version: 66.06
glider: 139
mission: 8
dive: 422
start: 9 11 110 19 28 38
data:
$ID,139
$MISSION,8
$DIVE,422
$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,-2159846
$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
$GPS1,192122,2054.482,-15755.109,12,3.3,31,9.8
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-74.1
$GPS2,192822,2054.340,-15755.145,18,3.3,37,9.8
$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,35.0,29965,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.38,-77.9,0.0,0.0,0,89,0.00,0.00,-69.62,0.000,2,0.000,0.000,427,1712,2916,0,0,0,0,0,0
$GC,93,-1.38,-77.9,4.0,-4.5,13,112,12.40,2.35,-0.55,0.000,4,0.133,0.035,2741,3119,2949,0,0,0,0,0,0
$GC,181,-1.30,-77.9,26.9,-16.6,31,188,0.08,2.45,0.00,0.000,6,0.091,0.033,2760,1693,2950,0,0,0,0,0,0
$GC,391,-1.13,-77.9,62.1,-16.0,49,396,0.22,2.38,0.00,0.000,4,0.094,0.020,2805,3122,2950,0,0,0,0,0,0
$GC,410,-1.05,-77.9,65.2,-13.7,50,417,0.00,2.42,0.00,0.000,6,0.000,0.031,2805,1698,2950,0,0,0,0,0,0
$GC,670,-1.05,-77.9,94.7,-11.2,71,674,0.00,2.40,0.00,0.000,4,0.000,0.046,2804,290,2951,0,0,0,0,0,0
$GC,724,-0.97,-77.9,101.8,-14.1,75,729,0.15,2.30,0.00,0.000,6,0.097,0.018,2835,1740,2952,0,0,0,0,0,0
$GC,990,-1.06,-77.9,129.4,-9.1,96,994,0.00,2.47,0.00,0.000,4,0.000,0.044,2835,292,2953,0,0,0,0,0,0
$GC,1031,-1.14,-77.9,133.4,-10.2,99,1036,0.15,2.25,0.00,0.000,6,0.055,0.018,2786,1713,2953,0,0,0,0,0,0
$GC,1294,-1.14,-77.9,164.8,-10.9,120,1299,0.00,2.42,0.00,0.000,4,0.000,0.046,2786,296,2953,0,0,0,0,0,0
$GC,1355,-1.07,-77.9,171.5,-11.9,124,1362,0.10,2.25,0.00,0.000,6,0.075,0.018,2812,1704,2953,0,0,0,0,0,0
$GC,1617,-1.16,-77.9,194.3,-7.6,145,1621,0.00,2.22,0.00,0.000,4,0.000,0.023,2812,3068,2954,0,0,0,0,0,0
$GC,1660,-1.32,-77.9,197.7,-7.6,148,1665,0.22,2.28,0.00,0.000,6,0.043,0.031,2744,1699,2954,0,0,0,0,0,0
$GC,1922,-1.26,-77.9,225.8,-12.0,161,1926,0.15,2.25,0.00,0.000,4,0.095,0.024,2775,3067,2953,0,0,0,0,0,0
$GC,1973,-1.34,-77.9,232.2,-10.3,163,1977,0.00,2.28,0.00,0.000,6,0.000,0.031,2775,1695,2953,0,0,0,0,0,0
$GC,2297,-1.39,-77.9,270.2,-12.0,179,2299,0.12,0.00,0.00,0.000,6,0.065,0.000,2735,1695,2953,0,0,0,0,0,0
$GC,2622,-1.36,-77.9,310.7,-11.1,193,2626,0.00,2.40,0.00,0.000,4,0.000,0.049,2735,293,2953,0,0,0,0,0,0
$GC,2656,-1.24,-77.9,314.6,-12.6,193,2661,0.22,2.25,0.00,0.000,6,0.085,0.021,2781,1690,2953,0,0,0,0,0,0
$GC,2989,-1.31,-77.9,340.4,-7.7,201,2990,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1695,2951,0,0,0,0,0,0
$GC,3314,-1.39,-77.9,369.5,-9.6,209,3319,0.15,2.45,0.00,0.000,4,0.059,0.053,2737,292,2950,0,0,0,0,0,0
$GC,3358,-1.30,-77.9,374.9,-12.8,210,3363,0.15,2.30,0.00,0.000,6,0.096,0.024,2767,1704,2949,0,0,0,0,0,0
$GC,3688,-1.35,-77.9,404.6,-7.9,218,3692,0.00,2.45,0.00,0.000,4,0.000,0.054,2766,300,2948,0,0,0,0,0,0
$GC,3717,-1.35,-77.9,407.4,-10.4,218,3721,0.00,2.28,0.00,0.000,6,0.000,0.025,2767,1705,2947,0,0,0,0,0,0
$GC,4053,-1.41,-77.9,439.9,-10.3,227,4058,0.10,2.35,0.00,0.000,4,0.078,0.032,2737,3093,2945,0,0,0,0,0,0
$GC,4111,-1.44,-77.9,446.6,-11.4,228,4115,0.00,2.38,0.00,0.000,6,0.000,0.041,2736,1700,2944,0,0,0,0,0,0
$STATE,4142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4142,begin apogee
$GC,4148,-0.31,0.0,450.4,11.2,229,4216,1.15,0.00,64.18,0.836,6,0.076,0.000,2979,1700,2630,0,0,0,0,0,0
$STATE,4217,end apogee,CONTROL_FINISHED_OK
$STATE,4217,begin climb
$GC,4219,1.38,77.9,452.5,0.0,230,4291,1.62,0.00,67.38,0.818,6,0.040,0.000,3350,1700,2312,0,0,0,0,0,0
$GC,4592,1.24,118.1,442.2,5.2,240,4635,0.15,2.40,35.08,0.808,4,0.110,0.032,3322,3082,2148,0,0,0,0,0,0
$GC,4647,1.17,144.2,439.1,6.1,241,4680,0.00,2.40,24.35,0.785,6,0.000,0.039,3322,1699,2042,0,0,0,0,0,0
$GC,5009,1.07,144.2,400.7,11.4,250,5014,0.20,2.38,0.00,0.000,4,0.107,0.031,3284,3090,2033,0,0,0,0,0,0
$GC,5071,1.07,144.2,394.5,9.9,251,5075,0.00,2.42,0.00,0.000,6,0.000,0.040,3284,1698,2033,0,0,0,0,0,0
$GC,5422,1.07,144.2,363.5,8.2,260,5426,0.00,2.50,0.00,0.000,4,0.000,0.057,3284,290,2029,0,0,0,0,0,0
$GC,5455,0.97,146.9,361.1,7.7,260,5460,0.12,2.33,0.00,0.000,6,0.115,0.026,3261,1704,2027,0,0,0,0,0,0
$GC,5786,1.08,192.7,345.9,4.8,268,5835,0.10,2.60,41.50,0.782,4,0.081,0.055,3291,300,1844,0,0,0,0,0,0
$GC,5875,0.99,192.7,338.7,10.4,270,5880,0.12,2.35,0.00,0.000,6,0.110,0.026,3268,1707,1840,0,0,0,0,0,0
$GC,6203,1.04,192.7,313.6,8.1,278,6207,0.00,2.50,0.00,0.000,4,0.000,0.055,3268,294,1837,0,0,0,0,0,0
$GC,6295,1.04,192.7,304.4,10.3,280,6299,0.00,2.33,0.00,0.000,6,0.000,0.026,3268,1700,1834,0,0,0,0,0,0
$GC,6626,1.11,192.7,274.1,10.0,294,6631,0.10,2.50,0.00,0.000,4,0.078,0.054,3299,287,1833,0,0,0,0,0,0
$GC,6746,1.03,192.7,257.5,14.4,299,6751,0.12,2.30,0.00,0.000,6,0.110,0.025,3275,1702,1831,0,0,0,0,0,0
$GC,7070,1.08,192.7,227.5,8.6,315,7075,0.00,2.50,0.00,0.000,4,0.000,0.052,3275,287,1832,0,0,0,0,0,0
$GC,7086,1.09,196.0,225.9,7.7,315,7091,0.00,2.30,0.00,0.000,6,0.000,0.025,3275,1710,1830,0,0,0,0,0,0
$GC,7404,1.21,236.9,208.3,5.1,331,7448,0.17,2.55,37.58,0.680,4,0.055,0.051,3325,294,1664,0,0,0,0,0,0
$GC,7486,1.09,236.9,201.4,10.4,334,7491,0.17,2.30,0.00,0.000,6,0.099,0.023,3290,1708,1660,0,0,0,0,0,0
$GC,7817,1.15,236.9,175.4,8.7,359,7822,0.00,2.47,0.00,0.000,4,0.000,0.051,3290,291,1657,0,0,0,0,0,0
$GC,7927,1.15,236.9,162.8,12.6,367,7931,0.00,2.28,0.00,0.000,6,0.000,0.022,3290,1708,1654,0,0,0,0,0,0
$GC,8192,1.23,236.9,131.9,11.2,388,8197,0.12,2.47,0.00,0.000,4,0.066,0.048,3330,287,1654,0,0,0,0,0,0
$GC,8283,1.14,236.9,120.6,12.8,394,8290,0.12,2.30,0.00,0.000,6,0.079,0.021,3301,1701,1653,0,0,0,0,0,0
$GC,8545,1.28,287.7,102.0,4.5,415,8599,0.12,2.50,42.70,0.578,4,0.064,0.046,3341,290,1456,0,0,0,0,0,0
$GC,8660,1.23,287.7,92.2,9.8,423,8665,0.12,2.28,0.00,0.000,6,0.098,0.020,3317,1705,1452,0,0,0,0,0,0
$GC,8923,1.31,287.7,70.7,9.2,443,8927,0.00,2.45,0.00,0.000,4,0.000,0.046,3316,289,1451,0,0,0,0,0,0
$GC,9030,1.31,287.7,58.9,11.6,451,9034,0.00,2.25,0.00,0.000,6,0.000,0.019,3317,1717,1449,0,0,0,0,0,0
$GC,9297,1.40,287.7,32.8,9.4,472,9302,0.17,2.47,0.00,0.000,4,0.050,0.047,3371,291,1449,0,0,0,0,0,0
$GC,9328,1.29,287.7,28.6,14.4,475,9334,0.15,2.25,0.00,0.000,6,0.074,0.018,3335,1709,1449,0,0,0,0,0,0
$GC,9532,1.34,287.7,5.7,10.8,521,9538,0.00,2.47,0.00,0.000,4,0.000,0.046,3335,296,1449,0,0,0,0,0,0
$STATE,9552,end climb,SURFACE_DEPTH_REACHED
$STATE,9552,begin surface coast
$FINISH,0.8,1.023219
$STATE,9579,end surface coast,CONTROL_FINISHED_OK
$STATE,9579,begin surface
$SM_CCo,9604,67.20,0.481,0,0,957,410.14
$SM_GC,1.64,0.00,0.00,67.20,0.000,0.000,0.481,426,1692,957,-12.07,-0.14,410.14
$IRIDIUM_FIX,2045.60,-15755.64,061299,161645
$TT8_MAMPS,0.029146
$HUMID,54.88
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.5,36.418
$10V_AH,10.3,30.457
$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,31.575,118.675,312.750,67.200,0.000,30.713,34.256,192.462,4.500,0.000,38.775,1063.618,6414.743,458.774,1607.741,544.541,0.000,1182.162,0.000,1565.245,0.000,30.971,0.000
$DEVICE_MAMPS,133.458,56.758,836.030,480.909,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,357.017,337.621,746.649,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,28694,531
$CAP_FILE_SIZE,111638,0
$CFSIZE,260165632,191483904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,110910,221107,2054.293,-15754.687,38,1.1,38,9.8