version: 66.06
glider: 139
mission: 8
dive: 440
start: 9 13 110 21 37 20
data:
$ID,139
$MISSION,8
$DIVE,440
$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,-2160179.2
$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
$GPS1,213128,2057.099,-15749.979,13,2.2,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-72.3
$GPS2,213702,2057.069,-15749.976,10,1.6,10,9.8
$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,27.2,20273,-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,-64.70,0.000,2,0.000,0.000,427,1704,2738,0,0,0,0,0,0
$GC,85,-1.38,-77.9,3.1,-2.6,12,110,12.38,2.38,-4.20,0.000,4,0.132,0.037,2740,3104,2951,0,0,0,0,0,0
$GC,183,-1.30,-77.9,25.1,-17.9,32,190,0.10,2.42,0.00,0.000,6,0.086,0.035,2763,1699,2952,0,0,0,0,0,0
$GC,388,-1.16,-77.9,61.1,-17.3,51,393,0.15,2.45,0.00,0.000,4,0.107,0.045,2793,291,2953,0,0,0,0,0,0
$GC,435,-1.05,-77.9,69.9,-17.7,54,442,0.10,2.35,0.00,0.000,6,0.081,0.018,2818,1737,2953,0,0,0,0,0,0
$GC,698,-1.09,-77.9,101.2,-12.0,75,702,0.00,2.50,0.00,0.000,4,0.000,0.047,2818,287,2953,0,0,0,0,0,0
$GC,718,-1.09,-77.9,103.8,-10.1,76,725,0.00,2.30,0.00,0.000,6,0.000,0.018,2818,1719,2954,0,0,0,0,0,0
$GC,981,-1.18,-77.9,127.0,-9.2,97,985,0.10,2.25,0.00,0.000,4,0.072,0.022,2778,3082,2955,0,0,0,0,0,0
$GC,1092,-1.25,-77.9,140.0,-12.4,105,1099,0.00,2.33,0.00,0.000,6,0.000,0.031,2778,1686,2955,0,0,0,0,0,0
$GC,1364,-1.25,-77.9,173.3,-11.2,126,1368,0.00,2.38,0.00,0.000,4,0.000,0.045,2778,292,2956,0,0,0,0,0,0
$GC,1416,-1.19,-77.9,180.0,-12.9,130,1421,0.00,2.25,0.00,0.000,6,0.000,0.018,2778,1706,2956,0,0,0,0,0,0
$GC,1687,-1.19,-77.9,206.3,-9.3,149,1691,0.00,2.42,0.00,0.000,4,0.000,0.046,2777,290,2956,0,0,0,0,0,0
$GC,1737,-1.19,-77.9,212.6,-11.5,151,1741,0.00,2.25,0.00,0.000,6,0.000,0.019,2778,1706,2957,0,0,0,0,0,0
$GC,2060,-1.22,-77.9,244.9,-10.3,167,2064,0.00,2.22,0.00,0.000,4,0.000,0.025,2778,3072,2956,0,0,0,0,0,0
$GC,2079,-1.27,-77.9,247.2,-10.5,167,2084,0.00,2.30,0.00,0.000,6,0.000,0.033,2777,1696,2957,0,0,0,0,0,0
$GC,2398,-1.33,-77.9,280.0,-10.1,183,2402,0.00,2.40,0.00,0.000,4,0.000,0.047,2778,297,2956,0,0,0,0,0,0
$GC,2448,-1.33,-77.9,285.8,-10.8,185,2452,0.00,2.25,0.00,0.000,6,0.000,0.021,2778,1696,2956,0,0,0,0,0,0
$GC,2770,-1.38,-77.9,316.0,-8.9,197,2775,0.12,2.33,0.00,0.000,4,0.065,0.027,2738,3085,2955,0,0,0,0,0,0
$GC,2805,-1.38,-77.9,319.2,-9.8,197,2809,0.00,2.33,0.00,0.000,6,0.000,0.035,2738,1701,2955,0,0,0,0,0,0
$GC,3136,-1.38,-77.9,349.5,-8.3,205,3140,0.00,2.42,0.00,0.000,4,0.000,0.051,2737,292,2954,0,0,0,0,0,0
$GC,3155,-1.31,-77.9,351.4,-9.6,205,3160,0.12,2.28,0.00,0.000,6,0.102,0.023,2763,1706,2954,0,0,0,0,0,0
$GC,3503,-1.35,-77.9,384.4,-10.7,214,3504,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1711,2952,0,0,0,0,0,0
$GC,3828,-1.39,-77.9,421.6,-10.7,222,3833,0.00,2.47,0.00,0.000,4,0.000,0.054,2763,299,2950,0,0,0,0,0,0
$GC,3866,-1.39,-77.9,426.3,-11.2,222,3871,0.00,2.30,0.00,0.000,6,0.000,0.025,2763,1704,2950,0,0,0,0,0,0
$STATE,4113,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4113,begin apogee
$GC,4120,-0.31,0.0,451.7,10.1,229,4188,1.02,0.00,65.07,0.824,6,0.071,0.000,2982,1708,2630,0,0,0,0,0,0
$STATE,4189,end apogee,CONTROL_FINISHED_OK
$STATE,4189,begin climb
$GC,4192,1.38,77.9,453.4,0.0,230,4272,1.60,2.55,67.12,0.809,4,0.041,0.052,3349,299,2310,0,0,0,0,0,0
$GC,4296,1.15,135.8,452.7,4.0,232,4354,0.25,2.35,51.38,0.798,6,0.104,0.025,3301,1712,2076,0,0,0,0,0,0
$GC,4689,1.09,135.8,417.5,9.7,242,4693,0.00,2.33,0.00,0.000,4,0.000,0.031,3301,3081,2067,0,0,0,0,0,0
$GC,4860,1.09,135.8,399.5,9.7,245,4865,0.00,2.38,0.00,0.000,6,0.000,0.040,3301,1703,2066,0,0,0,0,0,0
$GC,5193,1.06,151.2,373.7,6.8,253,5207,0.00,0.00,12.60,0.726,6,0.000,0.000,3301,1702,2013,0,0,0,0,0,0
$GC,5517,1.05,175.4,352.1,6.3,261,5546,0.12,2.42,22.62,0.759,4,0.112,0.031,3278,3076,1914,0,0,0,0,0,0
$GC,5592,1.14,190.0,347.1,6.9,262,5612,0.00,2.40,14.48,0.721,6,0.000,0.040,3278,1700,1854,0,0,0,0,0,0
$GC,5942,1.17,190.0,311.8,10.6,271,5947,0.12,2.53,0.00,0.000,4,0.067,0.057,3313,291,1848,0,0,0,0,0,0
$GC,6028,1.03,190.0,300.9,13.5,272,6034,0.20,2.35,0.00,0.000,6,0.099,0.026,3274,1705,1846,0,0,0,0,0,0
$GC,6344,1.08,190.0,272.5,8.4,287,6349,0.00,2.50,0.00,0.000,4,0.000,0.053,3274,294,1845,0,0,0,0,0,0
$GC,6437,1.09,196.3,264.9,7.5,291,6449,0.00,2.33,5.03,0.532,6,0.000,0.025,3274,1709,1828,0,0,0,0,0,0
$GC,6769,1.19,231.0,246.8,5.5,307,6812,0.15,2.55,32.30,0.702,4,0.060,0.051,3317,290,1686,0,0,0,0,0,0
$GC,6878,1.05,231.0,234.7,14.0,311,6884,0.20,2.30,0.00,0.000,6,0.097,0.025,3279,1701,1683,0,0,0,0,0,0
$GC,7196,1.12,231.0,206.8,8.8,327,7200,0.00,2.50,0.00,0.000,4,0.000,0.051,3279,289,1681,0,0,0,0,0,0
$GC,7334,1.12,231.0,190.3,12.0,335,7338,0.00,2.33,0.00,0.000,6,0.000,0.022,3279,1709,1678,0,0,0,0,0,0
$GC,7599,1.20,236.8,165.7,7.5,356,7615,0.15,2.50,5.00,0.466,4,0.058,0.049,3324,286,1663,0,0,0,0,0,0
$GC,7655,1.07,236.8,159.8,11.7,359,7662,0.20,2.30,0.00,0.000,6,0.094,0.022,3284,1715,1662,0,0,0,0,0,0
$GC,7916,1.13,236.8,136.2,10.8,380,7920,0.00,2.47,0.00,0.000,4,0.000,0.048,3284,293,1663,0,0,0,0,0,0
$GC,7960,1.13,236.8,131.4,11.2,383,7965,0.00,2.25,0.00,0.000,6,0.000,0.021,3284,1710,1662,0,0,0,0,0,0
$GC,8227,1.25,242.0,110.6,7.5,404,8243,0.17,2.53,6.03,0.465,4,0.052,0.048,3337,294,1642,0,0,0,0,0,0
$GC,8311,1.18,242.0,102.0,10.5,409,8317,0.15,2.22,0.00,0.000,6,0.095,0.020,3307,1702,1641,0,0,0,0,0,0
$GC,8573,1.26,242.0,77.3,10.9,430,8577,0.00,2.42,0.00,0.000,4,0.000,0.047,3307,293,1640,0,0,0,0,0,0
$GC,8591,1.30,242.0,74.6,11.9,431,8598,0.08,2.28,0.00,0.000,6,0.038,0.020,3344,1708,1641,0,0,0,0,0,0
$GC,8854,1.30,242.0,46.4,11.1,452,8857,0.00,2.45,0.00,0.000,4,0.000,0.047,3344,294,1640,0,0,0,0,0,0
$GC,8924,1.24,242.0,37.3,13.2,457,8929,0.12,2.20,0.00,0.000,6,0.099,0.019,3319,1703,1640,0,0,0,0,0,0
$GC,9189,1.32,242.0,13.4,8.0,507,9195,0.00,2.47,0.00,0.000,4,0.000,0.046,3318,289,1640,0,0,0,0,0,0
$GC,9280,1.32,242.0,5.0,9.8,527,9286,0.00,2.25,0.00,0.000,6,0.000,0.018,3318,1702,1640,0,0,0,0,0,0
$STATE,9300,end climb,SURFACE_DEPTH_REACHED
$STATE,9300,begin surface coast
$FINISH,0.8,1.000463
$STATE,9332,end surface coast,CONTROL_FINISHED_OK
$STATE,9332,begin surface
$SM_CCo,9355,91.68,0.483,0,0,956,410.14
$SM_GC,1.72,0.00,0.00,91.68,0.000,0.000,0.483,429,1703,956,-12.06,0.11,410.14
$IRIDIUM_FIX,2047.91,-15752.63,081299,181839
$TT8_MAMPS,0.029146
$HUMID,55.11
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,421.6,69.5
$24V_AH,23.5,38.031
$10V_AH,10.2,31.777
$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,29.975,113.725,281.625,91.675,0.000,31.457,29.744,149.359,4.500,0.000,10.433,1062.193,6161.300,447.671,1625.616,484.177,0.000,1187.235,0.000,1611.210,0.000,30.737,0.000
$DEVICE_MAMPS,131.924,56.758,823.758,483.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,361.701,346.306,784.898,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,31655,538
$CAP_FILE_SIZE,106769,0
$CFSIZE,260165632,190525440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140910,001625,2057.280,-15749.561,59,0.9,59,9.8