version: 66.06
glider: 139
mission: 8
dive: 496
start: 9 20 110 21 1 46
data:
$ID,139
$MISSION,8
$DIVE,496
$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,-2161517.8
$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
$GPS1,205436,2105.573,-15751.576,42,1.0,47,9.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-69.7
$GPS2,210125,2105.540,-15751.623,12,1.4,17,9.8
$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,78.3,15049,-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,-64.07,0.000,2,0.000,0.000,425,1702,2750,0,0,0,0,0,0
$GC,87,-1.18,-116.8,3.7,-3.9,12,112,12.62,2.35,-6.43,0.000,4,0.132,0.034,2786,3112,3108,0,0,0,0,0,0
$GC,128,-0.17,-116.8,17.4,-30.5,19,135,1.00,2.42,0.00,0.000,6,0.067,0.033,3011,1703,3109,0,0,0,0,0,0
$GC,331,-0.49,-116.8,28.7,-4.7,65,338,0.28,2.45,0.00,0.000,4,0.037,0.043,2923,297,3111,0,0,0,0,0,0
$GC,392,-0.62,-116.8,34.0,-8.8,72,396,0.00,2.30,0.00,0.000,6,0.000,0.018,2923,1741,3112,0,0,0,0,0,0
$GC,653,-0.74,-116.8,56.1,-8.6,92,658,0.15,2.50,0.00,0.000,4,0.054,0.044,2870,294,3112,0,0,0,0,0,0
$GC,708,-0.74,-116.8,62.9,-12.4,96,712,0.00,2.22,0.00,0.000,6,0.000,0.018,2870,1714,3112,0,0,0,0,0,0
$GC,967,-0.81,-116.8,88.8,-9.3,116,971,0.00,2.42,0.00,0.000,4,0.000,0.044,2870,294,3112,0,0,0,0,0,0
$GC,1049,-0.88,-116.8,97.1,-10.4,122,1053,0.00,2.22,0.00,0.000,6,0.000,0.018,2870,1713,3112,0,0,0,0,0,0
$GC,1311,-0.95,-116.8,121.6,-10.1,142,1316,0.12,2.47,0.00,0.000,4,0.061,0.044,2823,289,3114,0,0,0,0,0,0
$GC,1367,-0.89,-116.8,128.8,-13.0,146,1372,0.15,2.22,0.00,0.000,6,0.087,0.018,2855,1703,3113,0,0,0,0,0,0
$GC,1629,-0.96,-116.8,152.2,-7.5,166,1634,0.00,2.40,0.00,0.000,4,0.000,0.045,2855,294,3113,0,0,0,0,0,0
$GC,1690,-1.02,-116.8,156.7,-7.6,170,1697,0.10,2.22,0.00,0.000,6,0.032,0.018,2809,1686,3114,0,0,0,0,0,0
$GC,1953,-0.98,-116.8,182.1,-10.8,191,1955,0.12,0.00,0.00,0.000,6,0.092,0.000,2837,1691,3114,0,0,0,0,0,0
$GC,2206,-1.02,-116.8,204.3,-8.5,210,2210,0.00,2.40,0.00,0.000,4,0.000,0.047,2837,287,3114,0,0,0,0,0,0
$GC,2238,-1.02,-116.8,207.6,-9.5,211,2242,0.00,2.22,0.00,0.000,6,0.000,0.019,2837,1698,3114,0,0,0,0,0,0
$GC,2555,-1.07,-116.8,232.8,-7.8,226,2559,0.00,2.42,0.00,0.000,4,0.000,0.048,2837,294,3114,0,0,0,0,0,0
$GC,2633,-1.07,-116.8,240.0,-9.6,229,2638,0.00,2.22,0.00,0.000,6,0.000,0.020,2837,1699,3113,0,0,0,0,0,0
$GC,2963,-1.13,-116.8,268.5,-8.8,245,2968,0.15,2.45,0.00,0.000,4,0.055,0.048,2786,294,3112,0,0,0,0,0,0
$GC,3011,-1.05,-116.8,274.3,-12.4,247,3015,0.17,2.22,0.00,0.000,6,0.086,0.021,2824,1697,3113,0,0,0,0,0,0
$GC,3342,-1.10,-116.8,300.6,-7.2,263,3346,0.00,2.40,0.00,0.000,4,0.000,0.048,2824,295,3112,0,0,0,0,0,0
$GC,3393,-1.13,-116.8,305.5,-8.6,264,3397,0.00,2.22,0.00,0.000,6,0.000,0.021,2823,1702,3112,0,0,0,0,0,0
$GC,3715,-1.18,-116.8,331.5,-7.9,272,3720,0.15,2.47,0.00,0.000,4,0.057,0.051,2775,293,3111,0,0,0,0,0,0
$GC,3749,-1.09,-116.8,335.2,-10.0,272,3754,0.17,2.25,0.00,0.000,6,0.086,0.022,2812,1702,3111,0,0,0,0,0,0
$GC,4080,-1.13,-116.8,364.0,-9.0,280,4085,0.00,2.47,0.00,0.000,4,0.000,0.053,2812,291,3109,0,0,0,0,0,0
$GC,4107,-1.13,-116.8,366.4,-9.7,280,4111,0.00,2.25,0.00,0.000,6,0.000,0.023,2812,1698,3109,0,0,0,0,0,0
$GC,4447,-1.17,-116.8,397.3,-9.0,289,4451,0.00,2.45,0.00,0.000,4,0.000,0.054,2812,292,3107,0,0,0,0,0,0
$GC,4518,-1.17,-116.8,404.2,-9.6,290,4522,0.00,2.30,0.00,0.000,6,0.000,0.025,2812,1703,3106,0,0,0,0,0,0
$GC,4864,-1.23,-116.8,433.1,-8.2,299,4869,0.12,2.47,0.00,0.000,4,0.067,0.057,2773,297,3104,0,0,0,0,0,0
$GC,4951,-1.16,-116.8,442.3,-10.4,300,4957,0.12,2.30,0.00,0.000,6,0.098,0.025,2799,1700,3103,0,0,0,0,0,0
$STATE,5036,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5036,begin apogee
$GC,5043,-0.31,0.0,450.2,9.0,303,5142,0.82,0.00,96.00,0.829,6,0.065,0.000,2979,1704,2630,0,0,0,0,0,0
$STATE,5143,end apogee,CONTROL_FINISHED_OK
$STATE,5143,begin climb
$GC,5146,1.18,116.8,453.0,0.0,305,5259,1.42,2.42,100.25,0.811,4,0.041,0.032,3308,3078,2152,0,0,0,0,0,0
$GC,5302,1.05,147.3,452.0,6.5,308,5335,0.15,2.40,27.42,0.776,6,0.107,0.040,3280,1694,2029,0,0,0,0,0,0
$GC,5645,0.97,186.0,428.6,6.2,317,5687,0.00,2.58,33.90,0.788,4,0.000,0.058,3280,301,1870,0,0,0,0,0,0
$GC,5713,0.74,186.0,423.6,9.3,318,5718,0.35,2.33,0.00,0.000,6,0.095,0.026,3211,1705,1866,0,0,0,0,0,0
$GC,6061,0.83,222.7,403.3,6.2,327,6102,0.00,2.60,32.42,0.786,4,0.000,0.058,3211,290,1721,0,0,0,0,0,0
$GC,6214,0.83,222.7,389.6,9.7,330,6218,0.00,2.35,0.00,0.000,6,0.000,0.027,3211,1710,1714,0,0,0,0,0,0
$GC,6565,0.89,222.7,360.5,8.5,339,6570,0.15,2.53,0.00,0.000,4,0.064,0.058,3253,294,1713,0,0,0,0,0,0
$GC,6706,0.78,222.7,343.8,11.0,342,6711,0.15,2.33,0.00,0.000,6,0.108,0.027,3224,1700,1710,0,0,0,0,0,0
$GC,7030,0.83,222.7,316.4,8.1,350,7034,0.00,2.50,0.00,0.000,4,0.000,0.057,3223,288,1709,0,0,0,0,0,0
$GC,7136,0.83,222.7,307.4,9.1,352,7140,0.00,2.35,0.00,0.000,6,0.000,0.027,3223,1708,1707,0,0,0,0,0,0
$GC,7471,0.90,238.9,284.8,7.2,365,7494,0.10,2.55,13.27,0.693,4,0.081,0.054,3254,294,1654,0,0,0,0,0,0
$GC,7670,0.84,238.9,259.7,12.3,373,7675,0.12,2.33,0.00,0.000,6,0.110,0.026,3231,1710,1650,0,0,0,0,0,0
$GC,7985,0.88,238.9,230.5,8.2,388,7990,0.00,2.50,0.00,0.000,4,0.000,0.054,3230,294,1649,0,0,0,0,0,0
$GC,8124,0.88,238.9,217.5,8.6,394,8128,0.00,2.30,0.00,0.000,6,0.000,0.025,3231,1709,1647,0,0,0,0,0,0
$GC,8444,0.99,268.3,194.6,6.6,412,8478,0.15,2.55,25.77,0.654,4,0.061,0.051,3274,287,1535,0,0,0,0,0,0
$GC,8598,0.89,268.3,178.3,12.2,423,8603,0.15,2.30,0.00,0.000,6,0.100,0.023,3245,1707,1530,0,0,0,0,0,0
$GC,8861,0.95,268.3,154.5,10.1,443,8865,0.00,2.50,0.00,0.000,4,0.000,0.051,3245,290,1530,0,0,0,0,0,0
$GC,8975,0.95,268.3,140.5,10.5,451,8980,0.00,2.28,0.00,0.000,6,0.000,0.022,3245,1703,1527,0,0,0,0,0,0
$GC,9237,1.04,276.6,118.4,7.5,472,9253,0.15,2.53,7.68,0.505,4,0.058,0.050,3292,296,1501,0,0,0,0,0,0
$GC,9395,0.96,276.6,103.9,9.1,483,9400,0.15,2.28,0.00,0.000,6,0.094,0.021,3261,1711,1499,0,0,0,0,0,0
$GC,9662,1.07,287.2,85.3,7.4,504,9678,0.00,2.50,10.60,0.506,4,0.000,0.047,3261,290,1458,0,0,0,0,0,0
$GC,9792,1.15,287.2,74.6,8.0,513,9797,0.17,2.28,0.00,0.000,6,0.051,0.020,3318,1711,1455,0,0,0,0,0,0
$GC,10054,1.16,295.1,55.7,7.5,533,10069,0.00,2.53,8.07,0.454,4,0.000,0.048,3318,294,1427,0,0,0,0,0,0
$GC,10103,1.07,295.1,51.1,9.4,536,10108,0.17,2.25,0.00,0.000,6,0.089,0.019,3282,1708,1425,0,0,0,0,0,0
$GC,10365,1.17,318.0,32.4,6.9,556,10395,0.10,2.55,20.85,0.487,4,0.072,0.048,3319,290,1332,0,0,0,0,0,0
$GC,10502,1.05,318.0,16.5,13.0,582,10510,0.17,2.25,0.00,0.000,6,0.071,0.019,3278,1702,1329,0,0,0,0,0,0
$STATE,10669,end climb,SURFACE_DEPTH_REACHED
$STATE,10669,begin surface coast
$FINISH,0.8,1.023540
$STATE,10717,end surface coast,CONTROL_FINISHED_OK
$STATE,10717,begin surface
$SM_CCo,10740,51.50,0.472,0,0,957,410.14
$SM_GC,1.75,0.00,0.00,51.50,0.000,0.000,0.472,428,1703,957,-12.07,0.08,410.14
$IRIDIUM_FIX,2057.14,-15753.90,151299,181806
$TT8_MAMPS,0.029146
$HUMID,56.41
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.4,43.538
$10V_AH,10.2,36.223
$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,32.175,128.600,376.250,51.500,0.000,28.358,30.093,216.868,4.500,0.000,17.121,1273.614,6782.824,473.404,2082.607,585.570,0.000,1397.626,0.000,2052.979,0.000,29.266,0.000
$DEVICE_MAMPS,131.924,57.525,829.127,472.472,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,424.335,411.367,962.571,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,34933,631
$CAP_FILE_SIZE,130111,0
$CFSIZE,260165632,187260928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210910,000300,2105.222,-15751.444,44,0.9,44,9.8