version: 66.06
glider: 139
mission: 8
dive: 437
start: 9 13 110 13 5 26
data:
$ID,139
$MISSION,8
$DIVE,437
$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,-2160134
$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
$GPS1,125125,2055.636,-15750.318,13,2.0,30,9.8
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-71.5
$GPS2,130508,2055.669,-15750.421,12,1.7,12,9.8
$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,24.8,22826,-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,16,-1.38,-77.9,0.0,0.0,0,82,0.00,0.00,-64.20,0.000,2,0.000,0.000,426,1685,2740,0,0,0,0,0,0
$GC,86,-1.38,-77.9,3.3,-3.3,12,110,12.40,2.42,-4.05,0.000,4,0.133,0.038,2742,3109,2951,0,0,0,0,0,0
$GC,281,-1.27,-77.9,41.6,-15.4,44,286,0.15,2.38,0.00,0.000,6,0.101,0.033,2770,1698,2953,0,0,0,0,0,0
$GC,548,-1.17,-77.9,84.4,-14.8,65,553,0.12,2.35,0.00,0.000,4,0.106,0.022,2795,3118,2953,0,0,0,0,0,0
$GC,588,-1.22,-77.9,89.8,-11.7,68,593,0.00,2.38,0.00,0.000,6,0.000,0.031,2795,1698,2953,0,0,0,0,0,0
$GC,854,-1.22,-77.9,118.7,-11.2,89,858,0.00,2.42,0.00,0.000,4,0.000,0.046,2795,289,2954,0,0,0,0,0,0
$GC,934,-1.22,-77.9,129.4,-13.2,95,938,0.00,2.33,0.00,0.000,6,0.000,0.018,2795,1738,2955,0,0,0,0,0,0
$GC,1199,-1.26,-77.9,158.1,-10.8,116,1203,0.00,2.50,0.00,0.000,4,0.000,0.045,2795,289,2955,0,0,0,0,0,0
$GC,1245,-1.26,-77.9,163.6,-10.4,119,1251,0.00,2.25,0.00,0.000,6,0.000,0.018,2795,1719,2955,0,0,0,0,0,0
$GC,1506,-1.31,-77.9,187.2,-7.5,140,1508,0.12,0.00,0.00,0.000,6,0.064,0.000,2753,1721,2955,0,0,0,0,0,0
$GC,1770,-1.31,-77.9,212.4,-9.7,157,1774,0.00,2.45,0.00,0.000,4,0.000,0.046,2752,290,2955,0,0,0,0,0,0
$GC,1794,-1.22,-77.9,215.5,-11.3,158,1799,0.15,2.25,0.00,0.000,6,0.096,0.020,2783,1705,2955,0,0,0,0,0,0
$GC,2127,-1.26,-77.9,246.1,-10.4,174,2131,0.00,2.22,0.00,0.000,4,0.000,0.025,2784,3068,2955,0,0,0,0,0,0
$GC,2159,-1.37,-77.9,249.7,-9.9,175,2164,0.15,2.30,0.00,0.000,6,0.055,0.034,2737,1693,2955,0,0,0,0,0,0
$GC,2477,-1.32,-77.9,286.7,-10.2,190,2482,0.12,2.40,0.00,0.000,4,0.101,0.049,2762,297,2954,0,0,0,0,0,0
$GC,2500,-1.27,-77.9,288.7,-8.9,191,2504,0.00,2.22,0.00,0.000,6,0.000,0.021,2762,1700,2954,0,0,0,0,0,0
$GC,2848,-1.27,-77.9,323.1,-10.7,203,2852,0.00,2.25,0.00,0.000,4,0.000,0.026,2762,3074,2953,0,0,0,0,0,0
$GC,2951,-1.34,-77.9,332.5,-8.9,205,2955,0.00,2.30,0.00,0.000,6,0.000,0.035,2762,1701,2952,0,0,0,0,0,0
$GC,3264,-1.34,-77.9,359.9,-8.5,213,3271,0.00,2.45,0.00,0.000,4,0.000,0.052,2762,293,2951,0,0,0,0,0,0
$GC,3309,-1.34,-77.9,363.7,-8.3,213,3314,0.00,2.25,0.00,0.000,6,0.000,0.023,2762,1697,2951,0,0,0,0,0,0
$GC,3641,-1.37,-77.9,390.3,-8.6,222,3642,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1702,2949,0,0,0,0,0,0
$GC,3965,-1.41,-77.9,418.0,-8.4,230,3966,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1703,2947,0,0,0,0,0,0
$GC,4290,-1.46,-77.9,441.9,-6.9,238,4295,0.12,2.47,0.00,0.000,4,0.068,0.058,2725,299,2945,0,0,0,0,0,0
$GC,4317,-1.37,-77.9,443.7,-7.4,238,4322,0.12,2.28,0.00,0.000,6,0.104,0.025,2750,1700,2945,0,0,0,0,0,0
$STATE,4411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4411,begin apogee
$GC,4417,-0.31,0.0,451.3,7.8,241,4485,1.08,0.00,64.05,0.828,6,0.074,0.000,2979,1704,2630,0,0,0,0,0,0
$STATE,4486,end apogee,CONTROL_FINISHED_OK
$STATE,4486,begin climb
$GC,4489,1.38,77.9,451.3,0.0,242,4568,1.62,2.40,66.90,0.811,4,0.039,0.031,3350,3083,2311,0,0,0,0,0,0
$GC,4638,1.28,126.5,445.5,4.6,245,4688,0.12,2.38,43.30,0.799,6,0.116,0.038,3328,1701,2113,0,0,0,0,0,0
$GC,5034,1.16,126.5,413.5,8.9,255,5039,0.12,2.50,0.00,0.000,4,0.114,0.057,3305,296,2103,0,0,0,0,0,0
$GC,5101,1.00,126.5,407.7,8.2,256,5106,0.17,2.33,0.00,0.000,6,0.107,0.026,3271,1709,2100,0,0,0,0,0,0
$GC,5447,1.01,134.1,383.6,7.4,265,5459,0.00,2.53,5.43,0.593,4,0.000,0.054,3271,293,2082,0,0,0,0,0,0
$GC,5465,1.01,134.1,382.0,8.0,265,5469,0.00,2.33,0.00,0.000,6,0.000,0.027,3271,1706,2081,0,0,0,0,0,0
$GC,5816,1.04,154.1,357.8,6.5,274,5840,0.00,2.55,19.00,0.759,4,0.000,0.054,3271,296,2001,0,0,0,0,0,0
$GC,5933,0.98,154.1,347.5,10.1,276,5938,0.00,2.33,0.00,0.000,6,0.000,0.027,3271,1697,1996,0,0,0,0,0,0
$GC,6275,1.01,154.1,319.2,8.8,285,6279,0.00,2.47,0.00,0.000,4,0.000,0.054,3271,293,1995,0,0,0,0,0,0
$GC,6331,0.97,154.1,313.6,9.5,286,6335,0.00,2.33,0.00,0.000,6,0.000,0.027,3271,1708,1992,0,0,0,0,0,0
$GC,6651,1.05,189.6,294.8,5.5,296,6688,0.00,2.40,31.62,0.746,4,0.000,0.030,3272,3078,1856,0,0,0,0,0,0
$GC,6768,1.17,194.0,286.2,7.6,301,6781,0.15,2.38,5.40,0.555,6,0.061,0.039,3313,1699,1839,0,0,0,0,0,0
$GC,7101,1.17,194.0,253.9,11.8,317,7105,0.00,2.47,0.00,0.000,4,0.000,0.054,3313,296,1835,0,0,0,0,0,0
$GC,7198,1.04,194.0,241.1,11.9,321,7203,0.17,2.30,0.00,0.000,6,0.099,0.025,3279,1705,1832,0,0,0,0,0,0
$GC,7523,1.10,194.0,211.1,8.3,337,7528,0.00,2.50,0.00,0.000,4,0.000,0.051,3279,289,1831,0,0,0,0,0,0
$GC,7552,1.10,194.0,208.0,8.8,338,7556,0.00,2.33,0.00,0.000,6,0.000,0.023,3279,1707,1829,0,0,0,0,0,0
$GC,7883,1.17,194.0,179.0,9.4,361,7885,0.10,0.00,0.00,0.000,6,0.075,0.000,3311,1713,1829,0,0,0,0,0,0
$GC,8135,1.17,194.0,154.7,10.6,381,8139,0.00,2.47,0.00,0.000,4,0.000,0.050,3312,294,1829,0,0,0,0,0,0
$GC,8236,1.10,194.0,142.5,11.6,388,8243,0.08,2.30,0.00,0.000,6,0.084,0.021,3292,1708,1828,0,0,0,0,0,0
$GC,8499,1.21,225.4,127.0,5.8,409,8534,0.10,2.55,27.02,0.595,4,0.074,0.048,3326,301,1709,0,0,0,0,0,0
$GC,8646,1.18,225.4,111.7,10.1,419,8652,0.00,2.25,0.00,0.000,6,0.000,0.020,3327,1704,1705,0,0,0,0,0,0
$GC,8907,1.26,249.7,94.8,6.3,440,8935,0.00,2.53,21.33,0.553,4,0.000,0.047,3327,293,1612,0,0,0,0,0,0
$GC,8981,1.22,249.7,88.7,9.6,445,8985,0.00,2.28,0.00,0.000,6,0.000,0.020,3327,1717,1609,0,0,0,0,0,0
$GC,9248,1.28,256.2,66.4,7.5,466,9263,0.00,2.53,6.70,0.432,4,0.000,0.046,3326,300,1585,0,0,0,0,0,0
$GC,9389,1.28,256.2,53.3,9.6,476,9393,0.00,2.22,0.00,0.000,6,0.000,0.019,3327,1708,1582,0,0,0,0,0,0
$GC,9655,1.33,256.2,29.3,8.8,497,9662,0.00,2.47,0.00,0.000,4,0.000,0.046,3327,294,1582,0,0,0,0,0,0
$GC,9672,1.36,256.2,27.7,9.0,499,9679,0.00,2.25,0.00,0.000,6,0.000,0.018,3327,1704,1582,0,0,0,0,0,0
$GC,9875,1.42,256.2,8.4,9.7,545,9882,0.15,2.47,0.00,0.000,4,0.054,0.045,3377,297,1582,0,0,0,0,0,0
$GC,9895,1.42,256.2,6.1,10.2,548,9902,0.00,2.22,0.00,0.000,6,0.000,0.018,3377,1706,1582,0,0,0,0,0,0
$STATE,9920,end climb,SURFACE_DEPTH_REACHED
$STATE,9920,begin surface coast
$FINISH,0.9,1.019710
$STATE,9943,end surface coast,CONTROL_FINISHED_OK
$STATE,9943,begin surface
$SM_CCo,9965,82.07,0.480,0,0,957,410.14
$SM_GC,1.54,0.00,0.00,82.07,0.000,0.000,0.480,429,1712,957,-12.06,0.37,410.14
$IRIDIUM_FIX,2050.21,-15807.20,081299,131309
$TT8_MAMPS,0.029146
$HUMID,56.02
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,421.2,71.9
$24V_AH,23.5,37.760
$10V_AH,10.2,31.555
$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,29.975,113.925,290.750,82.075,0.000,113.692,130.631,265.417,4.500,0.000,12.961,1105.769,6837.863,431.346,1694.446,801.036,0.000,1203.208,0.000,1675.549,0.000,30.744,0.000
$DEVICE_MAMPS,132.691,57.525,827.593,480.142,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,375.787,359.517,789.935,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355832
$DATA_FILE_SIZE,31750,558
$CAP_FILE_SIZE,114967,0
$CFSIZE,260165632,190685184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130910,155406,2056.103,-15750.284,33,0.9,33,9.8