version: 66.06
glider: 139
mission: 8
dive: 491
start: 9 20 110 5 42 24
data:
$ID,139
$MISSION,8
$DIVE,491
$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,-2161425.5
$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
$GPS1,053546,2106.637,-15753.206,12,2.5,31,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-70.1
$GPS2,054206,2106.606,-15753.280,34,1.3,38,9.8
$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,84.9,17964,-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,13,begin dive
$GC,15,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.10,0.000,2,0.000,0.000,426,1704,2752,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.6,-4.1,12,109,12.60,0.00,-6.60,0.000,6,0.131,0.000,2786,1705,3109,0,0,0,0,0,0
$GC,306,-0.98,-116.8,48.1,-16.7,46,308,0.22,0.00,0.00,0.000,6,0.091,0.000,2833,1705,3112,0,0,0,0,0,0
$GC,560,-0.93,-116.8,79.1,-11.1,66,564,0.00,2.42,0.00,0.000,4,0.000,0.047,2832,292,3113,0,0,0,0,0,0
$GC,601,-0.84,-116.8,84.2,-12.4,69,606,0.15,2.33,0.00,0.000,6,0.091,0.018,2865,1739,3113,0,0,0,0,0,0
$GC,865,-0.89,-116.8,105.5,-8.6,89,869,0.00,2.50,0.00,0.000,4,0.000,0.046,2865,295,3114,0,0,0,0,0,0
$GC,893,-0.89,-116.8,108.9,-10.6,91,898,0.00,2.25,0.00,0.000,6,0.000,0.018,2865,1720,3114,0,0,0,0,0,0
$GC,1157,-0.96,-116.8,130.7,-7.6,111,1162,0.12,2.47,0.00,0.000,4,0.061,0.045,2818,287,3114,0,0,0,0,0,0
$GC,1233,-0.88,-116.8,139.3,-11.3,116,1240,0.15,2.28,0.00,0.000,6,0.064,0.019,2856,1704,3114,0,0,0,0,0,0
$GC,1496,-0.94,-116.8,160.1,-7.6,137,1500,0.00,2.42,0.00,0.000,4,0.000,0.047,2856,290,3115,0,0,0,0,0,0
$GC,1557,-1.00,-116.8,165.9,-9.4,141,1563,0.10,2.25,0.00,0.000,6,0.071,0.019,2817,1709,3114,0,0,0,0,0,0
$GC,1817,-1.00,-116.8,192.7,-10.6,162,1821,0.00,2.42,0.00,0.000,4,0.000,0.047,2817,294,3114,0,0,0,0,0,0
$GC,1878,-0.95,-116.8,199.6,-10.8,166,1886,0.08,2.25,0.00,0.000,6,0.068,0.019,2839,1695,3114,0,0,0,0,0,0
$GC,2133,-1.00,-116.8,220.3,-8.1,179,2135,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1700,3114,0,0,0,0,0,0
$GC,2444,-1.06,-116.8,243.2,-7.7,194,2448,0.00,2.42,0.00,0.000,4,0.000,0.048,2839,295,3114,0,0,0,0,0,0
$GC,2490,-1.09,-116.8,247.3,-8.3,196,2495,0.12,2.25,0.00,0.000,6,0.061,0.020,2794,1705,3114,0,0,0,0,0,0
$GC,2818,-1.09,-116.8,278.8,-9.2,212,2822,0.00,2.42,0.00,0.000,4,0.000,0.049,2794,295,3114,0,0,0,0,0,0
$GC,2889,-1.03,-116.8,285.7,-9.9,215,2894,0.15,2.22,0.00,0.000,6,0.086,0.021,2828,1702,3113,0,0,0,0,0,0
$GC,3215,-1.08,-116.8,308.1,-6.7,228,3219,0.00,2.45,0.00,0.000,4,0.000,0.050,2827,293,3112,0,0,0,0,0,0
$GC,3277,-1.12,-116.8,313.3,-8.9,229,3281,0.00,2.25,0.00,0.000,6,0.000,0.022,2827,1698,3112,0,0,0,0,0,0
$GC,3627,-1.19,-116.8,339.4,-7.7,238,3632,0.17,2.47,0.00,0.000,4,0.051,0.052,2771,293,3111,0,0,0,0,0,0
$GC,3685,-1.09,-116.8,345.5,-11.6,239,3690,0.20,2.28,0.00,0.000,6,0.083,0.023,2815,1701,3111,0,0,0,0,0,0
$GC,4001,-1.13,-116.8,372.7,-8.2,247,4005,0.00,2.45,0.00,0.000,4,0.000,0.054,2814,293,3109,0,0,0,0,0,0
$GC,4039,-1.13,-116.8,376.0,-8.8,247,4045,0.00,2.30,0.00,0.000,6,0.000,0.024,2814,1703,3109,0,0,0,0,0,0
$GC,4372,-1.17,-116.8,403.1,-8.0,256,4376,0.00,2.47,0.00,0.000,4,0.000,0.056,2814,296,3106,0,0,0,0,0,0
$GC,4432,-1.17,-116.8,408.4,-8.8,257,4436,0.00,2.28,0.00,0.000,6,0.000,0.025,2814,1702,3106,0,0,0,0,0,0
$GC,4785,-1.22,-116.8,434.3,-7.2,266,4790,0.12,2.50,0.00,0.000,4,0.067,0.058,2774,290,3103,0,0,0,0,0,0
$GC,4842,-1.14,-116.8,439.9,-10.1,267,4847,0.12,2.28,0.00,0.000,6,0.097,0.026,2801,1699,3103,0,0,0,0,0,0
$STATE,4996,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4996,begin apogee
$GC,5003,-0.31,0.0,450.9,6.9,271,5102,0.82,0.00,95.47,0.837,6,0.066,0.000,2979,1703,2630,0,0,0,0,0,0
$STATE,5102,end apogee,CONTROL_FINISHED_OK
$STATE,5102,begin climb
$GC,5105,1.18,116.8,451.7,0.0,273,5217,1.42,2.40,100.20,0.817,4,0.038,0.031,3309,3082,2152,0,0,0,0,0,0
$GC,5271,1.01,120.0,445.4,7.8,276,5281,0.20,2.40,3.78,0.468,6,0.097,0.039,3271,1693,2139,0,0,0,0,0,0
$GC,5606,0.92,142.5,421.0,6.9,285,5631,0.00,2.42,19.92,0.769,4,0.000,0.031,3271,3081,2049,0,0,0,0,0,0
$GC,5677,0.88,166.1,416.1,6.8,286,5706,0.15,2.42,22.12,0.769,6,0.102,0.041,3242,1692,1952,0,0,0,0,0,0
$GC,6026,0.91,190.6,392.0,6.8,295,6054,0.00,2.58,21.85,0.764,4,0.000,0.058,3241,300,1851,0,0,0,0,0,0
$GC,6118,0.81,190.6,384.1,9.4,297,6122,0.00,2.33,0.00,0.000,6,0.000,0.027,3241,1704,1847,0,0,0,0,0,0
$GC,6445,0.81,190.6,357.2,8.1,305,6450,0.00,2.50,0.00,0.000,4,0.000,0.058,3241,295,1845,0,0,0,0,0,0
$GC,6530,0.73,190.6,349.3,9.7,306,6537,0.15,2.33,0.00,0.000,6,0.107,0.027,3212,1704,1843,0,0,0,0,0,0
$GC,6862,0.84,231.0,328.3,6.1,315,6904,0.00,2.60,35.40,0.762,4,0.000,0.058,3212,289,1687,0,0,0,0,0,0
$GC,6975,0.84,231.0,319.5,8.1,317,6979,0.00,2.38,0.00,0.000,6,0.000,0.026,3212,1707,1683,0,0,0,0,0,0
$GC,7301,0.94,253.9,298.2,6.9,326,7327,0.20,2.60,20.55,0.722,4,0.055,0.058,3266,290,1594,0,0,0,0,0,0
$GC,7472,0.82,253.9,276.6,13.9,333,7477,0.17,2.35,0.00,0.000,6,0.100,0.026,3232,1707,1588,0,0,0,0,0,0
$GC,7789,0.87,253.9,249.8,8.3,348,7793,0.00,2.53,0.00,0.000,4,0.000,0.056,3232,293,1587,0,0,0,0,0,0
$GC,7942,0.87,253.9,234.8,10.3,354,7948,0.00,2.35,0.00,0.000,6,0.000,0.025,3232,1700,1585,0,0,0,0,0,0
$GC,8259,0.96,275.9,210.3,6.9,370,8285,0.12,2.60,18.70,0.658,4,0.067,0.054,3270,296,1504,0,0,0,0,0,0
$GC,8398,0.86,275.9,195.8,10.3,377,8403,0.17,2.33,0.00,0.000,6,0.097,0.025,3237,1705,1499,0,0,0,0,0,0
$GC,8666,0.95,289.0,178.1,7.3,398,8683,0.00,2.58,12.25,0.597,4,0.000,0.053,3236,293,1451,0,0,0,0,0,0
$GC,8835,0.95,289.0,159.6,10.6,410,8839,0.00,2.33,0.00,0.000,6,0.000,0.023,3236,1715,1446,0,0,0,0,0,0
$GC,9096,1.04,289.0,134.9,9.6,430,9101,0.17,2.50,0.00,0.000,4,0.052,0.050,3289,293,1446,0,0,0,0,0,0
$GC,9215,0.94,289.0,119.0,15.1,438,9222,0.12,2.30,0.00,0.000,6,0.071,0.022,3258,1705,1445,0,0,0,0,0,0
$GC,9477,1.01,289.0,96.1,8.3,459,9482,0.00,2.45,0.00,0.000,4,0.000,0.049,3258,293,1445,0,0,0,0,0,0
$GC,9644,1.01,289.0,80.0,9.6,471,9648,0.00,2.28,0.00,0.000,6,0.000,0.021,3258,1712,1444,0,0,0,0,0,0
$GC,9906,1.19,347.7,62.3,5.2,491,9963,0.22,2.53,49.95,0.538,4,0.044,0.048,3327,294,1210,0,0,0,0,0,0
$GC,10091,1.07,347.7,40.6,12.9,504,10096,0.22,2.25,0.00,0.000,6,0.081,0.020,3281,1714,1206,0,0,0,0,0,0
$GC,10357,1.16,351.7,19.8,7.7,542,10370,0.10,2.53,4.00,0.328,4,0.072,0.049,3318,298,1196,0,0,0,0,0,0
$STATE,10483,end climb,SURFACE_DEPTH_REACHED
$STATE,10484,begin surface coast
$FINISH,0.9,1.023079
$STATE,10502,end surface coast,CONTROL_FINISHED_OK
$STATE,10502,begin surface
$SM_CCo,10527,34.17,0.476,0,0,957,410.14
$SM_GC,1.74,0.00,0.00,34.17,0.000,0.000,0.476,430,1710,957,-12.06,0.28,410.14
$IRIDIUM_FIX,2059.45,-15750.89,151299,020208
$TT8_MAMPS,0.029146
$HUMID,57.99
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.4,43.027
$10V_AH,10.2,35.811
$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,30.975,119.750,404.200,34.175,0.000,30.758,29.552,167.626,4.500,0.000,38.551,1171.082,6857.271,466.572,1930.897,511.578,0.000,1347.191,0.000,1875.301,0.000,30.967,0.000
$DEVICE_MAMPS,131.157,58.292,836.797,475.540,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,386.159,361.498,804.947,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,31800,574
$CAP_FILE_SIZE,122428,0
$CFSIZE,260165632,187564032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200910,083937,2106.174,-15752.675,33,1.0,33,9.8