version: 66.06
glider: 139
mission: 8
dive: 441
start: 9 14 110 0 22 6
data:
$ID,139
$MISSION,8
$DIVE,441
$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,-2160201.8
$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
$GPS1,001625,2057.280,-15749.561,59,0.9,59,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-72.9
$GPS2,002150,2057.251,-15749.586,21,1.3,21,9.8
$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,26.2,19601,-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,-64.20,0.000,2,0.000,0.000,429,1704,2733,0,0,0,0,0,0
$GC,86,-1.38,-77.9,3.3,-3.0,12,110,12.40,2.40,-4.12,0.000,4,0.133,0.039,2741,3106,2949,0,0,0,0,0,0
$GC,175,-1.29,-77.9,24.4,-17.8,30,183,0.10,2.42,0.00,0.000,6,0.084,0.035,2764,1700,2950,0,0,0,0,0,0
$GC,384,-1.14,-77.9,59.5,-15.7,50,389,0.17,2.42,0.00,0.000,4,0.105,0.046,2798,294,2953,0,0,0,0,0,0
$GC,425,-1.01,-77.9,66.2,-16.5,53,430,0.15,2.33,0.00,0.000,6,0.100,0.018,2828,1739,2953,0,0,0,0,0,0
$GC,692,-1.01,-77.9,97.5,-12.4,74,695,0.00,2.17,0.00,0.000,4,0.000,0.021,2828,3084,2953,0,0,0,0,0,0
$GC,725,-1.12,-77.9,101.7,-10.7,76,729,0.00,2.30,0.00,0.000,6,0.000,0.031,2828,1696,2953,0,0,0,0,0,0
$GC,985,-1.20,-77.9,125.2,-8.9,96,990,0.17,2.40,0.00,0.000,4,0.049,0.045,2772,298,2955,0,0,0,0,0,0
$GC,1135,-1.12,-77.9,144.4,-13.0,107,1140,0.17,2.22,0.00,0.000,6,0.092,0.018,2808,1714,2955,0,0,0,0,0,0
$GC,1401,-1.19,-77.9,173.7,-12.5,128,1405,0.00,2.22,0.00,0.000,4,0.000,0.022,2808,3075,2956,0,0,0,0,0,0
$GC,1435,-1.33,-77.9,177.6,-11.0,130,1442,0.17,2.33,0.00,0.000,6,0.026,0.031,2746,1703,2955,0,0,0,0,0,0
$GC,1695,-1.28,-77.9,206.5,-9.9,149,1700,0.12,2.25,0.00,0.000,4,0.100,0.023,2772,3071,2956,0,0,0,0,0,0
$GC,1717,-1.28,-77.9,208.5,-8.6,150,1721,0.00,2.33,0.00,0.000,6,0.000,0.032,2771,1690,2956,0,0,0,0,0,0
$GC,2050,-1.28,-77.9,236.0,-9.3,166,2051,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,1690,2956,0,0,0,0,0,0
$GC,2362,-1.28,-77.9,272.3,-10.5,181,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1690,2956,0,0,0,0,0,0
$GC,2690,-1.32,-77.9,305.5,-9.9,196,2695,0.00,2.40,0.00,0.000,4,0.000,0.049,2771,300,2955,0,0,0,0,0,0
$GC,2737,-1.32,-77.9,311.1,-12.4,197,2741,0.00,2.22,0.00,0.000,6,0.000,0.021,2771,1696,2955,0,0,0,0,0,0
$GC,3063,-1.37,-77.9,341.3,-8.8,205,3067,0.00,2.45,0.00,0.000,4,0.000,0.051,2771,292,2954,0,0,0,0,0,0
$GC,3119,-1.37,-77.9,346.9,-9.7,206,3123,0.00,2.25,0.00,0.000,6,0.000,0.023,2771,1694,2953,0,0,0,0,0,0
$GC,3433,-1.43,-77.9,372.3,-8.0,214,3438,0.15,2.33,0.00,0.000,4,0.061,0.029,2728,3079,2952,0,0,0,0,0,0
$GC,3472,-1.43,-77.9,376.2,-10.4,214,3477,0.00,2.33,0.00,0.000,6,0.000,0.038,2727,1703,2952,0,0,0,0,0,0
$GC,3803,-1.39,-77.9,412.4,-11.0,223,3807,0.00,2.47,0.00,0.000,4,0.000,0.054,2727,289,2949,0,0,0,0,0,0
$GC,3842,-1.29,-77.9,417.1,-12.6,223,3848,0.20,2.30,0.00,0.000,6,0.092,0.025,2767,1696,2950,0,0,0,0,0,0
$STATE,4170,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4170,begin apogee
$GC,4176,-0.31,0.0,450.0,9.5,232,4244,1.00,0.00,64.72,0.823,6,0.072,0.000,2981,1702,2631,0,0,0,0,0,0
$STATE,4245,end apogee,CONTROL_FINISHED_OK
$STATE,4245,begin climb
$GC,4248,1.38,77.9,451.7,0.0,233,4321,1.62,0.00,67.07,0.807,6,0.041,0.000,3351,1702,2311,0,0,0,0,0,0
$GC,4660,1.23,110.2,434.3,5.7,243,4691,0.17,0.00,28.42,0.788,6,0.106,0.000,3318,1702,2180,0,0,0,0,0,0
$GC,4985,1.14,110.2,407.6,9.0,251,4989,0.00,2.38,0.00,0.000,4,0.000,0.032,3318,3089,2173,0,0,0,0,0,0
$GC,5047,1.07,110.2,401.8,10.3,252,5052,0.17,2.42,0.00,0.000,6,0.113,0.040,3285,1696,2173,0,0,0,0,0,0
$GC,5397,1.10,139.1,377.2,5.9,261,5429,0.00,2.55,25.42,0.778,4,0.000,0.054,3285,297,2061,0,0,0,0,0,0
$GC,5446,1.06,169.8,374.4,5.8,262,5483,0.00,2.33,28.35,0.769,6,0.000,0.027,3285,1701,1937,0,0,0,0,0,0
$GC,5808,1.06,169.8,343.2,8.4,271,5809,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1701,1930,0,0,0,0,0,0
$GC,6133,1.06,169.8,316.2,7.9,279,6137,0.00,2.47,0.00,0.000,4,0.000,0.055,3285,297,1928,0,0,0,0,0,0
$GC,6153,1.02,169.8,314.4,9.6,279,6157,0.00,2.33,0.00,0.000,6,0.000,0.027,3285,1712,1926,0,0,0,0,0,0
$GC,6479,1.02,169.8,287.8,8.9,290,6483,0.00,2.53,0.00,0.000,4,0.000,0.054,3285,290,1925,0,0,0,0,0,0
$GC,6596,0.97,169.8,276.8,8.6,295,6601,0.12,2.33,0.00,0.000,6,0.114,0.025,3262,1705,1922,0,0,0,0,0,0
$GC,6929,1.08,189.8,254.0,6.5,311,6952,0.10,2.55,16.58,0.683,4,0.077,0.051,3294,290,1855,0,0,0,0,0,0
$GC,7020,1.02,189.8,245.7,10.2,314,7028,0.10,2.35,0.00,0.000,6,0.081,0.025,3270,1702,1852,0,0,0,0,0,0
$GC,7336,1.10,189.8,217.1,8.7,330,7340,0.00,2.47,0.00,0.000,4,0.000,0.051,3270,297,1850,0,0,0,0,0,0
$GC,7488,1.10,189.8,203.5,8.3,336,7495,0.00,2.33,0.00,0.000,6,0.000,0.024,3270,1707,1849,0,0,0,0,0,0
$GC,7811,1.21,210.7,180.2,6.5,360,7839,0.17,2.55,18.95,0.624,4,0.054,0.049,3320,298,1770,0,0,0,0,0,0
$GC,7864,1.09,210.7,175.7,10.0,363,7870,0.17,2.28,0.00,0.000,6,0.097,0.022,3286,1705,1767,0,0,0,0,0,0
$GC,8125,1.16,219.6,156.4,7.3,384,8136,0.00,0.00,8.90,0.547,6,0.000,0.000,3286,1711,1734,0,0,0,0,0,0
$GC,8390,1.27,219.6,133.3,9.5,405,8395,0.17,2.50,0.00,0.000,4,0.052,0.049,3338,293,1733,0,0,0,0,0,0
$GC,8512,1.18,219.6,118.7,12.5,414,8516,0.15,2.28,0.00,0.000,6,0.097,0.021,3309,1706,1730,0,0,0,0,0,0
$GC,8780,1.25,219.6,96.0,7.9,435,8784,0.00,2.47,0.00,0.000,4,0.000,0.047,3308,287,1729,0,0,0,0,0,0
$GC,8799,1.25,219.6,94.0,9.0,436,8805,0.00,2.30,0.00,0.000,6,0.000,0.021,3309,1707,1730,0,0,0,0,0,0
$GC,9062,1.38,246.9,75.3,6.1,457,9092,0.17,2.33,24.33,0.537,4,0.051,0.022,3363,3071,1622,0,0,0,0,0,0
$GC,9126,1.42,246.9,70.6,8.1,461,9131,0.00,2.35,0.00,0.000,6,0.000,0.033,3362,1696,1622,0,0,0,0,0,0
$GC,9387,1.42,246.9,46.6,10.3,481,9392,0.00,2.42,0.00,0.000,4,0.000,0.046,3362,294,1622,0,0,0,0,0,0
$GC,9534,1.33,246.9,30.6,10.8,492,9539,0.12,2.22,0.00,0.000,6,0.100,0.018,3338,1712,1619,0,0,0,0,0,0
$GC,9802,1.37,248.5,8.7,7.8,552,9808,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,1718,1619,0,0,0,0,0,0
$STATE,9867,end climb,SURFACE_DEPTH_REACHED
$STATE,9867,begin surface coast
$FINISH,1.0,1.010959
$STATE,9903,end surface coast,CONTROL_FINISHED_OK
$STATE,9905,begin surface
$SM_CCo,9927,90.10,0.478,0,0,957,410.14
$SM_GC,1.42,0.00,0.00,90.10,0.000,0.000,0.478,430,1714,957,-12.05,0.40,410.14
$IRIDIUM_FIX,2050.21,-15752.63,081299,212114
$TT8_MAMPS,0.029146
$HUMID,54.84
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,422.3,65.6
$24V_AH,23.5,38.114
$10V_AH,10.2,31.853
$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,30.475,99.275,282.750,90.100,0.000,28.921,26.048,139.228,4.500,0.000,21.851,1109.065,6644.209,438.498,1686.245,461.112,0.000,1174.272,0.000,1661.468,0.000,30.716,0.000
$DEVICE_MAMPS,133.458,55.224,822.991,477.841,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,387.018,370.654,840.313,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,31795,575
$CAP_FILE_SIZE,106387,0
$CFSIZE,260165632,190476288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,4
$GPS,140910,030956,2057.246,-15749.442,15,1.5,15,9.8