version: 66.06
glider: 139
mission: 8
dive: 457
start: 9 15 110 20 51 40
data:
$ID,139
$MISSION,8
$DIVE,457
$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,120
$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,-2160582.2
$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
$GPS1,204537,2056.597,-15756.806,32,1.2,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-71.6
$GPS2,205120,2056.554,-15756.874,17,1.2,17,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$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,327.9,23587,-16.6,-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,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.75,0.000,2,0.000,0.000,428,1701,2773,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.7,-4.0,12,110,12.62,2.35,-6.15,0.000,4,0.133,0.035,2786,3111,3110,0,0,0,0,0,0
$GC,246,-1.18,-116.8,35.7,-14.2,41,253,0.00,2.42,0.00,0.000,6,0.000,0.034,2786,1696,3112,0,0,0,0,0,0
$GC,506,-0.98,-116.8,78.2,-17.5,62,511,0.22,2.40,0.00,0.000,4,0.090,0.044,2833,293,3112,0,0,0,0,0,0
$GC,540,-0.84,-116.8,83.9,-15.7,64,547,0.12,2.33,0.00,0.000,6,0.070,0.018,2864,1734,3113,0,0,0,0,0,0
$GC,802,-0.91,-116.8,109.0,-9.6,85,806,0.00,2.47,0.00,0.000,4,0.000,0.044,2864,289,3114,0,0,0,0,0,0
$GC,856,-0.96,-116.8,114.7,-10.1,89,861,0.00,2.25,0.00,0.000,6,0.000,0.018,2864,1720,3114,0,0,0,0,0,0
$GC,1122,-1.04,-116.8,137.7,-8.4,110,1127,0.17,2.47,0.00,0.000,4,0.048,0.046,2804,287,3115,0,0,0,0,0,0
$GC,1153,-0.93,-116.8,141.3,-12.1,112,1158,0.20,2.22,0.00,0.000,6,0.082,0.018,2847,1699,3115,0,0,0,0,0,0
$GC,1416,-0.97,-116.8,162.2,-7.5,132,1420,0.00,2.25,0.00,0.000,4,0.000,0.023,2847,3075,3115,0,0,0,0,0,0
$GC,1431,-1.04,-116.8,163.6,-7.8,133,1436,0.10,2.30,0.00,0.000,6,0.071,0.031,2811,1695,3115,0,0,0,0,0,0
$GC,1694,-1.01,-116.8,188.7,-10.4,153,1698,0.00,2.40,0.00,0.000,4,0.000,0.047,2810,299,3115,0,0,0,0,0,0
$GC,1784,-0.96,-116.8,199.6,-12.0,159,1791,0.15,2.20,0.00,0.000,6,0.091,0.019,2842,1702,3115,0,0,0,0,0,0
$GC,2038,-1.01,-116.8,224.4,-10.3,172,2042,0.00,2.40,0.00,0.000,4,0.000,0.046,2842,299,3115,0,0,0,0,0,0
$GC,2086,-1.05,-116.8,229.6,-10.6,174,2090,0.00,2.20,0.00,0.000,6,0.000,0.020,2842,1702,3115,0,0,0,0,0,0
$GC,2414,-1.12,-116.8,256.9,-7.3,190,2419,0.17,2.42,0.00,0.000,4,0.051,0.048,2785,299,3115,0,0,0,0,0,0
$GC,2466,-1.02,-116.8,262.6,-11.4,192,2471,0.20,2.22,0.00,0.000,6,0.086,0.020,2828,1706,3115,0,0,0,0,0,0
$GC,2790,-1.07,-116.8,286.0,-6.5,208,2794,0.00,2.42,0.00,0.000,4,0.000,0.049,2828,296,3114,0,0,0,0,0,0
$GC,2850,-1.10,-116.8,291.2,-8.4,210,2857,0.00,2.28,0.00,0.000,6,0.000,0.021,2828,1701,3114,0,0,0,0,0,0
$GC,3185,-1.16,-116.8,319.9,-9.4,222,3186,0.15,0.00,0.00,0.000,6,0.055,0.000,2778,1706,3113,0,0,0,0,0,0
$GC,3508,-1.11,-116.8,355.2,-10.6,230,3513,0.15,2.47,0.00,0.000,4,0.089,0.052,2811,297,3112,0,0,0,0,0,0
$GC,3580,-1.11,-116.8,363.7,-11.2,231,3584,0.00,2.25,0.00,0.000,6,0.000,0.023,2811,1703,3112,0,0,0,0,0,0
$GC,3920,-1.16,-116.8,397.2,-9.3,240,3925,0.00,2.47,0.00,0.000,4,0.000,0.054,2810,296,3110,0,0,0,0,0,0
$GC,3953,-1.16,-116.8,400.6,-10.6,240,3957,0.00,2.25,0.00,0.000,6,0.000,0.024,2811,1700,3110,0,0,0,0,0,0
$GC,4286,-1.21,-116.8,425.3,-6.4,248,4291,0.10,2.47,0.00,0.000,4,0.076,0.056,2776,297,3108,0,0,0,0,0,0
$GC,4330,-1.14,-116.8,429.0,-9.0,249,4335,0.12,2.28,0.00,0.000,6,0.099,0.025,2803,1692,3108,0,0,0,0,0,0
$STATE,4496,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4496,begin apogee
$GC,4505,-0.31,0.0,441.6,7.4,253,4604,0.82,0.00,96.30,0.824,6,0.066,0.000,2981,1698,2630,0,0,0,0,0,0
$STATE,4605,end apogee,CONTROL_FINISHED_OK
$STATE,4605,begin climb
$GC,4608,1.18,116.8,443.2,0.0,255,4721,1.42,2.47,100.10,0.806,4,0.040,0.031,3310,3085,2152,0,0,0,0,0,0
$GC,4816,1.00,116.8,435.2,8.2,259,4821,0.20,2.42,0.00,0.000,6,0.100,0.040,3271,1701,2148,0,0,0,0,0,0
$GC,5154,0.95,164.7,414.1,5.7,268,5198,0.00,0.00,41.62,0.790,6,0.000,0.000,3272,1701,1958,0,0,0,0,0,0
$GC,5518,0.86,164.7,384.1,9.8,277,5523,0.17,2.50,0.00,0.000,4,0.101,0.058,3237,296,1950,0,0,0,0,0,0
$GC,5566,0.77,164.7,379.0,10.0,278,5570,0.00,2.35,0.00,0.000,6,0.000,0.026,3237,1705,1947,0,0,0,0,0,0
$GC,5890,0.77,164.7,349.4,8.8,286,5894,0.00,2.33,0.00,0.000,4,0.000,0.032,3237,3081,1946,0,0,0,0,0,0
$GC,5904,0.77,164.7,348.2,7.9,286,5908,0.00,2.38,0.00,0.000,6,0.000,0.039,3237,1698,1946,0,0,0,0,0,0
$GC,6217,0.83,213.2,329.3,5.7,294,6266,0.00,2.60,41.83,0.765,4,0.000,0.057,3237,293,1759,0,0,0,0,0,0
$GC,6433,0.79,213.2,310.7,11.0,298,6438,0.00,2.35,0.00,0.000,6,0.000,0.025,3237,1704,1751,0,0,0,0,0,0
$GC,6748,0.79,213.2,283.7,7.9,310,6752,0.00,2.50,0.00,0.000,4,0.000,0.054,3237,289,1750,0,0,0,0,0,0
$GC,6809,0.75,213.2,278.4,8.6,312,6816,0.08,2.35,0.00,0.000,6,0.091,0.025,3218,1702,1748,0,0,0,0,0,0
$GC,7126,0.89,258.6,258.2,5.8,328,7172,0.12,2.62,38.55,0.709,4,0.069,0.054,3255,289,1574,0,0,0,0,0,0
$GC,7285,0.81,258.6,242.6,10.5,335,7290,0.15,2.33,0.00,0.000,6,0.104,0.024,3226,1699,1569,0,0,0,0,0,0
$GC,7620,0.89,269.7,217.6,7.4,351,7636,0.00,2.55,9.73,0.590,4,0.000,0.053,3226,298,1529,0,0,0,0,0,0
$GC,7798,0.89,269.7,199.6,10.4,358,7804,0.00,2.33,0.00,0.000,6,0.000,0.022,3226,1704,1525,0,0,0,0,0,0
$GC,8122,0.98,279.1,173.4,7.5,384,8137,0.17,2.50,9.23,0.556,4,0.054,0.050,3277,294,1491,0,0,0,0,0,0
$GC,8267,0.89,279.1,156.5,12.2,394,8272,0.17,2.30,0.00,0.000,6,0.092,0.021,3242,1715,1487,0,0,0,0,0,0
$GC,8527,0.97,279.1,134.0,8.5,414,8532,0.00,2.47,0.00,0.000,4,0.000,0.050,3242,293,1487,0,0,0,0,0,0
$GC,8658,0.97,279.1,120.4,10.6,423,8663,0.00,2.28,0.00,0.000,6,0.000,0.021,3242,1709,1487,0,0,0,0,0,0
$GC,8916,1.04,279.1,97.3,9.0,444,8921,0.15,2.50,0.00,0.000,4,0.057,0.050,3290,291,1487,0,0,0,0,0,0
$GC,8937,1.00,279.1,95.2,10.2,445,8943,0.10,2.25,0.00,0.000,6,0.109,0.020,3269,1707,1487,0,0,0,0,0,0
$GC,9199,1.11,318.7,75.1,6.1,466,9242,0.10,2.55,34.45,0.543,4,0.074,0.050,3306,298,1329,0,0,0,0,0,0
$GC,9458,1.04,318.7,49.2,11.9,484,9466,0.12,2.25,0.00,0.000,6,0.067,0.019,3275,1700,1324,0,0,0,0,0,0
$GC,9722,1.12,322.6,27.7,7.7,509,9735,0.00,2.50,3.97,0.330,4,0.000,0.047,3274,296,1313,0,0,0,0,0,0
$GC,9834,1.12,322.6,16.4,10.2,533,9840,0.00,2.25,0.00,0.000,6,0.000,0.018,3274,1703,1312,0,0,0,0,0,0
$STATE,9986,end climb,SURFACE_DEPTH_REACHED
$STATE,9987,begin surface coast
$FINISH,0.9,1.010065
$STATE,10026,end surface coast,CONTROL_FINISHED_OK
$STATE,10026,begin surface
$SM_CCo,10048,48.75,0.476,0,0,957,410.14
$SM_GC,1.77,0.00,0.00,48.75,0.000,0.000,0.476,427,1709,957,-12.07,0.25,410.14
$IRIDIUM_FIX,2047.91,-15757.78,101299,181858
$TT8_MAMPS,0.029146
$HUMID,56.45
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,441.6,8.1
$24V_AH,23.5,39.526
$10V_AH,10.2,33.026
$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,30.475,114.150,375.775,48.750,0.000,29.243,30.452,152.042,4.750,0.000,17.263,1149.916,6485.178,476.794,1830.214,499.674,0.000,1301.873,0.000,1802.784,0.000,32.138,0.000
$DEVICE_MAMPS,133.458,58.292,823.758,475.540,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,387.650,372.710,838.974,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,31840,577
$CAP_FILE_SIZE,115643,0
$CFSIZE,260165632,189603840
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150910,234050,2056.334,-15757.290,13,2.0,13,9.8