version: 66.06
glider: 139
mission: 8
dive: 403
start: 9 9 110 14 4 19
data:
$ID,139
$MISSION,8
$DIVE,403
$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,-2159400.5
$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,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
$GPS1,135825,2101.036,-15752.069,42,1.1,42,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-72.5
$GPS2,140402,2101.058,-15752.158,15,1.3,15,9.8
$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,51.3,18234,-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,-64.50,0.000,2,0.000,0.000,425,1690,2760,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.5,-3.8,12,110,12.50,2.40,-2.12,0.000,4,0.133,0.037,2752,3107,2872,0,0,0,0,0,0
$GC,227,-1.56,-58.4,34.3,-18.1,40,232,0.00,2.38,0.00,0.000,6,0.000,0.033,2751,1691,2874,0,0,0,0,0,0
$GC,487,-1.47,-58.4,81.4,-17.5,60,492,0.12,2.35,0.00,0.000,4,0.114,0.022,2775,3112,2875,0,0,0,0,0,0
$GC,541,-1.54,-58.4,89.6,-14.1,64,545,0.00,2.40,0.00,0.000,6,0.000,0.035,2775,1702,2875,0,0,0,0,0,0
$GC,808,-1.54,-58.4,122.3,-9.7,85,812,0.00,2.33,0.00,0.000,4,0.000,0.021,2775,3118,2875,0,0,0,0,0,0
$GC,828,-1.59,-58.4,124.3,-8.9,86,832,0.00,2.38,0.00,0.000,6,0.000,0.031,2775,1696,2876,0,0,0,0,0,0
$GC,1089,-1.67,-58.4,150.1,-10.7,106,1093,0.17,2.35,0.00,0.000,4,0.052,0.023,2723,3116,2877,0,0,0,0,0,0
$GC,1148,-1.67,-58.4,158.7,-14.5,110,1155,0.00,2.40,0.00,0.000,6,0.000,0.032,2723,1704,2877,0,0,0,0,0,0
$GC,1408,-1.67,-58.4,197.8,-13.8,131,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1704,2877,0,0,0,0,0,0
$GC,1659,-1.67,-58.4,227.3,-10.1,144,1663,0.00,2.33,0.00,0.000,4,0.000,0.024,2723,3120,2878,0,0,0,0,0,0
$GC,1748,-1.71,-58.4,235.3,-9.4,148,1752,0.00,2.40,0.00,0.000,6,0.000,0.033,2723,1698,2878,0,0,0,0,0,0
$GC,2077,-1.71,-58.4,275.0,-12.4,164,2081,0.00,2.35,0.00,0.000,4,0.000,0.025,2723,3112,2877,0,0,0,0,0,0
$GC,2147,-1.78,-58.4,283.3,-11.3,167,2152,0.00,2.38,0.00,0.000,6,0.000,0.033,2723,1696,2877,0,0,0,0,0,0
$GC,2489,-1.78,-58.4,325.4,-11.9,179,2494,0.00,2.38,0.00,0.000,4,0.000,0.026,2723,3116,2877,0,0,0,0,0,0
$GC,2613,-1.85,-58.4,338.6,-11.4,181,2618,0.12,2.38,0.00,0.000,6,0.067,0.035,2685,1702,2876,0,0,0,0,0,0
$GC,2950,-1.80,-58.4,375.8,-10.4,190,2955,0.10,2.38,0.00,0.000,4,0.117,0.028,2704,3109,2875,0,0,0,0,0,0
$GC,3003,-1.86,-58.4,380.8,-9.3,191,3007,0.00,2.38,0.00,0.000,6,0.000,0.037,2704,1697,2875,0,0,0,0,0,0
$GC,3321,-1.86,-58.4,409.9,-9.1,199,3325,0.00,2.38,0.00,0.000,4,0.000,0.029,2704,3112,2874,0,0,0,0,0,0
$GC,3386,-1.93,-58.4,415.8,-8.9,200,3391,0.10,2.40,0.00,0.000,6,0.080,0.039,2674,1695,2873,0,0,0,0,0,0
$STATE,3734,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3734,begin apogee
$GC,3743,-0.31,0.0,452.2,10.3,209,3797,1.70,0.00,49.70,0.822,6,0.083,0.000,3028,1694,2630,0,0,0,0,0,0
$STATE,3797,end apogee,CONTROL_FINISHED_OK
$STATE,3797,begin climb
$GC,3800,1.56,58.4,453.4,0.0,210,3858,1.77,2.50,50.42,0.805,4,0.030,0.051,3449,293,2390,0,0,0,0,0,0
$GC,4104,1.17,89.2,441.2,5.1,216,4137,0.47,2.40,26.62,0.791,6,0.104,0.025,3358,1730,2266,0,0,0,0,0,0
$GC,4447,1.08,97.0,415.9,7.2,225,4459,0.00,2.58,7.30,0.653,4,0.000,0.054,3357,291,2234,0,0,0,0,0,0
$GC,4480,0.90,97.0,413.3,7.9,225,4485,0.32,2.38,0.00,0.000,6,0.100,0.026,3295,1714,2231,0,0,0,0,0,0
$GC,4817,0.99,141.1,398.2,3.9,234,4863,0.00,2.60,39.92,0.805,4,0.000,0.056,3295,296,2054,0,0,0,0,0,0
$GC,4961,0.96,141.1,387.2,9.5,237,4965,0.00,2.35,0.00,0.000,6,0.000,0.027,3295,1705,2048,0,0,0,0,0,0
$GC,5279,1.02,141.1,361.1,8.3,245,5284,0.12,2.53,0.00,0.000,4,0.070,0.055,3331,287,2046,0,0,0,0,0,0
$GC,5332,0.91,141.1,355.6,11.2,246,5337,0.17,2.33,0.00,0.000,6,0.107,0.027,3298,1702,2043,0,0,0,0,0,0
$GC,5651,0.97,141.1,329.1,8.2,254,5656,0.00,2.47,0.00,0.000,4,0.000,0.054,3299,294,2042,0,0,0,0,0,0
$GC,5707,0.98,151.3,325.0,7.0,255,5721,0.00,2.33,8.12,0.665,6,0.000,0.027,3298,1712,2013,0,0,0,0,0,0
$GC,6063,1.07,163.1,300.8,6.8,264,6083,0.15,2.33,12.35,0.703,4,0.063,0.029,3341,3077,1964,0,0,0,0,0,0
$GC,6145,1.07,163.1,293.3,10.6,266,6149,0.00,2.40,0.00,0.000,6,0.000,0.040,3341,1698,1963,0,0,0,0,0,0
$GC,6463,1.07,163.1,260.6,9.9,281,6467,0.00,2.47,0.00,0.000,4,0.000,0.053,3341,291,1961,0,0,0,0,0,0
$GC,6496,0.96,163.1,256.8,10.4,282,6501,0.15,2.33,0.00,0.000,6,0.109,0.025,3313,1709,1959,0,0,0,0,0,0
$GC,6816,1.04,168.4,232.4,7.4,297,6828,0.00,2.30,5.20,0.524,4,0.000,0.027,3313,3077,1942,0,0,0,0,0,0
$GC,6847,1.14,168.4,229.7,8.1,298,6852,0.15,2.38,0.00,0.000,6,0.061,0.037,3355,1698,1942,0,0,0,0,0,0
$GC,7169,1.14,168.4,202.5,8.2,314,7173,0.00,2.42,0.00,0.000,4,0.000,0.051,3355,294,1942,0,0,0,0,0,0
$GC,7183,1.08,168.4,201.1,8.2,314,7190,0.00,2.33,0.00,0.000,6,0.000,0.023,3355,1704,1940,0,0,0,0,0,0
$GC,7515,1.08,168.4,171.9,9.4,340,7519,0.00,2.47,0.00,0.000,4,0.000,0.049,3355,290,1940,0,0,0,0,0,0
$GC,7535,1.01,168.4,169.8,10.4,341,7541,0.17,2.28,0.00,0.000,6,0.100,0.022,3320,1716,1939,0,0,0,0,0,0
$GC,7795,1.13,191.0,150.3,5.9,362,7821,0.12,0.00,21.12,0.614,6,0.065,0.000,3360,1720,1851,0,0,0,0,0,0
$GC,8077,1.18,191.0,126.8,8.2,384,8081,0.00,2.25,0.00,0.000,4,0.000,0.024,3360,3079,1848,0,0,0,0,0,0
$GC,8146,1.25,191.0,120.1,9.0,389,8150,0.00,2.35,0.00,0.000,6,0.000,0.033,3360,1688,1847,0,0,0,0,0,0
$GC,8411,1.30,191.0,94.5,11.5,410,8416,0.10,2.40,0.00,0.000,4,0.074,0.046,3393,296,1847,0,0,0,0,0,0
$GC,8508,1.20,191.0,85.5,8.6,417,8513,0.17,2.25,0.00,0.000,6,0.096,0.019,3359,1714,1845,0,0,0,0,0,0
$GC,8778,1.32,228.7,70.0,4.5,438,8820,0.12,2.28,33.08,0.540,4,0.064,0.021,3399,3064,1697,0,0,0,0,0,0
$GC,8826,1.34,244.4,66.7,6.5,441,8851,0.00,2.33,14.95,0.503,6,0.000,0.031,3399,1697,1633,0,0,0,0,0,0
$GC,9104,1.34,244.4,37.0,12.0,463,9108,0.00,2.40,0.00,0.000,4,0.000,0.044,3399,290,1629,0,0,0,0,0,0
$GC,9144,1.22,244.4,31.7,14.2,466,9149,0.15,2.22,0.00,0.000,6,0.101,0.018,3369,1708,1627,0,0,0,0,0,0
$STATE,9402,end climb,SURFACE_DEPTH_REACHED
$STATE,9402,begin surface coast
$FINISH,1.0,1.011122
$STATE,9431,end surface coast,CONTROL_FINISHED_OK
$STATE,9431,begin surface
$SM_CCo,9453,90.20,0.482,0,0,957,410.14
$SM_GC,1.61,0.00,0.00,90.20,0.000,0.000,0.482,426,1714,957,-12.30,0.40,410.14
$IRIDIUM_FIX,2052.52,-15749.62,041299,111124
$TT8_MAMPS,0.029146
$HUMID,54.96
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.5,34.731
$10V_AH,10.2,29.060
$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,31.625,109.325,268.800,90.200,0.000,30.616,29.724,149.940,4.500,0.000,15.188,1063.815,6265.676,411.096,1666.836,473.168,0.000,1165.218,0.000,1642.027,0.000,29.252,0.000
$DEVICE_MAMPS,133.458,55.991,822.224,481.676,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,357.388,337.542,757.748,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,28675,531
$CAP_FILE_SIZE,107483,0
$CFSIZE,260165632,192516096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090910,164437,2100.644,-15752.640,35,1.2,35,9.8