version: 66.06
glider: 139
mission: 8
dive: 114
start: 8 7 110 14 8 59
data:
$ID,139
$MISSION,8
$DIVE,114
$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,60
$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,-2152671.5
$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,3100
$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,1690
$C_ROLL_CLIMB,1830
$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,2650
$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
$GPS1,140336,2104.774,-15749.945,38,1.1,44,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-73.1
$GPS2,140843,2104.776,-15749.987,10,1.6,21,9.8
$SPEED_LIMITS,0.137,0.159
$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,71.3,12364,-23.8,-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,12,begin dive
$GC,15,-1.56,-58.4,0.0,0.0,0,82,0.00,0.00,-64.38,0.000,2,0.000,0.000,424,1700,2788,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.4,-4.1,12,110,12.55,2.50,-1.85,0.000,4,0.136,0.055,2754,279,2892,0,0,0,0,0,0
$GC,131,-0.80,-58.4,19.4,-34.2,20,138,0.75,2.35,0.00,0.000,6,0.086,0.019,2920,1729,2894,0,0,0,0,0,0
$GC,336,-1.13,-58.4,37.5,-7.9,51,341,0.28,2.50,0.00,0.000,4,0.038,0.044,2834,282,2895,0,0,0,0,0,0
$GC,365,-1.19,-58.4,40.9,-12.5,53,369,0.00,2.25,0.00,0.000,6,0.000,0.018,2834,1701,2895,0,0,0,0,0,0
$GC,625,-1.36,-58.4,73.5,-12.4,73,627,0.15,0.00,0.00,0.000,6,0.056,0.000,2784,1706,2895,0,0,0,0,0,0
$GC,879,-1.43,-58.4,109.1,-14.0,93,884,0.00,2.45,0.00,0.000,4,0.000,0.047,2784,276,2897,0,0,0,0,0,0
$GC,952,-1.43,-58.4,122.3,-17.9,98,959,0.00,2.25,0.00,0.000,6,0.000,0.018,2784,1691,2897,0,0,0,0,0,0
$GC,1213,-1.54,-58.4,158.5,-13.3,119,1215,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1697,2897,0,0,0,0,0,0
$GC,1466,-1.67,-58.4,186.0,-8.5,139,1468,0.20,0.00,0.00,0.000,6,0.048,0.000,2724,1698,2898,0,0,0,0,0,0
$GC,1717,-1.67,-58.4,212.1,-10.6,156,1718,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1698,2898,0,0,0,0,0,0
$GC,2030,-1.67,-58.4,249.8,-12.4,171,2034,0.00,2.25,0.00,0.000,4,0.000,0.026,2724,3058,2899,0,0,0,0,0,0
$GC,2196,-1.75,-58.4,271.0,-11.9,178,2200,0.00,2.28,0.00,0.000,6,0.000,0.034,2724,1688,2898,0,0,0,0,0,0
$GC,2515,-1.79,-58.4,305.0,-10.6,193,2519,0.00,2.42,0.00,0.000,4,0.000,0.048,2724,282,2898,0,0,0,0,0,0
$GC,2529,-1.79,-58.4,306.9,-11.8,193,2533,0.00,2.25,0.00,0.000,6,0.000,0.022,2724,1690,2898,0,0,0,0,0,0
$GC,2879,-1.85,-58.4,346.6,-11.2,202,2884,0.12,2.30,0.00,0.000,4,0.066,0.030,2685,3062,2897,0,0,0,0,0,0
$GC,2959,-1.85,-58.4,356.4,-11.6,203,2963,0.00,2.33,0.00,0.000,6,0.000,0.038,2685,1686,2896,0,0,0,0,0,0
$GC,3290,-1.85,-58.4,396.6,-12.5,211,3292,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1687,2894,0,0,0,0,0,0
$GC,3616,-1.85,-58.4,436.1,-12.4,219,3620,0.00,2.33,0.00,0.000,4,0.000,0.034,2685,3061,2892,0,0,0,0,0,0
$GC,3681,-1.89,-58.4,444.4,-12.4,220,3685,0.00,2.35,0.00,0.000,6,0.000,0.041,2685,1686,2891,0,0,0,0,0,0
$STATE,3738,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3739,begin apogee
$GC,3746,-0.31,0.0,451.7,12.2,222,3800,1.65,0.00,49.65,0.839,6,0.084,0.000,3028,1824,2650,0,0,0,0,0,0
$STATE,3800,end apogee,CONTROL_FINISHED_OK
$STATE,3800,begin climb
$GC,3803,1.56,58.4,453.5,0.0,223,3861,1.80,0.00,51.05,0.823,6,0.030,0.000,3449,1824,2410,0,0,0,0,0,0
$GC,4187,1.33,118.6,450.2,2.5,233,4247,0.28,2.55,52.35,0.838,4,0.109,0.055,3393,423,2165,0,0,0,0,0,0
$GC,4283,1.04,118.6,443.7,11.4,235,4288,0.35,2.35,0.00,0.000,6,0.103,0.028,3326,1823,2160,0,0,0,0,0,0
$GC,4603,1.01,118.6,416.5,8.3,243,4608,0.00,2.50,0.00,0.000,4,0.000,0.056,3326,414,2156,0,0,0,0,0,0
$GC,4669,0.87,118.6,410.3,9.3,244,4673,0.17,2.35,0.00,0.000,6,0.113,0.028,3293,1834,2153,0,0,0,0,0,0
$GC,5015,0.94,140.5,387.6,5.9,253,5039,0.00,2.60,18.40,0.791,4,0.000,0.056,3294,425,2077,0,0,0,0,0,0
$GC,5093,0.90,140.5,382.3,7.9,254,5098,0.00,2.35,0.00,0.000,6,0.000,0.029,3293,1838,2073,0,0,0,0,0,0
$GC,5430,0.96,153.1,360.8,6.8,263,5447,0.00,2.58,12.05,0.748,4,0.000,0.056,3293,420,2025,0,0,0,0,0,0
$GC,5476,0.93,153.1,356.8,8.7,264,5481,0.00,2.38,0.00,0.000,6,0.000,0.029,3294,1838,2022,0,0,0,0,0,0
$GC,5799,1.00,153.1,328.3,8.7,272,5804,0.10,2.53,0.00,0.000,4,0.081,0.055,3323,420,2020,0,0,0,0,0,0
$GC,5862,0.91,153.1,322.3,9.8,273,5867,0.12,2.35,0.00,0.000,6,0.117,0.028,3300,1835,2019,0,0,0,0,0,0
$GC,6192,0.98,153.1,295.9,8.0,282,6196,0.00,2.47,0.00,0.000,4,0.000,0.054,3300,424,2018,0,0,0,0,0,0
$GC,6305,0.98,153.1,285.8,9.0,287,6309,0.00,2.33,0.00,0.000,6,0.000,0.028,3300,1832,2016,0,0,0,0,0,0
$GC,6640,1.05,153.1,258.4,8.2,303,6645,0.12,2.47,0.00,0.000,4,0.071,0.052,3335,421,2015,0,0,0,0,0,0
$GC,6812,0.97,162.1,243.1,7.1,310,6826,0.12,2.33,8.02,0.640,6,0.114,0.026,3313,1847,1987,0,0,0,0,0,0
$GC,7157,1.06,179.6,221.5,6.3,327,7180,0.00,2.35,17.20,0.688,4,0.000,0.030,3313,3211,1916,0,0,0,0,0,0
$GC,7196,1.17,193.0,219.0,6.7,328,7215,0.20,2.40,13.32,0.661,6,0.053,0.035,3366,1826,1862,0,0,0,0,0,0
$GC,7531,1.17,193.0,182.2,12.3,349,7535,0.00,2.45,0.00,0.000,4,0.000,0.051,3366,423,1859,0,0,0,0,0,0
$GC,7558,1.06,193.0,178.5,15.0,351,7563,0.17,2.28,0.00,0.000,6,0.102,0.025,3332,1828,1856,0,0,0,0,0,0
$GC,7824,1.11,193.0,151.6,8.5,372,7828,0.00,2.45,0.00,0.000,4,0.000,0.048,3332,420,1856,0,0,0,0,0,0
$GC,7934,1.11,193.0,140.5,10.3,380,7938,0.00,2.28,0.00,0.000,6,0.000,0.022,3332,1841,1854,0,0,0,0,0,0
$GC,8195,1.18,193.0,119.4,8.2,400,8196,0.10,0.00,0.00,0.000,6,0.077,0.000,3365,1846,1854,0,0,0,0,0,0
$GC,8446,1.18,193.0,94.2,10.0,420,8450,0.00,2.45,0.00,0.000,4,0.000,0.045,3365,413,1854,0,0,0,0,0,0
$GC,8475,1.09,193.0,91.1,10.0,422,8480,0.15,2.28,0.00,0.000,6,0.103,0.021,3336,1827,1855,0,0,0,0,0,0
$GC,8737,1.17,193.0,67.1,9.4,442,8742,0.00,2.40,0.00,0.000,4,0.000,0.044,3336,420,1854,0,0,0,0,0,0
$GC,9001,1.21,193.0,42.9,8.2,461,9008,0.08,2.28,0.00,0.000,6,0.041,0.020,3371,1841,1854,0,0,0,0,0,0
$GC,9264,1.32,231.4,26.7,4.4,492,9304,0.00,2.28,33.42,0.525,4,0.000,0.024,3371,3203,1705,0,0,0,0,0,0
$GC,9411,1.43,231.4,16.2,8.5,523,9419,0.12,2.35,0.00,0.000,6,0.031,0.030,3417,1827,1704,0,0,0,0,0,0
$STATE,9539,end climb,SURFACE_DEPTH_REACHED
$STATE,9539,begin surface coast
$FINISH,0.6,1.000068
$STATE,9570,end surface coast,CONTROL_FINISHED_OK
$STATE,9571,begin surface
$SM_CCo,9594,97.47,0.502,0,0,978,410.14
$SM_GC,1.37,0.00,0.00,97.47,0.000,0.000,0.502,426,1677,978,-12.30,-0.37,410.14
$IRIDIUM_FIX,2059.45,-15748.75,011199,111116
$TT8_MAMPS,0.029146
$HUMID,51.92
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.5,10.692
$10V_AH,10.4,7.759
$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,32.475,95.550,255.475,97.475,0.000,27.751,32.554,122.009,4.500,0.000,22.004,1092.925,6367.946,416.036,1707.099,413.062,0.000,1151.396,0.000,1681.352,0.000,29.252,0.000
$DEVICE_MAMPS,135.759,62.894,839.098,502.385,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,376.455,356.917,842.414,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,31870,559
$CAP_FILE_SIZE,105401,0
$CFSIZE,260165632,207548416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070810,165120,2104.793,-15749.176,11,1.6,11,9.8