version: 66.06
glider: 139
mission: 8
dive: 419
start: 9 11 110 11 6 53
data:
$ID,139
$MISSION,8
$DIVE,419
$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,-2159751
$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
$GPS1,110004,2055.841,-15755.312,10,2.2,29,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-73.0
$GPS2,110637,2055.724,-15755.389,35,0.9,35,9.8
$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,39.3,28521,-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,15,-1.38,-77.9,0.0,0.0,0,82,0.00,0.00,-64.12,0.000,2,0.000,0.000,428,1701,2722,0,0,0,0,0,0
$GC,85,-1.38,-77.9,3.0,-3.0,12,110,12.38,2.38,-4.43,0.000,4,0.132,0.035,2743,3105,2948,0,0,0,0,0,0
$GC,202,-1.31,-77.9,27.7,-16.0,36,208,0.00,2.40,0.00,0.000,6,0.000,0.032,2743,1703,2950,0,0,0,0,0,0
$GC,406,-1.13,-77.9,65.4,-19.5,53,411,0.28,2.33,0.00,0.000,4,0.093,0.020,2802,3116,2951,0,0,0,0,0,0
$GC,448,-1.19,-77.9,72.5,-14.5,56,452,0.00,2.40,0.00,0.000,6,0.000,0.032,2802,1693,2951,0,0,0,0,0,0
$GC,707,-1.19,-77.9,112.9,-15.5,76,711,0.00,2.40,0.00,0.000,4,0.000,0.047,2802,291,2952,0,0,0,0,0,0
$GC,774,-1.15,-77.9,122.5,-14.5,81,778,0.00,2.30,0.00,0.000,6,0.000,0.018,2802,1737,2952,0,0,0,0,0,0
$GC,1037,-1.15,-77.9,154.8,-10.7,102,1041,0.00,2.20,0.00,0.000,4,0.000,0.021,2801,3083,2953,0,0,0,0,0,0
$GC,1070,-1.25,-77.9,157.8,-8.6,104,1077,0.08,2.35,0.00,0.000,6,0.035,0.031,2761,1695,2953,0,0,0,0,0,0
$GC,1332,-1.22,-77.9,186.1,-10.8,125,1337,0.10,2.40,0.00,0.000,4,0.106,0.044,2781,289,2954,0,0,0,0,0,0
$GC,1359,-1.17,-77.9,189.2,-10.9,127,1363,0.00,2.25,0.00,0.000,6,0.000,0.018,2782,1718,2953,0,0,0,0,0,0
$GC,1629,-1.21,-77.9,213.0,-8.6,144,1633,0.00,2.42,0.00,0.000,4,0.000,0.045,2782,296,2955,0,0,0,0,0,0
$GC,1673,-1.21,-77.9,217.6,-10.5,146,1677,0.00,2.22,0.00,0.000,6,0.000,0.019,2781,1701,2955,0,0,0,0,0,0
$GC,2008,-1.26,-77.9,247.1,-8.8,162,2009,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1706,2954,0,0,0,0,0,0
$GC,2313,-1.32,-77.9,279.1,-9.7,177,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1706,2955,0,0,0,0,0,0
$GC,2621,-1.38,-77.9,305.2,-8.6,191,2626,0.15,2.28,0.00,0.000,4,0.057,0.027,2736,3077,2953,0,0,0,0,0,0
$GC,2673,-1.42,-77.9,311.0,-11.7,192,2677,0.00,2.33,0.00,0.000,6,0.000,0.035,2736,1696,2954,0,0,0,0,0,0
$GC,2992,-1.42,-77.9,349.9,-12.2,200,2994,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1695,2952,0,0,0,0,0,0
$GC,3319,-1.42,-77.9,387.7,-11.4,208,3323,0.00,2.30,0.00,0.000,4,0.000,0.029,2736,3068,2950,0,0,0,0,0,0
$GC,3358,-1.46,-77.9,392.2,-11.0,208,3363,0.00,2.35,0.00,0.000,6,0.000,0.038,2735,1694,2950,0,0,0,0,0,0
$GC,3688,-1.46,-77.9,423.8,-9.5,217,3690,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1693,2948,0,0,0,0,0,0
$STATE,4011,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4011,begin apogee
$GC,4018,-0.31,0.0,452.2,9.0,225,4086,1.15,0.00,64.40,0.831,6,0.075,0.000,2980,1693,2630,0,0,0,0,0,0
$STATE,4087,end apogee,CONTROL_FINISHED_OK
$STATE,4087,begin climb
$GC,4090,1.38,77.9,453.7,0.0,226,4166,1.62,2.40,67.40,0.815,4,0.039,0.030,3352,3071,2311,0,0,0,0,0,0
$GC,4193,1.29,151.4,452.9,2.9,229,4264,0.00,2.38,65.05,0.808,6,0.000,0.038,3352,1698,2011,0,0,0,0,0,0
$GC,4589,1.12,151.4,417.2,9.0,239,4595,0.25,2.50,0.00,0.000,4,0.099,0.056,3299,293,2002,0,0,0,0,0,0
$GC,4611,0.96,151.4,415.3,9.0,239,4616,0.20,2.33,0.00,0.000,6,0.103,0.027,3261,1688,1999,0,0,0,0,0,0
$GC,4957,1.00,157.9,391.9,7.5,248,4963,0.00,0.00,4.35,0.531,6,0.000,0.000,3261,1693,1986,0,0,0,0,0,0
$GC,5283,1.05,157.9,357.3,11.3,256,5287,0.00,2.47,0.00,0.000,4,0.000,0.056,3261,290,1984,0,0,0,0,0,0
$GC,5334,1.01,157.9,351.1,12.0,257,5338,0.00,2.35,0.00,0.000,6,0.000,0.027,3261,1704,1982,0,0,0,0,0,0
$GC,5652,1.07,157.9,319.6,9.3,265,5657,0.00,2.50,0.00,0.000,4,0.000,0.054,3261,296,1981,0,0,0,0,0,0
$GC,5709,1.07,157.9,314.2,9.8,266,5713,0.00,2.30,0.00,0.000,6,0.000,0.027,3261,1701,1979,0,0,0,0,0,0
$GC,6027,1.14,172.0,291.4,6.9,277,6049,0.15,2.38,13.30,0.705,4,0.060,0.029,3305,3087,1927,0,0,0,0,0,0
$GC,6167,1.14,173.1,280.7,7.8,283,6172,0.00,2.40,0.00,0.000,6,0.000,0.038,3304,1700,1926,0,0,0,0,0,0
$GC,6498,1.14,174.0,256.5,7.8,299,6502,0.00,2.47,0.00,0.000,4,0.000,0.054,3304,294,1923,0,0,0,0,0,0
$GC,6532,1.03,174.0,253.4,9.2,300,6537,0.15,2.33,0.00,0.000,6,0.101,0.025,3275,1711,1921,0,0,0,0,0,0
$GC,6849,1.11,190.4,230.7,6.8,315,6872,0.00,2.53,16.77,0.675,4,0.000,0.051,3275,297,1852,0,0,0,0,0,0
$GC,6969,1.11,190.4,220.3,9.1,320,6973,0.00,2.33,0.00,0.000,6,0.000,0.024,3275,1709,1848,0,0,0,0,0,0
$GC,7289,1.22,216.3,194.8,6.1,338,7319,0.17,2.58,23.42,0.655,4,0.053,0.051,3326,296,1748,0,0,0,0,0,0
$GC,7510,1.12,216.3,169.4,14.9,354,7515,0.15,2.28,0.00,0.000,6,0.097,0.022,3297,1702,1742,0,0,0,0,0,0
$GC,7779,1.19,219.1,143.4,7.7,375,7783,0.00,2.47,0.00,0.000,4,0.000,0.048,3297,290,1741,0,0,0,0,0,0
$GC,7893,1.19,219.1,132.9,9.4,383,7899,0.00,2.28,0.00,0.000,6,0.000,0.021,3297,1721,1740,0,0,0,0,0,0
$GC,8155,1.30,221.7,112.5,7.7,404,8171,0.15,2.50,5.15,0.441,4,0.056,0.045,3346,293,1724,0,0,0,0,0,0
$GC,8195,1.20,221.7,108.1,10.9,406,8203,0.12,2.28,0.00,0.000,6,0.071,0.020,3314,1704,1723,0,0,0,0,0,0
$GC,8459,1.31,233.1,87.7,7.1,427,8475,0.00,2.47,11.48,0.516,4,0.000,0.046,3314,289,1679,0,0,0,0,0,0
$GC,8610,1.31,233.1,74.2,8.1,438,8615,0.00,2.25,0.00,0.000,6,0.000,0.019,3314,1710,1676,0,0,0,0,0,0
$GC,8878,1.40,233.1,53.1,9.3,459,8883,0.17,2.45,0.00,0.000,4,0.048,0.045,3371,295,1676,0,0,0,0,0,0
$GC,8993,1.27,233.1,38.6,11.8,467,9001,0.17,2.22,0.00,0.000,6,0.069,0.018,3330,1694,1676,0,0,0,0,0,0
$GC,9256,1.32,233.1,16.4,8.2,514,9263,0.00,2.25,0.00,0.000,4,0.000,0.021,3330,3065,1676,0,0,0,0,0,0
$GC,9327,1.43,236.9,10.8,7.6,529,9340,0.10,2.33,4.75,0.357,6,0.031,0.030,3376,1694,1663,0,0,0,0,0,0
$STATE,9407,end climb,SURFACE_DEPTH_REACHED
$STATE,9407,begin surface coast
$FINISH,0.8,1.005635
$STATE,9438,end surface coast,CONTROL_FINISHED_OK
$STATE,9438,begin surface
$SM_CCo,9462,95.05,0.481,0,0,957,410.14
$SM_GC,1.52,0.00,0.00,95.05,0.000,0.000,0.481,425,1691,957,-12.07,-0.25,410.14
$IRIDIUM_FIX,2047.91,-15757.78,061299,080825
$TT8_MAMPS,0.029146
$HUMID,54.37
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.5,36.152
$10V_AH,10.2,30.239
$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,30.150,99.300,276.075,95.050,0.000,31.082,28.833,186.288,4.500,0.000,35.531,1075.340,6270.907,445.082,1652.638,500.818,0.000,1156.392,0.000,1615.096,0.000,29.250,0.000
$DEVICE_MAMPS,131.924,55.991,831.428,480.909,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,371.710,361.249,814.944,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355832
$DATA_FILE_SIZE,31670,553
$CAP_FILE_SIZE,103867,0
$CFSIZE,260165632,191655936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110910,134702,2055.328,-15755.277,14,2.0,14,9.8