version: 66.06
glider: 139
mission: 8
dive: 495
start: 9 20 110 17 54 24
data:
$ID,139
$MISSION,8
$DIVE,495
$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,-2161500
$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
$GPS1,174821,2105.474,-15752.256,14,1.9,14,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-71.3
$GPS2,175406,2105.473,-15752.264,13,2.0,29,9.8
$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,78.0,16160,-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,-64.20,0.000,2,0.000,0.000,430,1689,2752,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.7,-4.0,12,110,12.60,2.42,-6.43,0.000,4,0.133,0.054,2785,285,3108,0,0,0,0,0,0
$GC,128,-0.11,-116.8,17.9,-31.8,19,135,1.08,2.38,0.00,0.000,6,0.077,0.019,3020,1738,3109,0,0,0,0,0,0
$GC,331,-0.73,-116.8,30.2,-7.2,65,338,0.57,2.50,0.00,0.000,4,0.043,0.041,2883,290,3111,0,0,0,0,0,0
$GC,379,-0.73,-116.8,35.1,-9.5,68,385,0.00,2.28,0.00,0.000,6,0.000,0.018,2883,1701,3111,0,0,0,0,0,0
$GC,638,-0.73,-116.8,65.5,-12.8,89,643,0.00,2.45,0.00,0.000,4,0.000,0.046,2883,286,3111,0,0,0,0,0,0
$GC,672,-0.69,-116.8,70.3,-14.5,91,678,0.00,2.28,0.00,0.000,6,0.000,0.018,2883,1708,3112,0,0,0,0,0,0
$GC,930,-0.77,-116.8,98.5,-8.7,112,935,0.00,2.45,0.00,0.000,4,0.000,0.044,2883,290,3112,0,0,0,0,0,0
$GC,1073,-0.82,-116.8,109.6,-8.2,122,1080,0.00,2.25,0.00,0.000,6,0.000,0.018,2883,1701,3113,0,0,0,0,0,0
$GC,1335,-0.93,-116.8,127.9,-7.9,143,1340,0.15,2.42,0.00,0.000,4,0.054,0.046,2830,294,3113,0,0,0,0,0,0
$GC,1369,-0.85,-116.8,131.8,-12.4,145,1375,0.17,2.20,0.00,0.000,6,0.083,0.018,2868,1699,3113,0,0,0,0,0,0
$GC,1630,-0.94,-116.8,152.2,-6.0,166,1634,0.00,2.42,0.00,0.000,4,0.000,0.044,2868,291,3114,0,0,0,0,0,0
$GC,1699,-1.02,-116.8,156.7,-6.2,171,1704,0.17,2.22,0.00,0.000,6,0.050,0.018,2810,1704,3114,0,0,0,0,0,0
$GC,1966,-1.02,-116.8,181.0,-9.6,192,1970,0.00,2.42,0.00,0.000,4,0.000,0.045,2810,294,3114,0,0,0,0,0,0
$GC,2009,-0.94,-116.8,185.9,-11.6,195,2014,0.17,2.22,0.00,0.000,6,0.085,0.019,2848,1697,3114,0,0,0,0,0,0
$GC,2271,-1.02,-116.8,210.6,-9.5,212,2276,0.00,2.42,0.00,0.000,4,0.000,0.046,2848,293,3114,0,0,0,0,0,0
$GC,2309,-1.06,-116.8,214.5,-9.5,213,2315,0.12,2.20,0.00,0.000,6,0.061,0.019,2803,1701,3114,0,0,0,0,0,0
$GC,2626,-1.06,-116.8,246.7,-9.7,229,2631,0.00,2.42,0.00,0.000,4,0.000,0.047,2803,294,3114,0,0,0,0,0,0
$GC,2647,-1.01,-116.8,248.9,-9.5,230,2652,0.12,2.22,0.00,0.000,6,0.095,0.020,2830,1704,3114,0,0,0,0,0,0
$GC,2980,-1.08,-116.8,275.7,-8.1,246,2984,0.00,2.42,0.00,0.000,4,0.000,0.048,2830,292,3114,0,0,0,0,0,0
$GC,3035,-1.12,-116.8,281.0,-9.9,248,3040,0.12,2.22,0.00,0.000,6,0.062,0.021,2787,1701,3114,0,0,0,0,0,0
$GC,3349,-1.12,-116.8,312.5,-9.6,260,3354,0.00,2.42,0.00,0.000,4,0.000,0.049,2787,295,3113,0,0,0,0,0,0
$GC,3369,-1.06,-116.8,314.4,-9.0,260,3373,0.15,2.25,0.00,0.000,6,0.088,0.021,2820,1702,3113,0,0,0,0,0,0
$GC,3717,-1.12,-116.8,340.7,-7.4,269,3722,0.00,2.45,0.00,0.000,4,0.000,0.052,2820,292,3112,0,0,0,0,0,0
$GC,3793,-1.15,-116.8,347.2,-8.1,270,3797,0.00,2.25,0.00,0.000,6,0.000,0.023,2819,1698,3111,0,0,0,0,0,0
$GC,4129,-1.21,-116.8,372.7,-7.5,279,4134,0.15,2.47,0.00,0.000,4,0.058,0.054,2773,290,3109,0,0,0,0,0,0
$GC,4188,-1.14,-116.8,378.1,-9.6,280,4192,0.12,2.30,0.00,0.000,6,0.097,0.025,2800,1699,3109,0,0,0,0,0,0
$GC,4506,-1.14,-116.8,406.6,-9.1,288,4510,0.00,2.47,0.00,0.000,4,0.000,0.056,2799,295,3106,0,0,0,0,0,0
$GC,4582,-1.14,-116.8,414.4,-10.4,289,4586,0.00,2.30,0.00,0.000,6,0.000,0.025,2799,1703,3106,0,0,0,0,0,0
$GC,4918,-1.14,-116.8,442.0,-7.7,298,4923,0.00,2.47,0.00,0.000,4,0.000,0.058,2799,294,3103,0,0,0,0,0,0
$GC,4993,-1.14,-116.8,447.9,-7.3,299,4997,0.00,2.30,0.00,0.000,6,0.000,0.026,2800,1707,3103,0,0,0,0,0,0
$STATE,5046,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5046,begin apogee
$GC,5053,-0.31,0.0,451.9,7.1,301,5153,0.82,0.00,96.15,0.834,6,0.065,0.000,2979,1711,2630,0,0,0,0,0,0
$STATE,5153,end apogee,CONTROL_FINISHED_OK
$STATE,5153,begin climb
$GC,5156,1.18,116.8,453.2,0.0,303,5269,1.42,2.42,100.35,0.817,4,0.038,0.032,3310,3080,2152,0,0,0,0,0,0
$GC,5344,1.00,116.8,446.9,8.6,307,5349,0.20,2.40,0.00,0.000,6,0.099,0.040,3271,1698,2149,0,0,0,0,0,0
$GC,5660,0.93,154.5,425.5,6.2,315,5702,0.00,2.55,32.78,0.795,4,0.000,0.058,3271,291,1997,0,0,0,0,0,0
$GC,5759,0.74,154.5,418.0,8.1,317,5764,0.30,2.38,0.00,0.000,6,0.097,0.027,3213,1708,1993,0,0,0,0,0,0
$GC,6080,0.87,235.6,402.9,4.2,325,6159,0.12,2.62,70.50,0.808,4,0.072,0.058,3247,303,1668,0,0,0,0,0,0
$GC,6193,0.75,235.6,394.6,9.8,327,6198,0.17,2.33,0.00,0.000,6,0.104,0.028,3214,1706,1663,0,0,0,0,0,0
$GC,6536,0.82,249.2,369.9,7.3,336,6552,0.00,2.60,11.68,0.717,4,0.000,0.060,3214,293,1614,0,0,0,0,0,0
$GC,6683,0.82,249.2,354.4,11.1,339,6687,0.00,2.33,0.00,0.000,6,0.000,0.028,3214,1702,1608,0,0,0,0,0,0
$GC,6997,0.88,249.2,320.8,11.0,347,7002,0.12,2.53,0.00,0.000,4,0.071,0.058,3249,293,1608,0,0,0,0,0,0
$GC,7138,0.80,249.2,302.4,12.2,350,7143,0.12,2.33,0.00,0.000,6,0.110,0.028,3227,1711,1605,0,0,0,0,0,0
$GC,7469,0.85,249.2,276.0,8.1,365,7473,0.00,2.53,0.00,0.000,4,0.000,0.057,3226,296,1605,0,0,0,0,0,0
$GC,7593,0.85,249.2,264.2,9.3,370,7597,0.00,2.33,0.00,0.000,6,0.000,0.026,3226,1704,1602,0,0,0,0,0,0
$GC,7913,0.94,254.2,240.0,7.7,386,7923,0.12,2.50,3.97,0.453,4,0.068,0.054,3263,293,1593,0,0,0,0,0,0
$GC,8062,0.86,254.2,222.0,13.5,392,8067,0.12,2.33,0.00,0.000,6,0.107,0.025,3239,1707,1591,0,0,0,0,0,0
$GC,8385,0.91,254.2,191.0,9.0,410,8389,0.00,2.50,0.00,0.000,4,0.000,0.053,3239,291,1590,0,0,0,0,0,0
$GC,8463,0.91,254.2,183.4,9.5,415,8469,0.00,2.30,0.00,0.000,6,0.000,0.024,3239,1714,1590,0,0,0,0,0,0
$GC,8722,0.98,254.2,162.8,8.3,436,8727,0.10,2.53,0.00,0.000,4,0.077,0.052,3272,289,1590,0,0,0,0,0,0
$GC,8799,0.89,254.2,154.4,10.6,441,8805,0.15,2.28,0.00,0.000,6,0.099,0.022,3243,1707,1589,0,0,0,0,0,0
$GC,9060,0.96,259.2,131.9,7.7,462,9075,0.00,2.53,5.65,0.469,4,0.000,0.050,3242,297,1572,0,0,0,0,0,0
$GC,9205,0.99,259.2,117.1,10.4,472,9210,0.10,2.28,0.00,0.000,6,0.078,0.021,3276,1712,1571,0,0,0,0,0,0
$GC,9472,1.01,272.6,94.1,7.3,493,9492,0.00,2.53,13.30,0.534,4,0.000,0.048,3276,290,1516,0,0,0,0,0,0
$GC,9549,0.97,272.6,87.2,8.8,498,9556,0.00,2.30,0.00,0.000,6,0.000,0.021,3276,1704,1514,0,0,0,0,0,0
$GC,9810,1.05,274.7,66.4,7.8,519,9814,0.00,2.45,0.00,0.000,4,0.000,0.048,3276,289,1514,0,0,0,0,0,0
$GC,9920,1.08,274.7,56.4,9.3,527,9924,0.00,2.25,0.00,0.000,6,0.000,0.020,3276,1714,1513,0,0,0,0,0,0
$GC,10188,1.19,286.1,36.4,7.4,548,10206,0.15,2.50,12.57,0.476,4,0.055,0.048,3327,290,1462,0,0,0,0,0,0
$GC,10233,1.06,286.1,32.4,9.6,551,10239,0.22,2.22,0.00,0.000,6,0.083,0.019,3281,1706,1460,0,0,0,0,0,0
$GC,10501,1.14,292.4,13.0,7.6,609,10514,0.00,2.47,6.82,0.407,4,0.000,0.045,3280,290,1436,0,0,0,0,0,0
$STATE,10615,end climb,SURFACE_DEPTH_REACHED
$STATE,10615,begin surface coast
$FINISH,0.9,1.023103
$STATE,10633,end surface coast,CONTROL_FINISHED_OK
$STATE,10633,begin surface
$SM_CCo,10658,68.03,0.480,0,0,957,410.14
$SM_GC,1.51,0.00,0.00,68.03,0.000,0.000,0.480,425,1701,957,-12.07,0.03,410.14
$IRIDIUM_FIX,2057.14,-15751.76,151299,151529
$TT8_MAMPS,0.029146
$HUMID,55.47
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.4,43.434
$10V_AH,10.2,36.135
$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,32.450,138.100,353.775,68.025,0.000,28.242,28.836,147.060,4.500,0.000,29.319,1281.992,6704.340,481.025,2086.967,514.828,0.000,1402.387,0.000,2048.512,0.000,29.254,0.000
$DEVICE_MAMPS,132.691,59.826,834.496,480.142,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,429.250,419.996,967.503,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,34956,638
$CAP_FILE_SIZE,129972,0
$CFSIZE,260165632,187322368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200910,205436,2105.573,-15751.576,42,1.0,47,9.8