version: 66.06
glider: 139
mission: 8
dive: 434
start: 9 13 110 4 35 29
data:
$ID,139
$MISSION,8
$DIVE,434
$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,80
$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,-2160071.8
$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
$GPS1,042830,2053.835,-15751.231,39,1.8,39,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-71.3
$GPS2,043513,2053.774,-15751.324,16,1.9,33,9.8
$SPEED_LIMITS,0.137,0.183
$TGT_NAME,C_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,23.3,26611,-20.5,-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,-1.38,-77.9,0.0,0.0,0,82,0.00,0.00,-64.12,0.000,2,0.000,0.000,424,1712,2766,0,0,0,0,0,0
$GC,85,-1.38,-77.9,3.7,-4.2,12,110,12.45,2.38,-3.40,0.000,4,0.134,0.038,2743,3108,2950,0,0,0,0,0,0
$GC,183,-1.30,-77.9,26.4,-16.3,32,191,0.08,2.42,0.00,0.000,6,0.087,0.033,2762,1695,2951,0,0,0,0,0,0
$GC,384,-1.15,-77.9,58.4,-15.0,50,389,0.17,2.42,0.00,0.000,4,0.102,0.045,2796,297,2952,0,0,0,0,0,0
$GC,404,-0.99,-77.9,61.9,-16.0,51,411,0.15,2.33,0.00,0.000,6,0.083,0.018,2831,1740,2953,0,0,0,0,0,0
$GC,664,-1.04,-77.9,88.3,-9.1,72,669,0.00,2.50,0.00,0.000,4,0.000,0.044,2831,292,2954,0,0,0,0,0,0
$GC,711,-1.04,-77.9,92.5,-9.0,75,717,0.00,2.22,0.00,0.000,6,0.000,0.018,2831,1708,2954,0,0,0,0,0,0
$GC,970,-1.12,-77.9,118.7,-9.1,96,974,0.12,2.22,0.00,0.000,4,0.062,0.022,2787,3071,2954,0,0,0,0,0,0
$GC,1004,-1.17,-77.9,122.0,-9.6,98,1011,0.00,2.33,0.00,0.000,6,0.000,0.031,2788,1698,2954,0,0,0,0,0,0
$GC,1264,-1.17,-77.9,150.5,-11.2,119,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1697,2955,0,0,0,0,0,0
$GC,1516,-1.20,-77.9,176.8,-9.9,139,1520,0.00,2.38,0.00,0.000,4,0.000,0.044,2787,297,2956,0,0,0,0,0,0
$GC,1552,-1.20,-77.9,180.4,-10.6,141,1557,0.00,2.22,0.00,0.000,6,0.000,0.019,2787,1703,2956,0,0,0,0,0,0
$GC,1817,-1.24,-77.9,203.7,-7.6,161,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1709,2956,0,0,0,0,0,0
$GC,2124,-1.28,-77.9,230.3,-8.9,176,2129,0.00,2.45,0.00,0.000,4,0.000,0.047,2787,289,2956,0,0,0,0,0,0
$GC,2161,-1.28,-77.9,234.9,-11.6,177,2167,0.00,2.25,0.00,0.000,6,0.000,0.021,2787,1693,2956,0,0,0,0,0,0
$GC,2480,-1.35,-77.9,269.3,-10.9,193,2484,0.15,2.28,0.00,0.000,4,0.058,0.025,2740,3075,2956,0,0,0,0,0,0
$GC,2508,-1.35,-77.9,273.2,-13.0,194,2512,0.00,2.33,0.00,0.000,6,0.000,0.035,2740,1700,2956,0,0,0,0,0,0
$GC,2827,-1.31,-77.9,311.1,-12.6,208,2832,0.12,2.45,0.00,0.000,4,0.101,0.049,2765,293,2955,0,0,0,0,0,0
$GC,2866,-1.28,-77.9,315.7,-11.7,208,2872,0.00,2.25,0.00,0.000,6,0.000,0.021,2765,1703,2955,0,0,0,0,0,0
$GC,3199,-1.28,-77.9,345.5,-8.5,217,3203,0.00,2.25,0.00,0.000,4,0.000,0.028,2766,3075,2954,0,0,0,0,0,0
$GC,3337,-1.37,-77.9,357.3,-8.8,220,3341,0.00,2.33,0.00,0.000,6,0.000,0.037,2765,1698,2953,0,0,0,0,0,0
$GC,3665,-1.42,-77.9,387.7,-9.5,228,3667,0.12,0.00,0.00,0.000,6,0.067,0.000,2726,1698,2951,0,0,0,0,0,0
$GC,3991,-1.38,-77.9,427.0,-12.2,236,3996,0.12,2.35,0.00,0.000,4,0.103,0.031,2751,3080,2950,0,0,0,0,0,0
$GC,4061,-1.45,-77.9,435.0,-10.4,237,4066,0.00,2.38,0.00,0.000,6,0.000,0.040,2750,1695,2949,0,0,0,0,0,0
$STATE,4237,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4237,begin apogee
$GC,4243,-0.31,0.0,453.7,10.6,242,4311,1.08,0.00,64.93,0.825,6,0.073,0.000,2980,1695,2630,0,0,0,0,0,0
$STATE,4312,end apogee,CONTROL_FINISHED_OK
$STATE,4312,begin climb
$GC,4316,1.38,77.9,455.5,0.0,243,4394,1.62,2.53,66.88,0.809,4,0.040,0.054,3351,291,2310,0,0,0,0,0,0
$GC,4401,1.27,175.0,456.2,1.3,245,4498,0.12,2.33,85.12,0.803,6,0.117,0.025,3329,1705,1916,0,0,0,0,0,0
$GC,4817,1.17,175.0,410.4,12.3,255,4822,0.12,2.55,0.00,0.000,4,0.112,0.058,3305,288,1906,0,0,0,0,0,0
$GC,4842,1.01,175.0,406.7,14.8,255,4847,0.17,2.33,0.00,0.000,6,0.107,0.027,3272,1700,1904,0,0,0,0,0,0
$GC,5183,1.01,175.0,366.1,11.9,264,5187,0.00,2.53,0.00,0.000,4,0.000,0.057,3272,291,1902,0,0,0,0,0,0
$GC,5245,0.96,175.0,357.8,13.3,265,5249,0.00,2.33,0.00,0.000,6,0.000,0.027,3272,1706,1899,0,0,0,0,0,0
$GC,5596,1.00,175.0,325.8,8.0,274,5597,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1711,1898,0,0,0,0,0,0
$GC,5920,1.04,175.0,298.9,8.5,282,5924,0.00,2.50,0.00,0.000,4,0.000,0.054,3272,294,1897,0,0,0,0,0,0
$GC,5948,0.99,175.0,296.1,10.4,283,5952,0.00,2.30,0.00,0.000,6,0.000,0.026,3272,1702,1895,0,0,0,0,0,0
$GC,6271,1.03,175.0,266.1,9.7,299,6275,0.00,2.50,0.00,0.000,4,0.000,0.054,3272,290,1894,0,0,0,0,0,0
$GC,6372,1.03,175.0,255.5,9.9,303,6376,0.00,2.30,0.00,0.000,6,0.000,0.025,3272,1705,1892,0,0,0,0,0,0
$GC,6689,1.10,178.8,230.2,7.6,318,6693,0.00,2.28,0.00,0.000,4,0.000,0.028,3272,3079,1892,0,0,0,0,0,0
$GC,6735,1.22,178.8,226.0,9.8,320,6740,0.17,2.38,0.00,0.000,6,0.056,0.038,3321,1689,1892,0,0,0,0,0,0
$GC,7065,1.18,178.8,192.9,9.9,338,7069,0.00,2.42,0.00,0.000,4,0.000,0.051,3321,294,1892,0,0,0,0,0,0
$GC,7174,1.05,178.8,180.5,11.9,346,7180,0.20,2.30,0.00,0.000,6,0.097,0.023,3282,1708,1890,0,0,0,0,0,0
$GC,7444,1.12,187.4,159.4,7.3,367,7458,0.00,2.50,7.15,0.535,4,0.000,0.050,3281,295,1865,0,0,0,0,0,0
$GC,7487,1.12,187.4,155.4,8.4,370,7491,0.00,2.28,0.00,0.000,6,0.000,0.023,3281,1707,1864,0,0,0,0,0,0
$GC,7759,1.21,197.9,135.5,7.2,391,7776,0.15,2.53,10.98,0.565,4,0.059,0.048,3327,296,1823,0,0,0,0,0,0
$GC,7845,1.12,197.9,127.6,9.7,397,7850,0.17,2.25,0.00,0.000,6,0.096,0.021,3292,1698,1820,0,0,0,0,0,0
$GC,8113,1.22,218.6,109.6,6.5,418,8141,0.10,2.33,19.45,0.571,4,0.075,0.024,3326,3069,1737,0,0,0,0,0,0
$GC,8147,1.22,218.6,106.4,8.9,420,8151,0.00,2.33,0.00,0.000,6,0.000,0.032,3326,1696,1737,0,0,0,0,0,0
$GC,8409,1.30,239.3,86.1,6.5,440,8436,0.00,2.47,18.80,0.542,4,0.000,0.046,3326,295,1652,0,0,0,0,0,0
$GC,8684,1.30,239.3,59.4,9.9,460,8688,0.00,2.25,0.00,0.000,6,0.000,0.020,3325,1715,1647,0,0,0,0,0,0
$GC,8952,1.37,241.8,38.2,7.7,481,8956,0.10,2.47,0.00,0.000,4,0.074,0.047,3362,292,1646,0,0,0,0,0,0
$GC,9048,1.27,241.8,27.9,11.2,490,9055,0.15,2.25,0.00,0.000,6,0.074,0.018,3327,1708,1646,0,0,0,0,0,0
$GC,9250,1.32,241.8,10.5,9.7,536,9256,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,1709,1646,0,0,0,0,0,0
$STATE,9333,end climb,SURFACE_DEPTH_REACHED
$STATE,9333,begin surface coast
$FINISH,0.9,1.023244
$STATE,9366,end surface coast,CONTROL_FINISHED_OK
$STATE,9366,begin surface
$SM_CCo,9388,96.65,0.482,0,0,956,410.14
$SM_GC,1.54,0.00,0.00,96.65,0.000,0.000,0.482,426,1708,956,-12.07,0.23,410.14
$IRIDIUM_FIX,2045.60,-15750.49,081299,010112
$TT8_MAMPS,0.029146
$HUMID,55.31
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.5,37.485
$10V_AH,10.3,31.328
$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,30.125,103.925,273.300,96.650,0.000,29.069,32.736,200.141,4.750,0.000,33.735,1091.286,6143.695,433.171,1695.941,522.852,0.000,1169.778,0.000,1654.528,0.000,32.076,0.000
$DEVICE_MAMPS,134.225,57.525,824.525,481.676,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,378.052,367.672,835.277,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355832
$DATA_FILE_SIZE,31873,562
$CAP_FILE_SIZE,107182,0
$CFSIZE,260165632,190853120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130910,071445,2054.338,-15751.225,12,2.8,31,9.8