version: 66.06
glider: 139
mission: 8
dive: 489
start: 9 19 110 23 33 54
data:
$ID,139
$MISSION,8
$DIVE,489
$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,-2161369
$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
$GPS1,232726,2107.548,-15753.859,11,2.0,11,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-70.5
$GPS2,233336,2107.528,-15753.956,17,0.9,33,9.8
$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,89.6,19334,-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,14,begin dive
$GC,17,-1.18,-116.8,0.0,0.0,0,84,0.00,0.00,-64.25,0.000,2,0.000,0.000,427,1688,2736,0,0,0,0,0,0
$GC,87,-1.18,-116.8,3.3,-3.2,12,117,12.62,2.47,-7.05,0.000,4,0.132,0.057,2786,291,3110,0,0,0,0,0,0
$GC,151,-0.83,-116.8,20.4,-22.3,24,158,0.32,2.35,0.00,0.000,6,0.079,0.018,2866,1731,3112,0,0,0,0,0,0
$GC,358,-0.80,-116.8,47.7,-12.9,49,362,0.00,2.50,0.00,0.000,4,0.000,0.046,2866,295,3112,0,0,0,0,0,0
$GC,411,-0.72,-116.8,55.5,-14.3,53,416,0.12,2.25,0.00,0.000,6,0.098,0.018,2892,1720,3112,0,0,0,0,0,0
$GC,678,-0.78,-116.8,81.5,-8.4,74,683,0.00,2.45,0.00,0.000,4,0.000,0.044,2892,291,3113,0,0,0,0,0,0
$GC,760,-0.84,-116.8,89.0,-9.3,80,765,0.12,2.22,0.00,0.000,6,0.061,0.018,2844,1705,3113,0,0,0,0,0,0
$GC,1026,-0.84,-116.8,115.7,-9.5,101,1031,0.10,2.47,0.00,0.000,4,0.100,0.046,2866,287,3114,0,0,0,0,0,0
$GC,1088,-0.84,-116.8,121.1,-7.6,105,1093,0.00,2.20,0.00,0.000,6,0.000,0.018,2866,1704,3114,0,0,0,0,0,0
$GC,1349,-0.89,-116.8,141.3,-7.4,126,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1710,3114,0,0,0,0,0,0
$GC,1602,-0.97,-116.8,160.8,-7.9,146,1607,0.12,2.42,0.00,0.000,4,0.061,0.046,2817,294,3115,0,0,0,0,0,0
$GC,1701,-0.92,-116.8,172.8,-12.6,153,1706,0.15,2.22,0.00,0.000,6,0.086,0.018,2849,1698,3115,0,0,0,0,0,0
$GC,1964,-0.98,-116.8,200.3,-10.9,173,1968,0.00,2.42,0.00,0.000,4,0.000,0.046,2849,288,3115,0,0,0,0,0,0
$GC,2038,-1.03,-116.8,209.0,-10.9,176,2043,0.10,2.22,0.00,0.000,6,0.071,0.019,2809,1704,3115,0,0,0,0,0,0
$GC,2369,-1.03,-116.8,241.6,-8.3,192,2373,0.00,2.45,0.00,0.000,4,0.000,0.047,2809,289,3115,0,0,0,0,0,0
$GC,2406,-0.96,-116.8,245.5,-9.5,193,2413,0.15,2.25,0.00,0.000,6,0.085,0.019,2842,1697,3115,0,0,0,0,0,0
$GC,2726,-1.04,-116.8,263.0,-5.9,209,2731,0.00,2.42,0.00,0.000,4,0.000,0.048,2842,293,3115,0,0,0,0,0,0
$GC,2755,-1.07,-116.8,265.5,-7.8,210,2760,0.12,2.22,0.00,0.000,6,0.062,0.020,2797,1703,3115,0,0,0,0,0,0
$GC,3077,-1.07,-116.8,297.4,-10.2,226,3081,0.00,2.45,0.00,0.000,4,0.000,0.049,2797,292,3114,0,0,0,0,0,0
$GC,3116,-1.02,-116.8,302.5,-12.9,227,3121,0.12,2.25,0.00,0.000,6,0.091,0.021,2825,1697,3114,0,0,0,0,0,0
$GC,3447,-1.08,-116.8,332.4,-8.0,235,3452,0.00,2.45,0.00,0.000,4,0.000,0.051,2825,291,3113,0,0,0,0,0,0
$GC,3492,-1.11,-116.8,336.1,-8.5,236,3496,0.00,2.25,0.00,0.000,6,0.000,0.022,2825,1707,3113,0,0,0,0,0,0
$GC,3822,-1.17,-116.8,362.2,-8.2,244,3827,0.12,2.47,0.00,0.000,4,0.064,0.052,2782,291,3112,0,0,0,0,0,0
$GC,3916,-1.10,-116.8,372.7,-12.7,246,3921,0.12,2.28,0.00,0.000,6,0.094,0.023,2809,1693,3111,0,0,0,0,0,0
$GC,4246,-1.14,-116.8,399.7,-7.6,254,4253,0.00,2.42,0.00,0.000,4,0.000,0.054,2809,291,3109,0,0,0,0,0,0
$GC,4298,-1.14,-116.8,403.9,-8.3,255,4303,0.00,2.30,0.00,0.000,6,0.000,0.024,2809,1701,3108,0,0,0,0,0,0
$GC,4626,-1.18,-116.8,429.9,-8.0,263,4630,0.00,2.47,0.00,0.000,4,0.000,0.056,2809,296,3106,0,0,0,0,0,0
$GC,4677,-1.18,-116.8,434.5,-9.8,264,4681,0.00,2.28,0.00,0.000,6,0.000,0.025,2809,1701,3106,0,0,0,0,0,0
$STATE,4871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4871,begin apogee
$GC,4878,-0.31,0.0,451.7,8.9,269,4977,0.77,0.00,95.97,0.832,6,0.063,0.000,2979,1706,2630,0,0,0,0,0,0
$STATE,4978,end apogee,CONTROL_FINISHED_OK
$STATE,4978,begin climb
$GC,4981,1.18,116.8,455.1,0.0,271,5094,1.42,2.42,100.38,0.812,4,0.038,0.032,3310,3078,2152,0,0,0,0,0,0
$GC,5152,1.05,152.8,454.4,6.3,274,5190,0.15,2.38,31.90,0.786,6,0.106,0.039,3281,1700,2006,0,0,0,0,0,0
$GC,5522,0.92,152.8,423.7,8.8,284,5527,0.15,2.50,0.00,0.000,4,0.104,0.058,3252,297,1998,0,0,0,0,0,0
$GC,5551,0.77,152.8,420.8,9.7,284,5556,0.17,2.33,0.00,0.000,6,0.105,0.026,3218,1704,1995,0,0,0,0,0,0
$GC,5887,0.79,170.6,396.3,7.1,293,5908,0.00,2.60,14.85,0.749,4,0.000,0.058,3218,272,1934,0,0,0,0,0,0
$GC,5982,0.75,170.6,389.1,8.3,295,5986,0.00,2.35,0.00,0.000,6,0.000,0.027,3218,1701,1929,0,0,0,0,0,0
$GC,6310,0.86,237.1,370.7,4.9,303,6375,0.00,2.60,59.08,0.793,4,0.000,0.058,3218,304,1662,0,0,0,0,0,0
$GC,6459,0.86,237.1,359.4,9.3,306,6463,0.00,2.33,0.00,0.000,6,0.000,0.027,3218,1708,1656,0,0,0,0,0,0
$GC,6810,0.92,237.1,328.3,9.0,315,6815,0.15,2.53,0.00,0.000,4,0.062,0.057,3260,294,1653,0,0,0,0,0,0
$GC,6973,0.81,237.1,307.6,13.8,318,6978,0.17,2.35,0.00,0.000,6,0.101,0.026,3227,1705,1650,0,0,0,0,0,0
$GC,7301,0.89,257.9,281.5,7.0,332,7324,0.00,2.55,17.30,0.703,4,0.000,0.055,3226,297,1578,0,0,0,0,0,0
$GC,7450,0.89,257.9,268.3,8.1,338,7454,0.00,2.35,0.00,0.000,6,0.000,0.025,3226,1710,1573,0,0,0,0,0,0
$GC,7770,0.99,277.9,246.4,7.0,354,7795,0.17,2.55,18.05,0.679,4,0.054,0.054,3276,295,1495,0,0,0,0,0,0
$GC,7897,0.88,277.9,231.8,13.0,359,7902,0.17,2.33,0.00,0.000,6,0.097,0.025,3242,1709,1491,0,0,0,0,0,0
$GC,8223,0.94,277.9,203.1,8.1,375,8227,0.00,2.50,0.00,0.000,4,0.000,0.054,3242,290,1489,0,0,0,0,0,0
$GC,8354,0.94,277.9,191.0,9.3,383,8359,0.00,2.28,0.00,0.000,6,0.000,0.023,3242,1702,1488,0,0,0,0,0,0
$GC,8615,1.03,299.6,172.7,6.9,404,8643,0.12,2.58,18.90,0.610,4,0.065,0.051,3282,291,1407,0,0,0,0,0,0
$GC,8727,0.93,299.6,159.8,14.3,412,8732,0.15,2.30,0.00,0.000,6,0.097,0.021,3253,1704,1404,0,0,0,0,0,0
$GC,8994,1.00,299.6,135.4,9.5,433,8998,0.00,2.47,0.00,0.000,4,0.000,0.049,3252,294,1404,0,0,0,0,0,0
$GC,9159,1.00,299.6,114.9,11.4,445,9163,0.00,2.28,0.00,0.000,6,0.000,0.021,3252,1705,1401,0,0,0,0,0,0
$GC,9430,1.14,338.2,95.5,6.2,466,9471,0.20,2.55,33.30,0.558,4,0.048,0.050,3312,283,1250,0,0,0,0,0,0
$GC,9568,1.03,338.2,79.9,13.5,476,9573,0.17,2.30,0.00,0.000,6,0.087,0.020,3276,1718,1246,0,0,0,0,0,0
$GC,9837,1.12,338.2,56.9,8.5,497,9841,0.00,2.50,0.00,0.000,4,0.000,0.049,3276,291,1245,0,0,0,0,0,0
$GC,9985,1.12,338.2,39.9,10.5,508,9990,0.00,2.25,0.00,0.000,6,0.000,0.019,3276,1708,1244,0,0,0,0,0,0
$GC,10250,1.21,338.2,15.4,9.5,552,10257,0.15,2.50,0.00,0.000,4,0.054,0.048,3328,295,1245,0,0,0,0,0,0
$STATE,10349,end climb,SURFACE_DEPTH_REACHED
$STATE,10350,begin surface coast
$FINISH,1.0,1.023187
$STATE,10372,end surface coast,CONTROL_FINISHED_OK
$STATE,10372,begin surface
$SM_CCo,10397,40.53,0.476,0,0,957,410.14
$SM_GC,1.52,0.00,0.00,40.53,0.000,0.000,0.476,426,1707,957,-12.07,0.20,410.14
$IRIDIUM_FIX,2059.45,-15753.90,141299,202019
$TT8_MAMPS,0.028379
$HUMID,57.60
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.20
$XPDR_PINGS,1
$24V_AH,23.5,42.825
$10V_AH,10.2,35.647
$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,30.875,124.125,389.725,40.525,0.000,29.432,27.060,167.130,4.750,0.000,33.699,1184.000,6674.937,464.656,1949.996,530.461,0.000,1348.507,0.000,1904.552,0.000,29.268,0.000
$DEVICE_MAMPS,131.924,58.292,832.195,476.307,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,389.409,377.093,825.040,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,31731,579
$CAP_FILE_SIZE,122430,0
$CFSIZE,260165632,187682816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200910,022906,2106.958,-15753.620,35,1.0,35,9.8