version: 66.06
glider: 139
mission: 8
dive: 500
start: 9 21 110 9 39 10
data:
$ID,139
$MISSION,8
$DIVE,500
$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,-2161576
$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
$GPS1,093301,2105.186,-15750.380,11,1.8,11,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-71.6
$GPS2,093850,2105.179,-15750.439,13,1.7,13,9.8
$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,75.0,13048,-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,-64.70,0.000,2,0.000,0.000,427,1711,2753,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.3,-3.3,12,110,12.60,2.35,-6.65,0.000,4,0.132,0.036,2786,3115,3109,0,0,0,0,0,0
$GC,175,-1.09,-116.8,23.5,-15.5,30,183,0.08,2.42,0.00,0.000,6,0.085,0.034,2806,1704,3110,0,0,0,0,0,0
$GC,386,-0.93,-116.8,58.3,-15.8,52,391,0.20,2.42,0.00,0.000,4,0.088,0.044,2848,290,3111,0,0,0,0,0,0
$GC,407,-0.76,-116.8,62.1,-16.3,53,414,0.12,2.35,0.00,0.000,6,0.071,0.019,2878,1741,3112,0,0,0,0,0,0
$GC,668,-0.83,-116.8,84.4,-7.7,74,672,0.00,2.47,0.00,0.000,4,0.000,0.044,2879,294,3112,0,0,0,0,0,0
$GC,724,-0.88,-116.8,89.3,-8.4,78,728,0.00,2.20,0.00,0.000,6,0.000,0.018,2879,1710,3113,0,0,0,0,0,0
$GC,984,-0.98,-116.8,111.7,-8.4,98,989,0.20,2.42,0.00,0.000,4,0.045,0.043,2810,294,3113,0,0,0,0,0,0
$GC,1041,-0.93,-116.8,118.5,-12.6,102,1046,0.17,2.20,0.00,0.000,6,0.084,0.018,2848,1697,3114,0,0,0,0,0,0
$GC,1300,-0.97,-116.8,143.1,-9.3,122,1304,0.00,2.40,0.00,0.000,4,0.000,0.046,2848,294,3114,0,0,0,0,0,0
$GC,1351,-0.97,-116.8,148.4,-9.8,126,1355,0.00,2.22,0.00,0.000,6,0.000,0.018,2848,1709,3114,0,0,0,0,0,0
$GC,1619,-1.02,-116.8,170.8,-8.8,147,1623,0.00,2.42,0.00,0.000,4,0.000,0.046,2848,293,3114,0,0,0,0,0,0
$GC,1660,-1.02,-116.8,175.0,-8.4,150,1664,0.00,2.20,0.00,0.000,6,0.000,0.019,2848,1704,3114,0,0,0,0,0,0
$GC,1922,-1.09,-116.8,194.9,-7.3,170,1927,0.15,2.45,0.00,0.000,4,0.053,0.047,2796,294,3114,0,0,0,0,0,0
$GC,1997,-1.01,-116.8,202.9,-10.6,175,2002,0.15,2.20,0.00,0.000,6,0.087,0.019,2829,1693,3115,0,0,0,0,0,0
$GC,2326,-1.01,-116.8,230.7,-8.3,191,2330,0.00,2.40,0.00,0.000,4,0.000,0.047,2829,293,3114,0,0,0,0,0,0
$GC,2395,-1.01,-116.8,237.7,-9.4,194,2399,0.00,2.22,0.00,0.000,6,0.000,0.020,2829,1702,3114,0,0,0,0,0,0
$GC,2725,-1.06,-116.8,262.3,-6.9,210,2729,0.00,2.42,0.00,0.000,4,0.000,0.048,2829,290,3114,0,0,0,0,0,0
$GC,2785,-1.10,-116.8,267.7,-8.7,212,2792,0.00,2.28,0.00,0.000,6,0.000,0.021,2829,1693,3114,0,0,0,0,0,0
$GC,3102,-1.17,-116.8,288.7,-6.7,228,3107,0.15,2.45,0.00,0.000,4,0.055,0.049,2779,293,3112,0,0,0,0,0,0
$GC,3164,-1.08,-116.8,294.7,-10.9,230,3171,0.12,2.30,0.00,0.000,6,0.067,0.022,2811,1703,3113,0,0,0,0,0,0
$GC,3477,-1.08,-116.8,321.9,-8.8,240,3482,0.00,2.45,0.00,0.000,4,0.000,0.051,2812,288,3112,0,0,0,0,0,0
$GC,3505,-1.08,-116.8,324.8,-9.7,240,3509,0.00,2.28,0.00,0.000,6,0.000,0.023,2812,1704,3112,0,0,0,0,0,0
$GC,3841,-1.08,-116.8,354.9,-8.8,249,3845,0.00,2.45,0.00,0.000,4,0.000,0.053,2812,294,3110,0,0,0,0,0,0
$GC,3885,-1.08,-116.8,358.9,-9.3,250,3889,0.00,2.28,0.00,0.000,6,0.000,0.024,2812,1706,3110,0,0,0,0,0,0
$GC,4214,-1.11,-116.8,386.8,-8.4,258,4218,0.00,2.45,0.00,0.000,4,0.000,0.054,2812,296,3107,0,0,0,0,0,0
$GC,4283,-1.11,-116.8,393.2,-8.5,259,4288,0.00,2.28,0.00,0.000,6,0.000,0.025,2812,1704,3106,0,0,0,0,0,0
$GC,4627,-1.15,-116.8,422.3,-8.6,268,4632,0.00,2.50,0.00,0.000,4,0.000,0.056,2812,290,3104,0,0,0,0,0,0
$GC,4660,-1.15,-116.8,425.9,-9.6,268,4665,0.00,2.30,0.00,0.000,6,0.000,0.025,2812,1705,3105,0,0,0,0,0,0
$STATE,4948,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4948,begin apogee
$GC,4955,-0.31,0.0,450.1,8.0,275,5054,0.77,0.00,95.90,0.833,6,0.066,0.000,2980,1710,2630,0,0,0,0,0,0
$STATE,5055,end apogee,CONTROL_FINISHED_OK
$STATE,5055,begin climb
$GC,5058,1.18,116.8,452.6,0.0,277,5170,1.42,2.35,100.78,0.815,4,0.039,0.033,3309,3078,2152,0,0,0,0,0,0
$GC,5257,1.01,121.6,447.7,7.7,281,5270,0.20,2.42,4.90,0.557,6,0.100,0.040,3270,1694,2134,0,0,0,0,0,0
$GC,5608,0.90,121.6,419.3,8.2,290,5610,0.12,0.00,0.00,0.000,6,0.114,0.000,3247,1694,2128,0,0,0,0,0,0
$GC,5933,0.90,163.4,398.5,6.0,298,5975,0.00,2.40,36.88,0.792,4,0.000,0.031,3247,3083,1962,0,0,0,0,0,0
$GC,6025,0.90,163.4,392.0,7.9,300,6029,0.00,2.42,0.00,0.000,6,0.000,0.041,3247,1699,1961,0,0,0,0,0,0
$GC,6354,0.89,189.5,369.0,6.7,308,6382,0.00,2.58,23.12,0.766,4,0.000,0.058,3246,291,1856,0,0,0,0,0,0
$GC,6455,0.78,189.5,360.8,9.6,310,6460,0.12,2.35,0.00,0.000,6,0.114,0.027,3223,1702,1851,0,0,0,0,0,0
$GC,6775,0.88,244.2,341.4,5.4,318,6831,0.00,2.55,48.60,0.773,4,0.000,0.056,3223,295,1632,0,0,0,0,0,0
$GC,6921,0.84,244.2,328.6,11.0,321,6925,0.00,2.33,0.00,0.000,6,0.000,0.027,3223,1710,1625,0,0,0,0,0,0
$GC,7236,0.89,244.2,302.0,8.5,329,7241,0.00,2.53,0.00,0.000,4,0.000,0.057,3223,288,1624,0,0,0,0,0,0
$GC,7359,0.89,244.2,289.6,10.4,333,7363,0.00,2.35,0.00,0.000,6,0.000,0.026,3223,1709,1621,0,0,0,0,0,0
$GC,7685,1.05,319.3,271.0,4.5,349,7759,0.25,2.62,63.60,0.731,4,0.049,0.057,3293,297,1327,0,0,0,0,0,0
$GC,7902,0.87,319.3,240.2,18.3,358,7907,0.28,2.33,0.00,0.000,6,0.092,0.026,3239,1710,1320,0,0,0,0,0,0
$GC,8219,0.92,319.3,201.9,11.8,373,8223,0.00,2.53,0.00,0.000,4,0.000,0.055,3238,294,1318,0,0,0,0,0,0
$GC,8373,0.92,319.3,181.2,12.7,384,8377,0.00,2.33,0.00,0.000,6,0.000,0.024,3239,1713,1316,0,0,0,0,0,0
$GC,8634,0.99,319.3,154.5,10.0,404,8639,0.12,2.50,0.00,0.000,4,0.066,0.052,3278,294,1316,0,0,0,0,0,0
$GC,8769,0.89,319.3,136.0,14.3,414,8774,0.17,2.30,0.00,0.000,6,0.094,0.023,3243,1714,1315,0,0,0,0,0,0
$GC,9037,0.98,319.3,114.2,7.9,435,9042,0.00,2.47,0.00,0.000,4,0.000,0.050,3242,292,1315,0,0,0,0,0,0
$GC,9202,1.03,319.3,98.5,9.5,447,9207,0.15,2.25,0.00,0.000,6,0.059,0.021,3291,1710,1314,0,0,0,0,0,0
$GC,9470,1.03,319.3,73.3,8.0,468,9474,0.00,2.45,0.00,0.000,4,0.000,0.048,3291,293,1313,0,0,0,0,0,0
$GC,9593,1.00,319.3,61.8,9.2,477,9598,0.10,2.25,0.00,0.000,6,0.106,0.020,3270,1706,1314,0,0,0,0,0,0
$GC,9862,1.11,319.3,39.9,8.6,498,9867,0.10,2.45,0.00,0.000,4,0.073,0.048,3308,293,1313,0,0,0,0,0,0
$GC,9963,1.05,319.3,27.8,12.9,506,9970,0.12,2.25,0.00,0.000,6,0.069,0.019,3278,1698,1314,0,0,0,0,0,0
$GC,10167,1.14,326.9,9.6,7.5,552,10180,0.00,2.47,5.82,0.388,4,0.000,0.047,3277,298,1296,0,0,0,0,0,0
$STATE,10236,end climb,SURFACE_DEPTH_REACHED
$STATE,10236,begin surface coast
$FINISH,0.9,1.021726
$STATE,10261,end surface coast,CONTROL_FINISHED_OK
$STATE,10261,begin surface
$SM_CCo,10286,47.22,0.482,0,0,958,410.14
$SM_GC,1.70,0.00,0.00,47.22,0.000,0.000,0.482,426,1716,958,-12.07,0.45,410.14
$IRIDIUM_FIX,2054.83,-15748.75,161299,060628
$TT8_MAMPS,0.029146
$HUMID,57.56
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.4,43.956
$10V_AH,10.2,36.551
$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,30.075,123.550,379.600,47.225,0.000,29.633,30.624,157.889,4.500,0.000,13.161,1166.812,6662.363,460.992,1876.775,514.100,0.000,1318.473,0.000,1850.306,0.000,29.246,0.000
$DEVICE_MAMPS,131.924,58.292,832.962,481.676,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,385.444,366.532,819.939,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,31701,572
$CAP_FILE_SIZE,118913,0
$CFSIZE,260165632,187031552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210910,123237,2104.883,-15750.531,33,0.9,33,9.8