version: 66.06
glider: 139
mission: 8
dive: 498
start: 9 21 110 3 24 40
data:
$ID,139
$MISSION,8
$DIVE,498
$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,-2161547.8
$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
$GPS1,031425,2105.079,-15751.402,16,1.5,16,9.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-70.7
$GPS2,032420,2105.082,-15751.493,16,1.5,16,9.8
$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,75.0,14878,-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,-64.60,0.000,2,0.000,0.000,427,1698,2777,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.7,-3.9,12,110,12.62,2.35,-5.97,0.000,4,0.133,0.034,2782,3112,3108,0,0,0,0,0,0
$GC,163,-1.04,-116.8,23.2,-17.4,27,170,0.15,2.40,0.00,0.000,6,0.082,0.031,2817,1702,3109,0,0,0,0,0,0
$GC,373,-0.91,-116.8,54.6,-14.5,49,378,0.17,2.42,0.00,0.000,4,0.093,0.046,2853,296,3111,0,0,0,0,0,0
$GC,427,-0.81,-116.8,62.5,-15.4,53,432,0.00,2.30,0.00,0.000,6,0.000,0.018,2853,1738,3111,0,0,0,0,0,0
$GC,692,-0.81,-116.8,93.1,-10.7,74,696,0.00,2.47,0.00,0.000,4,0.000,0.044,2853,291,3112,0,0,0,0,0,0
$GC,734,-0.76,-116.8,98.0,-12.4,77,739,0.15,2.22,0.00,0.000,6,0.091,0.018,2886,1718,3112,0,0,0,0,0,0
$GC,997,-0.87,-116.8,120.9,-7.2,97,1002,0.12,2.45,0.00,0.000,4,0.061,0.044,2839,297,3112,0,0,0,0,0,0
$GC,1053,-0.87,-116.8,126.2,-9.5,101,1058,0.10,2.22,0.00,0.000,6,0.101,0.018,2861,1708,3112,0,0,0,0,0,0
$GC,1320,-0.95,-116.8,145.4,-7.9,122,1324,0.00,2.42,0.00,0.000,4,0.000,0.044,2861,297,3112,0,0,0,0,0,0
$GC,1394,-1.01,-116.8,152.4,-9.3,127,1400,0.15,2.17,0.00,0.000,6,0.054,0.018,2810,1703,3113,0,0,0,0,0,0
$GC,1655,-1.01,-116.8,180.6,-11.2,148,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1708,3113,0,0,0,0,0,0
$GC,1913,-1.01,-116.8,208.8,-10.4,166,1917,0.00,2.42,0.00,0.000,4,0.000,0.046,2809,296,3113,0,0,0,0,0,0
$GC,1964,-0.96,-116.8,214.3,-11.2,168,1969,0.15,2.17,0.00,0.000,6,0.087,0.019,2843,1690,3113,0,0,0,0,0,0
$GC,2290,-1.04,-116.8,241.5,-8.7,184,2294,0.00,2.40,0.00,0.000,4,0.000,0.046,2842,297,3112,0,0,0,0,0,0
$GC,2318,-1.07,-116.8,244.7,-10.0,185,2323,0.12,2.22,0.00,0.000,6,0.061,0.020,2798,1708,3112,0,0,0,0,0,0
$GC,2640,-1.07,-116.8,276.5,-8.8,201,2645,0.00,2.42,0.00,0.000,4,0.000,0.048,2798,293,3112,0,0,0,0,0,0
$GC,2686,-1.07,-116.8,280.9,-9.9,203,2690,0.00,2.25,0.00,0.000,6,0.000,0.021,2798,1697,3112,0,0,0,0,0,0
$GC,3014,-1.07,-116.8,306.9,-7.8,217,3015,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1702,3111,0,0,0,0,0,0
$GC,3339,-1.07,-116.8,332.1,-7.8,225,3343,0.00,2.42,0.00,0.000,4,0.000,0.051,2798,294,3110,0,0,0,0,0,0
$GC,3410,-1.07,-116.8,338.1,-9.0,226,3414,0.00,2.28,0.00,0.000,6,0.000,0.022,2798,1702,3110,0,0,0,0,0,0
$GC,3750,-1.07,-116.8,365.8,-8.5,235,3754,0.00,2.45,0.00,0.000,4,0.000,0.054,2798,293,3108,0,0,0,0,0,0
$GC,3830,-1.07,-116.8,372.6,-8.0,236,3834,0.00,2.28,0.00,0.000,6,0.000,0.024,2798,1703,3107,0,0,0,0,0,0
$GC,4161,-1.07,-116.8,395.4,-6.6,244,4165,0.00,2.45,0.00,0.000,4,0.000,0.055,2798,297,3105,0,0,0,0,0,0
$GC,4241,-1.07,-116.8,401.6,-7.1,245,4246,0.00,2.28,0.00,0.000,6,0.000,0.025,2798,1704,3104,0,0,0,0,0,0
$GC,4573,-1.07,-116.8,422.1,-6.0,253,4578,0.00,2.50,0.00,0.000,4,0.000,0.058,2798,291,3102,0,0,0,0,0,0
$GC,4648,-1.07,-116.8,427.3,-6.7,254,4652,0.00,2.30,0.00,0.000,6,0.000,0.026,2798,1699,3101,0,0,0,0,0,0
$STATE,4987,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4987,begin apogee
$GC,4994,-0.31,0.0,451.5,7.7,263,5093,0.85,0.00,95.10,0.840,6,0.067,0.000,2982,1704,2630,0,0,0,0,0,0
$STATE,5093,end apogee,CONTROL_FINISHED_OK
$STATE,5093,begin climb
$GC,5096,1.18,116.8,454.3,0.0,265,5209,1.40,2.42,100.90,0.821,4,0.037,0.034,3308,3077,2152,0,0,0,0,0,0
$GC,5400,1.10,191.8,448.4,4.5,271,5473,0.00,2.40,65.10,0.814,6,0.000,0.041,3308,1695,1847,0,0,0,0,0,0
$GC,5821,0.93,191.8,407.8,10.8,282,5827,0.25,2.50,0.00,0.000,4,0.095,0.058,3254,294,1838,0,0,0,0,0,0
$GC,5856,0.78,191.8,403.9,11.8,282,5861,0.17,2.33,0.00,0.000,6,0.105,0.028,3221,1701,1836,0,0,0,0,0,0
$GC,6187,0.78,191.8,375.2,9.0,290,6192,0.00,2.53,0.00,0.000,4,0.000,0.058,3221,294,1834,0,0,0,0,0,0
$GC,6301,0.73,191.8,364.7,9.2,292,6305,0.00,2.33,0.00,0.000,6,0.000,0.028,3221,1705,1831,0,0,0,0,0,0
$GC,6647,0.82,230.9,341.4,6.1,301,6689,0.00,2.58,32.85,0.772,4,0.000,0.057,3221,288,1687,0,0,0,0,0,0
$GC,6812,0.83,244.9,330.1,7.3,304,6830,0.00,2.35,12.85,0.709,6,0.000,0.028,3221,1705,1631,0,0,0,0,0,0
$GC,7155,0.89,244.9,304.6,8.5,313,7159,0.00,2.50,0.00,0.000,4,0.000,0.057,3221,291,1627,0,0,0,0,0,0
$GC,7294,0.89,244.9,291.6,10.2,317,7298,0.00,2.33,0.00,0.000,6,0.000,0.027,3222,1699,1624,0,0,0,0,0,0
$GC,7625,0.95,244.9,265.9,8.0,333,7630,0.15,2.50,0.00,0.000,4,0.063,0.055,3264,288,1623,0,0,0,0,0,0
$GC,7706,0.86,244.9,257.0,11.6,336,7711,0.12,2.33,0.00,0.000,6,0.107,0.026,3240,1701,1622,0,0,0,0,0,0
$GC,8023,0.92,253.9,232.3,7.5,351,8036,0.00,2.53,7.97,0.603,4,0.000,0.055,3240,288,1593,0,0,0,0,0,0
$GC,8143,0.92,253.9,222.4,8.6,356,8147,0.00,2.30,0.00,0.000,6,0.000,0.025,3240,1703,1590,0,0,0,0,0,0
$GC,8469,0.97,253.9,197.5,8.0,373,8473,0.00,2.53,0.00,0.000,4,0.000,0.053,3240,288,1590,0,0,0,0,0,0
$GC,8551,0.97,253.9,190.1,9.7,379,8556,0.10,2.28,0.00,0.000,6,0.081,0.024,3271,1702,1589,0,0,0,0,0,0
$GC,8816,0.97,253.9,165.3,8.9,400,8820,0.00,2.47,0.00,0.000,4,0.000,0.051,3271,293,1589,0,0,0,0,0,0
$GC,8955,0.89,253.9,151.5,8.5,410,8960,0.12,2.28,0.00,0.000,6,0.104,0.022,3246,1715,1589,0,0,0,0,0,0
$GC,9219,1.01,283.3,134.3,6.6,430,9252,0.10,2.53,25.98,0.593,4,0.074,0.048,3281,291,1473,0,0,0,0,0,0
$GC,9425,0.95,283.3,113.8,9.1,445,9430,0.12,2.25,0.00,0.000,6,0.098,0.021,3255,1707,1468,0,0,0,0,0,0
$GC,9692,1.05,283.3,92.3,8.7,466,9697,0.10,2.47,0.00,0.000,4,0.073,0.048,3291,288,1469,0,0,0,0,0,0
$GC,9827,1.01,283.3,75.0,11.3,476,9831,0.00,2.25,0.00,0.000,6,0.000,0.020,3291,1703,1467,0,0,0,0,0,0
$GC,10095,1.08,294.3,51.9,7.4,497,10111,0.00,2.47,10.32,0.472,4,0.000,0.046,3291,291,1429,0,0,0,0,0,0
$GC,10175,1.10,311.1,45.4,7.1,502,10196,0.00,2.28,15.45,0.490,6,0.000,0.020,3291,1713,1361,0,0,0,0,0,0
$GC,10451,1.16,311.1,24.6,8.4,534,10458,0.00,2.50,0.00,0.000,4,0.000,0.050,3291,296,1359,0,0,0,0,0,0
$GC,10578,1.16,311.1,11.8,11.7,562,10584,0.00,2.22,0.00,0.000,6,0.000,0.019,3291,1690,1357,0,0,0,0,0,0
$STATE,10669,end climb,SURFACE_DEPTH_REACHED
$STATE,10669,begin surface coast
$FINISH,0.8,1.008011
$STATE,10702,end surface coast,CONTROL_FINISHED_OK
$STATE,10702,begin surface
$SM_CCo,10724,56.15,0.476,0,0,958,410.14
$SM_GC,1.66,0.00,0.00,56.15,0.000,0.000,0.476,428,1696,958,-12.06,-0.11,410.14
$IRIDIUM_FIX,2054.83,-15751.76,161299,030316
$TT8_MAMPS,0.029146
$HUMID,56.69
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.4,43.748
$10V_AH,10.2,36.392
$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,29.425,118.725,366.525,56.150,0.000,57.471,55.193,283.915,4.500,0.000,16.865,1189.839,7095.880,457.374,1939.365,691.447,0.000,1331.563,0.000,1910.095,0.000,32.811,0.000
$DEVICE_MAMPS,132.691,58.292,839.865,475.540,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,397.281,377.559,840.353,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,31820,590
$CAP_FILE_SIZE,123624,0
$CFSIZE,260165632,187146240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210910,062537,2105.188,-15750.819,37,1.4,37,9.8