version: 66.06
glider: 139
mission: 8
dive: 840
start: 11 6 110 5 11 28
data:
$ID,139
$MISSION,8
$DIVE,840
$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,-2169091
$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,1450
$C_ROLL_CLIMB,1420
$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
$GPS1,050437,2107.033,-15759.867,41,1.6,41,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-69.7
$GPS2,051108,2106.978,-15759.822,12,1.7,12,9.8
$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,84.4,29288,-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,-64.15,0.000,2,0.000,0.000,429,1403,2765,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.8,-4.4,12,109,12.62,0.00,-6.60,0.000,6,0.131,0.000,2787,1403,3109,0,0,0,0,0,0
$GC,314,-0.98,-116.8,40.5,-12.5,51,319,0.22,2.42,0.00,0.000,4,0.088,0.019,2833,2877,3111,0,0,0,0,0,0
$GC,333,-0.88,-116.8,42.6,-9.8,52,341,0.08,2.45,0.00,0.000,6,0.071,0.033,2855,1452,3111,0,0,0,0,0,0
$GC,595,-0.83,-116.8,67.6,-8.7,73,599,0.00,2.08,0.00,0.000,4,0.000,0.046,2855,231,3111,0,0,0,0,0,0
$GC,629,-0.78,-116.8,71.6,-11.1,75,635,0.08,2.03,0.00,0.000,6,0.071,0.019,2877,1514,3111,0,0,0,0,0,0
$GC,891,-0.87,-116.8,97.6,-8.6,96,895,0.00,2.20,0.00,0.000,4,0.000,0.042,2877,228,3112,0,0,0,0,0,0
$GC,910,-0.91,-116.8,99.5,-8.4,97,917,0.12,2.00,0.00,0.000,6,0.061,0.018,2830,1519,3112,0,0,0,0,0,0
$GC,1174,-0.91,-116.8,123.6,-8.2,118,1178,0.00,2.20,0.00,0.000,4,0.000,0.020,2831,2880,3113,0,0,0,0,0,0
$GC,1272,-0.99,-116.8,131.3,-6.9,125,1276,0.00,2.40,0.00,0.000,6,0.000,0.028,2831,1435,3113,0,0,0,0,0,0
$GC,1536,-1.09,-116.8,152.4,-8.8,145,1540,0.00,2.35,0.00,0.000,4,0.000,0.020,2831,2881,3113,0,0,0,0,0,0
$GC,1628,-1.18,-116.8,160.4,-8.0,151,1634,0.17,2.40,0.00,0.000,6,0.048,0.028,2771,1448,3113,0,0,0,0,0,0
$STATE,1854,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1854,begin apogee
$GC,1860,-0.31,0.0,181.3,10.0,169,1957,0.95,0.00,93.70,0.569,6,0.065,0.000,2980,1448,2630,0,0,0,0,0,0
$STATE,1958,end apogee,CONTROL_FINISHED_OK
$STATE,1958,begin climb
$GC,1961,1.18,116.8,186.8,0.0,177,2070,1.40,2.38,94.97,0.568,4,0.031,0.020,3315,2854,2152,0,0,0,0,0,0
$GC,2168,1.17,223.1,187.0,3.1,192,2267,0.00,2.45,88.30,0.565,6,0.000,0.030,3315,1416,1719,0,0,0,0,0,0
$GC,2531,1.03,223.1,160.2,8.8,220,2533,0.20,0.00,0.00,0.000,6,0.087,0.000,3274,1416,1714,0,0,0,0,0,0
$GC,2785,1.07,253.1,144.1,6.5,240,2815,0.00,2.40,24.95,0.528,4,0.000,0.021,3274,2855,1597,0,0,0,0,0,0
$GC,2884,1.14,253.1,136.7,8.3,247,2889,0.10,2.42,0.00,0.000,6,0.071,0.031,3311,1422,1597,0,0,0,0,0,0
$GC,3154,1.10,274.0,113.9,7.0,268,3181,0.00,2.38,18.42,0.506,4,0.000,0.018,3311,2859,1511,0,0,0,0,0,0
$GC,3198,1.15,312.3,110.7,6.2,271,3238,0.00,2.45,32.90,0.518,6,0.000,0.032,3311,1417,1355,0,0,0,0,0,0
$GC,3491,1.15,314.2,88.5,7.8,294,3494,0.00,2.05,0.00,0.000,4,0.000,0.046,3311,230,1352,0,0,0,0,0,0
$GC,3519,1.12,314.2,86.0,9.0,296,3523,0.00,1.98,0.00,0.000,6,0.000,0.019,3311,1476,1349,0,0,0,0,0,0
$GC,3790,1.14,327.5,67.3,7.3,317,3807,0.00,2.20,13.07,0.459,4,0.000,0.043,3311,231,1292,0,0,0,0,0,0
$GC,3866,1.14,327.5,60.3,8.9,322,3870,0.00,1.95,0.00,0.000,6,0.000,0.019,3311,1480,1289,0,0,0,0,0,0
$GC,4132,1.17,327.5,39.6,7.9,343,4136,0.00,2.20,0.00,0.000,4,0.000,0.019,3311,2855,1289,0,0,0,0,0,0
$GC,4169,1.27,332.5,36.3,7.7,345,4179,0.00,2.45,5.03,0.354,6,0.000,0.031,3311,1422,1273,0,0,0,0,0,0
$GC,4441,1.27,332.5,18.4,8.8,394,4447,0.00,2.05,0.00,0.000,4,0.000,0.045,3311,239,1272,0,0,0,0,0,0
$GC,4468,1.27,332.5,15.8,9.0,399,4474,0.00,1.98,0.00,0.000,6,0.000,0.018,3311,1503,1271,0,0,0,0,0,0
$STATE,4644,end climb,SURFACE_DEPTH_REACHED
$STATE,4644,begin surface coast
$FINISH,0.9,0.999903
$STATE,4721,end surface coast,CONTROL_FINISHED_OK
$STATE,4721,begin surface
$SM_CCo,4744,63.22,0.457,0,0,957,410.14
$SM_GC,1.64,0.00,0.00,63.22,0.000,0.000,0.457,426,1429,957,-12.07,-0.59,410.14
$IRIDIUM_FIX,2057.14,-15801.19,310100,010146
$TT8_MAMPS,0.029146
$HUMID,59.09
$INTERNAL_PRESSURE,9.35237
$TCM_TEMP,22.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,181.3,7.8
$24V_AH,23.5,82.033
$10V_AH,10.0,65.472
$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,28.300,53.950,371.350,63.225,0.000,25.301,32.729,187.665,1.500,0.000,12.902,786.024,2219.381,410.479,1306.997,469.249,0.000,980.362,0.000,1305.494,0.000,11.736,0.000
$DEVICE_MAMPS,131.157,88.205,569.114,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,302.765,338.919,867.181,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,25491,457
$CAP_FILE_SIZE,69559,0
$CFSIZE,260165632,166404096
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061110,063237,2106.689,-15759.206,17,2.0,21,9.8