version: 66.06
glider: 139
mission: 8
dive: 404
start: 9 9 110 16 50 47
data:
$ID,139
$MISSION,8
$DIVE,404
$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,-2159423.5
$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
$GPS1,164437,2100.644,-15752.640,35,1.2,35,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-72.0
$GPS2,165031,2100.631,-15752.682,17,1.8,22,9.8
$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,50.6,19410,-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,-64.65,0.000,2,0.000,0.000,426,1710,2740,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.1,-2.7,12,110,12.48,2.38,-2.55,0.000,4,0.133,0.037,2753,3116,2872,0,0,0,0,0,0
$GC,188,-1.59,-58.4,24.3,-15.6,33,194,0.00,2.42,0.00,0.000,6,0.000,0.034,2754,1704,2873,0,0,0,0,0,0
$GC,387,-1.50,-58.4,58.9,-17.2,53,388,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1703,2874,0,0,0,0,0,0
$GC,640,-1.50,-58.4,96.0,-11.7,73,644,0.00,2.40,0.00,0.000,4,0.000,0.045,2753,294,2874,0,0,0,0,0,0
$GC,670,-1.40,-58.4,100.3,-14.1,75,675,0.20,2.30,0.00,0.000,6,0.102,0.018,2792,1735,2875,0,0,0,0,0,0
$GC,934,-1.49,-58.4,129.6,-12.1,95,938,0.00,2.20,0.00,0.000,4,0.000,0.021,2792,3082,2875,0,0,0,0,0,0
$GC,953,-1.64,-58.4,132.6,-11.8,96,961,0.20,2.35,0.00,0.000,6,0.027,0.031,2727,1693,2875,0,0,0,0,0,0
$GC,1217,-1.64,-58.4,168.3,-12.2,117,1221,0.00,2.38,0.00,0.000,4,0.000,0.045,2727,293,2876,0,0,0,0,0,0
$GC,1231,-1.58,-58.4,171.0,-12.7,118,1236,0.12,2.25,0.00,0.000,6,0.110,0.018,2750,1724,2876,0,0,0,0,0,0
$GC,1492,-1.62,-58.4,194.1,-8.4,138,1496,0.00,2.20,0.00,0.000,4,0.000,0.022,2751,3071,2877,0,0,0,0,0,0
$GC,1525,-1.75,-58.4,197.1,-8.2,140,1530,0.15,2.33,0.00,0.000,6,0.057,0.032,2704,1691,2876,0,0,0,0,0,0
$GC,1787,-1.70,-58.4,225.8,-11.7,153,1791,0.12,2.30,0.00,0.000,4,0.107,0.023,2728,3072,2877,0,0,0,0,0,0
$GC,1835,-1.76,-58.4,231.4,-10.5,155,1839,0.00,2.30,0.00,0.000,6,0.000,0.034,2728,1692,2877,0,0,0,0,0,0
$GC,2165,-1.76,-58.4,269.9,-12.1,171,2169,0.00,2.25,0.00,0.000,4,0.000,0.024,2728,3066,2877,0,0,0,0,0,0
$GC,2318,-1.84,-58.4,287.8,-11.4,177,2324,0.12,2.30,0.00,0.000,6,0.064,0.035,2689,1692,2877,0,0,0,0,0,0
$GC,2631,-1.78,-58.4,326.8,-12.7,188,2633,0.10,0.00,0.00,0.000,6,0.116,0.000,2707,1692,2876,0,0,0,0,0,0
$GC,2957,-1.78,-58.4,363.1,-11.4,196,2961,0.00,2.28,0.00,0.000,4,0.000,0.027,2707,3069,2874,0,0,0,0,0,0
$GC,3070,-1.84,-58.4,374.8,-10.4,198,3074,0.00,2.33,0.00,0.000,6,0.000,0.037,2707,1693,2874,0,0,0,0,0,0
$GC,3420,-1.84,-58.4,409.8,-9.4,207,3424,0.00,2.28,0.00,0.000,4,0.000,0.028,2708,3064,2872,0,0,0,0,0,0
$GC,3449,-1.89,-58.4,412.2,-8.5,207,3453,0.00,2.30,0.00,0.000,6,0.000,0.038,2707,1699,2872,0,0,0,0,0,0
$GC,3784,-1.89,-58.4,437.3,-7.2,216,3788,0.00,2.33,0.00,0.000,4,0.000,0.031,2707,3069,2870,0,0,0,0,0,0
$GC,3889,-1.97,-58.4,446.2,-9.2,218,3894,0.17,2.35,0.00,0.000,6,0.058,0.041,2660,1697,2869,0,0,0,0,0,0
$STATE,3959,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3959,begin apogee
$GC,3965,-0.31,0.0,454.3,11.8,220,4018,1.80,0.00,49.17,0.827,6,0.089,0.000,3030,1697,2630,0,0,0,0,0,0
$STATE,4019,end apogee,CONTROL_FINISHED_OK
$STATE,4019,begin climb
$GC,4021,1.56,58.4,455.9,0.0,221,4079,1.75,2.53,50.25,0.812,4,0.029,0.054,3445,292,2391,0,0,0,0,0,0
$GC,4089,1.34,153.4,455.8,-0.7,222,4182,0.28,2.30,83.32,0.815,6,0.110,0.025,3395,1693,2004,0,0,0,0,0,0
$GC,4513,1.19,153.4,408.1,12.7,233,4518,0.17,2.35,0.00,0.000,4,0.112,0.031,3362,3069,1993,0,0,0,0,0,0
$GC,4584,1.15,153.4,400.3,10.2,234,4588,0.00,2.40,0.00,0.000,6,0.000,0.042,3362,1698,1994,0,0,0,0,0,0
$GC,4926,1.07,153.4,365.6,10.2,243,4930,0.15,2.33,0.00,0.000,4,0.113,0.031,3334,3071,1989,0,0,0,0,0,0
$GC,4945,1.07,153.4,363.5,9.5,243,4949,0.00,2.40,0.00,0.000,6,0.000,0.041,3334,1691,1990,0,0,0,0,0,0
$GC,5294,1.07,153.4,331.9,9.3,252,5298,0.00,2.45,0.00,0.000,4,0.000,0.056,3334,293,1986,0,0,0,0,0,0
$GC,5330,0.95,153.4,328.1,11.9,252,5335,0.15,2.30,0.00,0.000,6,0.112,0.027,3306,1697,1984,0,0,0,0,0,0
$GC,5661,1.04,176.1,306.7,5.8,260,5685,0.00,2.42,17.50,0.729,4,0.000,0.028,3306,3082,1912,0,0,0,0,0,0
$GC,5769,1.16,176.1,298.6,8.5,262,5775,0.20,2.40,0.00,0.000,6,0.054,0.041,3359,1698,1911,0,0,0,0,0,0
$GC,6106,1.12,176.1,261.8,12.2,278,6110,0.00,2.47,0.00,0.000,4,0.000,0.053,3359,292,1908,0,0,0,0,0,0
$GC,6154,0.99,176.1,255.9,12.6,280,6159,0.22,2.30,0.00,0.000,6,0.098,0.025,3315,1707,1905,0,0,0,0,0,0
$GC,6481,1.07,176.1,229.6,8.2,296,6486,0.00,2.47,0.00,0.000,4,0.000,0.051,3315,290,1905,0,0,0,0,0,0
$GC,6579,1.07,176.1,219.7,10.3,300,6583,0.00,2.30,0.00,0.000,6,0.000,0.024,3315,1701,1902,0,0,0,0,0,0
$GC,6899,1.15,176.1,189.6,9.6,319,6904,0.15,2.45,0.00,0.000,4,0.060,0.050,3359,290,1902,0,0,0,0,0,0
$GC,6926,1.06,176.1,186.5,12.1,321,6931,0.15,2.30,0.00,0.000,6,0.106,0.023,3331,1711,1902,0,0,0,0,0,0
$GC,7193,1.11,176.1,160.7,9.6,342,7197,0.00,2.47,0.00,0.000,4,0.000,0.049,3330,293,1902,0,0,0,0,0,0
$GC,7331,1.07,176.1,146.6,9.9,352,7335,0.00,2.28,0.00,0.000,6,0.000,0.021,3330,1710,1900,0,0,0,0,0,0
$GC,7592,1.15,182.1,125.6,7.4,372,7607,0.00,2.47,5.05,0.450,4,0.000,0.046,3330,292,1886,0,0,0,0,0,0
$GC,7710,1.15,182.1,114.4,11.4,380,7714,0.00,2.22,0.00,0.000,6,0.000,0.021,3330,1699,1885,0,0,0,0,0,0
$GC,7978,1.28,205.9,94.0,5.7,401,8006,0.20,2.28,22.55,0.559,4,0.049,0.021,3389,3071,1789,0,0,0,0,0,0
$GC,8175,1.33,205.9,77.6,8.4,415,8180,0.00,2.35,0.00,0.000,6,0.000,0.032,3388,1687,1789,0,0,0,0,0,0
$GC,8436,1.35,222.8,64.1,6.4,435,8458,0.00,2.47,15.73,0.514,4,0.000,0.045,3388,294,1720,0,0,0,0,0,0
$GC,8493,1.27,222.8,59.2,10.3,439,8497,0.00,2.28,0.00,0.000,6,0.000,0.019,3388,1719,1717,0,0,0,0,0,0
$GC,8758,1.27,222.8,33.0,10.9,460,8759,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,1724,1717,0,0,0,0,0,0
$GC,9011,1.27,222.8,7.7,10.3,514,9017,0.00,2.47,0.00,0.000,4,0.000,0.044,3388,300,1717,0,0,0,0,0,0
$GC,9030,1.27,222.8,5.6,10.7,517,9036,0.00,2.22,0.00,0.000,6,0.000,0.018,3389,1706,1717,0,0,0,0,0,0
$STATE,9050,end climb,SURFACE_DEPTH_REACHED
$STATE,9050,begin surface coast
$FINISH,0.9,1.009994
$STATE,9077,end surface coast,CONTROL_FINISHED_OK
$STATE,9077,begin surface
$SM_CCo,9100,106.82,0.484,0,0,957,410.14
$SM_GC,1.63,0.00,0.00,106.82,0.000,0.000,0.484,423,1711,957,-12.31,0.31,410.14
$IRIDIUM_FIX,2054.83,-15751.76,041299,141411
$TT8_MAMPS,0.029146
$HUMID,54.80
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.5,34.812
$10V_AH,10.4,29.131
$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,31.550,107.900,243.575,106.825,0.000,28.701,26.589,167.769,4.500,0.000,22.190,1052.567,5977.041,411.420,1636.850,480.551,0.000,1138.294,0.000,1607.565,0.000,29.252,0.000
$DEVICE_MAMPS,132.691,55.991,826.826,483.977,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,354.892,340.845,780.257,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,28559,527
$CAP_FILE_SIZE,106125,0
$CFSIZE,260165632,192466944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090910,192528,2100.526,-15752.589,16,2.7,35,9.8