version: 66.06
glider: 139
mission: 8
dive: 421
start: 9 11 110 16 39 24
data:
$ID,139
$MISSION,8
$DIVE,421
$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,-2159806.5
$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,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
$GPS1,163307,2054.915,-15755.204,40,1.0,40,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-72.4
$GPS2,163907,2054.834,-15755.274,10,1.4,15,9.8
$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,36.6,29484,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.38,-77.9,0.0,0.0,0,82,0.00,0.00,-64.25,0.000,2,0.000,0.000,425,1708,2729,0,0,0,0,0,0
$GC,86,-1.38,-77.9,3.2,-2.9,12,110,12.43,2.38,-4.28,0.000,4,0.133,0.034,2742,3115,2950,0,0,0,0,0,0
$GC,157,-1.29,-77.9,20.8,-18.5,26,164,0.10,2.42,0.00,0.000,6,0.084,0.034,2765,1703,2952,0,0,0,0,0,0
$GC,367,-1.12,-77.9,56.3,-17.3,50,369,0.20,0.00,0.00,0.000,6,0.100,0.000,2805,1703,2952,0,0,0,0,0,0
$GC,617,-1.09,-77.9,89.1,-12.1,70,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1703,2953,0,0,0,0,0,0
$GC,868,-1.09,-77.9,123.5,-15.0,90,872,0.00,2.42,0.00,0.000,4,0.000,0.046,2805,292,2954,0,0,0,0,0,0
$GC,948,-1.09,-77.9,135.3,-13.4,96,952,0.00,2.30,0.00,0.000,6,0.000,0.018,2805,1741,2954,0,0,0,0,0,0
$GC,1214,-1.15,-77.9,164.6,-10.7,117,1218,0.00,2.50,0.00,0.000,4,0.000,0.045,2805,292,2955,0,0,0,0,0,0
$GC,1296,-1.15,-77.9,174.7,-13.3,123,1300,0.00,2.25,0.00,0.000,6,0.000,0.018,2805,1708,2955,0,0,0,0,0,0
$GC,1570,-1.21,-77.9,202.4,-7.7,144,1574,0.00,2.25,0.00,0.000,4,0.000,0.024,2805,3080,2955,0,0,0,0,0,0
$GC,1604,-1.34,-77.9,204.9,-6.3,145,1609,0.20,2.30,0.00,0.000,6,0.046,0.031,2745,1695,2955,0,0,0,0,0,0
$GC,1921,-1.28,-77.9,233.6,-9.4,160,1923,0.12,0.00,0.00,0.000,6,0.100,0.000,2770,1695,2955,0,0,0,0,0,0
$GC,2231,-1.28,-77.9,258.5,-8.7,175,2235,0.00,2.28,0.00,0.000,4,0.000,0.025,2770,3079,2955,0,0,0,0,0,0
$GC,2250,-1.28,-77.9,260.4,-8.7,176,2255,0.00,2.30,0.00,0.000,6,0.000,0.032,2770,1701,2955,0,0,0,0,0,0
$GC,2580,-1.32,-77.9,293.4,-10.8,192,2584,0.00,2.45,0.00,0.000,4,0.000,0.049,2770,293,2954,0,0,0,0,0,0
$GC,2650,-1.32,-77.9,301.4,-10.4,195,2654,0.00,2.22,0.00,0.000,6,0.000,0.021,2770,1698,2954,0,0,0,0,0,0
$GC,2990,-1.37,-77.9,336.1,-9.4,204,2994,0.00,2.30,0.00,0.000,4,0.000,0.028,2771,3080,2953,0,0,0,0,0,0
$GC,3044,-1.47,-77.9,340.2,-8.0,205,3050,0.20,2.33,0.00,0.000,6,0.049,0.035,2712,1697,2953,0,0,0,0,0,0
$GC,3368,-1.40,-77.9,370.3,-9.5,213,3373,0.15,2.30,0.00,0.000,4,0.097,0.028,2743,3072,2951,0,0,0,0,0,0
$GC,3383,-1.40,-77.9,371.8,-9.6,213,3387,0.00,2.35,0.00,0.000,6,0.000,0.038,2742,1697,2951,0,0,0,0,0,0
$GC,3734,-1.40,-77.9,405.1,-10.9,222,3738,0.00,2.33,0.00,0.000,4,0.000,0.030,2743,3075,2949,0,0,0,0,0,0
$GC,3766,-1.46,-77.9,409.2,-11.7,222,3771,0.00,2.35,0.00,0.000,6,0.000,0.040,2743,1695,2949,0,0,0,0,0,0
$STATE,4054,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4054,begin apogee
$GC,4061,-0.31,0.0,450.1,15.0,229,4129,1.12,0.00,64.28,0.824,6,0.074,0.000,2982,1695,2630,0,0,0,0,0,0
$STATE,4130,end apogee,CONTROL_FINISHED_OK
$STATE,4130,begin climb
$GC,4132,1.38,77.9,453.8,0.0,230,4204,1.60,0.00,66.70,0.810,6,0.039,0.000,3349,1695,2311,0,0,0,0,0,0
$GC,4502,1.26,125.6,450.9,4.7,239,4551,0.12,2.58,41.65,0.810,4,0.114,0.057,3326,300,2116,0,0,0,0,0,0
$GC,4659,1.04,125.6,434.6,12.4,242,4664,0.25,2.30,0.00,0.000,6,0.101,0.025,3278,1694,2110,0,0,0,0,0,0
$GC,5006,1.06,137.6,407.3,7.1,251,5022,0.00,2.55,10.05,0.713,4,0.000,0.055,3278,303,2069,0,0,0,0,0,0
$GC,5033,1.04,164.8,405.5,6.1,251,5065,0.00,2.35,26.15,0.782,6,0.000,0.026,3278,1713,1957,0,0,0,0,0,0
$GC,5384,1.05,173.1,381.6,7.3,260,5397,0.00,2.58,7.93,0.670,4,0.000,0.056,3278,293,1923,0,0,0,0,0,0
$GC,5444,0.97,173.1,375.4,9.7,261,5448,0.00,2.35,0.00,0.000,6,0.000,0.027,3278,1700,1920,0,0,0,0,0,0
$GC,5757,0.97,173.1,347.9,9.2,269,5761,0.00,2.50,0.00,0.000,4,0.000,0.056,3278,297,1918,0,0,0,0,0,0
$GC,5871,0.91,173.1,334.6,11.5,271,5876,0.15,2.30,0.00,0.000,6,0.107,0.027,3250,1701,1916,0,0,0,0,0,0
$GC,6218,1.03,202.8,309.8,5.9,280,6250,0.10,2.58,26.40,0.749,4,0.081,0.054,3280,303,1802,0,0,0,0,0,0
$GC,6273,0.98,202.8,305.8,8.8,281,6277,0.00,2.33,0.00,0.000,6,0.000,0.026,3280,1703,1800,0,0,0,0,0,0
$GC,6596,1.02,202.8,276.7,8.2,295,6600,0.00,2.47,0.00,0.000,4,0.000,0.054,3280,296,1798,0,0,0,0,0,0
$GC,6730,0.98,202.8,264.8,9.0,300,6736,0.00,2.33,0.00,0.000,6,0.000,0.025,3280,1698,1794,0,0,0,0,0,0
$GC,7046,1.03,209.0,241.3,7.5,316,7058,0.00,2.40,5.57,0.533,4,0.000,0.028,3280,3085,1777,0,0,0,0,0,0
$GC,7083,1.13,210.7,238.4,7.8,317,7087,0.00,2.38,0.00,0.000,6,0.000,0.038,3280,1697,1777,0,0,0,0,0,0
$GC,7399,1.19,210.7,208.1,10.5,332,7400,0.12,0.00,0.00,0.000,6,0.067,0.000,3318,1697,1776,0,0,0,0,0,0
$GC,7723,1.19,210.7,172.0,10.1,355,7727,0.00,2.30,0.00,0.000,4,0.000,0.025,3318,3087,1776,0,0,0,0,0,0
$GC,7741,1.19,210.7,169.6,10.7,356,7748,0.00,2.40,0.00,0.000,6,0.000,0.036,3318,1697,1776,0,0,0,0,0,0
$GC,8001,1.22,235.2,147.5,6.2,377,8031,0.00,2.53,23.90,0.611,4,0.000,0.049,3318,296,1670,0,0,0,0,0,0
$GC,8104,1.16,235.2,138.2,11.1,384,8108,0.00,2.28,0.00,0.000,6,0.000,0.021,3318,1719,1666,0,0,0,0,0,0
$GC,8366,1.21,250.4,115.5,6.9,404,8387,0.00,2.53,13.93,0.551,4,0.000,0.046,3318,296,1608,0,0,0,0,0,0
$GC,8484,1.21,250.4,106.4,8.1,412,8490,0.00,2.30,0.00,0.000,6,0.000,0.020,3318,1706,1604,0,0,0,0,0,0
$GC,8745,1.30,250.4,79.1,11.2,433,8749,0.00,2.45,0.00,0.000,4,0.000,0.047,3318,287,1604,0,0,0,0,0,0
$GC,8810,1.30,250.4,71.4,11.2,438,8815,0.00,2.28,0.00,0.000,6,0.000,0.019,3318,1713,1603,0,0,0,0,0,0
$GC,9078,1.38,250.4,48.2,9.2,459,9083,0.15,2.47,0.00,0.000,4,0.055,0.047,3367,287,1603,0,0,0,0,0,0
$GC,9144,1.26,250.4,39.5,13.8,464,9149,0.20,2.22,0.00,0.000,6,0.087,0.018,3326,1702,1603,0,0,0,0,0,0
$GC,9408,1.33,250.4,14.0,9.9,510,9415,0.00,2.45,0.00,0.000,4,0.000,0.045,3326,299,1603,0,0,0,0,0,0
$GC,9468,1.33,250.4,6.9,11.4,523,9475,0.00,2.22,0.00,0.000,6,0.000,0.018,3326,1710,1603,0,0,0,0,0,0
$STATE,9505,end climb,SURFACE_DEPTH_REACHED
$STATE,9506,begin surface coast
$FINISH,0.9,1.006266
$STATE,9537,end surface coast,CONTROL_FINISHED_OK
$STATE,9537,begin surface
$SM_CCo,9560,87.30,0.484,0,0,957,410.14
$SM_GC,1.65,0.00,0.00,87.30,0.000,0.000,0.484,428,1715,957,-12.06,0.34,410.14
$IRIDIUM_FIX,2050.21,-15754.77,061299,131342
$TT8_MAMPS,0.029146
$HUMID,55.00
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.5,36.326
$10V_AH,10.2,30.385
$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,29.625,104.425,286.550,87.300,0.000,23.631,27.210,182.614,4.500,0.000,15.777,1060.240,6418.365,433.076,1611.021,482.773,0.000,1153.914,0.000,1588.623,0.000,29.247,0.000
$DEVICE_MAMPS,133.458,56.758,823.758,483.977,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,362.360,345.315,775.051,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355832
$DATA_FILE_SIZE,28554,538
$CAP_FILE_SIZE,104884,0
$CFSIZE,260165632,191549440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110910,192122,2054.482,-15755.109,12,3.3,31,9.8