version: 66.06
glider: 139
mission: 8
dive: 433
start: 9 13 110 1 45 2
data:
$ID,139
$MISSION,8
$DIVE,433
$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,-2160037.2
$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
$GPS1,013830,2053.813,-15751.021,35,1.1,45,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-71.5
$GPS2,014444,2053.756,-15751.113,15,1.1,15,9.8
$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,22.6,26442,-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,-64.32,0.000,2,0.000,0.000,427,1716,2726,0,0,0,0,0,0
$GC,85,-1.38,-77.9,3.1,-2.7,12,109,12.43,2.50,-4.32,0.000,4,0.133,0.053,2743,289,2950,0,0,0,0,0,0
$GC,139,-0.84,-77.9,19.3,-29.3,22,146,0.52,2.35,0.00,0.000,6,0.087,0.019,2862,1724,2952,0,0,0,0,0,0
$GC,342,-0.92,-77.9,44.0,-10.8,48,344,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1726,2953,0,0,0,0,0,0
$GC,592,-1.00,-77.9,71.0,-10.2,68,597,0.15,2.50,0.00,0.000,4,0.054,0.045,2811,294,2954,0,0,0,0,0,0
$GC,633,-0.93,-77.9,76.4,-14.5,71,638,0.17,2.25,0.00,0.000,6,0.087,0.018,2848,1711,2954,0,0,0,0,0,0
$GC,901,-1.05,-77.9,99.5,-5.3,92,903,0.12,0.00,0.00,0.000,6,0.061,0.000,2801,1716,2955,0,0,0,0,0,0
$GC,1153,-1.05,-77.9,124.2,-10.6,112,1154,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1718,2955,0,0,0,0,0,0
$GC,1403,-1.05,-77.9,156.3,-13.3,132,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1718,2956,0,0,0,0,0,0
$GC,1655,-1.10,-77.9,185.8,-9.2,152,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1718,2956,0,0,0,0,0,0
$GC,1915,-1.17,-77.9,207.5,-8.5,170,1919,0.00,2.45,0.00,0.000,4,0.000,0.046,2801,293,2957,0,0,0,0,0,0
$GC,1975,-1.20,-77.9,213.9,-9.8,172,1982,0.00,2.28,0.00,0.000,6,0.000,0.020,2801,1708,2957,0,0,0,0,0,0
$GC,2293,-1.28,-77.9,241.1,-8.0,188,2298,0.15,2.25,0.00,0.000,4,0.057,0.025,2753,3077,2957,0,0,0,0,0,0
$GC,2344,-1.28,-77.9,246.4,-10.5,190,2349,0.00,2.30,0.00,0.000,6,0.000,0.033,2753,1697,2957,0,0,0,0,0,0
$GC,2664,-1.28,-77.9,284.4,-11.1,206,2668,0.00,2.40,0.00,0.000,4,0.000,0.048,2752,297,2956,0,0,0,0,0,0
$GC,2744,-1.23,-77.9,294.0,-12.2,209,2748,0.15,2.22,0.00,0.000,6,0.094,0.021,2784,1699,2956,0,0,0,0,0,0
$GC,3061,-1.30,-77.9,321.1,-8.2,219,3063,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1704,2955,0,0,0,0,0,0
$GC,3388,-1.38,-77.9,340.5,-5.4,227,3393,0.15,2.30,0.00,0.000,4,0.058,0.028,2738,3074,2954,0,0,0,0,0,0
$GC,3492,-1.38,-77.9,349.0,-8.3,229,3496,0.00,2.33,0.00,0.000,6,0.000,0.037,2738,1695,2953,0,0,0,0,0,0
$GC,3809,-1.38,-77.9,380.5,-10.6,237,3813,0.00,2.42,0.00,0.000,4,0.000,0.054,2738,293,2952,0,0,0,0,0,0
$GC,3823,-1.33,-77.9,382.4,-10.7,237,3828,0.10,2.28,0.00,0.000,6,0.115,0.025,2758,1696,2951,0,0,0,0,0,0
$GC,4177,-1.36,-77.9,412.2,-7.5,246,4181,0.00,2.30,0.00,0.000,4,0.000,0.031,2758,3081,2949,0,0,0,0,0,0
$GC,4216,-1.47,-77.9,415.2,-7.6,246,4222,0.12,2.35,0.00,0.000,6,0.067,0.040,2719,1698,2949,0,0,0,0,0,0
$STATE,4545,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4545,begin apogee
$GC,4551,-0.31,0.0,451.4,11.6,255,4619,1.23,0.00,64.47,0.832,6,0.076,0.000,2978,1698,2630,0,0,0,0,0,0
$STATE,4620,end apogee,CONTROL_FINISHED_OK
$STATE,4620,begin climb
$GC,4623,1.38,77.9,453.3,0.0,256,4695,1.62,0.00,67.20,0.817,6,0.041,0.000,3350,1698,2312,0,0,0,0,0,0
$GC,4993,1.27,136.8,443.9,3.9,265,5051,0.12,2.40,52.03,0.817,4,0.117,0.031,3327,3080,2071,0,0,0,0,0,0
$GC,5067,1.21,172.1,440.4,5.5,266,5105,0.00,2.40,32.50,0.794,6,0.000,0.040,3326,1701,1927,0,0,0,0,0,0
$GC,5439,1.10,172.1,403.5,10.6,276,5441,0.17,0.00,0.00,0.000,6,0.110,0.000,3294,1701,1919,0,0,0,0,0,0
$GC,5762,1.10,172.1,370.9,10.9,284,5767,0.00,2.50,0.00,0.000,4,0.000,0.058,3294,296,1916,0,0,0,0,0,0
$GC,5786,1.00,172.1,367.9,12.4,284,5791,0.15,2.30,0.00,0.000,6,0.114,0.028,3266,1692,1913,0,0,0,0,0,0
$GC,6127,1.04,172.1,333.0,10.4,293,6132,0.00,2.50,0.00,0.000,4,0.000,0.057,3265,293,1913,0,0,0,0,0,0
$GC,6189,1.04,172.1,326.4,10.2,294,6193,0.00,2.33,0.00,0.000,6,0.000,0.028,3265,1700,1910,0,0,0,0,0,0
$GC,6539,1.09,172.6,297.8,7.9,303,6543,0.10,2.33,0.00,0.000,4,0.079,0.032,3296,3082,1909,0,0,0,0,0,0
$GC,6567,1.13,172.6,295.3,8.1,304,6571,0.00,2.40,0.00,0.000,6,0.000,0.039,3296,1692,1909,0,0,0,0,0,0
$GC,6893,1.15,190.2,271.7,6.7,320,6916,0.00,2.55,13.60,0.696,4,0.000,0.054,3296,290,1853,0,0,0,0,0,0
$GC,7013,1.07,190.2,262.8,8.2,325,7017,0.00,2.35,0.00,0.000,6,0.000,0.025,3296,1713,1850,0,0,0,0,0,0
$GC,7340,1.07,190.2,231.9,10.7,341,7344,0.00,2.30,0.00,0.000,4,0.000,0.028,3296,3081,1849,0,0,0,0,0,0
$GC,7396,1.13,190.2,225.5,10.8,343,7400,0.00,2.38,0.00,0.000,6,0.000,0.037,3296,1698,1849,0,0,0,0,0,0
$GC,7719,1.13,190.2,189.6,11.1,361,7723,0.00,2.45,0.00,0.000,4,0.000,0.051,3296,295,1848,0,0,0,0,0,0
$GC,7885,1.07,190.2,168.1,12.4,373,7889,0.00,2.28,0.00,0.000,6,0.000,0.023,3296,1707,1846,0,0,0,0,0,0
$GC,8151,1.16,222.5,147.3,5.7,394,8186,0.00,2.55,28.33,0.621,4,0.000,0.048,3296,299,1722,0,0,0,0,0,0
$GC,8195,1.19,250.4,144.7,6.0,397,8226,0.00,2.28,25.48,0.607,6,0.000,0.022,3297,1711,1609,0,0,0,0,0,0
$GC,8481,1.28,250.4,118.1,10.2,419,8486,0.15,2.50,0.00,0.000,4,0.058,0.049,3342,296,1604,0,0,0,0,0,0
$GC,8557,1.20,250.4,106.6,16.7,424,8564,0.12,2.30,0.00,0.000,6,0.074,0.021,3312,1707,1601,0,0,0,0,0,0
$GC,8820,1.28,252.4,80.6,7.8,445,8824,0.00,2.45,0.00,0.000,4,0.000,0.045,3312,289,1602,0,0,0,0,0,0
$GC,8846,1.28,252.4,77.8,9.7,447,8850,0.00,2.25,0.00,0.000,6,0.000,0.020,3312,1702,1601,0,0,0,0,0,0
$GC,9112,1.38,252.4,53.8,9.4,468,9117,0.17,2.45,0.00,0.000,4,0.051,0.047,3365,293,1600,0,0,0,0,0,0
$GC,9241,1.26,252.4,36.4,14.5,477,9248,0.17,2.28,0.00,0.000,6,0.074,0.019,3326,1710,1600,0,0,0,0,0,0
$GC,9504,1.33,252.4,10.9,8.5,528,9510,0.00,2.47,0.00,0.000,4,0.000,0.044,3326,290,1600,0,0,0,0,0,0
$GC,9519,1.38,252.4,9.6,8.6,530,9526,0.08,2.25,0.00,0.000,6,0.038,0.019,3361,1711,1600,0,0,0,0,0,0
$STATE,9583,end climb,SURFACE_DEPTH_REACHED
$STATE,9583,begin surface coast
$FINISH,1.1,1.023204
$STATE,9618,end surface coast,CONTROL_FINISHED_OK
$STATE,9618,begin surface
$SM_CCo,9640,89.18,0.486,0,0,957,410.14
$SM_GC,1.54,0.00,0.00,89.18,0.000,0.000,0.486,425,1711,957,-12.07,0.31,410.14
$IRIDIUM_FIX,2045.60,-15758.64,071299,222222
$TT8_MAMPS,0.028379
$HUMID,55.55
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.5,37.397
$10V_AH,10.2,31.252
$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,30.775,94.700,283.600,89.175,0.000,27.574,24.542,198.165,4.750,0.000,15.637,1069.464,6522.527,442.525,1571.363,498.279,0.000,1126.062,0.000,1550.690,0.000,32.053,0.000
$DEVICE_MAMPS,133.458,58.292,832.195,485.511,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,371.033,353.970,799.981,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355856
$DATA_FILE_SIZE,31704,551
$CAP_FILE_SIZE,102603,0
$CFSIZE,260165632,190910464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130910,042830,2053.835,-15751.231,39,1.8,39,9.8