version: 66.06
glider: 139
mission: 8
dive: 432
start: 9 12 110 22 53 44
data:
$ID,139
$MISSION,8
$DIVE,432
$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,-2160020.8
$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
$GPS1,224730,2053.711,-15751.214,37,1.1,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-72.2
$GPS2,225326,2053.649,-15751.242,13,1.6,13,9.8
$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,22.8,26728,-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,-64.68,0.000,2,0.000,0.000,426,1710,2742,0,0,0,0,0,0
$GC,85,-1.38,-77.9,3.1,-2.9,12,110,12.40,2.38,-4.03,0.000,4,0.132,0.038,2744,3105,2950,0,0,0,0,0,0
$GC,196,-1.31,-77.9,27.5,-16.1,35,203,0.00,2.42,0.00,0.000,6,0.000,0.033,2744,1695,2952,0,0,0,0,0,0
$GC,405,-1.12,-77.9,65.2,-17.2,53,410,0.28,2.35,0.00,0.000,4,0.093,0.021,2802,3117,2953,0,0,0,0,0,0
$GC,514,-1.19,-77.9,79.4,-12.5,61,519,0.00,2.38,0.00,0.000,6,0.000,0.033,2802,1696,2953,0,0,0,0,0,0
$GC,778,-1.19,-77.9,114.5,-12.2,82,783,0.00,2.38,0.00,0.000,4,0.000,0.044,2802,296,2954,0,0,0,0,0,0
$GC,819,-1.13,-77.9,119.1,-12.4,85,824,0.00,2.30,0.00,0.000,6,0.000,0.018,2802,1737,2954,0,0,0,0,0,0
$GC,1089,-1.16,-77.9,148.0,-10.4,106,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1737,2954,0,0,0,0,0,0
$GC,1341,-1.21,-77.9,174.9,-10.0,126,1345,0.00,2.47,0.00,0.000,4,0.000,0.045,2802,297,2956,0,0,0,0,0,0
$GC,1396,-1.21,-77.9,181.4,-11.5,130,1400,0.00,2.22,0.00,0.000,6,0.000,0.018,2802,1716,2955,0,0,0,0,0,0
$GC,1673,-1.28,-77.9,212.8,-11.5,148,1678,0.15,2.45,0.00,0.000,4,0.055,0.046,2754,293,2956,0,0,0,0,0,0
$GC,1694,-1.28,-77.9,215.5,-10.8,149,1699,0.00,2.22,0.00,0.000,6,0.000,0.020,2754,1713,2956,0,0,0,0,0,0
$GC,2026,-1.28,-77.9,256.9,-12.0,165,2030,0.00,2.45,0.00,0.000,4,0.000,0.048,2754,289,2956,0,0,0,0,0,0
$GC,2071,-1.20,-77.9,263.5,-14.6,167,2076,0.15,2.25,0.00,0.000,6,0.095,0.020,2785,1693,2956,0,0,0,0,0,0
$GC,2405,-1.27,-77.9,300.4,-9.1,183,2406,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1698,2955,0,0,0,0,0,0
$GC,2728,-1.35,-77.9,330.2,-9.3,191,2732,0.12,2.45,0.00,0.000,4,0.065,0.051,2744,297,2955,0,0,0,0,0,0
$GC,2803,-1.29,-77.9,337.7,-10.2,192,2808,0.10,2.25,0.00,0.000,6,0.110,0.022,2766,1692,2955,0,0,0,0,0,0
$GC,3142,-1.34,-77.9,363.2,-7.7,201,3146,0.00,2.33,0.00,0.000,4,0.000,0.029,2765,3084,2953,0,0,0,0,0,0
$GC,3188,-1.44,-77.9,367.4,-8.6,202,3193,0.12,2.35,0.00,0.000,6,0.065,0.038,2727,1696,2953,0,0,0,0,0,0
$GC,3517,-1.40,-77.9,403.2,-11.5,210,3519,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1695,2950,0,0,0,0,0,0
$GC,3839,-1.37,-77.9,439.7,-10.9,218,3846,0.12,2.35,0.00,0.000,4,0.102,0.031,2751,3080,2949,0,0,0,0,0,0
$GC,3912,-1.44,-77.9,447.8,-10.8,219,3916,0.00,2.35,0.00,0.000,6,0.000,0.040,2751,1700,2948,0,0,0,0,0,0
$STATE,3970,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3970,begin apogee
$GC,3976,-0.31,0.0,453.8,10.2,221,4044,1.08,0.00,64.90,0.825,6,0.074,0.000,2981,1699,2630,0,0,0,0,0,0
$STATE,4045,end apogee,CONTROL_FINISHED_OK
$STATE,4045,begin climb
$GC,4048,1.38,77.9,455.6,0.0,222,4119,1.62,0.00,66.75,0.811,6,0.039,0.000,3353,1700,2312,0,0,0,0,0,0
$GC,4422,1.28,149.4,449.1,3.1,232,4494,0.12,2.45,62.28,0.817,4,0.114,0.031,3330,3078,2021,0,0,0,0,0,0
$GC,4528,1.20,149.6,443.7,7.9,234,4532,0.00,2.40,0.00,0.000,6,0.000,0.041,3330,1700,2020,0,0,0,0,0,0
$GC,4878,1.08,149.6,413.2,9.4,243,4883,0.22,2.38,0.00,0.000,4,0.104,0.031,3287,3085,2013,0,0,0,0,0,0
$GC,4963,1.09,153.2,405.4,7.7,244,4968,0.00,2.40,0.00,0.000,6,0.000,0.041,3287,1698,2012,0,0,0,0,0,0
$GC,5295,1.10,168.0,381.6,6.9,253,5316,0.00,2.55,15.68,0.756,4,0.000,0.058,3287,294,1945,0,0,0,0,0,0
$GC,5424,1.00,168.0,367.8,12.3,255,5430,0.00,2.33,0.00,0.000,6,0.000,0.027,3287,1697,1940,0,0,0,0,0,0
$GC,5756,1.00,168.0,335.9,9.1,264,5760,0.00,2.35,0.00,0.000,4,0.000,0.031,3287,3087,1938,0,0,0,0,0,0
$GC,5798,1.05,168.0,332.4,8.0,264,5804,0.00,2.40,0.00,0.000,6,0.000,0.040,3287,1692,1938,0,0,0,0,0,0
$GC,6129,1.06,178.3,307.9,7.2,273,6145,0.00,2.50,9.43,0.676,4,0.000,0.054,3287,296,1902,0,0,0,0,0,0
$GC,6254,0.99,178.3,294.8,11.1,276,6259,0.12,2.30,0.00,0.000,6,0.114,0.026,3264,1706,1899,0,0,0,0,0,0
$GC,6577,1.07,189.9,270.6,7.1,292,6594,0.00,2.55,11.15,0.669,4,0.000,0.054,3263,295,1856,0,0,0,0,0,0
$GC,6632,1.07,189.9,265.6,9.9,294,6636,0.00,2.33,0.00,0.000,6,0.000,0.025,3263,1703,1853,0,0,0,0,0,0
$GC,6952,1.16,189.9,238.2,8.5,310,6957,0.17,2.50,0.00,0.000,4,0.055,0.054,3312,291,1852,0,0,0,0,0,0
$GC,7146,1.05,189.9,219.3,8.8,318,7151,0.17,2.30,0.00,0.000,6,0.098,0.024,3278,1701,1850,0,0,0,0,0,0
$GC,7464,1.15,214.5,200.1,6.2,333,7493,0.00,0.00,22.80,0.657,6,0.000,0.000,3278,1707,1754,0,0,0,0,0,0
$GC,7750,1.24,225.4,178.2,7.2,355,7767,0.17,2.55,10.45,0.586,4,0.054,0.051,3328,294,1711,0,0,0,0,0,0
$GC,7956,1.14,225.4,155.0,12.1,370,7961,0.15,2.28,0.00,0.000,6,0.100,0.022,3300,1706,1707,0,0,0,0,0,0
$GC,8228,1.19,225.4,133.3,8.7,391,8232,0.00,2.47,0.00,0.000,4,0.000,0.049,3299,294,1707,0,0,0,0,0,0
$GC,8256,1.19,225.4,130.0,11.2,393,8261,0.00,2.25,0.00,0.000,6,0.000,0.021,3299,1707,1706,0,0,0,0,0,0
$GC,8519,1.26,225.4,107.0,9.0,413,8523,0.10,2.50,0.00,0.000,4,0.074,0.050,3333,292,1706,0,0,0,0,0,0
$GC,8575,1.16,225.4,100.1,12.7,417,8580,0.15,2.28,0.00,0.000,6,0.097,0.021,3303,1710,1705,0,0,0,0,0,0
$GC,8843,1.29,248.5,78.7,6.3,438,8872,0.12,2.53,20.58,0.539,4,0.064,0.047,3345,298,1615,0,0,0,0,0,0
$GC,8890,1.23,248.5,74.5,10.3,441,8895,0.12,2.25,0.00,0.000,6,0.101,0.020,3319,1712,1614,0,0,0,0,0,0
$GC,9158,1.31,248.5,50.7,9.3,462,9159,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,1717,1614,0,0,0,0,0,0
$GC,9411,1.39,248.5,26.7,10.2,486,9418,0.15,2.50,0.00,0.000,4,0.055,0.047,3369,296,1613,0,0,0,0,0,0
$GC,9464,1.28,248.5,20.0,12.7,497,9471,0.17,2.25,0.00,0.000,6,0.071,0.019,3328,1713,1612,0,0,0,0,0,0
$STATE,9651,end climb,SURFACE_DEPTH_REACHED
$STATE,9652,begin surface coast
$FINISH,1.0,1.021381
$STATE,9687,end surface coast,CONTROL_FINISHED_OK
$STATE,9687,begin surface
$SM_CCo,9709,91.70,0.482,0,0,958,410.14
$SM_GC,1.60,0.00,0.00,91.70,0.000,0.000,0.482,428,1715,958,-12.07,0.42,410.14
$IRIDIUM_FIX,2045.60,-15750.49,071299,202022
$TT8_MAMPS,0.029146
$HUMID,56.10
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.5,37.308
$10V_AH,10.3,31.179
$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,30.475,99.925,284.000,91.700,0.000,24.452,39.299,170.099,4.750,0.000,13.469,1083.490,6484.472,441.919,1655.595,491.720,0.000,1172.839,0.000,1631.385,0.000,32.153,0.000
$DEVICE_MAMPS,131.924,57.525,824.525,482.443,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,369.306,348.056,787.755,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355832
$DATA_FILE_SIZE,31867,548
$CAP_FILE_SIZE,106547,0
$CFSIZE,260165632,190959616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130910,013830,2053.813,-15751.021,35,1.1,45,9.8