version: 66.06
glider: 139
mission: 8
dive: 407
start: 9 10 110 1 11 56
data:
$ID,139
$MISSION,8
$DIVE,407
$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,-2159502.8
$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
$GPS1,010543,2059.981,-15753.034,14,1.1,14,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-73.6
$GPS2,011140,2059.906,-15753.152,12,3.2,31,9.8
$SPEED_LIMITS,0.137,0.183
$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,48.5,20796,-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,16,-1.38,-77.9,0.0,0.0,0,88,0.00,0.00,-69.50,0.000,2,0.000,0.000,430,1694,2898,0,0,0,0,0,0
$GC,92,-1.38,-77.9,3.8,-4.2,13,111,12.40,2.40,-0.90,0.000,4,0.133,0.050,2743,290,2949,0,0,0,0,0,0
$GC,145,-0.81,-77.9,22.3,-32.0,23,152,0.57,2.35,0.00,0.000,6,0.086,0.018,2872,1731,2952,0,0,0,0,0,0
$GC,351,-0.91,-77.9,44.7,-9.8,46,355,0.00,2.47,0.00,0.000,4,0.000,0.045,2871,295,2952,0,0,0,0,0,0
$GC,398,-0.95,-77.9,50.5,-11.2,49,405,0.10,2.28,0.00,0.000,6,0.032,0.018,2826,1712,2952,0,0,0,0,0,0
$GC,656,-0.95,-77.9,83.0,-13.4,70,660,0.00,2.45,0.00,0.000,4,0.000,0.047,2826,290,2953,0,0,0,0,0,0
$GC,739,-0.95,-77.9,95.5,-14.0,76,743,0.00,2.22,0.00,0.000,6,0.000,0.018,2826,1715,2954,0,0,0,0,0,0
$GC,1000,-1.02,-77.9,130.2,-12.5,96,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1720,2954,0,0,0,0,0,0
$GC,1251,-1.13,-77.9,154.8,-8.3,116,1256,0.10,2.22,0.00,0.000,4,0.073,0.022,2787,3069,2954,0,0,0,0,0,0
$GC,1316,-1.22,-77.9,160.5,-8.0,120,1322,0.00,2.33,0.00,0.000,6,0.000,0.031,2787,1699,2954,0,0,0,0,0,0
$GC,1575,-1.22,-77.9,185.7,-11.1,141,1576,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1698,2955,0,0,0,0,0,0
$GC,1828,-1.22,-77.9,216.5,-12.6,157,1832,0.00,2.22,0.00,0.000,4,0.000,0.023,2788,3067,2955,0,0,0,0,0,0
$GC,1873,-1.32,-77.9,222.0,-10.5,159,1878,0.12,2.28,0.00,0.000,6,0.062,0.032,2745,1696,2955,0,0,0,0,0,0
$GC,2205,-1.29,-77.9,264.2,-10.6,175,2209,0.10,2.25,0.00,0.000,4,0.113,0.024,2766,3066,2955,0,0,0,0,0,0
$GC,2256,-1.37,-77.9,269.3,-8.9,177,2260,0.00,2.28,0.00,0.000,6,0.000,0.033,2766,1700,2955,0,0,0,0,0,0
$GC,2578,-1.37,-77.9,291.9,-7.2,193,2582,0.00,2.25,0.00,0.000,4,0.000,0.025,2766,3072,2955,0,0,0,0,0,0
$GC,2616,-1.48,-77.9,294.9,-7.9,194,2622,0.15,2.35,0.00,0.000,6,0.031,0.035,2712,1701,2955,0,0,0,0,0,0
$GC,2929,-1.40,-77.9,328.8,-12.3,204,2930,0.15,0.00,0.00,0.000,6,0.096,0.000,2743,1700,2955,0,0,0,0,0,0
$GC,3252,-1.40,-77.9,368.9,-12.2,212,3256,0.00,2.30,0.00,0.000,4,0.000,0.028,2743,3064,2953,0,0,0,0,0,0
$GC,3275,-1.40,-77.9,372.3,-13.5,212,3279,0.00,2.30,0.00,0.000,6,0.000,0.038,2743,1700,2953,0,0,0,0,0,0
$GC,3620,-1.40,-77.9,411.8,-10.9,221,3622,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1699,2951,0,0,0,0,0,0
$GC,3944,-1.40,-77.9,445.0,-10.1,229,3948,0.00,2.30,0.00,0.000,4,0.000,0.031,2743,3061,2948,0,0,0,0,0,0
$GC,3963,-1.40,-77.9,447.0,-10.2,229,3967,0.00,2.33,0.00,0.000,6,0.000,0.040,2743,1702,2949,0,0,0,0,0,0
$STATE,4025,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4025,begin apogee
$GC,4031,-0.31,0.0,453.6,10.4,231,4099,1.12,0.00,64.85,0.828,6,0.075,0.000,2982,1701,2630,0,0,0,0,0,0
$STATE,4100,end apogee,CONTROL_FINISHED_OK
$STATE,4100,begin climb
$GC,4104,1.38,77.9,455.4,0.0,232,4175,1.62,0.00,67.15,0.812,6,0.040,0.000,3353,1701,2312,0,0,0,0,0,0
$GC,4473,1.23,111.2,442.3,5.6,241,4510,0.17,2.38,29.17,0.795,4,0.107,0.031,3320,3062,2176,0,0,0,0,0,0
$GC,4623,1.15,114.2,431.4,7.7,244,4631,0.00,2.38,3.67,0.466,6,0.000,0.040,3320,1699,2164,0,0,0,0,0,0
$GC,4978,1.04,114.2,401.7,9.0,253,4983,0.22,2.35,0.00,0.000,4,0.102,0.031,3276,3068,2159,0,0,0,0,0,0
$GC,5016,1.05,120.8,398.8,7.5,253,5028,0.00,2.38,6.55,0.643,6,0.000,0.040,3276,1699,2137,0,0,0,0,0,0
$GC,5352,1.08,145.0,377.5,6.3,262,5376,0.00,0.00,22.83,0.781,6,0.000,0.000,3276,1699,2038,0,0,0,0,0,0
$GC,5678,1.10,163.6,356.6,6.6,270,5701,0.00,2.35,17.20,0.755,4,0.000,0.029,3276,3064,1962,0,0,0,0,0,0
$GC,5755,1.16,163.6,351.0,8.1,271,5760,0.12,2.38,0.00,0.000,6,0.070,0.041,3311,1697,1962,0,0,0,0,0,0
$GC,6093,1.10,163.6,320.9,9.4,280,6097,0.00,2.47,0.00,0.000,4,0.000,0.056,3311,292,1959,0,0,0,0,0,0
$GC,6163,0.96,163.6,312.5,12.1,281,6168,0.25,2.28,0.00,0.000,6,0.098,0.026,3261,1685,1956,0,0,0,0,0,0
$GC,6488,1.05,188.7,290.8,6.2,293,6517,0.00,2.55,22.58,0.734,4,0.000,0.054,3261,300,1860,0,0,0,0,0,0
$GC,6590,1.05,188.7,281.9,9.3,297,6595,0.00,2.33,0.00,0.000,6,0.000,0.025,3261,1698,1855,0,0,0,0,0,0
$GC,6907,1.15,195.9,260.7,7.4,312,6920,0.17,2.53,6.75,0.597,4,0.058,0.053,3309,284,1831,0,0,0,0,0,0
$GC,6948,1.03,195.9,255.9,12.7,313,6955,0.17,2.35,0.00,0.000,6,0.100,0.025,3275,1711,1830,0,0,0,0,0,0
$GC,7266,1.10,195.9,224.7,9.6,329,7267,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1716,1829,0,0,0,0,0,0
$GC,7579,1.19,205.5,197.6,7.2,345,7597,0.15,2.58,9.65,0.602,4,0.061,0.050,3319,289,1792,0,0,0,0,0,0
$GC,7625,1.07,205.5,192.9,11.4,348,7630,0.17,2.30,0.00,0.000,6,0.098,0.023,3284,1706,1790,0,0,0,0,0,0
$GC,7886,1.12,205.5,173.0,8.7,368,7891,0.00,2.47,0.00,0.000,4,0.000,0.049,3284,293,1790,0,0,0,0,0,0
$GC,7973,1.12,205.5,162.7,11.7,374,7980,0.00,2.30,0.00,0.000,6,0.000,0.022,3284,1702,1788,0,0,0,0,0,0
$GC,8235,1.20,205.5,135.9,9.2,395,8240,0.12,2.47,0.00,0.000,4,0.065,0.048,3323,293,1788,0,0,0,0,0,0
$GC,8275,1.11,205.5,131.7,10.3,398,8280,0.15,2.28,0.00,0.000,6,0.098,0.021,3294,1708,1788,0,0,0,0,0,0
$GC,8544,1.24,244.8,117.3,5.2,419,8585,0.10,2.53,34.78,0.588,4,0.076,0.046,3327,292,1631,0,0,0,0,0,0
$GC,8641,1.18,244.8,107.5,11.7,426,8645,0.00,2.28,0.00,0.000,6,0.000,0.021,3327,1703,1627,0,0,0,0,0,0
$GC,8908,1.23,244.8,82.4,8.8,447,8912,0.00,2.45,0.00,0.000,4,0.000,0.046,3327,286,1627,0,0,0,0,0,0
$GC,9021,1.23,244.8,70.9,10.6,455,9028,0.00,2.28,0.00,0.000,6,0.000,0.020,3327,1701,1624,0,0,0,0,0,0
$GC,9282,1.28,244.8,50.3,7.9,476,9283,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,1703,1625,0,0,0,0,0,0
$GC,9533,1.33,244.8,27.8,9.1,500,9540,0.00,2.45,0.00,0.000,4,0.000,0.045,3327,297,1624,0,0,0,0,0,0
$GC,9570,1.33,244.8,24.4,9.2,507,9576,0.00,2.22,0.00,0.000,6,0.000,0.018,3327,1702,1624,0,0,0,0,0,0
$GC,9773,1.38,244.8,5.7,10.4,553,9780,0.10,2.25,0.00,0.000,4,0.073,0.021,3366,3063,1624,0,0,0,0,0,0
$GC,9790,1.43,244.8,4.0,10.3,555,9796,0.00,2.33,0.00,0.000,6,0.000,0.029,3366,1689,1624,0,0,0,0,0,0
$STATE,9802,end climb,SURFACE_DEPTH_REACHED
$STATE,9802,begin surface coast
$FINISH,0.8,1.002549
$STATE,9833,end surface coast,CONTROL_FINISHED_OK
$STATE,9833,begin surface
$SM_CCo,9855,92.68,0.482,0,0,958,410.14
$SM_GC,1.47,0.00,0.00,92.68,0.000,0.000,0.482,425,1686,958,-12.07,-0.40,410.14
$IRIDIUM_FIX,2052.52,-15754.77,041299,222257
$TT8_MAMPS,0.029146
$HUMID,54.84
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,35.086
$10V_AH,10.2,29.356
$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,30.875,103.450,285.175,92.675,0.000,23.458,26.790,164.994,4.500,0.000,32.426,1101.016,6646.106,452.714,1636.381,466.154,0.000,1169.455,0.000,1600.010,0.000,29.258,0.000
$DEVICE_MAMPS,133.458,55.991,828.360,482.443,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,379.351,361.854,825.007,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355856
$DATA_FILE_SIZE,31741,564
$CAP_FILE_SIZE,107116,0
$CFSIZE,260165632,192299008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100910,035900,2059.516,-15753.876,36,1.9,36,9.8