version: 66.06
glider: 139
mission: 8
dive: 435
start: 9 13 110 7 22 8
data:
$ID,139
$MISSION,8
$DIVE,435
$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,-2160106.2
$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
$GPS1,071445,2054.338,-15751.225,12,2.8,31,9.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-71.4
$GPS2,072152,2054.304,-15751.334,13,3.2,32,9.8
$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,24.5,25804,-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,13,begin dive
$GC,15,-1.38,-77.9,0.0,0.0,0,82,0.00,0.00,-64.25,0.000,2,0.000,0.000,425,1708,2748,0,0,0,0,0,0
$GC,85,-1.38,-77.9,3.4,-3.6,12,110,12.43,2.38,-3.85,0.000,4,0.133,0.038,2744,3105,2951,0,0,0,0,0,0
$GC,233,-1.28,-77.9,35.0,-16.5,40,240,0.10,2.40,0.00,0.000,6,0.083,0.032,2767,1699,2953,0,0,0,0,0,0
$GC,496,-1.14,-77.9,74.9,-15.4,61,501,0.17,2.35,0.00,0.000,4,0.100,0.022,2802,3112,2954,0,0,0,0,0,0
$GC,528,-1.14,-77.9,80.1,-12.5,63,534,0.00,2.40,0.00,0.000,6,0.000,0.031,2802,1700,2954,0,0,0,0,0,0
$GC,786,-1.14,-77.9,108.0,-11.5,84,790,0.00,2.35,0.00,0.000,4,0.000,0.022,2802,3116,2954,0,0,0,0,0,0
$GC,820,-1.23,-77.9,111.6,-10.3,86,826,0.00,2.40,0.00,0.000,6,0.000,0.031,2802,1700,2955,0,0,0,0,0,0
$GC,1080,-1.30,-77.9,136.8,-9.1,107,1084,0.15,2.40,0.00,0.000,4,0.055,0.045,2753,296,2956,0,0,0,0,0,0
$GC,1122,-1.21,-77.9,142.4,-13.0,110,1127,0.15,2.30,0.00,0.000,6,0.095,0.018,2784,1735,2956,0,0,0,0,0,0
$GC,1382,-1.21,-77.9,167.3,-8.6,130,1386,0.00,2.50,0.00,0.000,4,0.000,0.046,2783,290,2957,0,0,0,0,0,0
$GC,1409,-1.21,-77.9,170.2,-10.5,132,1413,0.00,2.25,0.00,0.000,6,0.000,0.019,2784,1717,2957,0,0,0,0,0,0
$GC,1671,-1.25,-77.9,192.6,-9.0,152,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1721,2957,0,0,0,0,0,0
$GC,1923,-1.28,-77.9,218.1,-9.7,167,1927,0.00,2.45,0.00,0.000,4,0.000,0.046,2783,288,2957,0,0,0,0,0,0
$GC,1960,-1.28,-77.9,221.9,-10.2,168,1967,0.00,2.28,0.00,0.000,6,0.000,0.021,2784,1697,2957,0,0,0,0,0,0
$GC,2276,-1.32,-77.9,251.4,-9.1,184,2280,0.00,2.28,0.00,0.000,4,0.000,0.025,2784,3077,2956,0,0,0,0,0,0
$GC,2360,-1.44,-77.9,258.9,-8.3,187,2366,0.20,2.30,0.00,0.000,6,0.048,0.033,2725,1700,2956,0,0,0,0,0,0
$GC,2679,-1.37,-77.9,293.5,-14.9,203,2681,0.12,0.00,0.00,0.000,6,0.101,0.000,2750,1698,2955,0,0,0,0,0,0
$GC,2982,-1.37,-77.9,328.6,-11.7,212,2986,0.00,2.28,0.00,0.000,4,0.000,0.027,2750,3074,2954,0,0,0,0,0,0
$GC,3190,-1.42,-77.9,349.4,-9.1,216,3195,0.00,2.33,0.00,0.000,6,0.000,0.037,2750,1693,2952,0,0,0,0,0,0
$GC,3532,-1.42,-77.9,379.5,-8.5,225,3536,0.00,2.42,0.00,0.000,4,0.000,0.053,2750,285,2951,0,0,0,0,0,0
$GC,3583,-1.39,-77.9,384.4,-9.7,226,3588,0.00,2.30,0.00,0.000,6,0.000,0.024,2750,1699,2951,0,0,0,0,0,0
$GC,3908,-1.39,-77.9,414.4,-9.7,234,3912,0.00,2.30,0.00,0.000,4,0.000,0.030,2750,3078,2949,0,0,0,0,0,0
$GC,3978,-1.47,-77.9,421.0,-9.2,235,3983,0.00,2.38,0.00,0.000,6,0.000,0.039,2750,1692,2949,0,0,0,0,0,0
$STATE,4316,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4316,begin apogee
$GC,4322,-0.31,0.0,452.3,9.0,244,4390,1.08,0.00,64.55,0.829,6,0.074,0.000,2979,1692,2630,0,0,0,0,0,0
$STATE,4391,end apogee,CONTROL_FINISHED_OK
$STATE,4391,begin climb
$GC,4395,1.38,77.9,453.6,0.0,245,4473,1.62,2.40,66.85,0.812,4,0.039,0.030,3351,3079,2311,0,0,0,0,0,0
$GC,4480,1.31,161.8,452.8,2.2,247,4566,0.00,2.42,74.15,0.805,6,0.000,0.038,3351,1690,1969,0,0,0,0,0,0
$GC,4888,1.15,161.8,407.7,12.0,257,4893,0.25,2.50,0.00,0.000,4,0.098,0.056,3299,297,1960,0,0,0,0,0,0
$GC,4933,1.02,161.8,402.8,11.1,258,4938,0.12,2.35,0.00,0.000,6,0.117,0.026,3275,1704,1957,0,0,0,0,0,0
$GC,5261,1.02,161.8,373.5,8.7,266,5266,0.00,2.50,0.00,0.000,4,0.000,0.058,3274,297,1954,0,0,0,0,0,0
$GC,5365,0.96,161.8,363.0,10.4,268,5369,0.00,2.33,0.00,0.000,6,0.000,0.027,3274,1709,1951,0,0,0,0,0,0
$GC,5679,0.99,161.8,335.1,8.7,276,5683,0.00,2.53,0.00,0.000,4,0.000,0.054,3274,290,1951,0,0,0,0,0,0
$GC,5730,0.94,161.8,330.4,9.3,277,5734,0.00,2.33,0.00,0.000,6,0.000,0.026,3274,1706,1949,0,0,0,0,0,0
$GC,6050,0.98,164.0,305.5,7.7,285,6054,0.00,2.33,0.00,0.000,4,0.000,0.031,3274,3086,1949,0,0,0,0,0,0
$GC,6074,1.04,166.7,303.4,7.7,285,6078,0.00,2.40,0.00,0.000,6,0.000,0.038,3274,1692,1949,0,0,0,0,0,0
$GC,6398,1.10,170.6,277.9,7.6,300,6409,0.00,2.35,4.80,0.524,4,0.000,0.028,3274,3085,1933,0,0,0,0,0,0
$GC,6471,1.18,170.6,272.1,8.1,303,6476,0.15,2.38,0.00,0.000,6,0.061,0.039,3317,1698,1933,0,0,0,0,0,0
$GC,6798,1.14,170.6,245.4,8.6,319,6802,0.00,2.33,0.00,0.000,4,0.000,0.028,3317,3090,1933,0,0,0,0,0,0
$GC,6822,1.14,170.6,243.0,9.3,320,6826,0.00,2.40,0.00,0.000,6,0.000,0.037,3317,1690,1933,0,0,0,0,0,0
$GC,7147,1.11,170.6,214.9,8.3,336,7149,0.12,0.00,0.00,0.000,6,0.109,0.000,3293,1689,1932,0,0,0,0,0,0
$GC,7461,1.11,170.6,187.5,9.0,355,7465,0.00,2.42,0.00,0.000,4,0.000,0.051,3294,287,1932,0,0,0,0,0,0
$GC,7507,1.05,170.6,182.5,10.2,358,7514,0.00,2.33,0.00,0.000,6,0.000,0.022,3293,1704,1930,0,0,0,0,0,0
$GC,7768,1.05,176.7,162.4,7.5,379,7782,0.00,2.53,6.53,0.522,4,0.000,0.050,3293,294,1909,0,0,0,0,0,0
$GC,7793,1.05,176.7,160.3,8.6,380,7799,0.00,2.33,0.00,0.000,6,0.000,0.023,3293,1711,1908,0,0,0,0,0,0
$GC,8055,1.12,192.7,141.0,6.8,401,8076,0.00,2.53,15.57,0.590,4,0.000,0.050,3293,296,1843,0,0,0,0,0,0
$GC,8179,1.12,192.7,130.5,9.2,410,8183,0.00,2.28,0.00,0.000,6,0.000,0.021,3293,1711,1839,0,0,0,0,0,0
$GC,8445,1.23,226.0,114.6,5.6,431,8481,0.10,2.30,29.88,0.584,4,0.076,0.025,3328,3077,1708,0,0,0,0,0,0
$GC,8496,1.25,241.7,111.1,6.8,435,8516,0.00,2.38,15.02,0.551,6,0.000,0.032,3327,1693,1644,0,0,0,0,0,0
$GC,8769,1.28,241.7,84.8,9.9,457,8773,0.00,2.40,0.00,0.000,4,0.000,0.048,3327,298,1640,0,0,0,0,0,0
$GC,8908,1.28,241.7,69.9,11.5,467,8912,0.00,2.25,0.00,0.000,6,0.000,0.020,3327,1714,1637,0,0,0,0,0,0
$GC,9169,1.34,241.7,47.9,9.4,487,9170,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,1719,1636,0,0,0,0,0,0
$GC,9422,1.41,241.7,25.6,8.7,515,9430,0.12,2.22,0.00,0.000,4,0.062,0.022,3371,3068,1636,0,0,0,0,0,0
$GC,9450,1.44,241.7,22.6,9.6,520,9457,0.00,2.33,0.00,0.000,6,0.000,0.030,3370,1699,1636,0,0,0,0,0,0
$STATE,9638,end climb,SURFACE_DEPTH_REACHED
$STATE,9638,begin surface coast
$FINISH,1.0,1.023273
$STATE,9665,end surface coast,CONTROL_FINISHED_OK
$STATE,9666,begin surface
$SM_CCo,9688,91.18,0.483,0,0,958,410.14
$SM_GC,1.47,0.00,0.00,91.18,0.000,0.000,0.483,427,1695,958,-12.07,-0.25,410.14
$IRIDIUM_FIX,2045.60,-15750.49,081299,040415
$TT8_MAMPS,0.028379
$HUMID,56.53
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.5,37.572
$10V_AH,10.2,31.404
$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,29.550,108.825,277.350,91.175,0.000,29.763,37.843,208.595,4.750,0.000,33.805,1097.513,6417.110,435.784,1715.143,538.059,0.000,1185.832,0.000,1675.726,0.000,32.145,0.000
$DEVICE_MAMPS,132.691,57.525,829.127,483.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,383.081,373.051,825.277,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355856
$DATA_FILE_SIZE,31809,569
$CAP_FILE_SIZE,107330,0
$CFSIZE,260165632,190799872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130910,100630,2055.016,-15750.781,38,0.9,43,9.8