1701,1737,0,0,0,0,0,0
$GC,5779,0.93,219.0,409.6,11.9,287,5784,0.25,2.53,0.00,0.000,4,0.096,0.059,3254,297,1728,0,0,0,0,0,0
$GC,5915,0.79,219.0,395.2,11.0,290,5920,0.15,2.33,0.00,0.000,6,0.110,0.027,3226,1700,1722,0,0,0,0,0,0
$GC,6244,0.80,225.4,368.7,7.6,298,6253,0.00,2.53,4.05,0.501,4,0.000,0.059,3226,297,1711,0,0,0,0,0,0
$GC,6340,0.76,225.4,359.3,10.2,300,6344,0.00,2.33,0.00,0.000,6,0.000,0.028,3225,1704,1709,0,0,0,0,0,0
$GC,6662,0.76,225.4,333.2,8.2,308,6667,0.00,2.50,0.00,0.000,4,0.000,0.058,3225,297,1708,0,0,0,0,0,0
$GC,6803,0.73,225.4,319.3,10.6,311,6807,0.00,2.33,0.00,0.000,6,0.000,0.028,3225,1707,1706,0,0,0,0,0,0
$GC,7135,0.77,229.0,292.2,7.7,321,7144,0.00,2.53,4.12,0.491,4,0.000,0.056,3226,290,1696,0,0,0,0,0,0
$GC,7279,0.77,229.0,278.8,10.1,327,7283,0.00,2.33,0.00,0.000,6,0.000,0.026,3225,1705,1694,0,0,0,0,0,0
$GC,7601,0.84,232.5,253.3,7.7,343,7612,0.00,2.50,4.55,0.502,4,0.000,0.054,3225,294,1681,0,0,0,0,0,0
$GC,7792,0.84,232.5,235.9,8.8,351,7796,0.00,2.33,0.00,0.000,6,0.000,0.025,3226,1710,1679,0,0,0,0,0,0
$GC,8115,0.95,260.0,213.6,6.7,367,8148,0.15,2.60,25.45,0.670,4,0.061,0.053,3269,295,1569,0,0,0,0,0,0
$GC,8265,0.86,260.0,197.3,12.1,374,8270,0.15,2.33,0.00,0.000,6,0.100,0.024,3240,1710,1564,0,0,0,0,0,0
$GC,8534,0.95,283.5,175.6,6.8,395,8561,0.00,2.55,20.67,0.624,4,0.000,0.050,3240,288,1473,0,0,0,0,0,0
$GC,8653,0.95,283.5,164.9,10.0,403,8659,0.00,2.30,0.00,0.000,6,0.000,0.022,3240,1708,1469,0,0,0,0,0,0
$GC,8912,1.03,283.5,142.9,8.4,424,8917,0.15,2.50,0.00,0.000,4,0.058,0.051,3286,288,1468,0,0,0,0,0,0
$GC,9053,0.92,283.5,126.1,11.5,434,9058,0.17,2.25,0.00,0.000,6,0.090,0.021,3250,1712,1467,0,0,0,0,0,0
$GC,9314,1.07,316.6,106.5,6.4,454,9349,0.15,2.55,28.88,0.568,4,0.057,0.049,3299,291,1338,0,0,0,0,0,0
$GC,9487,1.00,316.6,88.3,10.6,466,9492,0.15,2.25,0.00,0.000,6,0.093,0.020,3269,1704,1333,0,0,0,0,0,0
$GC,9757,1.11,316.6,65.7,8.0,487,9761,0.00,2.47,0.00,0.000,4,0.000,0.048,3269,290,1333,0,0,0,0,0,0
$GC,9816,1.14,316.6,59.7,9.8,491,9823,0.10,2.28,0.00,0.000,6,0.035,0.020,3315,1704,1332,0,0,0,0,0,0
$GC,10078,1.14,316.6,33.9,9.8,512,10083,0.00,2.45,0.00,0.000,4,0.000,0.047,3315,287,1332,0,0,0,0,0,0
$GC,10204,1.03,316.6,18.8,12.6,535,10211,0.15,2.25,0.00,0.000,6,0.069,0.018,3278,1700,1332,0,0,0,0,0,0
$STATE,10383,end climb,SURFACE_DEPTH_REACHED
$STATE,10383,begin surface coast
$FINISH,1.0,1.010747
$STATE,10423,end surface coast,CONTROL_FINISHED_OK
$STATE,10423,begin surface
$SM_CCo,10445,52.62,0.477,0,0,957,410.14
$SM_GC,1.57,0.00,0.00,52.62,0.000,0.000,0.477,427,1706,957,-12.07,0.17,410.14
$IRIDIUM_FIX,2059.45,-15803.33,131299,131325
$TT8_MAMPS,0.029146
$HUMID,56.73
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.4,41.791
$10V_AH,10.2,34.819
$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,30.375,118.925,373.650,52.625,0.000,24.635,32.185,150.154,4.750,0.000,16.157,1211.215,6675.377,459.283,1990.748,496.091,0.000,1354.157,0.000,1951.515,0.000,32.071,0.000
$DEVICE_MAMPS,132.691,59.059,839.865,477.074,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,393.995,376.042,830.302,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,31904,585
$CAP_FILE_SIZE,123243,0
$CFSIZE,260165632,188276736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180910,193136,2108.137,-15800.979,15,0.8,31,9.8