version: 66.06
glider: 139
mission: 8
dive: 502
start: 9 21 110 15 48 58
data:
$ID,139
$MISSION,8
$DIVE,502
$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,-2161605.2
$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
$GPS1,154238,2104.959,-15750.559,10,1.8,10,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-74.0
$GPS2,154838,2104.976,-15750.593,14,1.7,14,9.8
$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,73.5,13352,-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,-116.8,0.0,0.0,0,83,0.00,0.00,-64.18,0.000,2,0.000,0.000,425,1698,2741,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.3,-3.3,12,110,12.62,0.00,-6.75,0.000,6,0.132,0.000,2786,1698,3109,0,0,0,0,0,0
$GC,311,-0.93,-116.8,49.5,-16.8,45,313,0.28,0.00,0.00,0.000,6,0.087,0.000,2843,1699,3112,0,0,0,0,0,0
$GC,565,-0.87,-116.8,77.9,-10.6,65,569,0.00,2.42,0.00,0.000,4,0.000,0.048,2843,293,3113,0,0,0,0,0,0
$GC,630,-0.76,-116.8,85.5,-10.9,70,635,0.20,2.30,0.00,0.000,6,0.084,0.018,2885,1734,3113,0,0,0,0,0,0
$GC,899,-0.82,-116.8,107.5,-8.7,91,904,0.00,2.47,0.00,0.000,4,0.000,0.044,2885,287,3114,0,0,0,0,0,0
$GC,992,-0.88,-116.8,117.4,-10.3,98,997,0.12,2.25,0.00,0.000,6,0.061,0.018,2839,1720,3114,0,0,0,0,0,0
$GC,1258,-0.88,-116.8,150.9,-12.3,119,1262,0.00,2.17,0.00,0.000,4,0.000,0.021,2839,3069,3114,0,0,0,0,0,0
$GC,1277,-0.91,-116.8,153.5,-11.7,120,1284,0.00,2.33,0.00,0.000,6,0.000,0.030,2839,1695,3114,0,0,0,0,0,0
$GC,1537,-0.91,-116.8,177.6,-9.3,141,1541,0.00,2.38,0.00,0.000,4,0.000,0.044,2839,296,3114,0,0,0,0,0,0
$GC,1611,-0.91,-116.8,184.9,-9.3,146,1618,0.00,2.22,0.00,0.000,6,0.000,0.018,2839,1701,3115,0,0,0,0,0,0
$GC,1871,-0.96,-116.8,206.3,-8.6,165,1876,0.00,2.40,0.00,0.000,4,0.000,0.046,2839,297,3115,0,0,0,0,0,0
$GC,1919,-1.00,-116.8,210.9,-9.0,167,1923,0.00,2.20,0.00,0.000,6,0.000,0.019,2839,1706,3115,0,0,0,0,0,0
$GC,2245,-1.06,-116.8,237.7,-8.6,183,2249,0.00,2.42,0.00,0.000,4,0.000,0.047,2838,291,3115,0,0,0,0,0,0
$GC,2289,-1.10,-116.8,241.8,-8.9,185,2294,0.12,2.20,0.00,0.000,6,0.061,0.020,2794,1697,3115,0,0,0,0,0,0
$GC,2624,-1.06,-116.8,275.4,-10.0,201,2629,0.12,2.42,0.00,0.000,4,0.094,0.048,2821,297,3115,0,0,0,0,0,0
$GC,2718,-1.06,-116.8,284.9,-10.0,205,2723,0.00,2.22,0.00,0.000,6,0.000,0.021,2821,1694,3114,0,0,0,0,0,0
$GC,3047,-1.10,-116.8,310.7,-6.2,217,3048,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1699,3113,0,0,0,0,0,0
$GC,3371,-1.15,-116.8,328.2,-5.8,225,3375,0.00,2.42,0.00,0.000,4,0.000,0.051,2821,291,3112,0,0,0,0,0,0
$GC,3476,-1.18,-116.8,335.1,-6.4,227,3481,0.12,2.28,0.00,0.000,6,0.064,0.022,2779,1700,3112,0,0,0,0,0,0
$GC,3796,-1.15,-116.8,363.4,-9.1,235,3797,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1705,3110,0,0,0,0,0,0
$GC,4122,-1.12,-116.8,396.1,-10.5,243,4127,0.12,2.50,0.00,0.000,4,0.094,0.055,2806,293,3107,0,0,0,0,0,0
$GC,4178,-1.12,-116.8,402.5,-10.5,244,4182,0.00,2.25,0.00,0.000,6,0.000,0.025,2806,1696,3108,0,0,0,0,0,0
$GC,4493,-1.15,-116.8,432.4,-9.3,252,4497,0.00,2.47,0.00,0.000,4,0.000,0.055,2806,294,3105,0,0,0,0,0,0
$GC,4536,-1.15,-116.8,436.8,-10.0,253,4540,0.00,2.28,0.00,0.000,6,0.000,0.025,2806,1696,3105,0,0,0,0,0,0
$STATE,4703,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4703,begin apogee
$GC,4709,-0.31,0.0,450.8,8.1,257,4808,0.80,0.00,95.60,0.827,6,0.064,0.000,2980,1702,2630,0,0,0,0,0,0
$STATE,4808,end apogee,CONTROL_FINISHED_OK
$STATE,4809,begin climb
$GC,4812,1.18,116.8,452.8,0.0,259,4924,1.42,2.45,100.00,0.812,4,0.038,0.032,3310,3081,2152,0,0,0,0,0,0
$GC,5093,1.01,116.8,437.6,9.5,265,5098,0.20,2.40,0.00,0.000,6,0.099,0.040,3272,1704,2147,0,0,0,0,0,0
$GC,5408,0.93,141.5,414.9,6.8,273,5431,0.00,0.00,20.90,0.771,6,0.000,0.000,3272,1704,2053,0,0,0,0,0,0
$GC,5734,0.86,167.3,392.4,6.7,281,5761,0.17,0.00,23.62,0.775,6,0.104,0.000,3237,1704,1947,0,0,0,0,0,0
$GC,6058,0.88,183.8,370.2,7.2,289,6078,0.00,2.58,15.05,0.742,4,0.000,0.058,3237,295,1879,0,0,0,0,0,0
$GC,6165,0.80,183.8,360.2,10.2,291,6169,0.00,2.35,0.00,0.000,6,0.000,0.028,3237,1705,1875,0,0,0,0,0,0
$GC,6479,0.81,191.6,334.8,7.5,299,6491,0.00,2.55,7.45,0.644,4,0.000,0.057,3237,296,1848,0,0,0,0,0,0
$GC,6579,0.76,200.4,326.9,7.5,301,6596,0.12,2.35,9.18,0.671,6,0.112,0.027,3214,1714,1812,0,0,0,0,0,0
$GC,6943,0.89,256.4,307.7,5.4,310,7001,0.12,2.62,49.95,0.753,4,0.071,0.056,3250,294,1583,0,0,0,0,0,0
$GC,7138,0.83,256.4,285.6,12.8,316,7143,0.00,2.35,0.00,0.000,6,0.000,0.026,3249,1708,1576,0,0,0,0,0,0
$GC,7456,0.83,256.4,253.5,8.9,331,7460,0.00,2.50,0.00,0.000,4,0.000,0.054,3250,295,1575,0,0,0,0,0,0
$GC,7583,0.78,256.4,241.8,9.6,336,7588,0.15,2.33,0.00,0.000,6,0.104,0.025,3221,1708,1573,0,0,0,0,0,0
$GC,7903,0.92,295.4,222.0,6.1,351,7947,0.12,2.55,32.85,0.678,4,0.067,0.052,3258,293,1423,0,0,0,0,0,0
$GC,8058,0.85,295.4,206.5,10.3,357,8065,0.10,2.33,0.00,0.000,6,0.114,0.024,3238,1708,1418,0,0,0,0,0,0
$GC,8390,0.95,328.2,183.6,6.4,381,8424,0.00,2.60,27.80,0.634,4,0.000,0.052,3238,292,1291,0,0,0,0,0,0
$GC,8612,0.95,328.2,160.6,10.1,397,8617,0.00,2.30,0.00,0.000,6,0.000,0.022,3238,1709,1286,0,0,0,0,0,0
$GC,8878,1.07,339.5,139.3,7.4,418,8894,0.20,2.53,10.57,0.542,4,0.048,0.050,3297,295,1245,0,0,0,0,0,0
$GC,9083,0.96,339.5,113.0,11.6,432,9088,0.17,2.25,0.00,0.000,6,0.089,0.021,3261,1707,1241,0,0,0,0,0,0
$GC,9345,1.05,339.5,91.7,9.9,452,9349,0.00,2.45,0.00,0.000,4,0.000,0.049,3261,295,1241,0,0,0,0,0,0
$GC,9495,1.09,339.5,75.9,9.0,463,9500,0.12,2.25,0.00,0.000,6,0.064,0.021,3307,1703,1240,0,0,0,0,0,0
$GC,9763,1.09,339.5,48.4,11.2,484,9767,0.00,2.47,0.00,0.000,4,0.000,0.048,3307,287,1240,0,0,0,0,0,0
$GC,9913,1.05,339.5,29.4,12.4,495,9921,0.10,2.25,0.00,0.000,6,0.070,0.019,3280,1692,1240,0,0,0,0,0,0
$GC,10118,1.15,363.1,11.8,6.8,541,10148,0.00,2.50,20.65,0.472,4,0.000,0.048,3280,301,1148,0,0,0,0,0,0
$STATE,10211,end climb,SURFACE_DEPTH_REACHED
$STATE,10211,begin surface coast
$FINISH,1.1,1.023089
$STATE,10238,end surface coast,CONTROL_FINISHED_OK
$STATE,10238,begin surface
$SM_CCo,10263,28.10,0.468,0,0,957,410.14
$SM_GC,1.70,0.00,0.00,28.10,0.000,0.000,0.468,427,1709,957,-12.07,0.25,410.14
$IRIDIUM_FIX,2057.14,-15748.75,161299,121219
$TT8_MAMPS,0.029146
$HUMID,57.36
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.4,44.163
$10V_AH,10.3,36.714
$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,29.750,99.850,413.625,28.100,0.000,23.759,27.302,180.769,4.500,0.000,14.680,1146.857,6636.980,466.805,1890.039,508.277,0.000,1319.899,0.000,1861.876,0.000,29.255,0.000
$DEVICE_MAMPS,131.924,58.292,826.826,467.870,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,380.693,355.779,800.308,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,31720,566
$CAP_FILE_SIZE,114595,0
$CFSIZE,260165632,186920960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210910,184137,2104.908,-15749.899,29,1.4,29,9.8