version: 66.06
glider: 139
mission: 8
dive: 487
start: 9 19 110 17 21 20
data:
$ID,139
$MISSION,8
$DIVE,487
$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,-2161318.2
$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
$GPS1,171534,2108.516,-15755.396,11,4.9,30,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-74.7
$GPS2,172101,2108.483,-15755.412,11,1.0,16,9.8
$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,93.1,22147,-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,-116.8,0.0,0.0,0,82,0.00,0.00,-64.20,0.000,2,0.000,0.000,428,1711,2728,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.1,-2.8,12,110,12.62,0.00,-7.30,0.000,6,0.133,0.000,2784,1712,3110,0,0,0,0,0,0
$GC,305,-0.93,-116.8,47.7,-18.9,47,310,0.25,2.30,0.00,0.000,4,0.091,0.020,2840,3113,3112,0,0,0,0,0,0
$GC,325,-0.80,-116.8,51.5,-17.9,48,332,0.12,2.42,0.00,0.000,6,0.070,0.032,2873,1691,3113,0,0,0,0,0,0
$GC,585,-0.80,-116.8,80.3,-10.0,69,589,0.00,2.40,0.00,0.000,4,0.000,0.045,2873,288,3113,0,0,0,0,0,0
$GC,659,-0.80,-116.8,88.2,-10.1,74,666,0.00,2.33,0.00,0.000,6,0.000,0.018,2873,1734,3114,0,0,0,0,0,0
$GC,922,-0.86,-116.8,109.8,-7.5,95,927,0.00,2.45,0.00,0.000,4,0.000,0.044,2873,296,3114,0,0,0,0,0,0
$GC,1003,-0.93,-116.8,116.5,-8.4,101,1008,0.12,2.22,0.00,0.000,6,0.061,0.018,2826,1713,3114,0,0,0,0,0,0
$GC,1267,-0.93,-116.8,146.1,-11.4,122,1271,0.10,2.47,0.00,0.000,4,0.100,0.046,2849,291,3115,0,0,0,0,0,0
$GC,1313,-0.93,-116.8,151.2,-11.0,125,1318,0.00,2.22,0.00,0.000,6,0.000,0.018,2849,1704,3115,0,0,0,0,0,0
$GC,1575,-0.96,-116.8,175.2,-8.6,146,1579,0.00,2.20,0.00,0.000,4,0.000,0.022,2849,3066,3116,0,0,0,0,0,0
$GC,1594,-1.03,-116.8,177.0,-7.5,147,1600,0.10,2.28,0.00,0.000,6,0.071,0.031,2805,1695,3115,0,0,0,0,0,0
$GC,1855,-1.03,-116.8,200.9,-8.5,168,1859,0.00,2.38,0.00,0.000,4,0.000,0.046,2805,290,3115,0,0,0,0,0,0
$GC,1907,-0.97,-116.8,206.1,-9.7,170,1912,0.15,2.22,0.00,0.000,6,0.086,0.018,2838,1699,3116,0,0,0,0,0,0
$GC,2230,-1.03,-116.8,228.0,-7.1,186,2234,0.00,2.42,0.00,0.000,4,0.000,0.046,2838,295,3116,0,0,0,0,0,0
$GC,2278,-1.06,-116.8,232.0,-8.5,188,2282,0.00,2.22,0.00,0.000,6,0.000,0.019,2838,1699,3115,0,0,0,0,0,0
$GC,2605,-1.13,-116.8,257.8,-7.9,204,2610,0.15,2.45,0.00,0.000,4,0.055,0.048,2788,291,3115,0,0,0,0,0,0
$GC,2669,-1.05,-116.8,264.9,-11.1,206,2676,0.12,2.25,0.00,0.000,6,0.067,0.021,2820,1689,3115,0,0,0,0,0,0
$GC,2987,-1.09,-116.8,289.7,-6.7,222,2988,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1694,3114,0,0,0,0,0,0
$GC,3314,-1.14,-116.8,314.2,-7.8,234,3318,0.00,2.40,0.00,0.000,4,0.000,0.050,2820,296,3113,0,0,0,0,0,0
$GC,3393,-1.14,-116.8,322.0,-10.2,235,3397,0.00,2.22,0.00,0.000,6,0.000,0.022,2820,1701,3113,0,0,0,0,0,0
$GC,3727,-1.19,-116.8,349.7,-8.6,243,3732,0.12,2.47,0.00,0.000,4,0.064,0.053,2778,297,3111,0,0,0,0,0,0
$GC,3813,-1.11,-116.8,359.6,-11.1,244,3820,0.15,2.22,0.00,0.000,6,0.089,0.024,2810,1695,3111,0,0,0,0,0,0
$GC,4145,-1.15,-116.8,386.8,-7.7,253,4149,0.00,2.42,0.00,0.000,4,0.000,0.054,2810,301,3108,0,0,0,0,0,0
$GC,4253,-1.15,-116.8,395.3,-8.0,255,4257,0.00,2.28,0.00,0.000,6,0.000,0.025,2810,1701,3108,0,0,0,0,0,0
$GC,4603,-1.20,-116.8,419.9,-7.1,264,4610,0.00,2.45,0.00,0.000,4,0.000,0.056,2810,304,3105,0,0,0,0,0,0
$GC,4700,-1.20,-116.8,428.1,-8.8,266,4705,0.00,2.28,0.00,0.000,6,0.000,0.025,2811,1697,3104,0,0,0,0,0,0
$STATE,4950,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4950,begin apogee
$GC,4956,-0.31,0.0,450.5,9.4,272,5055,0.77,0.00,95.50,0.836,6,0.064,0.000,2979,1703,2629,0,0,0,0,0,0
$STATE,5056,end apogee,CONTROL_FINISHED_OK
$STATE,5056,begin climb
$GC,5059,1.18,116.8,454.8,0.0,274,5171,1.42,2.45,100.12,0.820,4,0.038,0.032,3308,3084,2152,0,0,0,0,0,0
$GC,5235,1.09,180.9,456.7,5.0,278,5297,0.12,2.42,56.10,0.804,6,0.110,0.040,3285,1699,1891,0,0,0,0,0,0
$GC,5645,0.96,180.9,420.8,9.3,288,5650,0.12,2.50,0.00,0.000,4,0.112,0.059,3262,294,1882,0,0,0,0,0,0
$GC,5717,0.80,180.9,413.3,11.1,289,5722,0.20,2.33,0.00,0.000,6,0.103,0.027,3224,1701,1878,0,0,0,0,0,0
$GC,6058,0.80,180.9,382.5,9.4,298,6062,0.00,2.53,0.00,0.000,4,0.000,0.058,3223,293,1877,0,0,0,0,0,0
$GC,6152,0.76,180.9,372.8,10.0,300,6156,0.00,2.35,0.00,0.000,6,0.000,0.027,3223,1704,1874,0,0,0,0,0,0
$GC,6475,0.76,183.6,346.7,7.8,308,6479,0.00,2.50,0.00,0.000,4,0.000,0.057,3223,295,1873,0,0,0,0,0,0
$GC,6555,0.72,183.6,340.2,8.6,309,6559,0.00,2.33,0.00,0.000,6,0.000,0.027,3223,1709,1871,0,0,0,0,0,0
$GC,6887,0.84,247.9,321.3,5.0,317,6951,0.00,2.58,56.38,0.768,4,0.000,0.056,3223,293,1618,0,0,0,0,0,0
$GC,7030,0.84,247.9,311.3,8.5,320,7034,0.00,2.35,0.00,0.000,6,0.000,0.027,3223,1700,1611,0,0,0,0,0,0
$GC,7347,0.92,258.9,288.0,7.4,332,7364,0.12,2.58,9.48,0.655,4,0.069,0.057,3260,299,1573,0,0,0,0,0,0
$GC,7510,0.82,258.9,269.0,13.0,339,7515,0.15,2.30,0.00,0.000,6,0.105,0.026,3232,1701,1569,0,0,0,0,0,0
$GC,7843,0.87,258.9,239.7,8.6,355,7848,0.00,2.50,0.00,0.000,4,0.000,0.054,3231,295,1568,0,0,0,0,0,0
$GC,7994,0.87,258.9,225.6,9.8,361,7998,0.00,2.30,0.00,0.000,6,0.000,0.024,3232,1709,1566,0,0,0,0,0,0
$GC,8317,0.93,258.9,197.0,9.2,377,8322,0.10,2.50,0.00,0.000,4,0.078,0.053,3264,290,1566,0,0,0,0,0,0
$GC,8448,0.86,258.9,181.3,12.1,386,8455,0.10,2.33,0.00,0.000,6,0.081,0.023,3240,1702,1565,0,0,0,0,0,0
$GC,8712,0.92,262.6,161.5,7.7,407,8716,0.00,2.45,0.00,0.000,4,0.000,0.051,3240,294,1564,0,0,0,0,0,0
$GC,8882,0.92,262.6,145.0,9.3,419,8888,0.00,2.28,0.00,0.000,6,0.000,0.021,3240,1714,1564,0,0,0,0,0,0
$GC,9144,1.03,279.9,125.9,7.1,440,9172,0.15,2.53,18.17,0.571,4,0.058,0.048,3288,287,1486,0,0,0,0,0,0
$GC,9264,0.94,279.9,112.0,11.9,448,9272,0.12,2.33,0.00,0.000,6,0.071,0.021,3258,1713,1483,0,0,0,0,0,0
$GC,9527,1.04,293.3,91.6,7.3,469,9544,0.00,2.50,12.45,0.519,4,0.000,0.048,3258,291,1433,0,0,0,0,0,0
$GC,9691,1.04,293.3,78.1,9.3,481,9695,0.00,2.28,0.00,0.000,6,0.000,0.020,3258,1710,1430,0,0,0,0,0,0
$GC,9958,1.19,328.5,60.6,6.3,502,9994,0.22,2.55,30.52,0.522,4,0.044,0.048,3325,284,1290,0,0,0,0,0,0
$GC,10140,1.07,328.5,39.7,12.6,514,10146,0.17,2.30,0.00,0.000,6,0.068,0.019,3284,1708,1285,0,0,0,0,0,0
$GC,10404,1.14,328.5,15.6,9.2,559,10411,0.00,2.50,0.00,0.000,4,0.000,0.048,3284,293,1285,0,0,0,0,0,0
$STATE,10528,end climb,SURFACE_DEPTH_REACHED
$STATE,10528,begin surface coast
$FINISH,1.9,1.023137
$STATE,10534,end surface coast,CONTROL_FINISHED_OK
$STATE,10534,begin surface
$SM_CCo,10558,47.60,0.477,0,0,957,410.14
$SM_GC,1.49,0.00,0.00,47.60,0.000,0.000,0.477,427,1705,957,-12.07,0.14,410.14
$IRIDIUM_FIX,2059.45,-15801.19,141299,141401
$TT8_MAMPS,0.029146
$HUMID,57.28
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.4,42.621
$10V_AH,10.2,35.483
$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,30.025,118.800,378.725,47.600,0.000,24.511,27.333,145.305,4.500,0.000,16.973,1194.390,6807.379,467.984,1975.123,485.730,0.000,1362.908,0.000,1945.980,0.000,31.014,0.000
$DEVICE_MAMPS,132.691,59.059,836.030,477.074,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,395.509,381.869,836.871,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,31724,588
$CAP_FILE_SIZE,121370,0
$CFSIZE,260165632,187805696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190910,201925,2108.162,-15754.326,40,1.7,40,9.8