version: 66.06
glider: 139
mission: 8
dive: 431
start: 9 12 110 20 3 1
data:
$ID,139
$MISSION,8
$DIVE,431
$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,-2160006.5
$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
$GPS1,195537,2053.321,-15751.601,46,0.9,46,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-72.5
$GPS2,200244,2053.216,-15751.600,13,1.6,13,9.8
$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,22.9,27737,-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,16,-1.38,-77.9,0.0,0.0,0,82,0.00,0.00,-64.22,0.000,2,0.000,0.000,429,1711,2726,0,0,0,0,0,0
$GC,86,-1.38,-77.9,3.1,-2.8,12,110,12.38,2.38,-4.35,0.000,4,0.133,0.035,2741,3115,2949,0,0,0,0,0,0
$GC,149,-1.21,-77.9,19.0,-20.1,24,156,0.17,2.45,0.00,0.000,6,0.083,0.035,2779,1697,2950,0,0,0,0,0,0
$GC,359,-1.11,-77.9,52.4,-15.7,50,364,0.12,2.38,0.00,0.000,4,0.104,0.022,2805,3115,2952,0,0,0,0,0,0
$GC,379,-1.08,-77.9,55.9,-15.4,51,386,0.00,2.40,0.00,0.000,6,0.000,0.031,2805,1703,2952,0,0,0,0,0,0
$GC,638,-1.08,-77.9,92.5,-12.3,72,642,0.00,2.42,0.00,0.000,4,0.000,0.044,2804,295,2953,0,0,0,0,0,0
$GC,704,-1.01,-77.9,102.2,-16.3,77,709,0.12,2.33,0.00,0.000,6,0.102,0.018,2830,1741,2952,0,0,0,0,0,0
$GC,971,-1.12,-77.9,132.2,-11.5,98,976,0.12,2.53,0.00,0.000,4,0.060,0.045,2784,292,2954,0,0,0,0,0,0
$GC,1074,-1.12,-77.9,147.5,-13.6,105,1079,0.00,2.22,0.00,0.000,6,0.000,0.018,2785,1712,2954,0,0,0,0,0,0
$GC,1332,-1.12,-77.9,174.8,-9.6,126,1336,0.00,2.45,0.00,0.000,4,0.000,0.046,2785,296,2955,0,0,0,0,0,0
$GC,1398,-1.12,-77.9,182.1,-11.1,131,1402,0.00,2.22,0.00,0.000,6,0.000,0.019,2784,1707,2955,0,0,0,0,0,0
$GC,1669,-1.12,-77.9,210.1,-10.6,150,1670,0.10,0.00,0.00,0.000,6,0.105,0.000,2806,1713,2955,0,0,0,0,0,0
$GC,1979,-1.22,-77.9,237.5,-9.7,165,1983,0.00,2.45,0.00,0.000,4,0.000,0.048,2807,295,2955,0,0,0,0,0,0
$GC,2026,-1.30,-77.9,242.8,-12.0,167,2030,0.17,2.22,0.00,0.000,6,0.051,0.021,2754,1701,2955,0,0,0,0,0,0
$GC,2358,-1.30,-77.9,284.5,-12.7,183,2362,0.00,2.28,0.00,0.000,4,0.000,0.026,2753,3076,2955,0,0,0,0,0,0
$GC,2404,-1.37,-77.9,289.6,-11.0,185,2408,0.00,2.30,0.00,0.000,6,0.000,0.035,2753,1700,2954,0,0,0,0,0,0
$GC,2755,-1.37,-77.9,322.3,-8.7,196,2759,0.00,2.42,0.00,0.000,4,0.000,0.051,2753,299,2953,0,0,0,0,0,0
$GC,2780,-1.31,-77.9,324.6,-9.0,196,2784,0.00,2.22,0.00,0.000,6,0.000,0.022,2753,1693,2953,0,0,0,0,0,0
$GC,3121,-1.31,-77.9,355.1,-9.3,205,3125,0.00,2.28,0.00,0.000,4,0.000,0.028,2753,3077,2952,0,0,0,0,0,0
$GC,3252,-1.39,-77.9,366.6,-8.3,207,3257,0.00,2.33,0.00,0.000,6,0.000,0.038,2753,1698,2951,0,0,0,0,0,0
$GC,3584,-1.39,-77.9,394.2,-8.0,216,3588,0.00,2.45,0.00,0.000,4,0.000,0.058,2753,296,2948,0,0,0,0,0,0
$GC,3621,-1.34,-77.9,397.6,-9.5,216,3627,0.00,2.28,0.00,0.000,6,0.000,0.025,2753,1702,2949,0,0,0,0,0,0
$GC,3952,-1.34,-77.9,425.7,-8.3,225,3957,0.00,2.50,0.00,0.000,4,0.000,0.056,2753,289,2947,0,0,0,0,0,0
$GC,3997,-1.30,-77.9,429.4,-9.2,226,4001,0.00,2.30,0.00,0.000,6,0.000,0.025,2753,1704,2946,0,0,0,0,0,0
$STATE,4281,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4281,begin apogee
$GC,4287,-0.31,0.0,452.5,8.1,233,4355,1.08,0.00,64.25,0.835,6,0.073,0.000,2982,1709,2630,0,0,0,0,0,0
$STATE,4355,end apogee,CONTROL_FINISHED_OK
$STATE,4355,begin climb
$GC,4359,1.38,77.9,453.7,0.0,234,4437,1.60,2.38,67.03,0.818,4,0.040,0.031,3349,3085,2311,0,0,0,0,0,0
$GC,4476,1.30,144.2,453.0,3.4,237,4541,0.00,2.40,58.62,0.812,6,0.000,0.038,3348,1699,2041,0,0,0,0,0,0
$GC,4864,1.14,144.2,414.6,10.9,247,4869,0.25,2.38,0.00,0.000,4,0.102,0.031,3297,3089,2032,0,0,0,0,0,0
$GC,4889,1.09,144.2,412.2,8.5,247,4893,0.00,2.42,0.00,0.000,6,0.000,0.041,3297,1695,2032,0,0,0,0,0,0
$GC,5231,1.06,147.3,385.4,7.7,256,5235,0.00,2.50,0.00,0.000,4,0.000,0.058,3296,292,2028,0,0,0,0,0,0
$GC,5274,0.93,147.3,381.1,9.6,257,5279,0.22,2.33,0.00,0.000,6,0.103,0.027,3253,1701,2024,0,0,0,0,0,0
$GC,5604,0.99,147.8,355.6,7.9,265,5608,0.00,2.50,0.00,0.000,4,0.000,0.055,3253,289,2024,0,0,0,0,0,0
$GC,5669,0.99,147.8,350.0,8.3,266,5673,0.00,2.33,0.00,0.000,6,0.000,0.027,3253,1703,2021,0,0,0,0,0,0
$GC,6016,1.10,175.7,328.0,6.0,275,6048,0.17,2.40,25.70,0.763,4,0.058,0.031,3301,3078,1913,0,0,0,0,0,0
$GC,6068,1.10,175.7,324.0,8.0,276,6072,0.00,2.40,0.00,0.000,6,0.000,0.039,3301,1698,1913,0,0,0,0,0,0
$GC,6386,1.10,175.7,296.6,8.9,284,6390,0.00,2.47,0.00,0.000,4,0.000,0.055,3301,296,1908,0,0,0,0,0,0
$GC,6534,1.01,175.7,280.5,10.0,290,6539,0.15,2.33,0.00,0.000,6,0.107,0.025,3272,1707,1904,0,0,0,0,0,0
$GC,6854,1.09,195.8,258.1,6.5,305,6879,0.00,2.58,17.85,0.696,4,0.000,0.052,3272,298,1830,0,0,0,0,0,0
$GC,6907,1.06,195.8,253.3,11.1,307,6911,0.00,2.30,0.00,0.000,6,0.000,0.025,3272,1703,1827,0,0,0,0,0,0
$GC,7229,1.13,195.8,223.1,8.6,323,7234,0.10,2.53,0.00,0.000,4,0.076,0.054,3303,289,1827,0,0,0,0,0,0
$GC,7392,1.06,195.8,205.9,9.9,330,7397,0.12,2.28,0.00,0.000,6,0.105,0.023,3280,1701,1824,0,0,0,0,0,0
$GC,7723,1.16,229.5,184.7,5.6,353,7763,0.10,2.53,30.15,0.650,4,0.077,0.050,3311,289,1692,0,0,0,0,0,0
$GC,7806,1.07,229.5,176.0,12.9,359,7812,0.15,2.30,0.00,0.000,6,0.101,0.022,3282,1708,1689,0,0,0,0,0,0
$GC,8074,1.16,229.5,149.6,9.3,380,8077,0.00,2.47,0.00,0.000,4,0.000,0.049,3282,291,1688,0,0,0,0,0,0
$GC,8145,1.16,229.5,141.7,11.9,385,8149,0.00,2.28,0.00,0.000,6,0.000,0.022,3282,1710,1686,0,0,0,0,0,0
$GC,8411,1.25,229.5,117.9,9.1,406,8416,0.17,2.47,0.00,0.000,4,0.053,0.048,3335,294,1686,0,0,0,0,0,0
$GC,8472,1.14,229.5,109.5,13.8,410,8480,0.15,2.28,0.00,0.000,6,0.077,0.021,3300,1704,1685,0,0,0,0,0,0
$GC,8736,1.22,229.5,83.9,9.9,431,8740,0.00,2.45,0.00,0.000,4,0.000,0.048,3300,288,1685,0,0,0,0,0,0
$GC,8899,1.23,241.4,68.1,7.1,443,8917,0.00,2.22,10.35,0.495,6,0.000,0.020,3300,1715,1644,0,0,0,0,0,0
$GC,9177,1.35,245.1,51.9,7.6,465,9193,0.20,2.20,4.95,0.391,4,0.047,0.020,3361,3065,1629,0,0,0,0,0,0
$GC,9226,1.39,245.1,46.3,11.6,468,9230,0.00,2.30,0.00,0.000,6,0.000,0.032,3361,1693,1629,0,0,0,0,0,0
$GC,9489,1.39,245.1,17.9,11.2,504,9495,0.00,2.42,0.00,0.000,4,0.000,0.046,3360,303,1629,0,0,0,0,0,0
$GC,9520,1.30,245.1,14.0,11.9,510,9527,0.10,2.22,0.00,0.000,6,0.078,0.018,3336,1704,1628,0,0,0,0,0,0
$STATE,9636,end climb,SURFACE_DEPTH_REACHED
$STATE,9636,begin surface coast
$FINISH,0.8,1.010387
$STATE,9672,end surface coast,CONTROL_FINISHED_OK
$STATE,9672,begin surface
$SM_CCo,9694,92.32,0.486,0,0,957,410.14
$SM_GC,1.41,0.00,0.00,92.32,0.000,0.000,0.486,426,1708,957,-12.07,0.25,410.14
$IRIDIUM_FIX,2047.91,-15802.92,071299,171751
$TT8_MAMPS,0.029146
$HUMID,55.82
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,21.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,442.6,63.0
$24V_AH,23.5,37.220
$10V_AH,10.2,31.106
$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,30.150,118.450,278.900,92.325,0.000,30.599,39.021,224.792,4.750,0.000,13.770,1089.852,6397.141,436.258,1712.745,576.854,0.000,1213.151,0.000,1692.933,0.000,32.277,0.000
$DEVICE_MAMPS,132.691,58.292,835.263,485.511,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,366.263,345.256,779.825,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355856
$DATA_FILE_SIZE,31758,544
$CAP_FILE_SIZE,111078,0
$CFSIZE,260165632,191012864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120910,224730,2053.711,-15751.214,37,1.1,42,9.8