version: 66.06
glider: 139
mission: 8
dive: 490
start: 9 20 110 2 35 16
data:
$ID,139
$MISSION,8
$DIVE,490
$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,-2161386.2
$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
$GPS1,022906,2106.958,-15753.620,35,1.0,35,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-71.2
$GPS2,023456,2106.971,-15753.718,16,1.0,16,9.8
$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,86.8,18783,-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,12,begin dive
$GC,15,-1.18,-116.8,0.0,0.0,0,81,0.00,0.00,-64.32,0.000,2,0.000,0.000,426,1708,2725,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.3,-3.2,12,115,12.60,2.50,-7.30,0.000,4,0.131,0.059,2786,297,3110,0,0,0,0,0,0
$GC,128,-0.08,-116.8,16.2,-28.2,19,135,1.10,2.35,0.00,0.000,6,0.078,0.019,3026,1744,3111,0,0,0,0,0,0
$GC,338,-0.65,-116.8,31.3,-8.4,65,345,0.52,2.47,0.00,0.000,4,0.047,0.040,2900,293,3113,0,0,0,0,0,0
$GC,383,-0.83,-116.8,35.0,-7.9,68,388,0.15,2.22,0.00,0.000,6,0.054,0.018,2849,1717,3114,0,0,0,0,0,0
$GC,644,-0.80,-116.8,65.8,-11.1,88,649,0.12,2.47,0.00,0.000,4,0.090,0.046,2876,294,3114,0,0,0,0,0,0
$GC,678,-0.80,-116.8,69.5,-10.1,90,685,0.00,2.22,0.00,0.000,6,0.000,0.018,2876,1691,3114,0,0,0,0,0,0
$GC,938,-0.86,-116.8,89.9,-8.1,111,942,0.00,2.42,0.00,0.000,4,0.000,0.045,2876,291,3114,0,0,0,0,0,0
$GC,986,-0.90,-116.8,94.3,-8.7,114,995,0.08,2.25,0.00,0.000,6,0.036,0.018,2837,1703,3114,0,0,0,0,0,0
$GC,1247,-0.90,-116.8,122.1,-11.2,135,1251,0.00,2.42,0.00,0.000,4,0.000,0.046,2837,290,3114,0,0,0,0,0,0
$GC,1262,-0.85,-116.8,124.1,-11.1,136,1266,0.12,2.22,0.00,0.000,6,0.094,0.018,2863,1705,3114,0,0,0,0,0,0
$GC,1523,-0.92,-116.8,149.7,-10.0,156,1527,0.00,2.42,0.00,0.000,4,0.000,0.046,2864,290,3115,0,0,0,0,0,0
$GC,1555,-0.92,-116.8,153.7,-11.5,158,1562,0.00,2.22,0.00,0.000,6,0.000,0.018,2863,1687,3115,0,0,0,0,0,0
$GC,1819,-1.01,-116.8,181.2,-10.2,179,1824,0.15,2.40,0.00,0.000,4,0.054,0.047,2810,294,3115,0,0,0,0,0,0
$GC,1929,-0.96,-116.8,195.9,-12.7,187,1934,0.15,2.20,0.00,0.000,6,0.086,0.019,2842,1694,3115,0,0,0,0,0,0
$GC,2198,-1.02,-116.8,219.9,-7.4,201,2203,0.00,2.45,0.00,0.000,4,0.000,0.047,2842,287,3116,0,0,0,0,0,0
$GC,2282,-1.08,-116.8,226.2,-6.8,204,2287,0.12,2.25,0.00,0.000,6,0.061,0.019,2798,1701,3116,0,0,0,0,0,0
$GC,2600,-1.08,-116.8,253.1,-8.9,219,2604,0.00,2.42,0.00,0.000,4,0.000,0.048,2798,287,3115,0,0,0,0,0,0
$GC,2624,-1.00,-116.8,255.8,-10.1,220,2629,0.15,2.25,0.00,0.000,6,0.089,0.020,2830,1701,3116,0,0,0,0,0,0
$GC,2959,-1.05,-116.8,282.6,-7.5,236,2963,0.00,2.45,0.00,0.000,4,0.000,0.048,2830,288,3116,0,0,0,0,0,0
$GC,2982,-1.09,-116.8,284.3,-7.0,237,2987,0.00,2.25,0.00,0.000,6,0.000,0.021,2830,1707,3116,0,0,0,0,0,0
$GC,3314,-1.16,-116.8,306.5,-7.3,251,3319,0.15,2.47,0.00,0.000,4,0.055,0.051,2781,294,3115,0,0,0,0,0,0
$GC,3406,-1.09,-116.8,315.5,-9.9,253,3411,0.15,2.22,0.00,0.000,6,0.087,0.021,2814,1692,3114,0,0,0,0,0,0
$GC,3740,-1.13,-116.8,341.9,-7.8,261,3744,0.00,2.42,0.00,0.000,4,0.000,0.051,2814,290,3114,0,0,0,0,0,0
$GC,3783,-1.13,-116.8,345.9,-8.4,262,3787,0.00,2.28,0.00,0.000,6,0.000,0.023,2814,1706,3113,0,0,0,0,0,0
$GC,4111,-1.18,-116.8,367.3,-6.3,270,4115,0.00,2.45,0.00,0.000,4,0.000,0.054,2814,296,3111,0,0,0,0,0,0
$GC,4162,-1.18,-116.8,370.6,-7.4,271,4166,0.00,2.28,0.00,0.000,6,0.000,0.024,2814,1707,3111,0,0,0,0,0,0
$GC,4490,-1.23,-116.8,394.1,-7.4,279,4495,0.15,2.50,0.00,0.000,4,0.058,0.055,2767,297,3109,0,0,0,0,0,0
$GC,4561,-1.14,-116.8,401.5,-11.4,280,4566,0.15,2.30,0.00,0.000,6,0.090,0.025,2799,1703,3108,0,0,0,0,0,0
$GC,4902,-1.14,-116.8,430.7,-8.1,289,4907,0.00,2.47,0.00,0.000,4,0.000,0.057,2799,290,3106,0,0,0,0,0,0
$GC,4941,-1.14,-116.8,433.7,-7.7,289,4947,0.00,2.30,0.00,0.000,6,0.000,0.025,2799,1705,3106,0,0,0,0,0,0
$STATE,5148,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5148,begin apogee
$GC,5154,-0.31,0.0,450.8,8.0,295,5253,0.82,0.00,96.05,0.834,6,0.065,0.000,2979,1710,2630,0,0,0,0,0,0
$STATE,5254,end apogee,CONTROL_FINISHED_OK
$STATE,5254,begin climb
$GC,5256,1.18,116.8,452.5,0.0,297,5369,1.42,2.42,100.22,0.816,4,0.038,0.032,3310,3081,2152,0,0,0,0,0,0
$GC,5524,1.01,116.8,436.0,10.1,303,5529,0.20,2.40,0.00,0.000,6,0.096,0.040,3271,1695,2148,0,0,0,0,0,0
$GC,5854,0.90,116.8,407.2,8.7,311,5856,0.12,0.00,0.00,0.000,6,0.113,0.000,3248,1695,2141,0,0,0,0,0,0
$GC,6178,0.88,146.4,384.3,6.6,319,6210,0.00,2.42,24.48,0.775,4,0.000,0.031,3248,3084,2032,0,0,0,0,0,0
$GC,6240,0.89,155.8,380.0,7.5,320,6256,0.00,2.40,10.18,0.698,6,0.000,0.040,3247,1699,1993,0,0,0,0,0,0
$GC,6593,0.87,171.0,354.2,7.2,329,6613,0.00,2.58,13.70,0.726,4,0.000,0.058,3247,297,1931,0,0,0,0,0,0
$GC,6691,0.76,171.0,346.3,8.0,331,6696,0.17,2.35,0.00,0.000,6,0.102,0.027,3214,1705,1928,0,0,0,0,0,0
$GC,7015,0.86,202.7,326.0,6.5,339,7052,0.10,2.58,28.77,0.757,4,0.081,0.056,3244,289,1802,0,0,0,0,0,0
$GC,7151,0.78,202.7,312.3,10.4,342,7156,0.12,2.35,0.00,0.000,6,0.109,0.027,3220,1705,1796,0,0,0,0,0,0
$GC,7485,0.91,259.8,290.1,5.3,354,7544,0.12,2.58,49.90,0.743,4,0.070,0.056,3257,294,1568,0,0,0,0,0,0
$GC,7621,0.83,259.8,277.7,12.0,360,7626,0.15,2.35,0.00,0.000,6,0.101,0.026,3228,1706,1562,0,0,0,0,0,0
$GC,7955,0.90,259.8,244.9,10.4,376,7959,0.00,2.50,0.00,0.000,4,0.000,0.055,3227,294,1560,0,0,0,0,0,0
$GC,8097,0.90,259.8,229.3,9.9,382,8102,0.00,2.30,0.00,0.000,6,0.000,0.025,3228,1710,1556,0,0,0,0,0,0
$GC,8419,0.99,259.8,201.3,9.1,398,8424,0.17,2.47,0.00,0.000,4,0.054,0.052,3279,294,1556,0,0,0,0,0,0
$GC,8538,0.87,259.8,186.9,13.2,406,8544,0.15,2.33,0.00,0.000,6,0.074,0.024,3244,1703,1554,0,0,0,0,0,0
$GC,8801,0.94,259.8,162.6,9.1,427,8805,0.00,2.47,0.00,0.000,4,0.000,0.051,3243,286,1554,0,0,0,0,0,0
$GC,8896,0.94,259.8,152.0,10.4,434,8901,0.00,2.28,0.00,0.000,6,0.000,0.021,3244,1706,1553,0,0,0,0,0,0
$GC,9158,1.02,259.8,128.5,8.2,454,9163,0.12,2.47,0.00,0.000,4,0.064,0.049,3286,287,1553,0,0,0,0,0,0
$GC,9256,0.94,259.8,118.8,10.8,461,9261,0.15,2.25,0.00,0.000,6,0.091,0.021,3255,1702,1553,0,0,0,0,0,0
$GC,9522,1.00,264.5,98.8,7.7,482,9527,0.00,2.45,0.00,0.000,4,0.000,0.050,3254,291,1553,0,0,0,0,0,0
$GC,9672,1.01,270.8,86.5,7.6,493,9686,0.00,2.25,7.75,0.476,6,0.000,0.021,3255,1715,1525,0,0,0,0,0,0
$GC,9942,1.12,292.4,67.1,6.9,514,9971,0.17,2.55,19.83,0.522,4,0.050,0.049,3310,295,1438,0,0,0,0,0,0
$GC,10124,1.04,292.4,48.9,9.2,527,10129,0.17,2.22,0.00,0.000,6,0.084,0.019,3273,1709,1433,0,0,0,0,0,0
$GC,10394,1.13,296.7,30.8,7.7,548,10410,0.10,2.47,5.05,0.377,4,0.071,0.046,3311,287,1418,0,0,0,0,0,0
$GC,10551,1.06,296.7,12.0,11.7,581,10558,0.12,2.25,0.00,0.000,6,0.065,0.019,3280,1701,1417,0,0,0,0,0,0
$STATE,10640,end climb,SURFACE_DEPTH_REACHED
$STATE,10640,begin surface coast
$FINISH,1.2,1.023133
$STATE,10673,end surface coast,CONTROL_FINISHED_OK
$STATE,10673,begin surface
$SM_CCo,10695,62.62,0.479,0,0,958,410.14
$SM_GC,1.61,0.00,0.00,62.62,0.000,0.000,0.479,426,1703,958,-12.07,0.08,410.14
$IRIDIUM_FIX,2059.45,-15751.76,141299,232315
$TT8_MAMPS,0.029146
$HUMID,56.85
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.5,42.923
$10V_AH,10.1,35.732
$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,32.525,128.300,355.925,62.625,0.000,30.007,39.926,147.274,4.500,0.000,16.514,1244.446,6851.487,473.612,2004.008,533.371,0.000,1380.838,0.000,1974.990,0.000,29.263,0.000
$DEVICE_MAMPS,131.157,59.059,833.729,479.375,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,409.346,393.112,902.554,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,34971,608
$CAP_FILE_SIZE,127427,0
$CFSIZE,260165632,187613184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200910,053546,2106.637,-15753.206,12,2.5,31,9.8