version: 66.06
glider: 139
mission: 8
dive: 453
start: 9 15 110 9 35 14
data:
$ID,139
$MISSION,8
$DIVE,453
$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,-2160498.8
$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
$GPS1,092931,2057.489,-15752.914,41,1.3,41,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-71.7
$GPS2,093456,2057.468,-15752.992,14,1.3,14,9.8
$SPEED_LIMITS,0.137,0.183
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$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,312.3,25506,-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,-77.9,0.0,0.0,0,81,0.00,0.00,-64.30,0.000,2,0.000,0.000,427,1710,2742,0,0,0,0,0,0
$GC,85,-1.38,-77.9,3.3,-3.0,12,109,12.40,2.50,-3.95,0.000,4,0.133,0.057,2743,293,2951,0,0,0,0,0,0
$GC,294,-1.11,-77.9,52.9,-19.4,42,299,0.32,2.30,0.00,0.000,6,0.097,0.018,2807,1737,2952,0,0,0,0,0,0
$GC,562,-1.11,-77.9,90.1,-12.5,63,566,0.00,2.47,0.00,0.000,4,0.000,0.044,2807,293,2953,0,0,0,0,0,0
$GC,622,-1.07,-77.9,99.1,-14.0,67,627,0.00,2.25,0.00,0.000,6,0.000,0.018,2807,1715,2954,0,0,0,0,0,0
$GC,882,-1.11,-77.9,129.4,-9.3,88,886,0.00,2.20,0.00,0.000,4,0.000,0.021,2807,3077,2955,0,0,0,0,0,0
$GC,957,-1.21,-77.9,135.7,-7.9,93,962,0.00,2.30,0.00,0.000,6,0.000,0.029,2807,1694,2955,0,0,0,0,0,0
$GC,1217,-1.27,-77.9,158.9,-10.0,114,1222,0.15,2.28,0.00,0.000,4,0.056,0.022,2758,3075,2956,0,0,0,0,0,0
$GC,1266,-1.30,-77.9,164.8,-12.5,117,1271,0.00,2.30,0.00,0.000,6,0.000,0.031,2759,1703,2955,0,0,0,0,0,0
$GC,1524,-1.30,-77.9,198.9,-13.8,138,1528,0.00,2.40,0.00,0.000,4,0.000,0.047,2758,295,2956,0,0,0,0,0,0
$GC,1559,-1.20,-77.9,204.2,-15.8,140,1563,0.15,2.22,0.00,0.000,6,0.095,0.019,2789,1698,2956,0,0,0,0,0,0
$GC,1877,-1.25,-77.9,242.8,-10.2,155,1881,0.00,2.40,0.00,0.000,4,0.000,0.046,2789,297,2956,0,0,0,0,0,0
$GC,1902,-1.25,-77.9,245.5,-9.8,156,1906,0.00,2.22,0.00,0.000,6,0.000,0.019,2789,1699,2956,0,0,0,0,0,0
$GC,2228,-1.31,-77.9,269.7,-6.8,172,2233,0.10,2.45,0.00,0.000,4,0.074,0.048,2753,294,2956,0,0,0,0,0,0
$GC,2272,-1.26,-77.9,274.3,-11.5,174,2277,0.10,2.25,0.00,0.000,6,0.107,0.021,2773,1699,2956,0,0,0,0,0,0
$GC,2625,-1.30,-77.9,308.8,-9.5,189,2629,0.00,2.25,0.00,0.000,4,0.000,0.025,2773,3075,2955,0,0,0,0,0,0
$GC,2644,-1.37,-77.9,311.1,-9.8,189,2648,0.00,2.33,0.00,0.000,6,0.000,0.035,2773,1702,2955,0,0,0,0,0,0
$GC,2990,-1.41,-77.9,344.4,-9.5,198,2995,0.15,2.42,0.00,0.000,4,0.058,0.051,2728,297,2953,0,0,0,0,0,0
$GC,3061,-1.30,-77.9,352.4,-11.4,199,3066,0.17,2.25,0.00,0.000,6,0.091,0.022,2764,1694,2953,0,0,0,0,0,0
$GC,3404,-1.35,-77.9,379.5,-7.7,208,3408,0.00,2.30,0.00,0.000,4,0.000,0.028,2765,3086,2951,0,0,0,0,0,0
$GC,3437,-1.45,-77.9,382.4,-8.0,208,3442,0.12,2.38,0.00,0.000,6,0.067,0.037,2725,1693,2951,0,0,0,0,0,0
$GC,3775,-1.41,-77.9,418.6,-11.1,217,3779,0.00,2.33,0.00,0.000,4,0.000,0.029,2726,3078,2950,0,0,0,0,0,0
$GC,3825,-1.41,-77.9,424.2,-10.4,218,3830,0.00,2.35,0.00,0.000,6,0.000,0.040,2725,1702,2949,0,0,0,0,0,0
$STATE,4100,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4100,begin apogee
$GC,4106,-0.31,0.0,451.6,10.1,225,4174,1.20,0.00,64.68,0.824,6,0.075,0.000,2979,1702,2630,0,0,0,0,0,0
$STATE,4175,end apogee,CONTROL_FINISHED_OK
$STATE,4175,begin climb
$GC,4179,1.38,77.9,452.8,0.0,226,4250,1.62,0.00,66.95,0.807,6,0.040,0.000,3351,1702,2312,0,0,0,0,0,0
$GC,4553,1.24,118.0,436.0,5.2,236,4595,0.15,0.00,35.20,0.795,6,0.107,0.000,3322,1701,2147,0,0,0,0,0,0
$GC,4923,1.15,133.3,413.7,6.9,245,4939,0.00,0.00,13.98,0.743,6,0.000,0.000,3322,1702,2086,0,0,0,0,0,0
$GC,5245,1.07,133.3,377.2,12.3,253,5250,0.20,2.38,0.00,0.000,4,0.104,0.030,3284,3082,2081,0,0,0,0,0,0
$GC,5322,1.09,150.8,370.6,6.7,254,5343,0.00,2.40,16.08,0.746,6,0.000,0.040,3283,1700,2015,0,0,0,0,0,0
$GC,5663,1.15,205.6,353.6,4.2,263,5719,0.00,2.60,49.83,0.783,4,0.000,0.058,3284,294,1791,0,0,0,0,0,0
$GC,5740,1.08,205.6,348.2,9.2,264,5746,0.00,2.35,0.00,0.000,6,0.000,0.026,3284,1701,1788,0,0,0,0,0,0
$GC,6071,1.08,205.6,319.0,8.9,273,6075,0.00,2.50,0.00,0.000,4,0.000,0.055,3284,292,1783,0,0,0,0,0,0
$GC,6132,1.03,205.6,312.0,12.1,274,6136,0.00,2.33,0.00,0.000,6,0.000,0.026,3284,1703,1780,0,0,0,0,0,0
$GC,6467,1.06,205.6,277.9,9.1,287,6471,0.00,2.50,0.00,0.000,4,0.000,0.054,3284,296,1779,0,0,0,0,0,0
$GC,6490,1.01,205.6,275.1,11.3,288,6495,0.00,2.33,0.00,0.000,6,0.000,0.025,3284,1711,1778,0,0,0,0,0,0
$GC,6816,1.07,205.6,245.7,8.1,304,6821,0.00,2.50,0.00,0.000,4,0.000,0.053,3284,290,1777,0,0,0,0,0,0
$GC,6975,1.07,205.6,232.6,8.0,311,6979,0.00,2.33,0.00,0.000,6,0.000,0.024,3284,1708,1775,0,0,0,0,0,0
$GC,7307,1.13,210.5,208.0,7.6,327,7312,0.00,2.50,0.00,0.000,4,0.000,0.051,3284,287,1775,0,0,0,0,0,0
$GC,7415,1.13,210.5,198.2,9.6,333,7420,0.00,2.30,0.00,0.000,6,0.000,0.022,3284,1704,1774,0,0,0,0,0,0
$GC,7682,1.20,210.5,177.0,8.3,354,7687,0.12,2.47,0.00,0.000,4,0.065,0.050,3323,290,1774,0,0,0,0,0,0
$GC,7729,1.09,210.5,171.1,12.7,357,7735,0.17,2.28,0.00,0.000,6,0.097,0.021,3289,1702,1773,0,0,0,0,0,0
$GC,7989,1.16,210.5,144.8,9.7,378,7991,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,1708,1773,0,0,0,0,0,0
$GC,8240,1.24,210.5,121.1,8.3,398,8245,0.12,2.28,0.00,0.000,4,0.065,0.023,3330,3080,1773,0,0,0,0,0,0
$GC,8315,1.29,219.7,115.4,7.3,403,8335,0.00,2.33,10.62,0.534,6,0.000,0.031,3330,1695,1733,0,0,0,0,0,0
$GC,8588,1.32,243.6,96.5,6.3,425,8617,0.00,2.42,21.92,0.552,4,0.000,0.046,3329,306,1635,0,0,0,0,0,0
$GC,8624,1.33,249.1,93.7,7.5,427,8636,0.00,2.28,5.90,0.440,6,0.000,0.020,3330,1719,1614,0,0,0,0,0,0
$GC,8901,1.36,249.1,67.9,9.3,449,8905,0.00,2.45,0.00,0.000,4,0.000,0.046,3329,298,1613,0,0,0,0,0,0
$GC,8988,1.36,249.1,57.5,12.2,455,8995,0.00,2.25,0.00,0.000,6,0.000,0.019,3329,1705,1610,0,0,0,0,0,0
$GC,9248,1.42,249.1,35.5,8.1,476,9253,0.12,2.47,0.00,0.000,4,0.061,0.047,3373,290,1610,0,0,0,0,0,0
$GC,9377,1.31,249.1,22.0,10.6,495,9384,0.15,2.25,0.00,0.000,6,0.074,0.018,3337,1705,1610,0,0,0,0,0,0
$GC,9583,1.34,251.3,4.5,7.7,541,9589,0.00,2.45,0.00,0.000,4,0.000,0.047,3337,306,1610,0,0,0,0,0,0
$STATE,9595,end climb,SURFACE_DEPTH_REACHED
$STATE,9595,begin surface coast
$FINISH,1.2,1.023209
$STATE,9609,end surface coast,CONTROL_FINISHED_OK
$STATE,9609,begin surface
$SM_CCo,9634,89.43,0.483,0,0,957,410.14
$SM_GC,1.52,0.00,0.00,89.43,0.000,0.000,0.483,429,1680,957,-12.06,-0.57,410.14
$IRIDIUM_FIX,2050.21,-15752.63,101299,060636
$TT8_MAMPS,0.029146
$HUMID,56.26
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.5,39.145
$10V_AH,10.2,32.727
$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,30.050,108.300,285.150,89.425,0.000,22.655,30.357,147.474,4.500,0.000,14.477,1067.903,6450.709,461.894,1608.432,459.169,0.000,1169.532,0.000,1590.416,0.000,29.258,0.000
$DEVICE_MAMPS,132.691,57.525,823.758,483.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,367.447,352.473,775.270,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,31763,546
$CAP_FILE_SIZE,105904,0
$CFSIZE,260165632,189841408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150910,121857,2057.100,-15753.969,41,2.8,60,9.8