version: 66.06
glider: 139
mission: 8
dive: 483
start: 9 19 110 4 53 19
data:
$ID,139
$MISSION,8
$DIVE,483
$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,-2161204.8
$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
$GPS1,043556,2108.911,-15758.535,43,2.1,62,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-71.7
$GPS2,045301,2108.885,-15758.717,16,2.0,33,9.8
$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,92.0,27884,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.18,-116.8,0.0,0.0,0,83,0.00,0.00,-64.35,0.000,2,0.000,0.000,424,1709,2733,0,0,0,0,0,0
$GC,87,-1.18,-116.8,3.0,-2.6,12,111,12.57,0.00,-7.18,0.000,6,0.131,0.000,2783,1710,3108,0,0,0,0,0,0
$GC,308,-0.94,-116.8,47.3,-17.9,46,313,0.25,2.30,0.00,0.000,4,0.090,0.020,2839,3114,3110,0,0,0,0,0,0
$GC,342,-0.94,-116.8,52.4,-12.4,48,349,0.00,2.42,0.00,0.000,6,0.000,0.032,2839,1691,3110,0,0,0,0,0,0
$GC,602,-0.88,-116.8,88.1,-13.5,69,606,0.00,2.38,0.00,0.000,4,0.000,0.045,2839,296,3111,0,0,0,0,0,0
$GC,692,-0.79,-116.8,100.4,-14.4,75,698,0.17,2.28,0.00,0.000,6,0.087,0.018,2876,1741,3111,0,0,0,0,0,0
$GC,953,-0.88,-116.8,121.5,-7.2,96,957,0.00,2.47,0.00,0.000,4,0.000,0.044,2876,289,3112,0,0,0,0,0,0
$GC,987,-0.95,-116.8,124.1,-7.5,98,994,0.12,2.28,0.00,0.000,6,0.029,0.018,2824,1717,3112,0,0,0,0,0,0
$GC,1250,-0.95,-116.8,147.0,-9.4,119,1251,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1720,3112,0,0,0,0,0,0
$GC,1500,-0.95,-116.8,170.0,-8.4,139,1505,0.00,2.42,0.00,0.000,4,0.000,0.045,2824,297,3112,0,0,0,0,0,0
$GC,1601,-0.95,-116.8,179.5,-9.4,146,1608,0.00,2.22,0.00,0.000,6,0.000,0.019,2824,1691,3112,0,0,0,0,0,0
$GC,1869,-0.95,-116.8,202.3,-8.6,167,1873,0.00,2.40,0.00,0.000,4,0.000,0.046,2824,289,3112,0,0,0,0,0,0
$GC,1898,-0.89,-116.8,205.2,-10.0,168,1903,0.15,2.22,0.00,0.000,6,0.084,0.019,2856,1704,3112,0,0,0,0,0,0
$GC,2221,-0.98,-116.8,226.1,-6.0,184,2225,0.00,2.40,0.00,0.000,4,0.000,0.045,2857,297,3112,0,0,0,0,0,0
$GC,2297,-1.06,-116.8,231.5,-7.4,187,2302,0.17,2.20,0.00,0.000,6,0.049,0.020,2800,1700,3111,0,0,0,0,0,0
$GC,2619,-1.06,-116.8,259.7,-8.5,203,2624,0.00,2.25,0.00,0.000,4,0.000,0.025,2801,3070,3111,0,0,0,0,0,0
$GC,2646,-1.09,-116.8,261.9,-8.3,204,2650,0.00,2.30,0.00,0.000,6,0.000,0.033,2801,1699,3111,0,0,0,0,0,0
$GC,2979,-1.09,-116.8,296.3,-10.9,220,2984,0.00,2.42,0.00,0.000,4,0.000,0.048,2800,292,3110,0,0,0,0,0,0
$GC,3025,-1.06,-116.8,301.0,-10.4,222,3029,0.00,2.25,0.00,0.000,6,0.000,0.021,2800,1702,3110,0,0,0,0,0,0
$GC,3349,-1.06,-116.8,328.5,-8.7,230,3350,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1707,3108,0,0,0,0,0,0
$GC,3673,-1.06,-116.8,358.0,-8.5,238,3677,0.00,2.45,0.00,0.000,4,0.000,0.052,2800,290,3106,0,0,0,0,0,0
$GC,3775,-1.06,-116.8,367.5,-9.2,240,3780,0.00,2.25,0.00,0.000,6,0.000,0.023,2800,1697,3106,0,0,0,0,0,0
$GC,4089,-1.06,-116.8,388.1,-6.0,248,4093,0.00,2.45,0.00,0.000,4,0.000,0.054,2801,290,3104,0,0,0,0,0,0
$GC,4127,-1.03,-116.8,390.6,-6.6,248,4132,0.12,2.30,0.00,0.000,6,0.094,0.024,2828,1705,3104,0,0,0,0,0,0
$GC,4460,-1.10,-116.8,406.9,-4.8,256,4464,0.00,2.45,0.00,0.000,4,0.000,0.055,2828,299,3101,0,0,0,0,0,0
$GC,4526,-1.16,-116.8,410.9,-5.7,257,4531,0.15,2.25,0.00,0.000,6,0.058,0.025,2782,1701,3102,0,0,0,0,0,0
$GC,4873,-1.16,-116.8,436.3,-7.3,266,4877,0.00,2.47,0.00,0.000,4,0.000,0.058,2782,299,3098,0,0,0,0,0,0
$GC,4911,-1.10,-116.8,439.7,-8.9,266,4918,0.12,2.28,0.00,0.000,6,0.099,0.026,2809,1697,3098,0,0,0,0,0,0
$STATE,5077,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5077,begin apogee
$GC,5084,-0.31,0.0,451.7,7.1,271,5181,0.80,0.00,94.20,0.835,6,0.064,0.000,2983,1702,2630,0,0,0,0,0,0
$STATE,5182,end apogee,CONTROL_FINISHED_OK
$STATE,5182,begin climb
$GC,5185,1.18,116.8,453.5,0.0,273,5297,1.42,2.38,99.90,0.817,4,0.038,0.031,3313,3081,2152,0,0,0,0,0,0
$GC,5380,1.00,120.4,448.1,7.7,277,5389,0.22,2.42,3.75,0.467,6,0.100,0.041,3269,1697,2139,0,0,0,0,0,0
$GC,5732,0.93,148.9,424.4,6.6,286,5760,0.00,0.00,25.48,0.785,6,0.000,0.000,3269,1697,2023,0,0,0,0,0,0
$GC,6057,0.86,170.2,401.7,6.9,294,6079,0.15,0.00,19.52,0.767,6,0.105,0.000,3240,1697,1935,0,0,0,0,0,0
$GC,6380,0.86,170.2,377.1,7.9,302,6384,0.00,2.50,0.00,0.000,4,0.000,0.058,3240,294,1931,0,0,0,0,0,0
$GC,6456,0.76,170.2,370.0,9.8,303,6461,0.12,2.33,0.00,0.000,6,0.114,0.027,3217,1698,1927,0,0,0,0,0,0
$GC,6793,0.84,200.3,346.3,6.5,312,6825,0.00,2.60,26.62,0.767,4,0.000,0.058,3217,294,1813,0,0,0,0,0,0
$GC,6975,0.84,200.3,331.4,9.4,316,6979,0.00,2.33,0.00,0.000,6,0.000,0.028,3216,1703,1806,0,0,0,0,0,0
$GC,7308,0.93,226.4,308.5,6.7,324,7337,0.15,2.58,23.42,0.739,4,0.064,0.057,3258,295,1706,0,0,0,0,0,0
$GC,7441,0.82,226.4,294.1,11.7,328,7446,0.15,2.33,0.00,0.000,6,0.105,0.027,3230,1701,1701,0,0,0,0,0,0
$GC,7773,0.90,252.7,268.5,6.7,344,7803,0.00,2.60,23.27,0.713,4,0.000,0.056,3229,296,1598,0,0,0,0,0,0
$GC,7855,0.90,252.7,262.0,9.1,347,7859,0.00,2.33,0.00,0.000,6,0.000,0.026,3230,1706,1595,0,0,0,0,0,0
$GC,8171,0.98,256.2,238.1,7.7,362,8176,0.15,2.53,0.00,0.000,4,0.061,0.054,3273,294,1593,0,0,0,0,0,0
$GC,8252,0.86,256.2,229.0,11.7,365,8257,0.17,2.30,0.00,0.000,6,0.097,0.025,3239,1706,1590,0,0,0,0,0,0
$GC,8570,0.91,260.1,202.9,7.7,380,8582,0.00,2.55,6.47,0.543,4,0.000,0.053,3239,298,1569,0,0,0,0,0,0
$GC,8725,0.91,260.1,186.6,11.6,390,8729,0.00,2.28,0.00,0.000,6,0.000,0.023,3238,1709,1566,0,0,0,0,0,0
$GC,8993,0.96,260.1,163.5,8.2,411,8997,0.00,2.47,0.00,0.000,4,0.000,0.051,3238,291,1566,0,0,0,0,0,0
$GC,9089,0.96,260.1,154.6,9.0,418,9094,0.00,2.28,0.00,0.000,6,0.000,0.021,3239,1706,1565,0,0,0,0,0,0
$GC,9352,1.04,268.2,135.0,7.5,438,9367,0.17,2.50,8.38,0.525,4,0.052,0.049,3291,290,1534,0,0,0,0,0,0
$GC,9476,0.92,268.2,121.0,11.6,446,9482,0.17,2.30,0.00,0.000,6,0.072,0.021,3251,1702,1532,0,0,0,0,0,0
$GC,9739,1.00,277.1,102.6,7.5,467,9753,0.00,2.50,9.02,0.504,4,0.000,0.048,3250,291,1499,0,0,0,0,0,0
$GC,9792,1.00,277.1,97.6,9.4,470,9799,0.00,2.30,0.00,0.000,6,0.000,0.021,3250,1707,1497,0,0,0,0,0,0
$GC,10055,1.15,313.7,81.4,6.2,491,10097,0.22,2.55,32.05,0.545,4,0.045,0.048,3317,294,1349,0,0,0,0,0,0
$GC,10284,1.06,313.7,56.8,10.8,507,10291,0.15,2.28,0.00,0.000,6,0.067,0.019,3281,1701,1345,0,0,0,0,0,0
$GC,10546,1.17,345.8,36.7,6.4,528,10581,0.10,2.50,27.48,0.501,4,0.072,0.049,3317,293,1218,0,0,0,0,0,0
$GC,10693,1.05,345.8,18.9,14.1,550,10699,0.15,2.28,0.00,0.000,6,0.068,0.019,3281,1706,1215,0,0,0,0,0,0
$STATE,10855,end climb,SURFACE_DEPTH_REACHED
$STATE,10855,begin surface coast
$FINISH,1.0,1.023214
$STATE,10886,end surface coast,CONTROL_FINISHED_OK
$STATE,10886,begin surface
$SM_CCo,10908,37.15,0.472,0,0,958,410.14
$SM_GC,1.64,0.00,0.00,37.15,0.000,0.000,0.472,427,1709,958,-12.07,0.23,410.14
$IRIDIUM_FIX,2104.07,-15800.33,141299,040432
$TT8_MAMPS,0.029146
$HUMID,57.95
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.5,42.216
$10V_AH,10.2,35.151
$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,30.475,114.100,399.575,37.150,0.000,151.955,178.787,280.803,4.750,0.000,33.426,1193.233,7449.589,478.738,1908.156,938.517,0.000,1342.571,0.000,1868.715,0.000,32.095,0.000
$DEVICE_MAMPS,131.157,58.292,835.263,472.472,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,399.650,377.590,819.575,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,31808,594
$CAP_FILE_SIZE,126366,0
$CFSIZE,260165632,188043264
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190910,075652,2108.959,-15757.513,9,4.0,28,9.8