version: 66.06
glider: 139
mission: 8
dive: 497
start: 9 21 110 0 9 10
data:
$ID,139
$MISSION,8
$DIVE,497
$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,-2161530.2
$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
$GPS1,000300,2105.222,-15751.444,44,0.9,44,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-70.0
$GPS2,000850,2105.206,-15751.537,11,1.5,11,9.8
$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,75.9,14935,-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,-116.8,0.0,0.0,0,82,0.00,0.00,-64.40,0.000,2,0.000,0.000,428,1703,2754,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.6,-3.8,12,110,12.60,2.45,-6.57,0.000,4,0.133,0.054,2784,289,3109,0,0,0,0,0,0
$GC,136,-0.44,-116.8,18.2,-28.1,21,143,0.75,2.38,0.00,0.000,6,0.077,0.019,2952,1732,3110,0,0,0,0,0,0
$GC,346,-0.63,-116.8,35.1,-6.5,57,351,0.17,2.50,0.00,0.000,4,0.048,0.044,2891,289,3111,0,0,0,0,0,0
$GC,402,-0.63,-116.8,41.0,-10.9,61,406,0.00,2.25,0.00,0.000,6,0.000,0.018,2892,1720,3111,0,0,0,0,0,0
$GC,662,-0.68,-116.8,68.5,-10.2,81,667,0.00,2.47,0.00,0.000,4,0.000,0.045,2891,293,3112,0,0,0,0,0,0
$GC,750,-0.71,-116.8,78.9,-11.2,87,756,0.00,2.25,0.00,0.000,6,0.000,0.018,2892,1704,3112,0,0,0,0,0,0
$GC,1009,-0.82,-116.8,99.1,-6.6,108,1013,0.00,2.40,0.00,0.000,4,0.000,0.044,2892,294,3113,0,0,0,0,0,0
$GC,1070,-0.92,-116.8,103.9,-8.3,112,1075,0.20,2.22,0.00,0.000,6,0.045,0.018,2827,1707,3113,0,0,0,0,0,0
$GC,1331,-0.89,-116.8,135.0,-12.1,132,1333,0.15,0.00,0.00,0.000,6,0.085,0.000,2860,1713,3113,0,0,0,0,0,0
$GC,1585,-0.98,-116.8,156.0,-7.3,152,1590,0.10,2.42,0.00,0.000,4,0.072,0.045,2820,294,3114,0,0,0,0,0,0
$GC,1652,-0.95,-116.8,162.4,-10.0,157,1657,0.12,2.20,0.00,0.000,6,0.092,0.018,2847,1699,3114,0,0,0,0,0,0
$GC,1919,-1.00,-116.8,185.4,-8.4,178,1923,0.00,2.42,0.00,0.000,4,0.000,0.046,2847,293,3114,0,0,0,0,0,0
$GC,1947,-1.00,-116.8,188.4,-9.7,180,1951,0.00,2.20,0.00,0.000,6,0.000,0.019,2847,1701,3114,0,0,0,0,0,0
$GC,2220,-1.07,-116.8,209.8,-7.3,197,2225,0.15,2.45,0.00,0.000,4,0.054,0.047,2795,293,3114,0,0,0,0,0,0
$GC,2266,-0.98,-116.8,214.5,-11.2,199,2271,0.20,2.22,0.00,0.000,6,0.081,0.019,2839,1699,3114,0,0,0,0,0,0
$GC,2603,-1.04,-116.8,241.7,-8.3,215,2607,0.00,2.40,0.00,0.000,4,0.000,0.047,2839,294,3114,0,0,0,0,0,0
$GC,2658,-1.08,-116.8,247.2,-9.1,217,2663,0.10,2.22,0.00,0.000,6,0.073,0.020,2801,1706,3114,0,0,0,0,0,0
$GC,2975,-1.08,-116.8,277.4,-8.8,232,2979,0.00,2.45,0.00,0.000,4,0.000,0.048,2801,293,3113,0,0,0,0,0,0
$GC,3018,-1.02,-116.8,281.2,-8.8,234,3023,0.12,2.22,0.00,0.000,6,0.095,0.021,2828,1695,3113,0,0,0,0,0,0
$GC,3351,-1.10,-116.8,299.2,-5.1,250,3352,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1699,3113,0,0,0,0,0,0
$GC,3655,-1.17,-116.8,317.5,-6.2,258,3660,0.15,2.42,0.00,0.000,4,0.057,0.051,2780,295,3111,0,0,0,0,0,0
$GC,3730,-1.09,-116.8,324.8,-10.4,259,3735,0.15,2.25,0.00,0.000,6,0.089,0.022,2813,1703,3111,0,0,0,0,0,0
$GC,4068,-1.13,-116.8,351.5,-8.2,268,4073,0.00,2.47,0.00,0.000,4,0.000,0.052,2812,289,3109,0,0,0,0,0,0
$GC,4115,-1.13,-116.8,356.3,-9.8,269,4119,0.00,2.28,0.00,0.000,6,0.000,0.023,2813,1700,3109,0,0,0,0,0,0
$GC,4439,-1.17,-116.8,385.7,-9.1,277,4443,0.00,2.47,0.00,0.000,4,0.000,0.054,2812,291,3107,0,0,0,0,0,0
$GC,4527,-1.17,-116.8,395.2,-10.5,278,4532,0.00,2.28,0.00,0.000,6,0.000,0.024,2812,1707,3106,0,0,0,0,0,0
$GC,4858,-1.22,-116.8,426.4,-9.6,287,4863,0.12,2.47,0.00,0.000,4,0.066,0.055,2773,297,3104,0,0,0,0,0,0
$GC,4955,-1.16,-116.8,437.4,-11.9,289,4960,0.12,2.28,0.00,0.000,6,0.097,0.025,2799,1700,3103,0,0,0,0,0,0
$STATE,5113,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5113,begin apogee
$GC,5119,-0.31,0.0,452.3,8.7,293,5218,0.82,0.00,95.85,0.828,6,0.064,0.000,2979,1705,2630,0,0,0,0,0,0
$STATE,5219,end apogee,CONTROL_FINISHED_OK
$STATE,5219,begin climb
$GC,5223,1.18,116.8,454.8,0.0,295,5335,1.42,2.45,100.25,0.812,4,0.038,0.032,3309,3102,2153,0,0,0,0,0,0
$GC,5457,1.01,116.8,446.9,8.7,300,5462,0.20,2.42,0.00,0.000,6,0.099,0.039,3270,1700,2149,0,0,0,0,0,0
$GC,5772,0.92,134.0,424.0,7.1,308,5793,0.00,2.45,14.68,0.746,4,0.000,0.032,3271,3084,2083,0,0,0,0,0,0
$GC,5837,0.86,150.0,419.4,7.2,309,5858,0.15,2.42,15.40,0.749,6,0.104,0.040,3242,1694,2018,0,0,0,0,0,0
$GC,6184,0.86,150.0,391.4,8.0,317,6188,0.00,2.50,0.00,0.000,4,0.000,0.057,3241,290,2012,0,0,0,0,0,0
$GC,6278,0.77,150.0,382.7,9.7,319,6283,0.12,2.33,0.00,0.000,6,0.114,0.026,3218,1710,2008,0,0,0,0,0,0
$GC,6602,0.84,178.0,360.4,6.6,327,6634,0.00,2.55,24.73,0.765,4,0.000,0.054,3219,297,1902,0,0,0,0,0,0
$GC,6732,0.84,178.0,350.8,8.3,329,6738,0.00,2.33,0.00,0.000,6,0.000,0.027,3218,1704,1897,0,0,0,0,0,0
$GC,7064,0.93,217.1,330.1,6.1,338,7106,0.15,2.58,34.67,0.757,4,0.063,0.055,3259,297,1744,0,0,0,0,0,0
$GC,7143,0.80,217.1,323.7,9.9,339,7148,0.17,2.35,0.00,0.000,6,0.102,0.026,3227,1708,1740,0,0,0,0,0,0
$GC,7480,0.88,237.4,298.2,7.0,348,7503,0.00,2.55,18.30,0.711,4,0.000,0.054,3226,297,1660,0,0,0,0,0,0
$GC,7679,0.88,237.4,279.9,9.2,356,7683,0.00,2.30,0.00,0.000,6,0.000,0.026,3226,1708,1654,0,0,0,0,0,0
$GC,7996,0.95,237.4,254.3,8.1,371,8001,0.12,2.53,0.00,0.000,4,0.067,0.054,3263,295,1654,0,0,0,0,0,0
$GC,8134,0.86,237.4,239.3,11.0,377,8139,0.12,2.33,0.00,0.000,6,0.107,0.025,3240,1710,1651,0,0,0,0,0,0
$GC,8469,0.91,237.4,213.0,8.0,393,8473,0.00,2.50,0.00,0.000,4,0.000,0.053,3239,294,1651,0,0,0,0,0,0
$GC,8581,0.91,237.4,203.0,8.0,398,8585,0.00,2.28,0.00,0.000,6,0.000,0.024,3240,1705,1649,0,0,0,0,0,0
$GC,8910,1.01,265.1,181.2,6.6,422,8941,0.12,2.58,23.42,0.628,4,0.066,0.051,3279,293,1549,0,0,0,0,0,0
$GC,9063,0.92,265.1,164.6,11.7,433,9068,0.15,2.28,0.00,0.000,6,0.096,0.023,3250,1708,1544,0,0,0,0,0,0
$GC,9331,0.98,265.1,142.2,8.5,454,9335,0.00,2.47,0.00,0.000,4,0.000,0.049,3250,294,1544,0,0,0,0,0,0
$GC,9515,0.98,265.1,125.2,9.5,467,9521,0.00,2.22,0.00,0.000,6,0.000,0.021,3250,1703,1542,0,0,0,0,0,0
$GC,9776,1.08,274.7,105.2,7.5,488,9792,0.15,2.47,8.85,0.499,4,0.058,0.046,3299,294,1509,0,0,0,0,0,0
$GC,9867,0.99,274.7,95.9,11.5,494,9872,0.15,2.22,0.00,0.000,6,0.091,0.021,3268,1702,1507,0,0,0,0,0,0
$GC,10135,1.10,298.0,74.1,6.8,515,10164,0.00,2.53,21.27,0.524,4,0.000,0.048,3268,301,1414,0,0,0,0,0,0
$GC,10195,1.10,298.0,69.6,8.5,519,10199,0.00,2.22,0.00,0.000,6,0.000,0.020,3267,1710,1411,0,0,0,0,0,0
$GC,10462,1.25,334.0,52.9,6.3,540,10504,0.22,2.53,31.15,0.510,4,0.043,0.045,3337,287,1266,0,0,0,0,0,0
$GC,10589,1.11,334.0,39.2,12.4,549,10594,0.22,2.22,0.00,0.000,6,0.082,0.019,3291,1708,1263,0,0,0,0,0,0
$GC,10853,1.17,334.0,15.7,8.6,593,10860,0.00,2.47,0.00,0.000,4,0.000,0.048,3291,299,1262,0,0,0,0,0,0
$STATE,10969,end climb,SURFACE_DEPTH_REACHED
$STATE,10969,begin surface coast
$FINISH,1.0,1.023081
$STATE,10992,end surface coast,CONTROL_FINISHED_OK
$STATE,10992,begin surface
$SM_CCo,11018,42.58,0.469,0,0,957,410.14
$SM_GC,1.48,0.00,0.00,42.58,0.000,0.000,0.469,428,1696,957,-12.07,-0.11,410.14
$IRIDIUM_FIX,2057.14,-15748.75,151299,212126
$TT8_MAMPS,0.028379
$HUMID,56.26
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.5,43.638
$10V_AH,10.2,36.309
$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,31.775,128.400,388.575,42.575,0.000,29.905,35.759,159.356,4.500,0.000,11.749,1263.955,7080.081,469.018,2060.660,534.515,0.000,1395.831,0.000,2035.645,0.000,29.257,0.000
$DEVICE_MAMPS,132.691,56.758,827.593,468.637,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,419.786,400.943,915.373,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,34941,624
$CAP_FILE_SIZE,129257,0
$CFSIZE,260165632,187199488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,210910,031425,2105.079,-15751.402,16,1.5,16,9.8