version: 66.06
glider: 139
mission: 8
dive: 477
start: 9 18 110 10 26 40
data:
$ID,139
$MISSION,8
$DIVE,477
$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,-2161062.8
$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
$GPS1,102024,2105.630,-15801.803,48,1.0,48,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-72.2
$GPS2,102620,2105.615,-15801.856,14,1.5,14,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$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,346.1,5048,-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,-64.18,0.000,2,0.000,0.000,427,1710,2754,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.6,-3.8,12,110,12.62,2.35,-6.45,0.000,4,0.133,0.035,2784,3118,3109,0,0,0,0,0,0
$GC,196,-1.11,-116.8,27.6,-14.1,35,204,0.08,2.42,0.00,0.000,6,0.085,0.032,2803,1704,3110,0,0,0,0,0,0
$GC,405,-0.95,-116.8,60.9,-16.7,53,410,0.17,2.42,0.00,0.000,4,0.093,0.046,2840,294,3111,0,0,0,0,0,0
$GC,461,-0.83,-116.8,69.4,-13.4,57,466,0.15,2.30,0.00,0.000,6,0.093,0.018,2871,1744,3112,0,0,0,0,0,0
$GC,723,-0.89,-116.8,91.8,-8.5,77,727,0.00,2.47,0.00,0.000,4,0.000,0.044,2871,294,3113,0,0,0,0,0,0
$GC,793,-0.94,-116.8,98.4,-8.9,82,798,0.12,2.25,0.00,0.000,6,0.061,0.018,2829,1720,3113,0,0,0,0,0,0
$GC,1062,-0.90,-116.8,127.8,-10.9,103,1067,0.12,0.00,0.00,0.000,6,0.091,0.000,2854,1725,3113,0,0,0,0,0,0
$GC,1324,-0.96,-116.8,150.3,-7.9,124,1328,0.00,2.47,0.00,0.000,4,0.000,0.045,2853,289,3114,0,0,0,0,0,0
$GC,1441,-1.00,-116.8,161.0,-8.8,132,1447,0.00,2.25,0.00,0.000,6,0.000,0.019,2853,1698,3114,0,0,0,0,0,0
$GC,1703,-1.05,-116.8,183.7,-7.9,153,1708,0.15,2.45,0.00,0.000,4,0.054,0.047,2799,292,3114,0,0,0,0,0,0
$GC,1737,-0.93,-116.8,187.3,-11.1,155,1743,0.22,2.22,0.00,0.000,6,0.081,0.019,2847,1697,3114,0,0,0,0,0,0
$GC,2005,-0.99,-116.8,207.2,-7.7,174,2010,0.00,2.42,0.00,0.000,4,0.000,0.046,2847,293,3114,0,0,0,0,0,0
$GC,2061,-1.05,-116.8,211.7,-8.0,176,2066,0.12,2.22,0.00,0.000,6,0.061,0.020,2801,1704,3114,0,0,0,0,0,0
$GC,2383,-1.05,-116.8,241.0,-9.3,191,2385,0.10,0.00,0.00,0.000,6,0.107,0.000,2823,1710,3114,0,0,0,0,0,0
$GC,2686,-1.08,-116.8,270.2,-9.0,206,2691,0.00,2.45,0.00,0.000,4,0.000,0.048,2823,291,3114,0,0,0,0,0,0
$GC,2710,-1.08,-116.8,272.5,-9.6,207,2714,0.00,2.22,0.00,0.000,6,0.000,0.021,2823,1703,3114,0,0,0,0,0,0
$GC,3057,-1.12,-116.8,304.4,-9.2,223,3061,0.00,2.42,0.00,0.000,4,0.000,0.050,2822,295,3113,0,0,0,0,0,0
$GC,3119,-1.12,-116.8,310.2,-9.1,224,3123,0.00,2.22,0.00,0.000,6,0.000,0.022,2822,1693,3113,0,0,0,0,0,0
$GC,3470,-1.18,-116.8,335.2,-7.3,233,3475,0.12,2.47,0.00,0.000,4,0.065,0.051,2779,287,3112,0,0,0,0,0,0
$GC,3545,-1.10,-116.8,343.0,-10.4,234,3550,0.15,2.28,0.00,0.000,6,0.090,0.023,2811,1700,3111,0,0,0,0,0,0
$GC,3884,-1.14,-116.8,370.0,-7.5,243,3888,0.00,2.47,0.00,0.000,4,0.000,0.054,2811,293,3109,0,0,0,0,0,0
$GC,3939,-1.14,-116.8,374.6,-8.3,244,3943,0.00,2.28,0.00,0.000,6,0.000,0.025,2811,1706,3109,0,0,0,0,0,0
$GC,4254,-1.18,-116.8,399.3,-8.3,252,4258,0.00,2.47,0.00,0.000,4,0.000,0.055,2811,296,3106,0,0,0,0,0,0
$GC,4310,-1.18,-116.8,404.6,-9.3,253,4314,0.00,2.28,0.00,0.000,6,0.000,0.025,2811,1702,3106,0,0,0,0,0,0
$GC,4624,-1.22,-116.8,433.8,-10.5,261,4626,0.12,0.00,0.00,0.000,6,0.066,0.000,2771,1706,3104,0,0,0,0,0,0
$STATE,4783,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4783,begin apogee
$GC,4790,-0.31,0.0,451.3,10.9,265,4890,0.98,0.00,96.28,0.831,6,0.069,0.000,2980,1707,2630,0,0,0,0,0,0
$STATE,4891,end apogee,CONTROL_FINISHED_OK
$STATE,4891,begin climb
$GC,4893,1.18,116.8,454.8,0.0,267,5006,1.42,2.42,100.82,0.815,4,0.038,0.032,3310,3078,2153,0,0,0,0,0,0
$GC,5084,1.06,172.3,453.3,5.4,271,5141,0.15,2.40,48.83,0.797,6,0.104,0.040,3281,1694,1926,0,0,0,0,0,0
$GC,5485,0.93,172.3,417.5,10.0,281,5490,0.15,2.50,0.00,0.000,4,0.104,0.058,3252,295,1918,0,0,0,0,0,0
$GC,5542,0.80,172.3,411.0,11.4,282,5547,0.15,2.33,0.00,0.000,6,0.110,0.027,3224,1698,1914,0,0,0,0,0,0
$GC,5857,0.80,172.3,383.3,8.6,290,5861,0.00,2.50,0.00,0.000,4,0.000,0.057,3223,295,1913,0,0,0,0,0,0
$GC,5936,0.75,172.3,376.4,8.3,291,5940,0.00,2.33,0.00,0.000,6,0.000,0.027,3223,1706,1910,0,0,0,0,0,0
$GC,6267,0.75,172.3,351.5,7.9,299,6271,0.00,2.53,0.00,0.000,4,0.000,0.055,3224,289,1910,0,0,0,0,0,0
$GC,6352,0.72,185.1,344.6,7.3,300,6369,0.00,2.33,9.27,0.679,6,0.000,0.027,3224,1706,1875,0,0,0,0,0,0
$GC,6691,0.80,220.5,323.7,6.3,309,6733,0.00,2.55,32.92,0.757,4,0.000,0.055,3223,295,1730,0,0,0,0,0,0
$GC,6881,0.80,220.5,306.6,9.6,313,6885,0.00,2.35,0.00,0.000,6,0.000,0.026,3224,1707,1724,0,0,0,0,0,0
$GC,7204,0.86,220.5,282.8,8.0,326,7208,0.00,2.53,0.00,0.000,4,0.000,0.056,3223,294,1723,0,0,0,0,0,0
$GC,7417,0.86,220.5,264.4,8.0,335,7422,0.00,2.30,0.00,0.000,6,0.000,0.025,3224,1703,1719,0,0,0,0,0,0
$GC,7739,0.99,274.6,247.0,5.5,351,7794,0.17,2.58,46.55,0.704,4,0.057,0.053,3273,288,1509,0,0,0,0,0,0
$GC,7846,0.88,274.6,236.5,13.3,355,7853,0.15,2.35,0.00,0.000,6,0.101,0.025,3244,1706,1504,0,0,0,0,0,0
$GC,8163,0.93,274.6,208.0,9.0,371,8168,0.00,2.50,0.00,0.000,4,0.000,0.052,3244,294,1502,0,0,0,0,0,0
$GC,8306,0.93,274.6,192.9,10.3,379,8311,0.00,2.30,0.00,0.000,6,0.000,0.023,3244,1706,1499,0,0,0,0,0,0
$GC,8568,0.98,279.0,170.9,7.7,399,8573,0.00,2.47,0.00,0.000,4,0.000,0.051,3244,288,1499,0,0,0,0,0,0
$GC,8718,0.98,279.0,157.8,8.9,410,8723,0.00,2.28,0.00,0.000,6,0.000,0.021,3244,1705,1498,0,0,0,0,0,0
$GC,8985,1.09,304.2,139.2,6.8,431,9016,0.20,2.55,24.95,0.589,4,0.049,0.049,3302,287,1389,0,0,0,0,0,0
$GC,9171,0.99,304.2,116.7,13.2,444,9178,0.15,2.33,0.00,0.000,6,0.071,0.021,3267,1711,1384,0,0,0,0,0,0
$GC,9434,1.07,304.2,94.4,8.1,465,9438,0.00,2.47,0.00,0.000,4,0.000,0.048,3267,286,1384,0,0,0,0,0,0
$GC,9571,1.11,304.2,81.4,9.5,475,9576,0.10,2.25,0.00,0.000,6,0.073,0.020,3305,1700,1382,0,0,0,0,0,0
$GC,9839,1.11,304.2,58.8,9.4,496,9843,0.00,2.42,0.00,0.000,4,0.000,0.048,3305,293,1382,0,0,0,0,0,0
$GC,9919,1.04,304.2,49.7,11.5,502,9924,0.15,2.22,0.00,0.000,6,0.091,0.019,3273,1712,1382,0,0,0,0,0,0
$GC,10184,1.16,322.6,29.1,7.1,524,10209,0.12,2.53,16.25,0.474,4,0.061,0.047,3319,297,1313,0,0,0,0,0,0
$GC,10373,1.05,322.6,6.1,13.4,565,10380,0.15,2.22,0.00,0.000,6,0.071,0.019,3282,1705,1310,0,0,0,0,0,0
$STATE,10398,end climb,SURFACE_DEPTH_REACHED
$STATE,10398,begin surface coast
$FINISH,0.8,1.017363
$STATE,10425,end surface coast,CONTROL_FINISHED_OK
$STATE,10425,begin surface
$SM_CCo,10447,51.72,0.474,0,0,958,410.14
$SM_GC,1.56,0.00,0.00,51.72,0.000,0.000,0.474,428,1707,958,-12.07,0.20,410.14
$IRIDIUM_FIX,2057.14,-15759.05,131299,070715
$TT8_MAMPS,0.029146
$HUMID,55.71
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.4,41.588
$10V_AH,10.2,34.656
$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,30.500,114.375,375.875,51.725,0.000,27.317,35.325,164.356,4.500,0.000,15.049,1168.128,6805.449,462.245,1903.852,513.638,0.000,1331.233,0.000,1874.193,0.000,29.247,0.000
$DEVICE_MAMPS,132.691,57.525,831.428,474.006,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,387.387,370.879,809.790,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,31790,576
$CAP_FILE_SIZE,119356,0
$CFSIZE,260165632,188399616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180910,132231,2106.882,-15802.110,13,2.0,13,9.8