version: 66.06
glider: 139
mission: 8
dive: 436
start: 9 13 110 10 13 2
data:
$ID,139
$MISSION,8
$DIVE,436
$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,-2160120.2
$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
$GPS1,100630,2055.016,-15750.781,38,0.9,43,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-71.1
$GPS2,101244,2055.022,-15750.855,13,1.5,13,9.8
$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,24.7,24239,-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,-64.18,0.000,2,0.000,0.000,426,1695,2739,0,0,0,0,0,0
$GC,85,-1.38,-77.9,3.3,-3.3,12,109,12.38,2.40,-4.00,0.000,4,0.132,0.038,2740,3104,2951,0,0,0,0,0,0
$GC,191,-1.27,-77.9,27.3,-16.7,34,199,0.12,2.42,0.00,0.000,6,0.081,0.033,2769,1692,2952,0,0,0,0,0,0
$GC,397,-1.14,-77.9,60.7,-15.2,51,402,0.15,2.35,0.00,0.000,4,0.101,0.021,2798,3112,2953,0,0,0,0,0,0
$GC,412,-1.06,-77.9,63.5,-14.9,52,416,0.00,2.35,0.00,0.000,6,0.000,0.030,2798,1699,2953,0,0,0,0,0,0
$GC,671,-1.02,-77.9,93.2,-11.5,72,676,0.12,2.40,0.00,0.000,4,0.100,0.044,2824,296,2954,0,0,0,0,0,0
$GC,691,-0.99,-77.9,95.7,-11.5,73,697,0.00,2.30,0.00,0.000,6,0.000,0.018,2824,1739,2954,0,0,0,0,0,0
$GC,950,-1.05,-77.9,117.1,-9.1,94,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1739,2955,0,0,0,0,0,0
$GC,1204,-1.13,-77.9,138.4,-8.5,114,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1742,2956,0,0,0,0,0,0
$GC,1457,-1.24,-77.9,161.3,-8.3,134,1462,0.20,2.50,0.00,0.000,4,0.046,0.045,2762,292,2956,0,0,0,0,0,0
$GC,1503,-1.15,-77.9,167.2,-13.3,137,1509,0.17,2.22,0.00,0.000,6,0.091,0.019,2798,1722,2957,0,0,0,0,0,0
$GC,1765,-1.23,-77.9,191.2,-8.6,158,1769,0.00,2.47,0.00,0.000,4,0.000,0.046,2798,289,2957,0,0,0,0,0,0
$GC,1872,-1.27,-77.9,202.0,-9.7,165,1878,0.12,2.22,0.00,0.000,6,0.064,0.019,2756,1693,2957,0,0,0,0,0,0
$GC,2188,-1.27,-77.9,239.0,-12.1,181,2192,0.00,2.40,0.00,0.000,4,0.000,0.048,2756,295,2957,0,0,0,0,0,0
$GC,2235,-1.19,-77.9,245.4,-12.9,183,2240,0.17,2.22,0.00,0.000,6,0.091,0.021,2792,1698,2957,0,0,0,0,0,0
$GC,2565,-1.28,-77.9,277.9,-9.3,199,2569,0.00,2.40,0.00,0.000,4,0.000,0.048,2792,296,2956,0,0,0,0,0,0
$GC,2579,-1.34,-77.9,279.6,-8.6,199,2589,0.15,2.25,0.00,0.000,6,0.058,0.021,2745,1715,2957,0,0,0,0,0,0
$GC,2894,-1.31,-77.9,313.0,-10.3,212,2898,0.00,2.22,0.00,0.000,4,0.000,0.026,2745,3072,2955,0,0,0,0,0,0
$GC,2913,-1.31,-77.9,315.1,-9.9,212,2917,0.00,2.30,0.00,0.000,6,0.000,0.035,2744,1701,2955,0,0,0,0,0,0
$GC,3257,-1.31,-77.9,351.0,-10.0,221,3261,0.00,2.33,0.00,0.000,4,0.000,0.028,2745,3077,2954,0,0,0,0,0,0
$GC,3310,-1.36,-77.9,356.0,-9.3,222,3314,0.00,2.35,0.00,0.000,6,0.000,0.038,2745,1703,2954,0,0,0,0,0,0
$GC,3632,-1.36,-77.9,387.9,-9.2,230,3633,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,1702,2952,0,0,0,0,0,0
$GC,3961,-1.36,-77.9,420.2,-10.1,238,3965,0.00,2.28,0.00,0.000,4,0.000,0.029,2745,3070,2950,0,0,0,0,0,0
$GC,3980,-1.36,-77.9,422.7,-10.3,238,3984,0.00,2.33,0.00,0.000,6,0.000,0.038,2745,1697,2950,0,0,0,0,0,0
$STATE,4241,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4241,begin apogee
$GC,4247,-0.31,0.0,450.2,10.6,245,4315,1.10,0.00,64.95,0.818,6,0.074,0.000,2979,1697,2630,0,0,0,0,0,0
$STATE,4316,end apogee,CONTROL_FINISHED_OK
$STATE,4316,begin climb
$GC,4320,1.38,77.9,451.6,0.0,246,4394,1.62,2.38,66.88,0.803,4,0.039,0.029,3353,3069,2311,0,0,0,0,0,0
$GC,4408,1.31,168.0,451.5,1.8,249,4496,0.00,2.38,79.05,0.798,6,0.000,0.037,3352,1697,1944,0,0,0,0,0,0
$GC,4824,1.15,168.0,402.5,12.5,259,4826,0.25,0.00,0.00,0.000,6,0.098,0.000,3303,1696,1934,0,0,0,0,0,0
$GC,5149,1.11,168.0,370.6,9.5,267,5153,0.00,2.50,0.00,0.000,4,0.000,0.058,3303,293,1930,0,0,0,0,0,0
$GC,5178,0.96,168.0,367.7,10.1,267,5183,0.22,2.30,0.00,0.000,6,0.102,0.026,3259,1696,1928,0,0,0,0,0,0
$GC,5516,1.04,173.1,341.4,7.6,276,5520,0.00,2.47,0.00,0.000,4,0.000,0.054,3259,292,1926,0,0,0,0,0,0
$GC,5590,1.04,173.1,334.7,8.6,277,5594,0.00,2.33,0.00,0.000,6,0.000,0.026,3259,1702,1924,0,0,0,0,0,0
$GC,5927,1.11,173.1,308.1,8.3,286,5932,0.15,2.50,0.00,0.000,4,0.061,0.054,3302,297,1923,0,0,0,0,0,0
$GC,6044,1.00,173.1,295.4,11.8,289,6048,0.17,2.30,0.00,0.000,6,0.100,0.025,3268,1700,1921,0,0,0,0,0,0
$GC,6383,1.08,188.2,269.4,6.9,305,6405,0.00,2.55,14.85,0.681,4,0.000,0.053,3268,300,1861,0,0,0,0,0,0
$GC,6456,1.08,188.2,263.0,8.4,308,6460,0.00,2.30,0.00,0.000,6,0.000,0.025,3268,1704,1859,0,0,0,0,0,0
$GC,6782,1.19,213.5,242.5,6.2,324,6812,0.17,2.58,23.42,0.683,4,0.055,0.052,3317,300,1758,0,0,0,0,0,0
$GC,6901,1.06,213.5,229.2,13.4,329,6906,0.17,2.28,0.00,0.000,6,0.100,0.024,3283,1702,1754,0,0,0,0,0,0
$GC,7227,1.12,213.5,197.1,10.3,345,7231,0.00,2.50,0.00,0.000,4,0.000,0.051,3282,290,1753,0,0,0,0,0,0
$GC,7309,1.12,213.5,187.2,12.0,351,7313,0.00,2.30,0.00,0.000,6,0.000,0.023,3283,1711,1751,0,0,0,0,0,0
$GC,7572,1.20,217.4,163.4,7.6,371,7577,0.12,2.50,0.00,0.000,4,0.065,0.051,3321,289,1751,0,0,0,0,0,0
$GC,7642,1.11,217.4,155.9,9.9,376,7647,0.15,2.28,0.00,0.000,6,0.098,0.021,3292,1709,1749,0,0,0,0,0,0
$GC,7904,1.18,217.4,135.0,9.4,396,7908,0.00,2.45,0.00,0.000,4,0.000,0.049,3292,297,1749,0,0,0,0,0,0
$GC,7922,1.18,217.4,132.5,11.3,397,7926,0.00,2.25,0.00,0.000,6,0.000,0.022,3292,1710,1749,0,0,0,0,0,0
$GC,8185,1.27,217.4,110.7,9.3,417,8190,0.15,2.47,0.00,0.000,4,0.058,0.049,3338,290,1749,0,0,0,0,0,0
$GC,8289,1.18,217.4,98.0,9.9,424,8296,0.12,2.28,0.00,0.000,6,0.076,0.021,3309,1703,1748,0,0,0,0,0,0
$GC,8553,1.28,235.5,78.8,6.7,445,8581,0.00,2.33,18.92,0.535,4,0.000,0.022,3309,3068,1668,0,0,0,0,0,0
$GC,8661,1.46,266.8,71.7,5.8,452,8697,0.22,2.35,27.67,0.535,6,0.027,0.032,3379,1695,1541,0,0,0,0,0,0
$GC,8949,1.39,266.8,43.6,12.3,475,8954,0.12,2.42,0.00,0.000,4,0.099,0.046,3354,292,1538,0,0,0,0,0,0
$GC,9031,1.31,266.8,33.0,14.4,481,9035,0.00,2.22,0.00,0.000,6,0.000,0.019,3354,1708,1535,0,0,0,0,0,0
$GC,9293,1.31,266.8,3.1,12.5,539,9300,0.00,2.47,0.00,0.000,4,0.000,0.044,3354,293,1535,0,0,0,0,0,0
$STATE,9307,end climb,SURFACE_DEPTH_REACHED
$STATE,9307,begin surface coast
$FINISH,1.0,1.023324
$STATE,9329,end surface coast,CONTROL_FINISHED_OK
$STATE,9329,begin surface
$SM_CCo,9354,80.30,0.483,0,0,958,410.14
$SM_GC,1.68,0.00,0.00,80.30,0.000,0.000,0.483,427,1684,958,-12.07,-0.45,410.14
$IRIDIUM_FIX,2043.29,-15623.56,081299,070736
$TT8_MAMPS,0.029146
$HUMID,55.82
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,21.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,420.2,74.1
$24V_AH,23.5,37.661
$10V_AH,10.3,31.477
$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,30.825,108.650,295.750,80.300,0.000,26.255,28.399,193.141,5.000,0.000,13.232,1066.766,6181.432,440.166,1597.086,520.487,0.000,1156.161,0.000,1585.616,0.000,30.749,0.000
$DEVICE_MAMPS,131.924,57.525,817.622,483.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,367.416,357.264,790.280,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355832
$DATA_FILE_SIZE,31801,546
$CAP_FILE_SIZE,106032,0
$CFSIZE,260165632,190750720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130910,125125,2055.636,-15750.318,13,2.0,30,9.8