version: 66.06
glider: 139
mission: 8
dive: 423
start: 9 11 110 22 17 8
data:
$ID,139
$MISSION,8
$DIVE,423
$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,-2159860.5
$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
$GPS1,221107,2054.293,-15754.687,38,1.1,38,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-72.1
$GPS2,221650,2054.194,-15754.711,13,1.4,13,9.8
$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,33.6,29636,-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,-77.9,0.0,0.0,0,81,0.00,0.00,-64.05,0.000,2,0.000,0.000,426,1695,2746,0,0,0,0,0,0
$GC,85,-1.38,-77.9,3.5,-3.5,12,109,12.43,2.40,-3.85,0.000,4,0.133,0.038,2743,3110,2950,0,0,0,0,0,0
$GC,212,-1.30,-77.9,31.5,-18.0,39,217,0.12,2.38,0.00,0.000,6,0.107,0.033,2766,1697,2951,0,0,0,0,0,0
$GC,480,-1.17,-77.9,78.6,-16.7,60,485,0.12,2.42,0.00,0.000,4,0.113,0.047,2790,292,2952,0,0,0,0,0,0
$GC,513,-0.99,-77.9,85.1,-17.0,62,521,0.17,2.33,0.00,0.000,6,0.077,0.018,2830,1733,2952,0,0,0,0,0,0
$GC,775,-1.07,-77.9,112.3,-10.0,83,779,0.00,2.47,0.00,0.000,4,0.000,0.044,2830,288,2953,0,0,0,0,0,0
$GC,808,-1.07,-77.9,116.7,-12.8,85,814,0.00,2.25,0.00,0.000,6,0.000,0.018,2830,1717,2953,0,0,0,0,0,0
$GC,1069,-1.17,-77.9,142.6,-8.8,106,1074,0.15,2.45,0.00,0.000,4,0.055,0.045,2781,296,2954,0,0,0,0,0,0
$GC,1137,-1.11,-77.9,149.8,-11.1,111,1142,0.12,2.22,0.00,0.000,6,0.100,0.018,2807,1707,2954,0,0,0,0,0,0
$GC,1403,-1.18,-77.9,174.5,-8.1,132,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1713,2955,0,0,0,0,0,0
$GC,1656,-1.26,-77.9,200.1,-9.0,152,1660,0.15,2.42,0.00,0.000,4,0.056,0.046,2759,295,2955,0,0,0,0,0,0
$GC,1679,-1.20,-77.9,203.0,-11.5,153,1684,0.15,2.20,0.00,0.000,6,0.095,0.019,2789,1703,2955,0,0,0,0,0,0
$GC,2009,-1.26,-77.9,239.1,-11.4,169,2016,0.00,2.42,0.00,0.000,4,0.000,0.048,2789,297,2955,0,0,0,0,0,0
$GC,2076,-1.29,-77.9,247.6,-10.6,171,2082,0.00,2.20,0.00,0.000,6,0.000,0.020,2789,1693,2955,0,0,0,0,0,0
$GC,2395,-1.36,-77.9,267.9,-5.0,187,2400,0.15,2.42,0.00,0.000,4,0.058,0.048,2742,290,2955,0,0,0,0,0,0
$GC,2419,-1.29,-77.9,269.8,-8.2,188,2424,0.12,2.25,0.00,0.000,6,0.102,0.021,2767,1707,2955,0,0,0,0,0,0
$GC,2746,-1.29,-77.9,296.9,-9.4,204,2750,0.00,2.25,0.00,0.000,4,0.000,0.026,2767,3081,2954,0,0,0,0,0,0
$GC,2798,-1.39,-77.9,302.1,-10.0,206,2803,0.00,2.35,0.00,0.000,6,0.000,0.036,2767,1692,2954,0,0,0,0,0,0
$GC,3117,-1.43,-77.9,332.4,-9.8,214,3122,0.12,2.42,0.00,0.000,4,0.067,0.051,2728,292,2953,0,0,0,0,0,0
$GC,3143,-1.35,-77.9,335.5,-12.4,214,3147,0.12,2.28,0.00,0.000,6,0.103,0.022,2753,1696,2952,0,0,0,0,0,0
$GC,3488,-1.35,-77.9,370.0,-9.5,223,3492,0.00,2.30,0.00,0.000,4,0.000,0.029,2753,3078,2950,0,0,0,0,0,0
$GC,3507,-1.39,-77.9,371.8,-9.3,223,3511,0.00,2.33,0.00,0.000,6,0.000,0.038,2753,1700,2950,0,0,0,0,0,0
$GC,3853,-1.39,-77.9,406.6,-9.5,232,3857,0.00,2.50,0.00,0.000,4,0.000,0.056,2753,289,2949,0,0,0,0,0,0
$GC,3890,-1.36,-77.9,410.3,-9.7,232,3896,0.00,2.30,0.00,0.000,6,0.000,0.025,2753,1697,2948,0,0,0,0,0,0
$STATE,4222,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4222,begin apogee
$GC,4229,-0.31,0.0,440.9,9.3,241,4300,1.08,0.00,64.20,0.825,6,0.073,0.000,2982,1702,2630,0,0,0,0,0,0
$STATE,4301,end apogee,CONTROL_FINISHED_OK
$STATE,4301,begin climb
$GC,4303,1.38,77.9,443.7,0.0,243,4381,1.62,2.42,67.00,0.809,4,0.038,0.032,3351,3076,2311,0,0,0,0,0,0
$GC,4403,1.28,142.0,442.2,3.6,245,4469,0.12,2.38,56.70,0.799,6,0.123,0.038,3330,1699,2050,0,0,0,0,0,0
$GC,4794,1.16,142.0,397.7,12.1,255,4799,0.15,2.35,0.00,0.000,4,0.115,0.032,3302,3084,2040,0,0,0,0,0,0
$GC,4828,1.16,142.0,393.8,10.5,255,4832,0.00,2.40,0.00,0.000,6,0.000,0.041,3302,1696,2040,0,0,0,0,0,0
$GC,5160,1.11,144.3,365.1,7.7,263,5161,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,1696,2037,0,0,0,0,0,0
$GC,5485,1.07,144.3,339.9,8.4,271,5486,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,1696,2034,0,0,0,0,0,0
$GC,5810,1.03,144.3,312.1,8.4,279,5814,0.12,2.35,0.00,0.000,4,0.116,0.031,3278,3084,2032,0,0,0,0,0,0
$GC,5835,1.06,170.3,310.5,6.1,279,5863,0.00,2.38,22.90,0.749,6,0.000,0.038,3278,1699,1935,0,0,0,0,0,0
$GC,6185,1.17,226.2,292.9,4.1,292,6243,0.12,2.55,49.78,0.752,4,0.070,0.058,3313,290,1706,0,0,0,0,0,0
$GC,6283,1.07,226.2,285.7,10.5,296,6288,0.15,2.33,0.00,0.000,6,0.104,0.026,3284,1700,1703,0,0,0,0,0,0
$GC,6606,1.11,226.2,256.3,10.3,312,6610,0.00,2.50,0.00,0.000,4,0.000,0.055,3284,291,1700,0,0,0,0,0,0
$GC,6674,1.11,226.2,246.8,13.1,315,6679,0.00,2.33,0.00,0.000,6,0.000,0.025,3285,1702,1697,0,0,0,0,0,0
$GC,7002,1.17,226.2,207.6,12.1,331,7006,0.00,2.50,0.00,0.000,4,0.000,0.054,3284,293,1696,0,0,0,0,0,0
$GC,7084,1.17,226.2,197.7,11.4,335,7088,0.00,2.30,0.00,0.000,6,0.000,0.024,3284,1707,1694,0,0,0,0,0,0
$GC,7349,1.26,226.2,173.1,9.3,356,7354,0.17,2.47,0.00,0.000,4,0.054,0.051,3335,296,1693,0,0,0,0,0,0
$GC,7411,1.14,226.2,165.0,14.4,360,7417,0.15,2.30,0.00,0.000,6,0.080,0.022,3300,1694,1692,0,0,0,0,0,0
$GC,7673,1.20,228.4,136.4,7.7,381,7677,0.00,2.28,0.00,0.000,4,0.000,0.025,3300,3083,1692,0,0,0,0,0,0
$GC,7693,1.30,246.8,134.8,6.6,382,7716,0.10,2.38,16.73,0.588,6,0.036,0.035,3340,1699,1622,0,0,0,0,0,0
$GC,7982,1.30,246.8,105.1,11.7,405,7986,0.00,2.45,0.00,0.000,4,0.000,0.050,3340,295,1620,0,0,0,0,0,0
$GC,8075,1.25,246.8,91.4,14.2,412,8080,0.00,2.25,0.00,0.000,6,0.000,0.020,3340,1715,1617,0,0,0,0,0,0
$GC,8342,1.28,246.8,66.6,8.1,433,8346,0.00,2.47,0.00,0.000,4,0.000,0.046,3340,292,1617,0,0,0,0,0,0
$GC,8465,1.23,246.8,53.8,11.5,442,8469,0.10,2.22,0.00,0.000,6,0.108,0.019,3321,1707,1616,0,0,0,0,0,0
$GC,8732,1.31,251.1,33.5,7.6,463,8746,0.00,2.47,4.57,0.367,4,0.000,0.044,3321,289,1605,0,0,0,0,0,0
$GC,8764,1.31,251.1,30.9,8.0,465,8769,0.00,2.22,0.00,0.000,6,0.000,0.018,3320,1712,1604,0,0,0,0,0,0
$GC,9028,1.44,272.5,10.7,6.4,525,9058,0.20,2.53,19.35,0.474,4,0.046,0.045,3381,296,1518,0,0,0,0,0,0
$STATE,9097,end climb,SURFACE_DEPTH_REACHED
$STATE,9098,begin surface coast
$FINISH,0.9,1.009509
$STATE,9121,end surface coast,CONTROL_FINISHED_OK
$STATE,9121,begin surface
$SM_CCo,9148,76.55,0.481,0,0,957,410.14
$SM_GC,1.73,0.00,0.00,76.55,0.000,0.000,0.481,430,1697,957,-12.05,-0.08,410.14
$IRIDIUM_FIX,2047.91,-15759.92,061299,191914
$TT8_MAMPS,0.028379
$HUMID,55.94
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,440.9,7.7
$24V_AH,23.5,36.506
$10V_AH,10.2,30.529
$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,30.700,108.650,301.225,76.550,0.000,23.581,27.128,168.015,4.750,0.000,13.716,1043.503,6053.417,442.764,1551.628,474.987,0.000,1139.360,0.000,1534.809,0.000,32.139,0.000
$DEVICE_MAMPS,133.458,57.525,824.525,480.909,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,365.420,354.972,812.404,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355832
$DATA_FILE_SIZE,28656,544
$CAP_FILE_SIZE,104033,0
$CFSIZE,260165632,191438848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120910,005144,2053.909,-15754.195,13,1.8,13,9.8