version: 66.06
glider: 139
mission: 8
dive: 461
start: 9 16 110 9 7 34
data:
$ID,139
$MISSION,8
$DIVE,461
$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,-2160660.5
$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
$GPS1,090106,2056.466,-15759.099,42,1.2,48,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-72.7
$GPS2,090714,2056.418,-15759.185,13,1.4,13,9.8
$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,337.5,22622,-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,-64.72,0.000,2,0.000,0.000,425,1707,2739,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.0,-2.7,12,115,12.62,2.42,-6.93,0.000,4,0.132,0.038,2786,3119,3110,0,0,0,0,0,0
$GC,228,-1.09,-116.8,31.7,-14.7,42,233,0.12,2.42,0.00,0.000,6,0.104,0.034,2812,1691,3111,0,0,0,0,0,0
$GC,491,-0.96,-116.8,68.8,-13.2,62,496,0.15,2.42,0.00,0.000,4,0.095,0.047,2843,295,3112,0,0,0,0,0,0
$GC,544,-0.91,-116.8,75.9,-12.1,66,549,0.00,2.30,0.00,0.000,6,0.000,0.018,2843,1735,3112,0,0,0,0,0,0
$GC,810,-0.91,-116.8,101.9,-9.1,87,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1737,3113,0,0,0,0,0,0
$GC,1065,-0.91,-116.8,126.4,-10.4,107,1069,0.00,2.47,0.00,0.000,4,0.000,0.046,2843,293,3114,0,0,0,0,0,0
$GC,1131,-0.91,-116.8,133.4,-9.6,112,1136,0.00,2.22,0.00,0.000,6,0.000,0.018,2843,1713,3114,0,0,0,0,0,0
$GC,1399,-0.95,-116.8,156.0,-8.6,133,1403,0.00,2.45,0.00,0.000,4,0.000,0.046,2843,294,3114,0,0,0,0,0,0
$GC,1465,-0.99,-116.8,162.4,-9.3,138,1470,0.00,2.20,0.00,0.000,6,0.000,0.019,2843,1704,3114,0,0,0,0,0,0
$GC,1733,-1.04,-116.8,184.9,-8.5,159,1737,0.00,2.45,0.00,0.000,4,0.000,0.046,2843,287,3115,0,0,0,0,0,0
$GC,1801,-1.04,-116.8,192.0,-10.0,164,1805,0.00,2.22,0.00,0.000,6,0.000,0.019,2843,1703,3114,0,0,0,0,0,0
$GC,2063,-1.10,-116.8,215.3,-8.1,179,2068,0.15,2.22,0.00,0.000,4,0.055,0.024,2792,3070,3114,0,0,0,0,0,0
$GC,2087,-1.10,-116.8,217.8,-10.0,180,2091,0.00,2.28,0.00,0.000,6,0.000,0.032,2792,1697,3114,0,0,0,0,0,0
$GC,2414,-1.04,-116.8,254.6,-11.8,196,2419,0.15,2.42,0.00,0.000,4,0.089,0.048,2825,297,3114,0,0,0,0,0,0
$GC,2498,-1.04,-116.8,264.4,-10.9,199,2503,0.00,2.22,0.00,0.000,6,0.000,0.020,2824,1700,3114,0,0,0,0,0,0
$GC,2815,-1.09,-116.8,292.4,-8.0,215,2819,0.00,2.42,0.00,0.000,4,0.000,0.049,2824,291,3113,0,0,0,0,0,0
$GC,2860,-1.09,-116.8,296.0,-8.7,217,2864,0.00,2.22,0.00,0.000,6,0.000,0.021,2824,1696,3113,0,0,0,0,0,0
$GC,3207,-1.13,-116.8,320.0,-6.7,227,3211,0.00,2.47,0.00,0.000,4,0.000,0.051,2824,290,3113,0,0,0,0,0,0
$GC,3245,-1.13,-116.8,323.1,-7.6,227,3251,0.00,2.25,0.00,0.000,6,0.000,0.021,2825,1704,3113,0,0,0,0,0,0
$GC,3577,-1.20,-116.8,347.3,-7.2,236,3582,0.15,2.45,0.00,0.000,4,0.058,0.052,2777,300,3111,0,0,0,0,0,0
$GC,3670,-1.11,-116.8,355.6,-9.2,238,3675,0.15,2.25,0.00,0.000,6,0.091,0.023,2810,1704,3111,0,0,0,0,0,0
$GC,4001,-1.15,-116.8,380.6,-7.5,246,4006,0.00,2.47,0.00,0.000,4,0.000,0.054,2809,298,3109,0,0,0,0,0,0
$GC,4039,-1.15,-116.8,384.2,-8.6,246,4044,0.00,2.25,0.00,0.000,6,0.000,0.024,2809,1697,3108,0,0,0,0,0,0
$GC,4371,-1.19,-116.8,408.8,-7.5,255,4376,0.00,2.45,0.00,0.000,4,0.000,0.056,2809,297,3106,0,0,0,0,0,0
$GC,4404,-1.19,-116.8,411.6,-8.1,255,4408,0.00,2.28,0.00,0.000,6,0.000,0.025,2809,1703,3106,0,0,0,0,0,0
$GC,4737,-1.23,-116.8,435.1,-6.9,263,4742,0.12,2.50,0.00,0.000,4,0.066,0.058,2770,291,3103,0,0,0,0,0,0
$STATE,4791,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4791,begin apogee
$GC,4800,-0.31,0.0,440.4,10.7,264,4899,0.95,0.00,95.82,0.829,6,0.072,0.000,2977,1701,2630,0,0,0,0,0,0
$STATE,4900,end apogee,CONTROL_FINISHED_OK
$STATE,4900,begin climb
$GC,4904,1.18,116.8,443.0,0.0,266,5016,1.45,2.45,100.43,0.808,4,0.041,0.032,3309,3110,2152,0,0,0,0,0,0
$GC,5026,1.07,183.1,440.9,4.9,268,5095,0.12,2.45,58.10,0.792,6,0.110,0.038,3286,1698,1882,0,0,0,0,0,0
$GC,5405,0.94,183.1,404.3,10.2,278,5410,0.15,2.53,0.00,0.000,4,0.104,0.058,3256,294,1874,0,0,0,0,0,0
$GC,5463,0.80,183.1,398.2,9.8,279,5468,0.17,2.35,0.00,0.000,6,0.104,0.027,3223,1703,1870,0,0,0,0,0,0
$GC,5777,0.80,190.6,375.2,7.6,287,5789,0.00,2.53,5.43,0.583,4,0.000,0.057,3223,296,1852,0,0,0,0,0,0
$GC,5804,0.76,190.6,372.8,9.2,287,5808,0.00,2.35,0.00,0.000,6,0.000,0.027,3223,1703,1849,0,0,0,0,0,0
$GC,6146,0.79,212.4,347.4,6.9,296,6174,0.00,2.55,20.67,0.752,4,0.000,0.057,3223,297,1763,0,0,0,0,0,0
$GC,6276,0.79,212.4,336.0,8.9,298,6281,0.00,2.33,0.00,0.000,6,0.000,0.027,3223,1700,1757,0,0,0,0,0,0
$GC,6609,0.84,223.7,310.9,7.4,307,6625,0.00,2.58,10.40,0.682,4,0.000,0.058,3223,300,1716,0,0,0,0,0,0
$GC,6829,0.84,223.7,292.0,8.7,313,6833,0.00,2.30,0.00,0.000,6,0.000,0.026,3223,1705,1711,0,0,0,0,0,0
$GC,7146,0.91,223.7,267.8,8.0,328,7151,0.10,2.53,0.00,0.000,4,0.079,0.057,3254,288,1711,0,0,0,0,0,0
$GC,7267,0.83,223.7,254.9,10.3,333,7272,0.12,2.33,0.00,0.000,6,0.109,0.025,3231,1700,1709,0,0,0,0,0,0
$GC,7591,0.92,245.9,231.7,6.9,349,7615,0.00,2.53,19.52,0.674,4,0.000,0.054,3230,296,1627,0,0,0,0,0,0
$GC,7763,0.92,245.9,214.0,10.2,356,7767,0.00,2.30,0.00,0.000,6,0.000,0.024,3230,1711,1622,0,0,0,0,0,0
$GC,8088,1.00,258.3,188.2,7.3,376,8106,0.17,2.58,11.55,0.598,4,0.054,0.051,3282,291,1576,0,0,0,0,0,0
$GC,8245,0.89,258.3,169.9,12.9,387,8250,0.20,2.28,0.00,0.000,6,0.091,0.022,3242,1703,1573,0,0,0,0,0,0
$GC,8508,0.94,258.3,147.5,8.4,407,8512,0.00,2.47,0.00,0.000,4,0.000,0.051,3242,295,1572,0,0,0,0,0,0
$GC,8596,0.95,267.7,139.7,7.5,413,8615,0.00,2.28,9.15,0.534,6,0.000,0.021,3242,1711,1538,0,0,0,0,0,0
$GC,8868,1.05,280.5,120.1,7.3,435,8889,0.15,2.50,12.68,0.547,4,0.058,0.048,3289,294,1485,0,0,0,0,0,0
$GC,8985,0.95,280.5,107.7,11.2,443,8991,0.15,2.25,0.00,0.000,6,0.092,0.021,3259,1699,1482,0,0,0,0,0,0
$GC,9246,1.01,280.5,87.4,8.5,464,9251,0.00,2.47,0.00,0.000,4,0.000,0.049,3259,287,1482,0,0,0,0,0,0
$GC,9333,1.01,280.5,78.7,9.7,470,9339,0.00,2.28,0.00,0.000,6,0.000,0.020,3259,1699,1481,0,0,0,0,0,0
$GC,9594,1.14,292.5,58.8,7.4,491,9613,0.17,2.53,11.23,0.489,4,0.050,0.048,3316,291,1436,0,0,0,0,0,0
$GC,9770,1.00,292.5,38.3,13.0,503,9777,0.20,2.28,0.00,0.000,6,0.065,0.019,3261,1711,1434,0,0,0,0,0,0
$GC,10034,1.15,324.3,18.0,6.5,548,10070,0.17,2.53,28.15,0.486,4,0.051,0.048,3318,290,1305,0,0,0,0,0,0
$GC,10168,1.04,324.3,4.3,12.9,576,10175,0.17,2.25,0.00,0.000,6,0.061,0.018,3276,1704,1301,0,0,0,0,0,0
$STATE,10180,end climb,SURFACE_DEPTH_REACHED
$STATE,10180,begin surface coast
$FINISH,1.1,1.023270
$STATE,10202,end surface coast,CONTROL_FINISHED_OK
$STATE,10203,begin surface
$SM_CCo,10226,48.40,0.476,0,0,958,410.14
$SM_GC,1.53,0.00,0.00,48.40,0.000,0.000,0.476,430,1707,958,-12.05,0.20,410.14
$IRIDIUM_FIX,2047.91,-15759.92,111299,060646
$TT8_MAMPS,0.029146
$HUMID,55.86
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,440.4,7.7
$24V_AH,23.5,39.935
$10V_AH,10.2,33.352
$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,30.325,123.875,383.125,48.400,0.000,27.795,29.762,181.803,4.750,0.000,13.776,1170.861,6575.130,461.780,1908.851,523.201,0.000,1340.524,0.000,1879.790,0.000,32.125,0.000
$DEVICE_MAMPS,131.924,58.292,829.127,476.307,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,391.392,376.520,842.029,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,31770,583
$CAP_FILE_SIZE,121142,0
$CFSIZE,260165632,189362176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160910,115959,2056.581,-15759.169,12,2.6,31,9.8