version: 66.06
glider: 139
mission: 8
dive: 428
start: 9 12 110 11 57 42
data:
$ID,139
$MISSION,8
$DIVE,428
$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,-2159936.8
$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
$GPS1,114737,2052.952,-15752.356,35,1.2,35,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-72.9
$GPS2,115725,2052.804,-15752.333,10,1.2,15,9.8
$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,24.2,29072,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.38,-77.9,0.0,0.0,0,89,0.00,0.00,-69.55,0.000,2,0.000,0.000,428,1702,2913,0,0,0,0,0,0
$GC,92,-1.38,-77.9,3.9,-4.3,13,111,12.40,2.38,-0.62,0.000,4,0.133,0.036,2740,3119,2949,0,0,0,0,0,0
$GC,307,-1.30,-77.9,49.2,-15.5,43,314,0.10,2.42,0.00,0.000,6,0.086,0.034,2764,1702,2952,0,0,0,0,0,0
$GC,568,-1.18,-77.9,91.0,-16.9,64,573,0.15,2.45,0.00,0.000,4,0.103,0.047,2793,287,2952,0,0,0,0,0,0
$GC,690,-1.09,-77.9,112.7,-15.0,73,694,0.00,2.30,0.00,0.000,6,0.000,0.018,2793,1738,2953,0,0,0,0,0,0
$GC,957,-1.09,-77.9,146.7,-12.7,94,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1739,2954,0,0,0,0,0,0
$GC,1206,-1.09,-77.9,172.5,-10.2,114,1211,0.00,2.47,0.00,0.000,4,0.000,0.047,2792,295,2954,0,0,0,0,0,0
$GC,1253,-1.09,-77.9,177.3,-9.5,117,1259,0.00,2.22,0.00,0.000,6,0.000,0.019,2793,1720,2954,0,0,0,0,0,0
$GC,1532,-1.15,-77.9,204.5,-9.5,138,1536,0.00,2.20,0.00,0.000,4,0.000,0.023,2793,3065,2954,0,0,0,0,0,0
$GC,1599,-1.25,-77.9,211.2,-8.5,141,1604,0.00,2.28,0.00,0.000,6,0.000,0.031,2793,1697,2954,0,0,0,0,0,0
$GC,1934,-1.32,-77.9,241.5,-9.9,157,1939,0.12,2.40,0.00,0.000,4,0.063,0.047,2751,297,2954,0,0,0,0,0,0
$GC,2035,-1.25,-77.9,256.6,-14.9,161,2040,0.12,2.20,0.00,0.000,6,0.099,0.020,2777,1693,2954,0,0,0,0,0,0
$GC,2360,-1.30,-77.9,294.8,-11.6,177,2361,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1698,2953,0,0,0,0,0,0
$GC,2662,-1.36,-77.9,322.8,-8.9,186,2667,0.10,2.42,0.00,0.000,4,0.076,0.050,2742,299,2953,0,0,0,0,0,0
$GC,2683,-1.36,-77.9,325.0,-9.9,186,2687,0.00,2.25,0.00,0.000,6,0.000,0.022,2742,1697,2952,0,0,0,0,0,0
$GC,3032,-1.36,-77.9,354.4,-7.7,195,3037,0.00,2.30,0.00,0.000,4,0.000,0.028,2742,3078,2951,0,0,0,0,0,0
$GC,3051,-1.36,-77.9,356.0,-8.3,195,3055,0.00,2.33,0.00,0.000,6,0.000,0.036,2742,1699,2951,0,0,0,0,0,0
$GC,3399,-1.36,-77.9,385.9,-9.0,204,3403,0.00,2.30,0.00,0.000,4,0.000,0.028,2742,3072,2948,0,0,0,0,0,0
$GC,3438,-1.40,-77.9,389.3,-7.8,204,3443,0.00,2.33,0.00,0.000,6,0.000,0.038,2742,1698,2948,0,0,0,0,0,0
$GC,3771,-1.40,-77.9,424.1,-11.1,213,3775,0.00,2.30,0.00,0.000,4,0.000,0.030,2742,3077,2946,0,0,0,0,0,0
$GC,3790,-1.44,-77.9,426.3,-10.4,213,3794,0.00,2.38,0.00,0.000,6,0.000,0.040,2742,1693,2946,0,0,0,0,0,0
$STATE,3936,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3936,begin apogee
$GC,3942,-0.31,0.0,440.4,9.7,217,4010,1.12,0.00,64.22,0.822,6,0.074,0.000,2981,1692,2630,0,0,0,0,0,0
$STATE,4011,end apogee,CONTROL_FINISHED_OK
$STATE,4011,begin climb
$GC,4014,1.38,77.9,442.4,0.0,218,4090,1.60,2.40,67.00,0.808,4,0.039,0.029,3348,3077,2311,0,0,0,0,0,0
$GC,4125,1.30,148.6,442.3,3.1,221,4195,0.00,2.38,61.88,0.801,6,0.000,0.038,3348,1698,2024,0,0,0,0,0,0
$GC,4521,1.14,148.6,404.1,9.6,231,4526,0.25,2.35,0.00,0.000,4,0.094,0.031,3296,3076,2014,0,0,0,0,0,0
$GC,4545,1.10,148.6,401.7,8.9,231,4550,0.00,2.40,0.00,0.000,6,0.000,0.041,3296,1696,2014,0,0,0,0,0,0
$GC,4887,1.07,148.6,372.9,8.1,240,4891,0.00,2.35,0.00,0.000,4,0.000,0.031,3296,3075,2010,0,0,0,0,0,0
$GC,4938,1.07,148.6,368.7,8.0,241,4942,0.00,2.38,0.00,0.000,6,0.000,0.040,3296,1696,2010,0,0,0,0,0,0
$GC,5256,1.04,148.6,340.3,9.7,249,5260,0.00,2.35,0.00,0.000,4,0.000,0.031,3296,3078,2006,0,0,0,0,0,0
$GC,5364,1.04,148.6,329.9,10.3,251,5368,0.00,2.40,0.00,0.000,6,0.000,0.040,3296,1694,2006,0,0,0,0,0,0
$GC,5713,1.04,148.6,298.1,8.7,260,5714,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,1695,2004,0,0,0,0,0,0
$GC,6025,1.06,171.5,279.0,6.4,275,6047,0.00,2.58,17.52,0.715,4,0.000,0.056,3296,296,1931,0,0,0,0,0,0
$GC,6121,0.98,171.5,271.5,9.1,279,6126,0.15,2.30,0.00,0.000,6,0.107,0.025,3266,1689,1926,0,0,0,0,0,0
$GC,6456,1.06,171.5,248.0,8.2,295,6457,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,1694,1924,0,0,0,0,0,0
$GC,6761,1.14,171.5,222.9,8.4,310,6766,0.15,2.47,0.00,0.000,4,0.059,0.053,3311,296,1923,0,0,0,0,0,0
$GC,6891,1.05,171.5,209.0,11.3,315,6897,0.15,2.33,0.00,0.000,6,0.100,0.024,3281,1712,1921,0,0,0,0,0,0
$GC,7213,1.15,201.0,189.0,5.9,337,7241,0.00,0.00,25.98,0.656,6,0.000,0.000,3281,1717,1810,0,0,0,0,0,0
$GC,7496,1.23,201.0,163.6,9.9,359,7501,0.15,2.50,0.00,0.000,4,0.058,0.051,3327,293,1807,0,0,0,0,0,0
$GC,7621,1.12,201.0,145.8,12.7,368,7626,0.17,2.28,0.00,0.000,6,0.094,0.021,3293,1708,1804,0,0,0,0,0,0
$GC,7883,1.31,290.4,132.8,1.8,388,7967,0.17,2.55,75.85,0.605,4,0.052,0.050,3346,292,1444,0,0,0,0,0,0
$GC,8024,1.20,290.4,121.0,12.0,398,8029,0.17,2.28,0.00,0.000,6,0.090,0.020,3311,1712,1439,0,0,0,0,0,0
$GC,8284,1.28,290.4,97.7,10.2,418,8288,0.00,2.50,0.00,0.000,4,0.000,0.048,3310,290,1438,0,0,0,0,0,0
$GC,8426,1.28,290.4,78.3,14.3,428,8432,0.00,2.28,0.00,0.000,6,0.000,0.019,3311,1701,1436,0,0,0,0,0,0
$GC,8686,1.37,290.4,50.8,10.8,449,8691,0.15,2.45,0.00,0.000,4,0.054,0.048,3361,293,1436,0,0,0,0,0,0
$GC,8721,1.24,290.4,45.8,14.8,451,8728,0.17,2.25,0.00,0.000,6,0.071,0.018,3320,1694,1435,0,0,0,0,0,0
$GC,8983,1.31,290.4,18.1,9.9,490,8990,0.00,2.45,0.00,0.000,4,0.000,0.047,3320,300,1435,0,0,0,0,0,0
$STATE,9107,end climb,SURFACE_DEPTH_REACHED
$STATE,9107,begin surface coast
$FINISH,1.5,1.023286
$STATE,9115,end surface coast,CONTROL_FINISHED_OK
$STATE,9115,begin surface
$SM_CCo,9139,64.15,0.482,0,0,958,410.14
$SM_GC,1.64,0.00,0.00,64.15,0.000,0.000,0.482,424,1712,958,-12.07,0.34,410.14
$IRIDIUM_FIX,2043.29,-15750.49,071299,111123
$TT8_MAMPS,0.029146
$HUMID,55.98
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,440.4,8.0
$24V_AH,23.5,36.957
$10V_AH,10.3,30.887
$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,29.875,94.375,312.450,64.150,0.000,56.241,63.644,276.488,4.750,0.000,15.608,1013.405,6117.080,422.855,1578.682,658.423,0.000,1127.471,0.000,1555.884,0.000,32.127,0.000
$DEVICE_MAMPS,133.458,55.991,822.224,481.676,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,348.887,333.403,734.297,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355832
$DATA_FILE_SIZE,28664,519
$CAP_FILE_SIZE,102599,0
$CFSIZE,260165632,191176704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120910,143230,2052.734,-15752.040,40,0.9,45,9.8