version: 66.06
glider: 139
mission: 8
dive: 484
start: 9 19 110 8 3 25
data:
$ID,139
$MISSION,8
$DIVE,484
$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,-2161245.5
$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
$GPS1,075652,2108.959,-15757.513,9,4.0,28,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-72.4
$GPS2,080307,2108.917,-15757.526,39,0.9,39,9.8
$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,93.0,25887,-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,15,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.20,0.000,2,0.000,0.000,427,1711,2737,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.3,-3.2,12,109,12.62,0.00,-7.05,0.000,6,0.132,0.000,2786,1713,3109,0,0,0,0,0,0
$GC,310,-0.96,-116.8,49.3,-18.1,47,312,0.25,0.00,0.00,0.000,6,0.090,0.000,2837,1713,3112,0,0,0,0,0,0
$GC,563,-0.91,-116.8,82.3,-11.6,67,567,0.00,2.45,0.00,0.000,4,0.000,0.048,2838,292,3112,0,0,0,0,0,0
$GC,672,-0.83,-116.8,95.6,-13.2,75,677,0.15,2.30,0.00,0.000,6,0.088,0.018,2870,1737,3112,0,0,0,0,0,0
$GC,940,-0.89,-116.8,118.0,-8.5,96,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1738,3114,0,0,0,0,0,0
$GC,1189,-0.99,-116.8,138.8,-8.4,116,1194,0.15,2.50,0.00,0.000,4,0.054,0.046,2819,288,3114,0,0,0,0,0,0
$GC,1287,-0.93,-116.8,149.3,-11.2,123,1292,0.12,2.25,0.00,0.000,6,0.093,0.018,2846,1717,3114,0,0,0,0,0,0
$GC,1553,-0.99,-116.8,173.4,-7.9,144,1557,0.00,2.45,0.00,0.000,4,0.000,0.046,2846,293,3114,0,0,0,0,0,0
$GC,1637,-1.04,-116.8,180.8,-8.6,150,1642,0.10,2.22,0.00,0.000,6,0.072,0.019,2807,1704,3114,0,0,0,0,0,0
$GC,1916,-1.00,-116.8,209.0,-10.3,169,1920,0.12,2.45,0.00,0.000,4,0.093,0.048,2834,295,3114,0,0,0,0,0,0
$GC,1963,-1.00,-116.8,213.6,-10.1,171,1967,0.00,2.22,0.00,0.000,6,0.000,0.020,2834,1706,3115,0,0,0,0,0,0
$GC,2295,-1.05,-116.8,243.0,-8.8,187,2300,0.00,2.45,0.00,0.000,4,0.000,0.048,2835,289,3114,0,0,0,0,0,0
$GC,2369,-1.05,-116.8,250.2,-10.3,190,2373,0.00,2.22,0.00,0.000,6,0.000,0.020,2835,1700,3114,0,0,0,0,0,0
$GC,2691,-1.13,-116.8,273.7,-6.5,206,2696,0.15,2.45,0.00,0.000,4,0.057,0.049,2785,294,3114,0,0,0,0,0,0
$GC,2738,-1.05,-116.8,278.3,-10.4,208,2743,0.17,2.22,0.00,0.000,6,0.083,0.021,2823,1698,3113,0,0,0,0,0,0
$GC,3069,-1.11,-116.8,300.4,-7.1,224,3074,0.00,2.42,0.00,0.000,4,0.000,0.050,2823,293,3113,0,0,0,0,0,0
$GC,3093,-1.11,-116.8,302.9,-8.0,224,3097,0.00,2.25,0.00,0.000,6,0.000,0.022,2823,1707,3113,0,0,0,0,0,0
$GC,3435,-1.16,-116.8,327.5,-6.8,233,3440,0.12,2.47,0.00,0.000,4,0.064,0.051,2781,287,3112,0,0,0,0,0,0
$GC,3515,-1.10,-116.8,335.0,-9.4,234,3520,0.12,2.25,0.00,0.000,6,0.094,0.023,2808,1691,3111,0,0,0,0,0,0
$GC,3848,-1.10,-116.8,362.5,-8.5,242,3852,0.00,2.42,0.00,0.000,4,0.000,0.051,2808,291,3109,0,0,0,0,0,0
$GC,3880,-1.10,-116.8,365.6,-9.0,242,3884,0.00,2.30,0.00,0.000,6,0.000,0.024,2808,1700,3109,0,0,0,0,0,0
$GC,4212,-1.13,-116.8,391.2,-7.8,250,4216,0.00,2.45,0.00,0.000,4,0.000,0.055,2807,296,3106,0,0,0,0,0,0
$GC,4289,-1.13,-116.8,398.2,-9.0,251,4293,0.00,2.28,0.00,0.000,6,0.000,0.025,2808,1702,3106,0,0,0,0,0,0
$GC,4625,-1.16,-116.8,423.7,-7.8,260,4629,0.00,2.50,0.00,0.000,4,0.000,0.058,2807,290,3104,0,0,0,0,0,0
$GC,4742,-1.16,-116.8,434.7,-9.0,262,4746,0.00,2.33,0.00,0.000,6,0.000,0.026,2807,1702,3103,0,0,0,0,0,0
$STATE,4962,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4962,begin apogee
$GC,4968,-0.31,0.0,451.3,7.1,268,5067,0.80,0.00,95.80,0.841,6,0.065,0.000,2981,1707,2630,0,0,0,0,0,0
$STATE,5068,end apogee,CONTROL_FINISHED_OK
$STATE,5068,begin climb
$GC,5071,1.18,116.8,452.7,0.0,270,5184,1.42,2.45,100.47,0.819,4,0.038,0.034,3312,3085,2152,0,0,0,0,0,0
$GC,5318,1.01,116.8,439.0,9.8,275,5323,0.22,2.42,0.00,0.000,6,0.099,0.041,3268,1701,2148,0,0,0,0,0,0
$GC,5661,0.91,126.4,413.0,7.5,284,5674,0.00,2.42,7.90,0.676,4,0.000,0.032,3268,3095,2113,0,0,0,0,0,0
$GC,5689,0.86,154.0,410.8,6.6,284,5722,0.15,2.42,25.85,0.783,6,0.106,0.041,3240,1696,2001,0,0,0,0,0,0
$GC,6032,0.86,180.4,385.9,6.7,293,6061,0.00,2.58,23.62,0.778,4,0.000,0.059,3240,293,1894,0,0,0,0,0,0
$GC,6130,0.76,180.4,377.2,9.3,295,6135,0.12,2.38,0.00,0.000,6,0.115,0.027,3217,1709,1889,0,0,0,0,0,0
$GC,6449,0.76,180.4,350.8,8.3,303,6453,0.00,2.53,0.00,0.000,4,0.000,0.057,3216,297,1887,0,0,0,0,0,0
$GC,6527,0.76,180.4,343.5,8.6,304,6532,0.00,2.33,0.00,0.000,6,0.000,0.028,3217,1708,1884,0,0,0,0,0,0
$GC,6860,0.80,181.2,317.5,7.9,312,6865,0.00,2.50,0.00,0.000,4,0.000,0.056,3217,294,1883,0,0,0,0,0,0
$GC,7027,0.80,181.3,303.3,7.9,315,7031,0.00,2.33,0.00,0.000,6,0.000,0.028,3217,1707,1880,0,0,0,0,0,0
$GC,7349,0.98,274.3,288.3,3.7,329,7436,0.20,0.00,80.90,0.755,6,0.056,0.000,3270,1712,1510,0,0,0,0,0,0
$GC,7745,0.98,274.3,253.0,9.6,348,7749,0.00,2.53,0.00,0.000,4,0.000,0.055,3270,293,1503,0,0,0,0,0,0
$GC,7846,0.89,274.3,240.8,13.4,352,7851,0.15,2.33,0.00,0.000,6,0.104,0.025,3242,1705,1498,0,0,0,0,0,0
$GC,8165,0.92,274.3,207.2,9.9,367,8169,0.00,2.47,0.00,0.000,4,0.000,0.054,3241,295,1498,0,0,0,0,0,0
$GC,8336,0.92,274.3,189.6,9.5,377,8341,0.00,2.30,0.00,0.000,6,0.000,0.024,3241,1715,1495,0,0,0,0,0,0
$GC,8596,0.97,274.3,166.4,9.8,398,8600,0.00,2.47,0.00,0.000,4,0.000,0.051,3241,295,1495,0,0,0,0,0,0
$GC,8711,0.97,274.3,153.4,11.3,406,8718,0.00,2.30,0.00,0.000,6,0.000,0.023,3242,1706,1493,0,0,0,0,0,0
$GC,8975,1.04,282.5,132.9,7.5,427,8989,0.15,2.53,5.47,0.465,4,0.059,0.049,3287,294,1478,0,0,0,0,0,0
$GC,9078,0.94,282.5,119.9,13.2,434,9083,0.15,2.28,0.00,0.000,6,0.094,0.021,3257,1706,1476,0,0,0,0,0,0
$GC,9340,1.00,284.9,99.5,7.8,454,9345,0.00,2.45,0.00,0.000,4,0.000,0.048,3257,290,1477,0,0,0,0,0,0
$GC,9427,1.00,284.9,91.6,8.8,460,9434,0.00,2.28,0.00,0.000,6,0.000,0.021,3257,1701,1476,0,0,0,0,0,0
$GC,9691,1.19,337.5,74.4,5.5,481,9749,0.22,2.55,47.45,0.548,4,0.044,0.049,3325,294,1253,0,0,0,0,0,0
$GC,9924,1.07,337.5,49.9,12.2,497,9931,0.17,2.28,0.00,0.000,6,0.071,0.020,3285,1708,1247,0,0,0,0,0,0
$GC,10186,1.14,337.5,25.7,9.2,524,10193,0.00,2.50,0.00,0.000,4,0.000,0.048,3284,291,1246,0,0,0,0,0,0
$GC,10342,1.14,337.5,9.8,10.5,559,10349,0.00,2.25,0.00,0.000,6,0.000,0.018,3284,1691,1245,0,0,0,0,0,0
$STATE,10413,end climb,SURFACE_DEPTH_REACHED
$STATE,10413,begin surface coast
$FINISH,0.9,1.023266
$STATE,10451,end surface coast,CONTROL_FINISHED_OK
$STATE,10451,begin surface
$SM_CCo,10473,42.10,0.476,0,0,957,410.14
$SM_GC,1.65,0.00,0.00,42.10,0.000,0.000,0.476,423,1697,957,-12.08,-0.08,410.14
$IRIDIUM_FIX,2101.76,-15756.04,141299,050500
$TT8_MAMPS,0.028379
$HUMID,57.48
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.4,42.319
$10V_AH,10.2,35.231
$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,30.050,109.725,387.475,42.100,0.000,27.030,29.479,163.696,4.500,0.000,39.963,1168.865,6814.430,459.048,1938.392,504.887,0.000,1328.471,0.000,1888.210,0.000,29.248,0.000
$DEVICE_MAMPS,131.924,59.059,840.632,476.307,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,392.375,376.629,829.938,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,31872,583
$CAP_FILE_SIZE,117078,0
$CFSIZE,260165632,187990016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190910,105952,2108.850,-15756.914,13,2.3,32,9.8