version: 66.06
glider: 139
mission: 8
dive: 394
start: 9 8 110 14 14 37
data:
$ID,139
$MISSION,8
$DIVE,394
$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,-2159232
$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,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
$GPS1,140907,2101.151,-15748.758,43,1.0,43,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-71.0
$GPS2,141420,2101.163,-15748.849,14,1.3,14,9.8
$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,40.1,13387,-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,-64.45,0.000,2,0.000,0.000,426,1722,2746,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.3,-3.3,12,110,12.45,2.50,-2.40,0.000,4,0.133,0.055,2753,299,2872,0,0,0,0,0,0
$GC,119,-0.31,-58.4,14.5,-24.9,17,126,1.33,2.35,0.00,0.000,6,0.092,0.019,3031,1740,2873,0,0,0,0,0,0
$GC,321,-1.11,-58.4,23.9,-3.6,63,328,0.75,2.50,0.00,0.000,4,0.047,0.041,2854,293,2874,0,0,0,0,0,0
$GC,354,-1.56,-58.4,26.1,-6.0,69,362,0.38,2.28,0.00,0.000,6,0.025,0.018,2747,1711,2874,0,0,0,0,0,0
$GC,564,-1.46,-58.4,62.0,-19.6,89,569,0.17,2.25,0.00,0.000,4,0.098,0.021,2780,3078,2875,0,0,0,0,0,0
$GC,637,-1.53,-58.4,74.1,-15.3,94,641,0.00,2.35,0.00,0.000,6,0.000,0.034,2780,1691,2875,0,0,0,0,0,0
$GC,904,-1.59,-58.4,113.2,-12.4,115,909,0.12,2.28,0.00,0.000,4,0.064,0.021,2740,3077,2876,0,0,0,0,0,0
$GC,1000,-1.65,-58.4,127.5,-15.0,122,1004,0.00,2.33,0.00,0.000,6,0.000,0.033,2740,1699,2876,0,0,0,0,0,0
$GC,1270,-1.65,-58.4,163.2,-10.6,143,1275,0.00,2.38,0.00,0.000,4,0.000,0.044,2739,296,2877,0,0,0,0,0,0
$GC,1297,-1.57,-58.4,166.7,-14.2,145,1301,0.00,2.22,0.00,0.000,6,0.000,0.018,2740,1704,2877,0,0,0,0,0,0
$GC,1560,-1.57,-58.4,198.5,-12.1,166,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1710,2878,0,0,0,0,0,0
$GC,1815,-1.61,-58.4,230.9,-14.3,179,1819,0.00,2.20,0.00,0.000,4,0.000,0.024,2740,3068,2878,0,0,0,0,0,0
$GC,1853,-1.73,-58.4,236.4,-13.2,180,1859,0.00,2.33,0.00,0.000,6,0.000,0.032,2740,1695,2878,0,0,0,0,0,0
$GC,2168,-1.78,-58.4,274.5,-11.4,196,2173,0.12,2.30,0.00,0.000,4,0.064,0.025,2698,3072,2878,0,0,0,0,0,0
$GC,2328,-1.82,-58.4,292.2,-10.0,203,2332,0.00,2.30,0.00,0.000,6,0.000,0.035,2698,1699,2879,0,0,0,0,0,0
$GC,2653,-1.82,-58.4,329.3,-11.0,213,2657,0.00,2.25,0.00,0.000,4,0.000,0.026,2698,3065,2878,0,0,0,0,0,0
$GC,2802,-1.86,-58.4,345.7,-11.6,216,2806,0.00,2.30,0.00,0.000,6,0.000,0.036,2698,1699,2877,0,0,0,0,0,0
$GC,3118,-1.86,-58.4,383.8,-12.8,224,3122,0.00,2.42,0.00,0.000,4,0.000,0.052,2698,294,2876,0,0,0,0,0,0
$GC,3156,-1.77,-58.4,389.8,-15.5,224,3162,0.00,2.25,0.00,0.000,6,0.000,0.024,2698,1684,2876,0,0,0,0,0,0
$GC,3487,-1.77,-58.4,433.7,-12.9,233,3491,0.00,2.33,0.00,0.000,4,0.000,0.030,2698,3078,2873,0,0,0,0,0,0
$GC,3527,-1.82,-58.4,438.2,-11.6,233,3532,0.00,2.35,0.00,0.000,6,0.000,0.040,2698,1703,2873,0,0,0,0,0,0
$STATE,3652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3652,begin apogee
$GC,3658,-0.31,0.0,453.6,11.9,237,3712,1.58,0.00,49.80,0.819,6,0.079,0.000,3029,1702,2630,0,0,0,0,0,0
$STATE,3713,end apogee,CONTROL_FINISHED_OK
$STATE,3713,begin climb
$GC,3715,1.56,58.4,455.3,0.0,238,3770,1.75,0.00,50.33,0.804,6,0.030,0.000,3445,1702,2391,0,0,0,0,0,0
$GC,4086,1.33,104.2,448.2,3.8,247,4132,0.25,2.40,39.70,0.808,4,0.108,0.032,3393,3078,2205,0,0,0,0,0,0
$GC,4388,1.19,104.2,414.0,11.6,253,4393,0.17,2.40,0.00,0.000,6,0.114,0.041,3361,1700,2201,0,0,0,0,0,0
$GC,4725,1.11,109.5,384.0,7.4,262,4736,0.00,2.38,4.60,0.548,4,0.000,0.031,3362,3085,2182,0,0,0,0,0,0
$GC,4748,1.06,136.9,382.7,5.4,262,4781,0.15,2.40,26.27,0.779,6,0.115,0.039,3334,1694,2070,0,0,0,0,0,0
$GC,5100,1.10,168.6,363.4,5.0,271,5135,0.00,2.55,28.55,0.775,4,0.000,0.056,3334,290,1941,0,0,0,0,0,0
$GC,5206,1.00,173.5,356.5,7.5,273,5218,0.00,2.33,4.97,0.558,6,0.000,0.026,3334,1707,1922,0,0,0,0,0,0
$GC,5558,1.00,173.5,321.2,12.3,282,5563,0.00,2.30,0.00,0.000,4,0.000,0.029,3334,3080,1920,0,0,0,0,0,0
$GC,5588,1.03,173.5,317.4,13.1,282,5592,0.00,2.40,0.00,0.000,6,0.000,0.040,3334,1699,1919,0,0,0,0,0,0
$GC,5907,1.03,173.5,276.0,11.7,295,5911,0.00,2.33,0.00,0.000,4,0.000,0.030,3334,3084,1918,0,0,0,0,0,0
$GC,5953,1.09,173.5,271.3,10.4,297,5957,0.00,2.40,0.00,0.000,6,0.000,0.041,3334,1700,1918,0,0,0,0,0,0
$GC,6284,1.09,174.2,242.2,7.8,313,6288,0.00,2.33,0.00,0.000,4,0.000,0.029,3334,3088,1916,0,0,0,0,0,0
$GC,6307,1.14,176.8,240.2,7.7,314,6312,0.00,2.40,0.00,0.000,6,0.000,0.038,3334,1695,1915,0,0,0,0,0,0
$GC,6633,1.17,176.8,216.1,8.2,330,6638,0.00,2.45,0.00,0.000,4,0.000,0.053,3334,293,1914,0,0,0,0,0,0
$GC,6647,1.17,176.8,214.6,8.8,330,6654,0.00,2.33,0.00,0.000,6,0.000,0.024,3334,1708,1912,0,0,0,0,0,0
$GC,6972,1.21,176.8,183.7,9.9,351,6976,0.12,2.28,0.00,0.000,4,0.067,0.027,3371,3080,1912,0,0,0,0,0,0
$GC,6987,1.21,176.8,181.9,10.1,352,6992,0.00,2.33,0.00,0.000,6,0.000,0.035,3371,1696,1912,0,0,0,0,0,0
$GC,7248,1.17,176.8,158.4,8.6,372,7252,0.00,2.42,0.00,0.000,4,0.000,0.050,3370,297,1912,0,0,0,0,0,0
$GC,7304,1.05,176.8,152.3,10.9,376,7309,0.20,2.28,0.00,0.000,6,0.098,0.021,3332,1714,1910,0,0,0,0,0,0
$GC,7565,1.13,176.8,131.1,8.5,396,7569,0.00,2.45,0.00,0.000,4,0.000,0.048,3331,294,1910,0,0,0,0,0,0
$GC,7583,1.13,176.8,129.0,9.8,397,7589,0.00,2.25,0.00,0.000,6,0.000,0.021,3331,1707,1910,0,0,0,0,0,0
$GC,7845,1.24,198.3,110.9,6.0,418,7873,0.17,2.28,21.12,0.571,4,0.054,0.024,3383,3068,1821,0,0,0,0,0,0
$GC,7993,1.31,198.3,97.3,9.7,428,8001,0.00,2.35,0.00,0.000,6,0.000,0.032,3383,1697,1820,0,0,0,0,0,0
$GC,8253,1.34,198.9,74.4,7.8,449,8257,0.00,2.40,0.00,0.000,4,0.000,0.044,3383,296,1819,0,0,0,0,0,0
$GC,8265,1.34,198.9,73.3,8.5,450,8269,0.00,2.22,0.00,0.000,6,0.000,0.019,3383,1717,1817,0,0,0,0,0,0
$GC,8530,1.35,205.8,51.0,7.3,471,8546,0.00,2.25,7.75,0.450,4,0.000,0.022,3383,3066,1790,0,0,0,0,0,0
$GC,8563,1.41,210.6,48.4,7.5,473,8579,0.10,2.33,6.10,0.417,6,0.074,0.031,3416,1690,1770,0,0,0,0,0,0
$GC,8834,1.37,210.6,20.5,10.5,506,8841,0.00,2.40,0.00,0.000,4,0.000,0.043,3415,301,1769,0,0,0,0,0,0
$GC,8853,1.29,210.6,18.6,10.2,509,8859,0.12,2.22,0.00,0.000,6,0.083,0.018,3387,1684,1767,0,0,0,0,0,0
$STATE,9019,end climb,SURFACE_DEPTH_REACHED
$STATE,9020,begin surface coast
$FINISH,0.9,1.023348
$STATE,9051,end surface coast,CONTROL_FINISHED_OK
$STATE,9051,begin surface
$SM_CCo,9074,111.75,0.482,0,0,956,410.14
$SM_GC,1.60,0.00,0.00,111.75,0.000,0.000,0.482,426,1689,956,-12.30,-0.31,410.14
$IRIDIUM_FIX,2052.52,-15747.49,031299,111126
$TT8_MAMPS,0.029146
$HUMID,54.84
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,33.987
$10V_AH,10.3,28.432
$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,32.600,112.275,239.200,111.750,0.000,30.108,27.756,131.594,4.750,0.000,14.693,1089.803,5838.215,430.311,1690.790,448.846,0.000,1174.719,0.000,1669.048,0.000,32.073,0.000
$DEVICE_MAMPS,132.691,55.991,819.156,482.443,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,372.275,361.022,854.849,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,31781,554
$CAP_FILE_SIZE,107419,0
$CFSIZE,260165632,192954368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080910,164852,2101.194,-15749.230,10,4.9,29,9.8