version: 66.06
glider: 139
mission: 8
dive: 450
start: 9 15 110 1 19 18
data:
$ID,139
$MISSION,8
$DIVE,450
$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,-2160432.8
$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
$GPS1,011259,2058.573,-15749.277,40,1.7,43,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-71.3
$GPS2,011902,2058.517,-15749.339,37,1.9,37,9.8
$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,29.6,17484,-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,-77.9,0.0,0.0,0,83,0.00,0.00,-64.25,0.000,2,0.000,0.000,426,1710,2755,0,0,0,0,0,0
$GC,86,-1.38,-77.9,3.7,-4.0,12,111,12.43,2.38,-3.65,0.000,4,0.133,0.037,2745,3114,2951,0,0,0,0,0,0
$GC,184,-1.31,-77.9,25.7,-16.2,32,191,0.00,2.42,0.00,0.000,6,0.000,0.034,2744,1703,2952,0,0,0,0,0,0
$GC,388,-1.14,-77.9,63.3,-17.8,51,393,0.25,2.42,0.00,0.000,4,0.096,0.045,2797,293,2953,0,0,0,0,0,0
$GC,406,-0.97,-77.9,66.3,-17.3,52,411,0.20,2.30,0.00,0.000,6,0.095,0.018,2837,1745,2953,0,0,0,0,0,0
$GC,666,-1.05,-77.9,97.9,-11.4,72,670,0.00,2.17,0.00,0.000,4,0.000,0.021,2837,3082,2954,0,0,0,0,0,0
$GC,750,-1.26,-77.9,107.5,-10.6,78,755,0.28,2.33,0.00,0.000,6,0.037,0.031,2755,1695,2954,0,0,0,0,0,0
$GC,1018,-1.20,-77.9,139.3,-9.8,99,1023,0.15,2.40,0.00,0.000,4,0.095,0.044,2786,296,2955,0,0,0,0,0,0
$GC,1093,-1.20,-77.9,147.1,-9.5,104,1097,0.00,2.22,0.00,0.000,6,0.000,0.018,2786,1705,2956,0,0,0,0,0,0
$GC,1351,-1.20,-77.9,172.0,-10.4,124,1356,0.00,2.40,0.00,0.000,4,0.000,0.045,2786,300,2956,0,0,0,0,0,0
$GC,1391,-1.16,-77.9,176.4,-12.1,127,1395,0.00,2.20,0.00,0.000,6,0.000,0.019,2786,1701,2957,0,0,0,0,0,0
$GC,1654,-1.16,-77.9,206.8,-10.2,146,1658,0.00,2.22,0.00,0.000,4,0.000,0.023,2786,3073,2957,0,0,0,0,0,0
$GC,1681,-1.23,-77.9,209.3,-8.6,147,1685,0.00,2.30,0.00,0.000,6,0.000,0.031,2786,1692,2957,0,0,0,0,0,0
$GC,2003,-1.27,-77.9,242.6,-11.0,163,2004,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1692,2957,0,0,0,0,0,0
$GC,2311,-1.33,-77.9,275.2,-9.3,178,2316,0.12,2.42,0.00,0.000,4,0.064,0.048,2744,296,2956,0,0,0,0,0,0
$GC,2397,-1.26,-77.9,284.5,-11.3,181,2404,0.15,2.22,0.00,0.000,6,0.094,0.021,2775,1694,2956,0,0,0,0,0,0
$GC,2734,-1.30,-77.9,309.7,-7.0,195,2735,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1699,2956,0,0,0,0,0,0
$GC,3058,-1.36,-77.9,339.6,-10.4,203,3063,0.00,2.40,0.00,0.000,4,0.000,0.050,2774,301,2954,0,0,0,0,0,0
$GC,3086,-1.36,-77.9,343.4,-12.5,203,3091,0.00,2.22,0.00,0.000,6,0.000,0.023,2774,1699,2954,0,0,0,0,0,0
$GC,3429,-1.43,-77.9,382.1,-10.9,212,3434,0.17,2.33,0.00,0.000,4,0.054,0.030,2724,3078,2952,0,0,0,0,0,0
$GC,3510,-1.43,-77.9,392.0,-11.9,213,3514,0.00,2.35,0.00,0.000,6,0.000,0.038,2723,1699,2952,0,0,0,0,0,0
$GC,3841,-1.38,-77.9,425.9,-9.7,221,3846,0.12,2.35,0.00,0.000,4,0.102,0.031,2748,3075,2950,0,0,0,0,0,0
$GC,3881,-1.45,-77.9,429.4,-8.9,221,3886,0.00,2.35,0.00,0.000,6,0.000,0.040,2748,1697,2950,0,0,0,0,0,0
$STATE,4009,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4009,begin apogee
$GC,4015,-0.31,0.0,440.7,8.8,225,4083,1.10,0.00,65.10,0.813,6,0.073,0.000,2982,1696,2630,0,0,0,0,0,0
$STATE,4084,end apogee,CONTROL_FINISHED_OK
$STATE,4084,begin climb
$GC,4087,1.38,77.9,442.1,0.0,226,4164,1.60,2.38,66.70,0.797,4,0.039,0.030,3351,3075,2311,0,0,0,0,0,0
$GC,4230,1.23,93.2,437.6,6.9,229,4251,0.17,2.38,14.43,0.732,6,0.107,0.039,3318,1699,2249,0,0,0,0,0,0
$GC,4591,1.17,132.8,416.1,5.2,238,4633,0.00,2.42,35.10,0.786,4,0.000,0.033,3318,3080,2088,0,0,0,0,0,0
$GC,4898,1.12,132.8,392.2,8.9,244,4903,0.12,2.42,0.00,0.000,6,0.117,0.041,3295,1694,2084,0,0,0,0,0,0
$GC,5235,1.11,149.2,368.2,6.8,253,5255,0.00,2.58,14.35,0.736,4,0.000,0.056,3295,294,2021,0,0,0,0,0,0
$GC,5262,1.05,156.3,366.3,7.4,253,5275,0.00,2.33,7.93,0.658,6,0.000,0.027,3295,1703,1992,0,0,0,0,0,0
$GC,5601,1.06,160.3,340.7,7.6,261,5613,0.00,2.33,4.57,0.537,4,0.000,0.030,3295,3079,1975,0,0,0,0,0,0
$GC,5664,1.06,160.3,335.3,8.7,262,5668,0.00,2.38,0.00,0.000,6,0.000,0.041,3295,1700,1975,0,0,0,0,0,0
$GC,6014,1.06,160.3,306.8,8.2,271,6019,0.00,2.50,0.00,0.000,4,0.000,0.057,3295,294,1972,0,0,0,0,0,0
$GC,6154,0.98,163.7,295.6,7.7,275,6158,0.15,2.30,0.00,0.000,6,0.109,0.026,3267,1699,1969,0,0,0,0,0,0
$GC,6488,1.05,167.0,271.5,7.7,291,6500,0.00,2.55,6.05,0.575,4,0.000,0.054,3267,292,1949,0,0,0,0,0,0
$GC,6570,1.05,167.0,263.6,10.4,294,6574,0.00,2.33,0.00,0.000,6,0.000,0.025,3267,1703,1946,0,0,0,0,0,0
$GC,6888,1.19,212.1,242.8,4.8,309,6936,0.17,2.55,41.20,0.708,4,0.056,0.054,3316,294,1764,0,0,0,0,0,0
$GC,7030,1.08,212.1,230.2,10.6,315,7035,0.15,2.30,0.00,0.000,6,0.100,0.024,3287,1705,1759,0,0,0,0,0,0
$GC,7355,1.13,212.1,201.8,9.3,331,7359,0.00,2.28,0.00,0.000,4,0.000,0.026,3287,3081,1757,0,0,0,0,0,0
$GC,7393,1.24,212.1,197.9,9.1,334,7398,0.15,2.38,0.00,0.000,6,0.059,0.037,3331,1689,1758,0,0,0,0,0,0
$GC,7661,1.19,212.1,167.5,11.4,355,7666,0.12,2.33,0.00,0.000,4,0.102,0.025,3307,3081,1757,0,0,0,0,0,0
$GC,7676,1.19,212.1,165.3,10.9,356,7680,0.00,2.38,0.00,0.000,6,0.000,0.034,3306,1689,1757,0,0,0,0,0,0
$GC,7935,1.19,214.3,142.0,7.8,376,7939,0.00,2.40,0.00,0.000,4,0.000,0.050,3306,296,1757,0,0,0,0,0,0
$GC,7949,1.16,214.3,140.7,8.1,377,7953,0.00,2.25,0.00,0.000,6,0.000,0.021,3307,1715,1756,0,0,0,0,0,0
$GC,8212,1.20,214.3,120.7,9.1,397,8216,0.00,2.47,0.00,0.000,4,0.000,0.048,3306,296,1755,0,0,0,0,0,0
$GC,8312,1.20,214.3,109.7,8.5,404,8319,0.00,2.28,0.00,0.000,6,0.000,0.021,3306,1705,1754,0,0,0,0,0,0
$GC,8575,1.32,248.7,94.8,5.6,425,8613,0.12,2.33,30.77,0.565,4,0.064,0.022,3348,3072,1615,0,0,0,0,0,0
$GC,8625,1.32,248.7,90.7,8.3,429,8629,0.00,2.33,0.00,0.000,6,0.000,0.031,3348,1697,1615,0,0,0,0,0,0
$GC,8890,1.32,248.7,70.0,9.3,450,8894,0.00,2.42,0.00,0.000,4,0.000,0.046,3348,295,1613,0,0,0,0,0,0
$GC,8918,1.24,248.7,66.9,10.7,452,8923,0.12,2.22,0.00,0.000,6,0.099,0.019,3323,1706,1611,0,0,0,0,0,0
$GC,9180,1.32,248.7,44.9,8.6,472,9184,0.00,2.42,0.00,0.000,4,0.000,0.045,3322,296,1611,0,0,0,0,0,0
$GC,9275,1.32,248.7,34.9,10.3,479,9279,0.00,2.20,0.00,0.000,6,0.000,0.018,3323,1711,1610,0,0,0,0,0,0
$GC,9537,1.40,248.7,12.1,8.6,529,9545,0.12,2.22,0.00,0.000,4,0.061,0.020,3367,3060,1610,0,0,0,0,0,0
$GC,9561,1.45,248.7,10.1,8.5,533,9567,0.00,2.30,0.00,0.000,6,0.000,0.028,3367,1700,1610,0,0,0,0,0,0
$STATE,9627,end climb,SURFACE_DEPTH_REACHED
$STATE,9627,begin surface coast
$FINISH,0.9,1.023279
$STATE,9657,end surface coast,CONTROL_FINISHED_OK
$STATE,9657,begin surface
$SM_CCo,9680,91.88,0.481,0,0,957,410.14
$SM_GC,1.87,0.00,0.00,91.88,0.000,0.000,0.481,429,1697,957,-12.06,-0.08,410.14
$IRIDIUM_FIX,2050.21,-15749.62,091299,222209
$TT8_MAMPS,0.029146
$HUMID,55.19
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,440.7,7.7
$24V_AH,23.5,38.888
$10V_AH,10.2,32.509
$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,30.600,117.350,286.200,91.875,0.000,23.621,27.668,163.238,4.750,0.000,37.434,1107.360,6372.976,433.110,1739.102,478.551,0.000,1206.557,0.000,1691.284,0.000,32.146,0.000
$DEVICE_MAMPS,133.458,56.758,813.020,480.909,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,373.217,362.633,807.818,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355832
$DATA_FILE_SIZE,31826,554
$CAP_FILE_SIZE,112643,0
$CFSIZE,260165632,189992960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150910,040350,2058.199,-15749.526,42,2.9,61,9.8