version: 66.06
glider: 139
mission: 8
dive: 866
start: 11 9 110 20 26 51
data:
$ID,139
$MISSION,8
$DIVE,866
$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,-2169701
$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
$GPS1,202007,2112.184,-15752.297,42,0.9,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-74.2
$GPS2,202632,2112.144,-15752.243,16,1.0,16,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,CLOSE
$TGT_LATLONG,2113.000,-15752.080
$TGT_RADIUS,1000.000
$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,0.3,1610,-26.8,-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,16,-1.73,-46.2,0.0,0.0,0,82,0.00,0.00,-64.18,0.000,2,0.000,0.000,427,1413,2755,0,0,0,0,0,0
$GC,86,-1.78,-81.8,3.6,-3.8,12,110,11.98,2.47,-4.15,0.000,4,0.133,0.035,2654,2878,2967,0,0,0,0,0,0
$GC,162,-1.78,-81.8,20.1,-16.3,27,168,0.00,2.47,0.00,0.000,6,0.000,0.035,2654,1450,2968,0,0,0,0,0,0
$GC,370,-1.60,-81.8,57.7,-17.7,51,375,0.22,2.35,0.00,0.000,4,0.104,0.018,2698,2881,2969,0,0,0,0,0,0
$GC,398,-1.60,-81.8,62.0,-14.7,53,402,0.00,2.42,0.00,0.000,6,0.000,0.035,2697,1448,2969,0,0,0,0,0,0
$GC,663,-1.56,-81.8,98.3,-13.1,74,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1448,2970,0,0,0,0,0,0
$GC,915,-1.56,-81.8,126.4,-11.8,94,919,0.00,2.33,0.00,0.000,4,0.000,0.020,2698,2882,2971,0,0,0,0,0,0
$GC,1022,-1.68,-81.8,139.1,-12.1,102,1027,0.00,2.45,0.00,0.000,6,0.000,0.033,2697,1441,2971,0,0,0,0,0,0
$GC,1296,-1.68,-81.8,171.6,-11.5,123,1299,0.00,2.03,0.00,0.000,4,0.000,0.044,2698,236,2972,0,0,0,0,0,0
$GC,1310,-1.68,-81.8,173.9,-11.4,124,1314,0.00,1.98,0.00,0.000,6,0.000,0.019,2697,1509,2972,0,0,0,0,0,0
$GC,1582,-1.71,-81.8,200.8,-9.1,145,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1522,2972,0,0,0,0,0,0
$GC,1889,-1.76,-81.8,229.9,-9.9,160,1894,0.15,2.22,0.00,0.000,4,0.059,0.045,2652,228,2972,0,0,0,0,0,0
$GC,1927,-1.66,-81.8,235.0,-13.0,161,1933,0.17,2.00,0.00,0.000,6,0.097,0.019,2687,1510,2972,0,0,0,0,0,0
$GC,2248,-1.70,-81.8,270.3,-10.8,177,2252,0.00,2.17,0.00,0.000,4,0.000,0.045,2687,234,2973,0,0,0,0,0,0
$GC,2262,-1.70,-81.8,272.5,-10.8,177,2267,0.00,1.98,0.00,0.000,6,0.000,0.021,2687,1507,2973,0,0,0,0,0,0
$GC,2580,-1.76,-81.8,301.0,-8.7,193,2584,0.00,2.25,0.00,0.000,4,0.000,0.023,2687,2881,2972,0,0,0,0,0,0
$GC,2620,-1.91,-82.3,304.4,-7.8,193,2626,0.22,2.42,0.00,0.000,6,0.048,0.035,2624,1447,2972,0,0,0,0,0,0
$GC,2952,-1.84,-82.3,340.5,-11.6,202,2957,0.12,2.38,0.00,0.000,4,0.107,0.025,2648,2879,2971,0,0,0,0,0,0
$GC,2972,-1.84,-82.3,343.0,-11.2,202,2976,0.00,2.45,0.00,0.000,6,0.000,0.037,2648,1450,2971,0,0,0,0,0,0
$GC,3323,-1.84,-82.3,385.5,-12.4,211,3327,0.00,2.38,0.00,0.000,4,0.000,0.026,2648,2872,2969,0,0,0,0,0,0
$GC,3407,-1.90,-82.3,394.9,-10.5,212,3413,0.00,2.42,0.00,0.000,6,0.000,0.038,2648,1452,2969,0,0,0,0,0,0
$GC,3740,-1.90,-82.3,433.0,-11.4,221,3744,0.00,2.35,0.00,0.000,4,0.000,0.027,2648,2873,2966,0,0,0,0,0,0
$GC,3849,-1.98,-82.3,445.2,-11.1,223,3854,0.15,2.45,0.00,0.000,6,0.061,0.041,2605,1452,2966,0,0,0,0,0,0
$STATE,3912,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3912,begin apogee
$GC,3921,-0.31,0.0,453.8,12.9,225,3995,1.83,0.00,68.55,0.805,6,0.091,0.000,2977,1407,2630,0,0,0,0,0,0
$STATE,3995,end apogee,CONTROL_FINISHED_OK
$STATE,3995,begin climb
$GC,3998,1.78,82.3,457.5,0.0,227,4075,2.03,0.00,71.88,0.795,6,0.032,0.000,3448,1407,2294,0,0,0,0,0,0
$GC,4401,1.57,97.1,441.5,6.2,237,4421,0.25,2.47,12.80,0.725,4,0.105,0.027,3397,2846,2233,0,0,0,0,0,0
$GC,4583,1.53,118.2,430.8,5.5,240,4608,0.00,2.45,19.73,0.759,6,0.000,0.040,3397,1432,2148,0,0,0,0,0,0
$GC,4922,1.44,129.1,408.4,6.7,249,4939,0.17,2.45,10.40,0.703,4,0.110,0.028,3364,2834,2103,0,0,0,0,0,0
$GC,4972,1.46,143.9,404.9,6.2,250,4993,0.00,2.47,14.82,0.736,6,0.000,0.041,3364,1413,2042,0,0,0,0,0,0
$GC,5340,1.46,143.9,375.1,8.3,259,5344,0.00,2.42,0.00,0.000,4,0.000,0.030,3364,2846,2036,0,0,0,0,0,0
$GC,5430,1.50,148.0,368.2,7.4,261,5439,0.00,2.50,3.90,0.479,6,0.000,0.041,3364,1421,2026,0,0,0,0,0,0
$GC,5759,1.51,159.7,346.1,6.6,269,5776,0.00,2.45,11.70,0.703,4,0.000,0.029,3364,2848,1979,0,0,0,0,0,0
$GC,5897,1.57,165.0,336.5,7.3,272,5910,0.12,2.47,6.65,0.616,6,0.070,0.041,3398,1420,1956,0,0,0,0,0,0
$GC,6228,1.51,165.0,308.0,8.7,280,6229,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1420,1953,0,0,0,0,0,0
$GC,6532,1.46,165.0,284.2,8.1,292,6534,0.15,0.00,0.00,0.000,6,0.112,0.000,3370,1420,1951,0,0,0,0,0,0
$GC,6844,1.46,168.0,260.6,7.6,307,6845,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,1420,1950,0,0,0,0,0,0
$GC,7151,1.51,181.6,237.9,6.3,322,7174,0.00,2.47,14.77,0.664,4,0.000,0.028,3370,2842,1889,0,0,0,0,0,0
$GC,7251,1.63,187.8,231.0,7.2,326,7264,0.15,2.47,6.97,0.571,6,0.063,0.041,3409,1418,1864,0,0,0,0,0,0
$GC,7583,1.59,187.8,203.7,8.2,342,7587,0.00,2.38,0.00,0.000,4,0.000,0.027,3409,2842,1861,0,0,0,0,0,0
$GC,7611,1.59,187.8,200.5,9.7,343,7615,0.00,2.47,0.00,0.000,6,0.000,0.041,3409,1415,1861,0,0,0,0,0,0
$GC,7942,1.59,187.8,170.9,8.9,369,7946,0.00,2.08,0.00,0.000,4,0.000,0.052,3409,228,1860,0,0,0,0,0,0
$GC,7961,1.51,187.8,168.5,9.9,370,7968,0.12,2.03,0.00,0.000,6,0.090,0.025,3381,1470,1858,0,0,0,0,0,0
$GC,8225,1.57,199.1,147.9,6.6,391,8242,0.00,2.25,10.65,0.571,4,0.000,0.025,3381,2793,1818,0,0,0,0,0,0
$GC,8277,1.70,215.6,144.4,6.0,394,8299,0.15,2.40,16.10,0.590,6,0.038,0.038,3426,1425,1749,0,0,0,0,0,0
$GC,8565,1.67,215.6,122.1,8.4,417,8569,0.00,2.05,0.00,0.000,4,0.000,0.049,3426,234,1747,0,0,0,0,0,0
$GC,8611,1.55,215.6,117.5,9.6,420,8618,0.17,1.92,0.00,0.000,6,0.087,0.024,3388,1414,1744,0,0,0,0,0,0
$GC,8875,1.61,215.6,95.4,8.0,441,8879,0.00,2.05,0.00,0.000,4,0.000,0.048,3388,225,1744,0,0,0,0,0,0
$GC,8908,1.61,215.6,92.0,8.8,443,8913,0.00,1.90,0.00,0.000,6,0.000,0.023,3388,1430,1743,0,0,0,0,0,0
$GC,9172,1.71,236.3,76.5,5.5,464,9200,0.15,2.30,18.25,0.534,4,0.060,0.021,3430,2802,1664,0,0,0,0,0,0
$GC,9234,1.76,241.4,72.5,7.3,468,9249,0.00,2.38,6.05,0.436,6,0.000,0.035,3430,1414,1644,0,0,0,0,0,0
$GC,9507,1.80,241.4,52.4,9.0,489,9511,0.00,2.05,0.00,0.000,4,0.000,0.047,3429,231,1642,0,0,0,0,0,0
$GC,9561,1.74,241.4,46.0,10.4,493,9565,0.00,1.90,0.00,0.000,6,0.000,0.021,3430,1425,1640,0,0,0,0,0,0
$GC,9826,1.79,248.9,24.7,7.0,523,9839,0.00,2.08,7.12,0.423,4,0.000,0.044,3430,228,1615,0,0,0,0,0,0
$GC,9921,1.74,248.9,17.2,8.3,543,9928,0.00,1.90,0.00,0.000,6,0.000,0.021,3430,1423,1612,0,0,0,0,0,0
$STATE,10109,end climb,SURFACE_DEPTH_REACHED
$STATE,10109,begin surface coast
$FINISH,0.8,1.010739
$STATE,10160,end surface coast,CONTROL_FINISHED_OK
$STATE,10160,begin surface
$SM_CCo,10184,121.35,0.485,0,0,957,410.14
$SM_GC,1.76,0.00,0.00,121.35,0.000,0.000,0.485,429,1422,957,-12.06,-0.79,410.14
$IRIDIUM_FIX,2104.07,-15753.03,030200,171736
$TT8_MAMPS,0.029913
$HUMID,61.45
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,20.00
$XPDR_PINGS,0
$24V_AH,23.3,85.247
$10V_AH,9.9,67.808
$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,31.275,104.800,300.350,121.350,0.000,31.367,34.886,171.511,4.500,0.000,16.109,1160.119,6714.337,498.834,1745.067,565.516,0.000,1257.900,0.000,1727.541,0.000,29.252,0.000
$DEVICE_MAMPS,133.458,151.099,805.350,484.744,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,401.961,391.546,886.122,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,356016
$DATA_FILE_SIZE,34965,597
$CAP_FILE_SIZE,111510,0
$CFSIZE,260165632,164687872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091110,231932,2112.963,-15752.370,15,1.4,15,9.8