version: 66.06
glider: 139
mission: 8
dive: 420
start: 9 11 110 13 53 32
data:
$ID,139
$MISSION,8
$DIVE,420
$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,80
$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,-2159790
$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
$GPS1,134702,2055.328,-15755.277,14,2.0,14,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-71.1
$GPS2,135316,2055.243,-15755.360,18,2.1,37,9.8
$SPEED_LIMITS,0.137,0.183
$TGT_NAME,C_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,37.9,29077,-20.5,-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,-1.38,-77.9,0.0,0.0,0,82,0.00,0.00,-64.20,0.000,2,0.000,0.000,425,1691,2731,0,0,0,0,0,0
$GC,85,-1.38,-77.9,3.1,-3.0,12,109,12.43,0.00,-4.28,0.000,6,0.133,0.000,2741,1691,2951,0,0,0,0,0,0
$GC,306,-1.18,-77.9,50.2,-19.1,46,311,0.25,2.35,0.00,0.000,4,0.099,0.020,2793,3118,2953,0,0,0,0,0,0
$GC,386,-1.22,-77.9,61.3,-12.2,52,391,0.00,2.40,0.00,0.000,6,0.000,0.031,2793,1687,2953,0,0,0,0,0,0
$GC,652,-1.16,-77.9,96.3,-12.8,73,656,0.00,2.40,0.00,0.000,4,0.000,0.045,2793,293,2954,0,0,0,0,0,0
$GC,700,-1.08,-77.9,103.9,-15.5,76,707,0.08,2.33,0.00,0.000,6,0.084,0.018,2813,1731,2954,0,0,0,0,0,0
$GC,963,-1.11,-77.9,140.0,-13.8,97,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1731,2955,0,0,0,0,0,0
$GC,1212,-1.16,-77.9,167.3,-8.2,117,1216,0.00,2.47,0.00,0.000,4,0.000,0.046,2813,297,2956,0,0,0,0,0,0
$GC,1311,-1.20,-77.9,174.9,-6.9,124,1316,0.12,2.25,0.00,0.000,6,0.062,0.018,2772,1716,2956,0,0,0,0,0,0
$GC,1578,-1.20,-77.9,199.7,-12.1,145,1583,0.00,2.20,0.00,0.000,4,0.000,0.022,2771,3076,2957,0,0,0,0,0,0
$GC,1640,-1.25,-77.9,207.8,-11.9,148,1644,0.00,2.28,0.00,0.000,6,0.000,0.031,2771,1698,2956,0,0,0,0,0,0
$GC,1956,-1.25,-77.9,243.3,-10.3,163,1960,0.00,2.40,0.00,0.000,4,0.000,0.046,2771,297,2957,0,0,0,0,0,0
$GC,1993,-1.20,-77.9,247.0,-9.2,164,2000,0.00,2.25,0.00,0.000,6,0.000,0.019,2771,1700,2957,0,0,0,0,0,0
$GC,2309,-1.20,-77.9,277.5,-10.6,180,2313,0.00,2.25,0.00,0.000,4,0.000,0.025,2771,3071,2957,0,0,0,0,0,0
$GC,2341,-1.30,-77.9,281.3,-11.3,181,2345,0.00,2.30,0.00,0.000,6,0.000,0.034,2771,1695,2957,0,0,0,0,0,0
$GC,2657,-1.34,-77.9,312.8,-10.0,193,2662,0.00,2.40,0.00,0.000,4,0.000,0.049,2771,292,2956,0,0,0,0,0,0
$GC,2671,-1.34,-77.9,314.7,-10.3,193,2675,0.00,2.22,0.00,0.000,6,0.000,0.021,2771,1704,2956,0,0,0,0,0,0
$GC,3022,-1.40,-77.9,347.3,-8.7,202,3027,0.12,2.28,0.00,0.000,4,0.065,0.028,2732,3067,2955,0,0,0,0,0,0
$GC,3069,-1.40,-77.9,351.9,-9.5,203,3073,0.00,2.30,0.00,0.000,6,0.000,0.036,2732,1700,2955,0,0,0,0,0,0
$GC,3392,-1.40,-77.9,379.6,-8.3,211,3399,0.00,2.40,0.00,0.000,4,0.000,0.053,2732,296,2953,0,0,0,0,0,0
$GC,3410,-1.33,-77.9,381.3,-8.7,211,3415,0.12,2.25,0.00,0.000,6,0.103,0.024,2756,1689,2953,0,0,0,0,0,0
$GC,3727,-1.37,-77.9,402.8,-6.4,219,3731,0.00,2.30,0.00,0.000,4,0.000,0.030,2757,3075,2951,0,0,0,0,0,0
$GC,3807,-1.45,-77.9,409.4,-7.1,220,3812,0.10,2.35,0.00,0.000,6,0.076,0.041,2723,1697,2950,0,0,0,0,0,0
$STATE,4139,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4139,begin apogee
$GC,4147,-0.31,0.0,443.9,10.6,228,4218,1.23,0.00,64.70,0.824,6,0.077,0.000,2981,1696,2630,0,0,0,0,0,0
$STATE,4219,end apogee,CONTROL_FINISHED_OK
$STATE,4219,begin climb
$GC,4223,1.38,77.9,446.4,0.0,230,4299,1.60,2.40,66.68,0.811,4,0.040,0.030,3349,3082,2311,0,0,0,0,0,0
$GC,4314,1.32,161.6,445.4,2.2,232,4398,0.00,2.42,73.20,0.803,6,0.000,0.038,3348,1696,1971,0,0,0,0,0,0
$GC,4722,1.16,161.6,406.4,9.7,242,4727,0.22,2.53,0.00,0.000,4,0.104,0.057,3305,289,1961,0,0,0,0,0,0
$GC,4751,0.99,161.6,403.3,9.9,242,4756,0.20,2.33,0.00,0.000,6,0.106,0.026,3267,1693,1959,0,0,0,0,0,0
$GC,5088,0.99,161.6,375.5,8.9,251,5093,0.00,2.47,0.00,0.000,4,0.000,0.057,3267,297,1956,0,0,0,0,0,0
$GC,5102,0.99,161.6,373.9,9.5,251,5107,0.00,2.35,0.00,0.000,6,0.000,0.027,3267,1711,1955,0,0,0,0,0,0
$GC,5452,1.03,161.6,339.7,9.7,260,5456,0.00,2.53,0.00,0.000,4,0.000,0.056,3267,293,1954,0,0,0,0,0,0
$GC,5543,0.99,161.6,330.7,10.1,262,5547,0.00,2.33,0.00,0.000,6,0.000,0.027,3267,1694,1950,0,0,0,0,0,0
$GC,5871,1.05,161.6,303.2,8.2,270,5874,0.00,2.33,0.00,0.000,4,0.000,0.031,3267,3084,1950,0,0,0,0,0,0
$GC,5960,1.17,178.4,296.3,6.8,272,5978,0.12,2.42,12.50,0.698,6,0.039,0.041,3310,1697,1902,0,0,0,0,0,0
$GC,6301,1.15,197.4,272.9,6.6,289,6325,0.00,2.58,17.73,0.706,4,0.000,0.054,3310,295,1824,0,0,0,0,0,0
$GC,6359,1.04,197.4,267.9,9.5,291,6364,0.17,2.35,0.00,0.000,6,0.102,0.025,3275,1706,1821,0,0,0,0,0,0
$GC,6675,1.10,197.4,239.6,9.7,306,6679,0.00,2.50,0.00,0.000,4,0.000,0.053,3276,295,1820,0,0,0,0,0,0
$GC,6722,1.10,197.4,233.9,12.7,308,6727,0.00,2.33,0.00,0.000,6,0.000,0.025,3275,1716,1818,0,0,0,0,0,0
$GC,7047,1.17,197.4,202.5,8.1,324,7052,0.12,2.53,0.00,0.000,4,0.067,0.051,3313,293,1818,0,0,0,0,0,0
$GC,7265,1.09,197.4,179.5,9.7,339,7270,0.12,2.28,0.00,0.000,6,0.106,0.022,3289,1708,1815,0,0,0,0,0,0
$GC,7532,1.16,197.4,157.2,8.6,360,7534,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,1713,1815,0,0,0,0,0,0
$GC,7782,1.26,205.5,137.0,7.3,380,7798,0.15,2.50,6.95,0.509,4,0.058,0.048,3336,301,1792,0,0,0,0,0,0
$GC,7916,1.16,205.5,125.4,8.3,389,7921,0.15,2.25,0.00,0.000,6,0.097,0.021,3307,1714,1790,0,0,0,0,0,0
$GC,8178,1.26,216.7,109.3,7.1,409,8195,0.00,2.50,11.48,0.534,4,0.000,0.047,3307,290,1746,0,0,0,0,0,0
$GC,8354,1.26,216.7,92.7,8.9,421,8359,0.00,2.28,0.00,0.000,6,0.000,0.020,3307,1719,1742,0,0,0,0,0,0
$GC,8616,1.42,258.5,75.2,5.1,442,8659,0.22,2.53,36.72,0.542,4,0.044,0.045,3373,293,1575,0,0,0,0,0,0
$GC,8749,1.28,258.5,61.2,12.1,451,8756,0.17,2.28,0.00,0.000,6,0.073,0.019,3332,1705,1571,0,0,0,0,0,0
$GC,9012,1.32,258.5,37.5,8.6,472,9016,0.00,2.45,0.00,0.000,4,0.000,0.045,3332,294,1570,0,0,0,0,0,0
$GC,9065,1.28,258.5,31.5,11.2,476,9069,0.00,2.20,0.00,0.000,6,0.000,0.018,3332,1708,1570,0,0,0,0,0,0
$GC,9328,1.32,258.5,8.2,9.2,534,9335,0.00,2.47,0.00,0.000,4,0.000,0.046,3332,296,1569,0,0,0,0,0,0
$STATE,9375,end climb,SURFACE_DEPTH_REACHED
$STATE,9375,begin surface coast
$FINISH,1.0,1.023336
$STATE,9389,end surface coast,CONTROL_FINISHED_OK
$STATE,9389,begin surface
$SM_CCo,9414,81.88,0.477,0,0,957,410.14
$SM_GC,1.52,0.00,0.00,81.88,0.000,0.000,0.477,426,1706,957,-12.07,0.17,410.14
$IRIDIUM_FIX,2047.91,-15753.50,061299,111152
$TT8_MAMPS,0.029146
$HUMID,54.88
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,443.9,8.1
$24V_AH,23.5,36.238
$10V_AH,10.2,30.313
$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,30.175,108.725,289.950,81.875,0.000,25.637,30.030,170.797,4.750,0.000,38.301,1080.174,6149.985,422.508,1732.767,482.280,0.000,1189.406,0.000,1685.907,0.000,32.144,0.000
$DEVICE_MAMPS,133.458,56.758,823.758,477.074,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,367.800,355.007,799.888,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355856
$DATA_FILE_SIZE,31787,547
$CAP_FILE_SIZE,108506,0
$CFSIZE,260165632,191598592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,110910,163307,2054.915,-15755.204,40,1.0,40,9.8