version: 66.06
glider: 139
mission: 8
dive: 492
start: 9 20 110 8 45 40
data:
$ID,139
$MISSION,8
$DIVE,492
$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,-2161438.8
$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
$GPS1,083937,2106.174,-15752.675,33,1.0,33,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-72.6
$GPS2,084520,2106.151,-15752.744,12,1.9,12,9.8
$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,82.3,16990,-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,-64.25,0.000,2,0.000,0.000,429,1711,2729,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.2,-2.9,12,109,12.62,0.00,-7.18,0.000,6,0.132,0.000,2788,1714,3109,0,0,0,0,0,0
$GC,310,-0.97,-116.8,46.6,-15.7,47,312,0.22,0.00,0.00,0.000,6,0.088,0.000,2835,1715,3112,0,0,0,0,0,0
$GC,563,-0.94,-116.8,80.5,-13.5,67,567,0.00,2.45,0.00,0.000,4,0.000,0.047,2835,295,3113,0,0,0,0,0,0
$GC,596,-0.84,-116.8,85.4,-14.4,69,603,0.15,2.30,0.00,0.000,6,0.089,0.018,2867,1736,3113,0,0,0,0,0,0
$GC,857,-0.90,-116.8,111.4,-8.4,90,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1737,3114,0,0,0,0,0,0
$GC,1109,-0.97,-116.8,133.3,-8.9,110,1114,0.12,2.53,0.00,0.000,4,0.061,0.046,2821,286,3114,0,0,0,0,0,0
$GC,1230,-0.89,-116.8,147.9,-12.2,119,1235,0.17,2.25,0.00,0.000,6,0.081,0.018,2859,1711,3114,0,0,0,0,0,0
$GC,1497,-0.96,-116.8,172.1,-8.3,140,1498,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1717,3115,0,0,0,0,0,0
$GC,1747,-1.04,-116.8,189.5,-6.5,160,1752,0.15,2.45,0.00,0.000,4,0.055,0.047,2807,293,3115,0,0,0,0,0,0
$GC,1830,-0.96,-116.8,196.9,-9.7,166,1835,0.15,2.22,0.00,0.000,6,0.086,0.019,2840,1701,3115,0,0,0,0,0,0
$GC,2096,-1.01,-116.8,217.4,-8.0,180,2100,0.00,2.42,0.00,0.000,4,0.000,0.047,2840,294,3115,0,0,0,0,0,0
$GC,2134,-1.01,-116.8,221.2,-10.2,181,2140,0.00,2.22,0.00,0.000,6,0.000,0.020,2841,1702,3115,0,0,0,0,0,0
$GC,2451,-1.09,-116.8,252.2,-9.4,197,2456,0.12,2.45,0.00,0.000,4,0.063,0.048,2796,287,3115,0,0,0,0,0,0
$GC,2504,-1.03,-116.8,258.2,-11.2,199,2509,0.15,2.22,0.00,0.000,6,0.084,0.020,2829,1697,3115,0,0,0,0,0,0
$GC,2828,-1.09,-116.8,281.9,-5.7,215,2832,0.00,2.45,0.00,0.000,4,0.000,0.049,2829,287,3115,0,0,0,0,0,0
$GC,2876,-1.12,-116.8,285.2,-6.7,217,2881,0.10,2.28,0.00,0.000,6,0.072,0.021,2792,1707,3115,0,0,0,0,0,0
$GC,3200,-1.12,-116.8,310.1,-7.8,230,3204,0.00,2.45,0.00,0.000,4,0.000,0.051,2792,296,3113,0,0,0,0,0,0
$GC,3252,-1.06,-116.8,314.6,-9.0,231,3257,0.12,2.25,0.00,0.000,6,0.094,0.022,2819,1705,3113,0,0,0,0,0,0
$GC,3574,-1.10,-116.8,335.4,-6.4,239,3578,0.00,2.45,0.00,0.000,4,0.000,0.052,2820,293,3112,0,0,0,0,0,0
$GC,3642,-1.10,-116.8,340.2,-7.1,240,3646,0.00,2.25,0.00,0.000,6,0.000,0.023,2819,1697,3112,0,0,0,0,0,0
$GC,3989,-1.16,-116.8,361.2,-6.1,249,3993,0.00,2.47,0.00,0.000,4,0.000,0.054,2819,289,3109,0,0,0,0,0,0
$GC,4050,-1.19,-116.8,365.7,-6.4,250,4055,0.12,2.30,0.00,0.000,6,0.064,0.025,2779,1705,3110,0,0,0,0,0,0
$GC,4402,-1.15,-116.8,398.0,-9.9,259,4406,0.00,2.50,0.00,0.000,4,0.000,0.055,2778,289,3107,0,0,0,0,0,0
$GC,4462,-1.09,-116.8,405.0,-11.2,260,4467,0.15,2.30,0.00,0.000,6,0.089,0.025,2811,1703,3106,0,0,0,0,0,0
$GC,4817,-1.13,-116.8,440.6,-10.1,269,4821,0.00,2.50,0.00,0.000,4,0.000,0.058,2811,293,3104,0,0,0,0,0,0
$GC,4860,-1.13,-116.8,445.2,-10.1,270,4864,0.00,2.30,0.00,0.000,6,0.000,0.025,2811,1704,3104,0,0,0,0,0,0
$STATE,4941,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4941,begin apogee
$GC,4947,-0.31,0.0,453.2,9.4,272,5046,0.77,0.00,96.60,0.836,6,0.064,0.000,2979,1709,2630,0,0,0,0,0,0
$STATE,5047,end apogee,CONTROL_FINISHED_OK
$STATE,5047,begin climb
$GC,5051,1.18,116.8,456.3,0.0,274,5163,1.42,2.42,100.62,0.819,4,0.038,0.033,3309,3097,2152,0,0,0,0,0,0
$GC,5281,1.01,116.8,448.4,9.1,279,5286,0.20,2.42,0.00,0.000,6,0.097,0.041,3270,1700,2149,0,0,0,0,0,0
$GC,5601,0.90,117.0,422.9,7.9,287,5602,0.12,0.00,0.00,0.000,6,0.110,0.000,3246,1701,2142,0,0,0,0,0,0
$GC,5927,0.90,157.2,402.2,6.1,295,5964,0.00,0.00,34.67,0.797,6,0.000,0.000,3246,1701,1989,0,0,0,0,0,0
$GC,6290,0.86,166.1,374.9,7.5,304,6306,0.00,2.53,8.48,0.684,4,0.000,0.058,3246,297,1951,0,0,0,0,0,0
$GC,6353,0.75,166.1,369.8,8.7,305,6358,0.17,2.35,0.00,0.000,6,0.104,0.028,3213,1711,1949,0,0,0,0,0,0
$GC,6705,0.85,212.8,348.7,5.8,314,6754,0.00,2.62,42.25,0.781,4,0.000,0.058,3213,305,1762,0,0,0,0,0,0
$GC,6816,0.85,212.8,339.8,8.8,316,6820,0.00,2.33,0.00,0.000,6,0.000,0.028,3213,1710,1756,0,0,0,0,0,0
$GC,7161,0.95,237.5,315.5,6.8,325,7190,0.20,2.62,21.75,0.739,4,0.055,0.057,3266,298,1661,0,0,0,0,0,0
$GC,7307,0.82,237.5,299.4,11.5,328,7312,0.17,2.33,0.00,0.000,6,0.102,0.028,3232,1703,1656,0,0,0,0,0,0
$GC,7634,0.86,237.5,271.2,8.1,343,7639,0.00,2.50,0.00,0.000,4,0.000,0.057,3232,295,1654,0,0,0,0,0,0
$GC,7779,0.86,237.5,256.7,10.0,349,7784,0.00,2.30,0.00,0.000,6,0.000,0.026,3232,1700,1651,0,0,0,0,0,0
$GC,8101,0.93,237.5,226.3,8.8,365,8105,0.00,2.50,0.00,0.000,4,0.000,0.055,3232,296,1651,0,0,0,0,0,0
$GC,8274,0.93,237.5,210.2,9.2,372,8278,0.00,2.30,0.00,0.000,6,0.000,0.025,3231,1708,1648,0,0,0,0,0,0
$GC,8596,1.01,253.4,186.5,7.2,393,8617,0.17,2.58,13.55,0.619,4,0.054,0.052,3283,294,1595,0,0,0,0,0,0
$GC,8725,0.89,253.4,172.7,10.9,402,8730,0.20,2.28,0.00,0.000,6,0.092,0.023,3243,1704,1591,0,0,0,0,0,0
$GC,8987,0.98,286.7,158.0,6.4,422,9021,0.00,2.55,29.15,0.621,4,0.000,0.051,3243,296,1460,0,0,0,0,0,0
$GC,9122,0.98,286.7,144.4,10.6,431,9126,0.00,2.28,0.00,0.000,6,0.000,0.022,3243,1708,1456,0,0,0,0,0,0
$GC,9385,1.12,325.3,124.4,6.2,451,9426,0.22,2.53,33.47,0.587,4,0.045,0.049,3307,293,1303,0,0,0,0,0,0
$GC,9546,0.99,325.3,103.1,14.5,462,9553,0.17,2.30,0.00,0.000,6,0.069,0.021,3267,1698,1298,0,0,0,0,0,0
$GC,9808,1.08,325.3,75.2,9.9,483,9812,0.00,2.47,0.00,0.000,4,0.000,0.049,3266,291,1298,0,0,0,0,0,0
$GC,9867,1.08,325.3,68.6,10.6,487,9874,0.00,2.30,0.00,0.000,6,0.000,0.021,3266,1710,1296,0,0,0,0,0,0
$GC,10130,1.22,349.0,51.0,6.8,508,10159,0.20,2.55,20.40,0.505,4,0.046,0.049,3329,297,1206,0,0,0,0,0,0
$GC,10313,1.10,349.0,27.8,12.5,523,10320,0.17,2.28,0.00,0.000,6,0.068,0.019,3289,1707,1202,0,0,0,0,0,0
$GC,10517,1.18,379.9,10.5,6.5,569,10552,0.00,2.55,26.30,0.476,4,0.000,0.046,3288,291,1080,0,0,0,0,0,0
$STATE,10595,end climb,SURFACE_DEPTH_REACHED
$STATE,10595,begin surface coast
$FINISH,0.8,1.001438
$STATE,10624,end surface coast,CONTROL_FINISHED_OK
$STATE,10624,begin surface
$SM_CCo,10650,20.35,0.461,0,0,958,410.14
$SM_GC,1.93,0.00,0.00,20.35,0.000,0.000,0.461,424,1710,958,-12.08,0.28,410.14
$IRIDIUM_FIX,2057.14,-15753.90,151299,050536
$TT8_MAMPS,0.029146
$HUMID,57.99
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.4,43.131
$10V_AH,10.2,35.891
$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,30.825,110.200,427.250,20.350,0.000,30.667,29.016,154.115,4.500,0.000,12.387,1184.674,6938.905,470.987,1915.472,500.842,0.000,1345.489,0.000,1887.455,0.000,29.245,0.000
$DEVICE_MAMPS,131.924,58.292,836.030,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,397.352,373.735,832.086,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,31825,591
$CAP_FILE_SIZE,120520,0
$CFSIZE,260165632,187506688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200910,114436,2105.642,-15752.743,11,1.7,27,9.8