version: 66.06
glider: 139
mission: 8
dive: 493
start: 9 20 110 11 50 27
data:
$ID,139
$MISSION,8
$DIVE,493
$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,-2161453.2
$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
$GPS1,114436,2105.642,-15752.743,11,1.7,27,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-68.6
$GPS2,115008,2105.634,-15752.816,13,1.9,13,9.8
$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,79.1,17107,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.25,0.000,2,0.000,0.000,424,1710,2758,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.6,-4.1,12,110,12.65,0.00,-6.47,0.000,6,0.133,0.000,2785,1711,3108,0,0,0,0,0,0
$GC,307,-0.96,-116.8,51.6,-17.4,44,309,0.28,0.00,0.00,0.000,6,0.087,0.000,2842,1710,3110,0,0,0,0,0,0
$GC,558,-0.89,-116.8,86.1,-15.8,64,562,0.00,2.45,0.00,0.000,4,0.000,0.048,2842,295,3111,0,0,0,0,0,0
$GC,605,-0.82,-116.8,93.5,-15.8,67,611,0.12,2.33,0.00,0.000,6,0.094,0.018,2869,1741,3111,0,0,0,0,0,0
$GC,865,-0.88,-116.8,118.5,-8.5,88,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1743,3112,0,0,0,0,0,0
$GC,1117,-0.95,-116.8,139.1,-7.7,108,1122,0.12,2.53,0.00,0.000,4,0.061,0.046,2823,295,3113,0,0,0,0,0,0
$GC,1224,-0.95,-116.8,150.2,-11.0,115,1229,0.00,2.28,0.00,0.000,6,0.000,0.018,2823,1720,3113,0,0,0,0,0,0
$GC,1483,-0.95,-116.8,176.0,-9.6,136,1488,0.00,2.47,0.00,0.000,4,0.000,0.046,2822,289,3114,0,0,0,0,0,0
$GC,1550,-0.95,-116.8,182.8,-10.0,141,1554,0.00,2.22,0.00,0.000,6,0.000,0.019,2824,1701,3114,0,0,0,0,0,0
$GC,1812,-0.95,-116.8,205.6,-8.1,160,1816,0.00,2.42,0.00,0.000,4,0.000,0.048,2823,290,3114,0,0,0,0,0,0
$GC,1845,-0.91,-116.8,208.5,-8.7,161,1850,0.12,2.22,0.00,0.000,6,0.091,0.019,2850,1703,3114,0,0,0,0,0,0
$GC,2164,-0.99,-116.8,228.8,-7.3,176,2168,0.00,2.42,0.00,0.000,4,0.000,0.047,2850,290,3114,0,0,0,0,0,0
$GC,2210,-1.04,-116.8,233.2,-9.2,178,2215,0.12,2.22,0.00,0.000,6,0.061,0.020,2805,1700,3114,0,0,0,0,0,0
$GC,2539,-1.04,-116.8,265.5,-9.6,194,2543,0.00,2.42,0.00,0.000,4,0.000,0.048,2805,292,3113,0,0,0,0,0,0
$GC,2595,-1.04,-116.8,271.6,-10.4,196,2599,0.00,2.25,0.00,0.000,6,0.000,0.021,2805,1702,3113,0,0,0,0,0,0
$GC,2912,-1.04,-116.8,296.1,-8.0,211,2916,0.00,2.45,0.00,0.000,4,0.000,0.050,2805,295,3112,0,0,0,0,0,0
$GC,2932,-1.01,-116.8,297.9,-8.4,212,2937,0.12,2.25,0.00,0.000,6,0.091,0.022,2833,1706,3112,0,0,0,0,0,0
$GC,3262,-1.08,-116.8,321.3,-7.2,221,3266,0.00,2.47,0.00,0.000,4,0.000,0.051,2833,289,3112,0,0,0,0,0,0
$GC,3336,-1.14,-116.8,327.7,-8.5,222,3341,0.15,2.25,0.00,0.000,6,0.055,0.022,2784,1698,3111,0,0,0,0,0,0
$GC,3674,-1.14,-116.8,362.4,-10.6,231,3679,0.00,2.47,0.00,0.000,4,0.000,0.053,2784,289,3109,0,0,0,0,0,0
$GC,3698,-1.07,-116.8,365.4,-11.2,231,3703,0.15,2.28,0.00,0.000,6,0.088,0.024,2817,1693,3109,0,0,0,0,0,0
$GC,4041,-1.12,-116.8,388.5,-6.5,240,4045,0.00,2.45,0.00,0.000,4,0.000,0.054,2817,290,3107,0,0,0,0,0,0
$GC,4107,-1.15,-116.8,394.0,-7.8,241,4111,0.00,2.30,0.00,0.000,6,0.000,0.025,2817,1703,3107,0,0,0,0,0,0
$GC,4458,-1.21,-116.8,417.6,-6.0,250,4463,0.12,2.50,0.00,0.000,4,0.065,0.057,2776,289,3104,0,0,0,0,0,0
$GC,4535,-1.13,-116.8,423.6,-8.9,251,4540,0.12,2.28,0.00,0.000,6,0.096,0.025,2802,1699,3104,0,0,0,0,0,0
$GC,4872,-1.13,-116.8,441.4,-5.3,260,4876,0.00,2.47,0.00,0.000,4,0.000,0.058,2802,291,3102,0,0,0,0,0,0
$GC,4976,-1.13,-116.8,447.9,-5.8,262,4980,0.00,2.33,0.00,0.000,6,0.000,0.026,2802,1702,3101,0,0,0,0,0,0
$STATE,5043,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5043,begin apogee
$GC,5049,-0.31,0.0,452.2,6.1,264,5148,0.82,0.00,96.03,0.840,6,0.065,0.000,2981,1706,2630,0,0,0,0,0,0
$STATE,5149,end apogee,CONTROL_FINISHED_OK
$STATE,5149,begin climb
$GC,5153,1.18,116.8,453.6,0.0,266,5264,1.42,2.40,100.80,0.821,4,0.039,0.034,3311,3085,2152,0,0,0,0,0,0
$GC,5352,1.01,116.8,447.1,8.9,270,5357,0.20,2.42,0.00,0.000,6,0.098,0.041,3272,1701,2149,0,0,0,0,0,0
$GC,5698,0.91,135.5,421.3,7.1,279,5720,0.12,2.58,15.85,0.759,4,0.114,0.059,3249,294,2077,0,0,0,0,0,0
$GC,5795,0.79,149.3,414.3,7.3,281,5816,0.12,2.35,13.12,0.739,6,0.114,0.027,3226,1708,2021,0,0,0,0,0,0
$GC,6159,0.84,186.2,392.3,6.2,290,6195,0.00,0.00,33.70,0.793,6,0.000,0.000,3226,1708,1869,0,0,0,0,0,0
$GC,6528,0.89,229.4,367.9,5.9,299,6572,0.00,2.62,38.55,0.785,4,0.000,0.059,3226,298,1694,0,0,0,0,0,0
$GC,6690,0.85,229.4,355.0,9.0,302,6695,0.00,2.35,0.00,0.000,6,0.000,0.028,3225,1704,1686,0,0,0,0,0,0
$GC,7031,0.90,229.4,328.2,8.6,311,7035,0.00,2.53,0.00,0.000,4,0.000,0.058,3226,297,1684,0,0,0,0,0,0
$GC,7120,0.90,229.4,319.4,10.7,313,7124,0.00,2.35,0.00,0.000,6,0.000,0.028,3226,1707,1681,0,0,0,0,0,0
$GC,7452,0.95,229.4,288.9,9.0,323,7457,0.15,2.53,0.00,0.000,4,0.061,0.057,3268,290,1680,0,0,0,0,0,0
$GC,7572,0.84,229.4,274.8,10.8,328,7577,0.17,2.35,0.00,0.000,6,0.099,0.026,3234,1709,1678,0,0,0,0,0,0
$GC,7896,0.91,249.3,250.1,7.0,344,7919,0.00,2.55,16.30,0.680,4,0.000,0.054,3234,297,1612,0,0,0,0,0,0
$GC,8054,0.91,249.3,237.2,8.2,350,8060,0.00,2.35,0.00,0.000,6,0.000,0.025,3234,1707,1608,0,0,0,0,0,0
$GC,8370,1.03,294.3,218.2,5.9,366,8416,0.17,2.60,39.58,0.676,4,0.054,0.054,3284,298,1429,0,0,0,0,0,0
$GC,8556,0.88,294.3,194.3,14.0,375,8562,0.20,2.30,0.00,0.000,6,0.091,0.024,3244,1708,1424,0,0,0,0,0,0
$GC,8817,0.94,294.3,169.0,8.7,396,8822,0.00,2.47,0.00,0.000,4,0.000,0.052,3244,295,1423,0,0,0,0,0,0
$GC,8959,0.94,294.3,153.9,10.3,406,8966,0.00,2.30,0.00,0.000,6,0.000,0.022,3244,1696,1421,0,0,0,0,0,0
$GC,9222,1.05,307.8,133.7,7.3,427,9240,0.15,2.50,11.77,0.551,4,0.058,0.051,3291,290,1374,0,0,0,0,0,0
$GC,9385,0.97,307.8,113.7,11.0,439,9390,0.15,2.28,0.00,0.000,6,0.092,0.021,3260,1714,1371,0,0,0,0,0,0
$GC,9652,1.06,307.8,92.5,8.0,460,9657,0.00,2.47,0.00,0.000,4,0.000,0.049,3259,291,1370,0,0,0,0,0,0
$GC,9753,1.11,307.8,83.4,8.8,467,9759,0.15,2.25,0.00,0.000,6,0.056,0.020,3311,1714,1370,0,0,0,0,0,0
$GC,10016,1.11,307.8,59.2,9.6,488,10020,0.00,2.47,0.00,0.000,4,0.000,0.048,3311,294,1369,0,0,0,0,0,0
$GC,10244,1.05,307.8,34.1,8.0,505,10249,0.15,2.22,0.00,0.000,6,0.090,0.019,3279,1709,1369,0,0,0,0,0,0
$GC,10509,1.14,320.2,15.3,7.3,555,10527,0.00,2.47,11.65,0.449,4,0.000,0.044,3279,290,1323,0,0,0,0,0,0
$STATE,10647,end climb,SURFACE_DEPTH_REACHED
$STATE,10647,begin surface coast
$FINISH,1.8,1.023146
$STATE,10657,end surface coast,CONTROL_FINISHED_OK
$STATE,10657,begin surface
$SM_CCo,10684,51.05,0.475,0,0,957,410.14
$SM_GC,1.57,0.00,0.00,51.05,0.000,0.000,0.475,430,1685,957,-12.05,-0.42,410.14
$IRIDIUM_FIX,2059.45,-15748.75,151299,080828
$TT8_MAMPS,0.029146
$HUMID,55.94
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.4,43.232
$10V_AH,10.1,35.971
$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,30.300,114.725,377.350,51.050,0.000,30.144,32.190,143.452,4.500,0.000,13.632,1192.940,6966.720,460.418,1958.569,485.048,0.000,1342.582,0.000,1926.223,0.000,29.247,0.000
$DEVICE_MAMPS,132.691,59.059,839.865,474.773,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,395.842,370.269,825.295,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,31798,588
$CAP_FILE_SIZE,120685,0
$CFSIZE,260165632,187449344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200910,145036,2105.384,-15752.765,36,1.0,36,9.8