version: 66.06
glider: 139
mission: 8
dive: 481
start: 9 18 110 22 48 3
data:
$ID,139
$MISSION,8
$DIVE,481
$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,-2161154
$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
$GPS1,224007,2108.373,-15800.211,28,1.5,28,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-73.3
$GPS2,224743,2108.380,-15800.287,10,1.5,10,9.8
$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,89.2,30386,-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,-116.8,0.0,0.0,0,89,0.00,0.00,-69.62,0.000,2,0.000,0.000,424,1673,2914,0,0,0,0,0,0
$GC,92,-1.18,-116.8,3.9,-4.1,13,117,12.65,2.45,-3.42,0.000,4,0.133,0.037,2787,3110,3110,0,0,0,0,0,0
$GC,142,-0.51,-116.8,20.6,-31.6,22,150,0.65,2.42,0.00,0.000,6,0.066,0.034,2939,1699,3111,0,0,0,0,0,0
$GC,344,-0.67,-116.8,36.8,-6.6,52,349,0.17,2.42,0.00,0.000,4,0.048,0.046,2882,294,3112,0,0,0,0,0,0
$GC,399,-0.67,-116.8,42.7,-11.2,56,403,0.00,2.33,0.00,0.000,6,0.000,0.018,2882,1738,3112,0,0,0,0,0,0
$GC,658,-0.67,-116.8,70.0,-10.9,76,663,0.00,2.50,0.00,0.000,4,0.000,0.045,2882,294,3113,0,0,0,0,0,0
$GC,718,-0.67,-116.8,76.5,-10.4,80,725,0.00,2.28,0.00,0.000,6,0.000,0.018,2882,1718,3113,0,0,0,0,0,0
$GC,979,-0.77,-116.8,98.4,-7.7,101,983,0.00,2.42,0.00,0.000,4,0.000,0.044,2883,294,3114,0,0,0,0,0,0
$GC,1033,-0.85,-116.8,103.0,-8.2,105,1037,0.00,2.20,0.00,0.000,6,0.000,0.018,2882,1705,3114,0,0,0,0,0,0
$GC,1298,-0.94,-116.8,121.8,-7.3,126,1303,0.17,2.42,0.00,0.000,4,0.048,0.045,2823,294,3115,0,0,0,0,0,0
$GC,1360,-0.89,-116.8,128.1,-10.4,130,1367,0.12,2.25,0.00,0.000,6,0.067,0.018,2855,1701,3114,0,0,0,0,0,0
$GC,1622,-0.96,-116.8,151.1,-9.0,151,1626,0.00,2.40,0.00,0.000,4,0.000,0.045,2855,294,3115,0,0,0,0,0,0
$GC,1703,-1.00,-116.8,158.7,-9.4,157,1708,0.10,2.20,0.00,0.000,6,0.072,0.018,2816,1702,3115,0,0,0,0,0,0
$GC,1967,-1.00,-116.8,185.4,-10.3,178,1971,0.00,2.42,0.00,0.000,4,0.000,0.047,2816,286,3115,0,0,0,0,0,0
$GC,2035,-0.97,-116.8,192.9,-11.6,183,2040,0.12,2.22,0.00,0.000,6,0.093,0.019,2843,1694,3115,0,0,0,0,0,0
$GC,2302,-1.03,-116.8,215.8,-8.4,198,2306,0.00,2.42,0.00,0.000,4,0.000,0.047,2843,290,3115,0,0,0,0,0,0
$GC,2334,-1.03,-116.8,218.9,-9.5,199,2338,0.00,2.25,0.00,0.000,6,0.000,0.019,2843,1704,3115,0,0,0,0,0,0
$GC,2654,-1.10,-116.8,243.6,-7.0,214,2659,0.15,2.45,0.00,0.000,4,0.056,0.048,2792,287,3115,0,0,0,0,0,0
$GC,2734,-1.02,-116.8,251.1,-9.0,217,2739,0.15,2.25,0.00,0.000,6,0.088,0.019,2825,1696,3115,0,0,0,0,0,0
$GC,3053,-1.07,-116.8,274.3,-7.7,232,3057,0.00,2.42,0.00,0.000,4,0.000,0.048,2825,296,3114,0,0,0,0,0,0
$GC,3090,-1.07,-116.8,278.1,-9.8,233,3095,0.00,2.22,0.00,0.000,6,0.000,0.021,2825,1701,3114,0,0,0,0,0,0
$GC,3409,-1.14,-116.8,301.3,-6.6,249,3414,0.10,2.45,0.00,0.000,4,0.074,0.050,2788,290,3113,0,0,0,0,0,0
$GC,3439,-1.06,-116.8,304.2,-9.8,249,3443,0.15,2.25,0.00,0.000,6,0.088,0.021,2821,1703,3113,0,0,0,0,0,0
$GC,3776,-1.11,-116.8,333.9,-9.0,258,3781,0.00,2.45,0.00,0.000,4,0.000,0.052,2821,291,3112,0,0,0,0,0,0
$GC,3814,-1.11,-116.8,337.1,-7.8,258,3819,0.00,2.25,0.00,0.000,6,0.000,0.022,2821,1700,3112,0,0,0,0,0,0
$GC,4146,-1.17,-116.8,359.1,-6.6,267,4151,0.12,2.47,0.00,0.000,4,0.064,0.054,2780,287,3110,0,0,0,0,0,0
$GC,4233,-1.08,-116.8,369.7,-14.7,268,4239,0.15,2.28,0.00,0.000,6,0.089,0.024,2813,1698,3110,0,0,0,0,0,0
$GC,4567,-1.12,-116.8,402.8,-8.6,277,4572,0.00,2.45,0.00,0.000,4,0.000,0.054,2813,296,3107,0,0,0,0,0,0
$GC,4643,-1.12,-116.8,410.1,-10.8,278,4647,0.00,2.28,0.00,0.000,6,0.000,0.025,2813,1704,3106,0,0,0,0,0,0
$GC,4979,-1.16,-116.8,434.4,-7.0,287,4983,0.00,2.47,0.00,0.000,4,0.000,0.058,2813,294,3104,0,0,0,0,0,0
$GC,5002,-1.16,-116.8,436.7,-9.8,287,5007,0.00,2.28,0.00,0.000,6,0.000,0.025,2813,1704,3104,0,0,0,0,0,0
$STATE,5299,end dive,NO_VERTICAL_VELOCITY
$STATE,5300,begin apogee
$GC,5307,-0.31,0.0,439.3,0.0,295,5406,0.75,0.00,95.68,0.824,6,0.044,0.000,2989,1710,2630,0,0,0,0,0,0
$STATE,5406,end apogee,CONTROL_FINISHED_OK
$STATE,5406,begin climb
$GC,5409,1.18,116.8,439.0,0.0,297,5514,1.40,0.00,101.50,0.803,6,0.035,0.000,3313,1710,2153,0,0,0,0,0,0
$GC,5829,0.96,116.8,409.5,9.5,308,5834,0.25,2.50,0.00,0.000,4,0.096,0.052,3259,296,2142,0,0,0,0,0,0
$GC,5934,0.77,129.5,405.3,7.3,310,5951,0.20,2.30,10.12,0.697,6,0.105,0.026,3221,1701,2101,0,0,0,0,0,0
$GC,6292,0.77,129.5,374.0,13.1,319,6294,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,1702,2099,0,0,0,0,0,0
$GC,6617,0.85,189.1,350.4,5.2,327,6677,0.00,2.55,53.00,0.775,4,0.000,0.054,3221,297,1857,0,0,0,0,0,0
$GC,6731,0.80,189.1,341.3,9.6,329,6735,0.00,2.33,0.00,0.000,6,0.000,0.027,3222,1701,1852,0,0,0,0,0,0
$GC,7072,0.88,213.6,317.0,6.8,338,7095,0.00,0.00,21.85,0.731,6,0.000,0.000,3221,1705,1758,0,0,0,0,0,0
$GC,7378,0.93,213.6,289.6,9.4,348,7383,0.12,2.53,0.00,0.000,4,0.069,0.058,3258,293,1754,0,0,0,0,0,0
$GC,7508,0.85,213.6,274.8,10.3,353,7515,0.12,2.35,0.00,0.000,6,0.110,0.026,3233,1706,1750,0,0,0,0,0,0
$GC,7826,0.95,250.9,252.8,6.2,369,7869,0.00,2.55,32.55,0.706,4,0.000,0.053,3234,292,1605,0,0,0,0,0,0
$GC,7928,0.95,253.8,245.3,7.8,373,7933,0.10,2.35,0.00,0.000,6,0.081,0.025,3262,1707,1601,0,0,0,0,0,0
$GC,8252,0.95,253.8,218.5,9.0,389,8256,0.00,2.47,0.00,0.000,4,0.000,0.052,3262,296,1599,0,0,0,0,0,0
$GC,8312,0.86,253.8,211.3,12.0,391,8318,0.12,2.30,0.00,0.000,6,0.108,0.024,3239,1708,1597,0,0,0,0,0,0
$GC,8643,0.90,255.0,184.7,7.8,413,8647,0.00,2.47,0.00,0.000,4,0.000,0.051,3239,291,1596,0,0,0,0,0,0
$GC,8767,0.90,255.0,173.8,9.4,422,8772,0.00,2.28,0.00,0.000,6,0.000,0.022,3239,1705,1595,0,0,0,0,0,0
$GC,9035,0.97,261.6,153.4,7.6,443,9050,0.10,2.47,8.90,0.541,4,0.075,0.048,3274,295,1563,0,0,0,0,0,0
$GC,9218,0.88,261.6,134.1,11.8,456,9223,0.17,2.25,0.00,0.000,6,0.095,0.021,3239,1705,1559,0,0,0,0,0,0
$GC,9487,1.01,287.9,115.1,6.7,477,9517,0.15,2.55,23.42,0.567,4,0.057,0.048,3287,296,1456,0,0,0,0,0,0
$GC,9668,0.96,287.9,98.2,9.4,490,9673,0.12,2.25,0.00,0.000,6,0.095,0.020,3260,1706,1451,0,0,0,0,0,0
$GC,9936,1.09,306.7,78.8,7.0,511,9958,0.12,2.50,17.00,0.521,4,0.064,0.047,3302,288,1378,0,0,0,0,0,0
$GC,10043,1.03,306.7,69.1,11.3,518,10048,0.15,2.25,0.00,0.000,6,0.091,0.019,3271,1710,1375,0,0,0,0,0,0
$GC,10312,1.14,322.5,50.7,7.2,539,10334,0.12,2.47,14.25,0.486,4,0.062,0.046,3314,294,1314,0,0,0,0,0,0
$GC,10450,1.04,322.5,34.7,12.8,549,10454,0.17,2.22,0.00,0.000,6,0.087,0.019,3278,1707,1311,0,0,0,0,0,0
$GC,10715,1.09,324.8,13.9,7.8,603,10722,0.00,2.47,0.00,0.000,4,0.000,0.045,3277,294,1310,0,0,0,0,0,0
$STATE,10839,end climb,SURFACE_DEPTH_REACHED
$STATE,10839,begin surface coast
$FINISH,1.2,1.023191
$STATE,10870,end surface coast,CONTROL_FINISHED_OK
$STATE,10870,begin surface
$SM_CCo,10895,49.17,0.472,0,0,957,410.14
$SM_GC,1.64,0.00,0.00,49.17,0.000,0.000,0.472,423,1701,957,-12.08,0.03,410.14
$IRIDIUM_FIX,2059.45,-15803.33,131299,191919
$TT8_MAMPS,0.028379
$HUMID,56.10
$INTERNAL_PRESSURE,9.30354
$TCM_TEMP,22.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,402.8,69.2
$24V_AH,23.5,42.001
$10V_AH,10.2,34.987
$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,31.200,123.300,378.275,49.175,0.000,54.087,60.330,156.547,4.250,0.000,10.345,1250.669,7138.210,515.080,1925.824,568.390,0.000,1345.635,0.000,1912.842,0.000,29.161,0.000
$DEVICE_MAMPS,132.691,57.525,823.758,471.705,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,428.951,417.458,944.962,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,34903,638
$CAP_FILE_SIZE,122756,0
$CFSIZE,260165632,188157952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190910,015137,2108.755,-15759.469,30,1.5,30,9.8