version: 66.06
glider: 139
mission: 8
dive: 480
start: 9 18 110 19 41 46
data:
$ID,139
$MISSION,8
$DIVE,480
$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,-2161143
$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
$GPS1,193136,2108.137,-15800.979,15,0.8,31,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-69.7
$GPS2,194125,2108.060,-15801.019,12,1.4,17,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,D_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,87.8,31551,-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,13,begin dive
$GC,15,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.05,0.000,2,0.000,0.000,426,1707,2761,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.5,-4.0,12,109,12.60,0.00,-6.43,0.000,6,0.131,0.000,2786,1707,3108,0,0,0,0,0,0
$GC,306,-0.96,-116.8,47.0,-17.0,46,311,0.25,2.45,0.00,0.000,4,0.088,0.045,2841,289,3110,0,0,0,0,0,0
$GC,366,-0.83,-116.8,56.7,-14.2,50,373,0.08,2.35,0.00,0.000,6,0.076,0.018,2862,1734,3110,0,0,0,0,0,0
$GC,627,-0.83,-116.8,82.7,-10.5,71,631,0.00,2.47,0.00,0.000,4,0.000,0.045,2862,293,3111,0,0,0,0,0,0
$GC,647,-0.80,-116.8,85.0,-10.2,72,653,0.00,2.28,0.00,0.000,6,0.000,0.018,2863,1719,3111,0,0,0,0,0,0
$GC,908,-0.85,-116.8,107.8,-8.1,93,912,0.00,2.45,0.00,0.000,4,0.000,0.044,2863,286,3111,0,0,0,0,0,0
$GC,968,-0.92,-116.8,114.0,-9.2,97,973,0.00,2.20,0.00,0.000,6,0.000,0.018,2862,1700,3111,0,0,0,0,0,0
$GC,1229,-0.99,-116.8,140.0,-10.4,118,1234,0.12,2.45,0.00,0.000,4,0.062,0.045,2816,292,3112,0,0,0,0,0,0
$GC,1298,-0.91,-116.8,149.3,-14.3,123,1302,0.17,2.20,0.00,0.000,6,0.081,0.018,2854,1699,3112,0,0,0,0,0,0
$GC,1568,-0.97,-116.8,178.5,-8.9,144,1572,0.00,2.40,0.00,0.000,4,0.000,0.044,2854,293,3112,0,0,0,0,0,0
$GC,1671,-1.01,-116.8,188.4,-10.3,151,1677,0.12,2.22,0.00,0.000,6,0.061,0.019,2809,1700,3113,0,0,0,0,0,0
$GC,1938,-0.97,-116.8,217.1,-10.9,168,1940,0.12,0.00,0.00,0.000,6,0.093,0.000,2837,1704,3112,0,0,0,0,0,0
$GC,2246,-1.01,-116.8,243.0,-7.3,183,2250,0.00,2.40,0.00,0.000,4,0.000,0.047,2836,294,3113,0,0,0,0,0,0
$GC,2312,-1.01,-116.8,249.0,-9.5,186,2316,0.00,2.20,0.00,0.000,6,0.000,0.020,2836,1697,3112,0,0,0,0,0,0
$GC,2644,-1.07,-116.8,277.1,-8.0,202,2648,0.00,2.40,0.00,0.000,4,0.000,0.048,2836,294,3112,0,0,0,0,0,0
$GC,2682,-1.12,-116.8,280.3,-7.4,203,2688,0.15,2.25,0.00,0.000,6,0.055,0.021,2787,1704,3112,0,0,0,0,0,0
$GC,3019,-1.09,-116.8,307.5,-7.4,218,3024,0.12,2.47,0.00,0.000,4,0.094,0.048,2814,286,3111,0,0,0,0,0,0
$GC,3090,-1.09,-116.8,312.6,-6.0,219,3094,0.00,2.25,0.00,0.000,6,0.000,0.021,2814,1694,3112,0,0,0,0,0,0
$GC,3432,-1.12,-116.8,336.6,-8.1,228,3433,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1699,3109,0,0,0,0,0,0
$GC,3756,-1.16,-116.8,366.3,-9.4,236,3760,0.00,2.42,0.00,0.000,4,0.000,0.052,2814,295,3108,0,0,0,0,0,0
$GC,3827,-1.16,-116.8,373.1,-9.1,237,3831,0.00,2.28,0.00,0.000,6,0.000,0.024,2815,1702,3108,0,0,0,0,0,0
$GC,4169,-1.22,-116.8,400.4,-7.8,246,4174,0.12,2.50,0.00,0.000,4,0.067,0.055,2774,295,3105,0,0,0,0,0,0
$GC,4199,-1.12,-116.8,403.5,-10.2,246,4204,0.15,2.28,0.00,0.000,6,0.091,0.025,2806,1700,3105,0,0,0,0,0,0
$GC,4536,-1.16,-116.8,430.5,-7.9,255,4541,0.00,2.45,0.00,0.000,4,0.000,0.057,2806,297,3102,0,0,0,0,0,0
$GC,4634,-1.16,-116.8,437.6,-7.0,257,4638,0.00,2.30,0.00,0.000,6,0.000,0.025,2806,1697,3101,0,0,0,0,0,0
$STATE,4829,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4829,begin apogee
$GC,4836,-0.31,0.0,450.1,6.3,262,4935,0.80,0.00,95.70,0.837,6,0.064,0.000,2980,1702,2629,0,0,0,0,0,0
$STATE,4936,end apogee,CONTROL_FINISHED_OK
$STATE,4936,begin climb
$GC,4939,1.18,116.8,452.6,0.0,264,5051,1.42,2.45,100.70,0.819,4,0.038,0.034,3311,3080,2152,0,0,0,0,0,0
$GC,5143,1.00,116.8,448.4,8.7,268,5148,0.22,2.40,0.00,0.000,6,0.099,0.041,3266,1694,2149,0,0,0,0,0,0
$GC,5484,0.97,186.4,427.5,4.8,277,5549,0.00,0.00,60.05,0.813,6,0.000,0.000,3266,1695,1870,0,0,0,0,0,0
$GC,5894,0.88,186.4,396.5,8.3,287,5899,0.12,2.50,0.00,0.000,4,0.114,0.059,3243,290,1860,0,0,0,0,0,0
$GC,5924,0.76,186.4,393.8,9.1,287,5928,0.15,2.35,0.00,0.000,6,0.110,0.027,3215,1701,1858,0,0,0,0,0,0
$GC,6262,0.80,194.5,369.6,7.5,296,6274,0.00,2.58,6.22,0.626,4,0.000,0.058,3215,298,1837,0,0,0,0,0,0
$GC,6369,0.80,194.5,360.4,8.1,298,6373,0.00,2.35,0.00,0.000,6,0.000,0.028,3214,1707,1834,0,0,0,0,0,0
$GC,6684,0.87,209.1,337.2,7.2,306,6705,0.10,2.60,14.43,0.732,4,0.083,0.058,3244,298,1777,0,0,0,0,0,0
$GC,6785,0.79,209.1,327.3,10.0,308,6789,0.12,2.35,0.00,0.000,6,0.114,0.027,3221,1704,1772,0,0,0,0,0,0
$GC,7105,0.88,249.1,307.6,6.1,316,7147,0.00,2.60,35.88,0.753,4,0.000,0.058,3220,288,1614,0,0,0,0,0,0
$GC,7213,0.88,249.1,298.0,9.3,318,7219,0.00,2.38,0.00,0.000,6,0.000,0.027,3221,1695,1609,0,0,0,0,0,0
$GC,7530,0.97,267.6,277.4,7.1,334,7554,0.17,2.55,16.70,0.699,4,0.058,0.056,3268,294,1537,0,0,0,0,0,0
$GC,7730,0.85,267.6,250.3,15.7,342,7735,0.17,2.33,0.00,0.000,6,0.100,0.025,3235,1708,1531,0,0,0,0,0,0
$GC,8047,0.91,267.6,217.6,9.9,357,8052,0.00,2.50,0.00,0.000,4,0.000,0.054,3235,288,1530,0,0,0,0,0,0
$GC,8170,0.91,267.6,205.4,9.1,362,8174,0.00,2.33,0.00,0.000,6,0.000,0.025,3234,1714,1528,0,0,0,0,0,0
$GC,8502,0.98,267.6,181.2,7.9,386,8507,0.12,2.47,0.00,0.000,4,0.065,0.051,3274,292,1527,0,0,0,0,0,0
$GC,8615,0.88,267.6,168.8,11.4,394,8620,0.15,2.33,0.00,0.000,6,0.100,0.023,3245,1719,1527,0,0,0,0,0,0
$GC,8884,0.98,294.7,150.0,6.7,415,8914,0.00,2.60,23.05,0.604,4,0.000,0.050,3244,288,1427,0,0,0,0,0,0
$GC,9041,0.98,294.7,135.6,10.3,426,9048,0.00,2.33,0.00,0.000,6,0.000,0.021,3244,1708,1424,0,0,0,0,0,0
$GC,9302,1.06,294.7,113.9,8.4,447,9307,0.17,2.50,0.00,0.000,4,0.052,0.049,3298,291,1424,0,0,0,0,0,0
$GC,9466,0.97,294.7,94.3,11.3,459,9471,0.17,2.25,0.00,0.000,6,0.089,0.021,3261,1709,1422,0,0,0,0,0,0
$GC,9734,1.08,300.1,72.6,7.6,480,9750,0.10,2.53,5.53,0.419,4,0.074,0.048,3299,291,1406,0,0,0,0,0,0
$GC,9905,1.05,300.1,54.5,10.4,492,9909,0.00,2.22,0.00,0.000,6,0.000,0.020,3299,1700,1404,0,0,0,0,0,0
$GC,10169,1.05,300.1,32.0,8.4,513,10174,0.00,2.42,0.00,0.000,4,0.000,0.048,3299,291,1403,0,0,0,0,0,0
$GC,10286,1.00,300.1,20.5,10.3,536,10294,0.12,2.25,0.00,0.000,6,0.067,0.019,3267,1709,1403,0,0,0,0,0,0
$GC,10491,1.09,300.1,4.8,8.3,582,10498,0.00,2.47,0.00,0.000,4,0.000,0.048,3267,297,1403,0,0,0,0,0,0
$STATE,10511,end climb,SURFACE_DEPTH_REACHED
$STATE,10512,begin surface coast
$FINISH,1.0,1.023230
$STATE,10547,end surface coast,CONTROL_FINISHED_OK
$STATE,10547,begin surface
$SM_CCo,10571,62.65,0.479,0,0,956,410.14
$SM_GC,1.54,0.00,0.00,62.65,0.000,0.000,0.479,424,1672,956,-12.08,-0.79,410.14
$IRIDIUM_FIX,2101.76,-15758.18,131299,191935
$TT8_MAMPS,0.029146
$HUMID,56.53
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.30
$XPDR_PINGS,1
$24V_AH,23.4,41.900
$10V_AH,10.1,34.902
$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,30.250,114.525,358.250,62.650,0.000,55.866,69.762,262.645,4.750,0.000,20.854,1192.345,6948.714,465.889,1930.909,684.496,0.000,1331.863,0.000,1900.506,0.000,29.258,0.000
$DEVICE_MAMPS,131.157,59.059,836.797,478.608,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,399.939,377.438,852.797,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,31845,594
$CAP_FILE_SIZE,123047,0
$CFSIZE,260165632,188215296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180910,224007,2108.373,-15800.211,28,1.5,28,9.8