version: 66.06
glider: 139
mission: 8
dive: 442
start: 9 14 110 3 15 49
data:
$ID,139
$MISSION,8
$DIVE,442
$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,-2160219.5
$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
$GPS1,030956,2057.246,-15749.442,15,1.5,15,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-73.2
$GPS2,031531,2057.227,-15749.501,11,1.6,16,9.8
$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,25.8,19551,-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,-64.90,0.000,2,0.000,0.000,430,1716,2741,0,0,0,0,0,0
$GC,85,-1.38,-77.9,3.1,-3.0,12,110,12.38,2.38,-4.00,0.000,4,0.132,0.041,2744,3103,2951,0,0,0,0,0,0
$GC,183,-1.30,-77.9,25.4,-17.0,32,191,0.08,2.40,0.00,0.000,6,0.087,0.033,2762,1701,2952,0,0,0,0,0,0
$GC,388,-1.14,-77.9,61.1,-16.8,51,390,0.17,0.00,0.00,0.000,6,0.100,0.000,2797,1701,2953,0,0,0,0,0,0
$GC,642,-1.08,-77.9,97.1,-14.5,71,646,0.00,2.40,0.00,0.000,4,0.000,0.044,2797,293,2954,0,0,0,0,0,0
$GC,653,-1.00,-77.9,99.1,-15.0,72,661,0.15,2.33,0.00,0.000,6,0.096,0.018,2831,1743,2954,0,0,0,0,0,0
$GC,930,-1.09,-77.9,128.2,-9.4,93,935,0.00,2.47,0.00,0.000,4,0.000,0.044,2831,294,2955,0,0,0,0,0,0
$GC,972,-1.17,-77.9,132.6,-9.6,96,977,0.15,2.20,0.00,0.000,6,0.054,0.018,2782,1711,2955,0,0,0,0,0,0
$GC,1232,-1.20,-77.9,162.4,-11.5,116,1237,0.00,2.45,0.00,0.000,4,0.000,0.045,2782,292,2956,0,0,0,0,0,0
$GC,1287,-1.20,-77.9,170.5,-14.5,120,1291,0.00,2.22,0.00,0.000,6,0.000,0.018,2782,1693,2956,0,0,0,0,0,0
$GC,1555,-1.20,-77.9,202.9,-11.7,140,1559,0.00,2.40,0.00,0.000,4,0.000,0.047,2782,292,2957,0,0,0,0,0,0
$GC,1577,-1.20,-77.9,205.4,-11.6,141,1582,0.00,2.22,0.00,0.000,6,0.000,0.019,2782,1706,2958,0,0,0,0,0,0
$GC,1910,-1.24,-77.9,238.2,-10.2,157,1914,0.00,2.42,0.00,0.000,4,0.000,0.048,2782,294,2957,0,0,0,0,0,0
$GC,1938,-1.24,-77.9,241.4,-10.7,158,1942,0.00,2.25,0.00,0.000,6,0.000,0.020,2782,1701,2957,0,0,0,0,0,0
$GC,2258,-1.28,-77.9,274.8,-9.6,174,2259,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1705,2956,0,0,0,0,0,0
$GC,2570,-1.34,-77.9,301.4,-8.4,189,2575,0.12,2.28,0.00,0.000,4,0.065,0.027,2742,3074,2956,0,0,0,0,0,0
$GC,2595,-1.34,-77.9,303.9,-9.5,189,2599,0.00,2.33,0.00,0.000,6,0.000,0.035,2741,1693,2955,0,0,0,0,0,0
$GC,2941,-1.34,-77.9,337.5,-10.6,198,2945,0.00,2.40,0.00,0.000,4,0.000,0.051,2741,296,2954,0,0,0,0,0,0
$GC,2974,-1.27,-77.9,341.7,-12.3,198,2979,0.15,2.25,0.00,0.000,6,0.094,0.022,2772,1704,2954,0,0,0,0,0,0
$GC,3308,-1.33,-77.9,374.5,-9.6,206,3312,0.00,2.30,0.00,0.000,4,0.000,0.029,2773,3083,2953,0,0,0,0,0,0
$GC,3332,-1.42,-77.9,377.3,-10.5,206,3336,0.15,2.35,0.00,0.000,6,0.058,0.038,2727,1698,2953,0,0,0,0,0,0
$GC,3675,-1.38,-77.9,417.7,-11.6,215,3680,0.10,2.35,0.00,0.000,4,0.113,0.031,2746,3080,2951,0,0,0,0,0,0
$GC,3751,-1.44,-77.9,425.7,-9.6,216,3755,0.00,2.38,0.00,0.000,6,0.000,0.039,2746,1695,2950,0,0,0,0,0,0
$STATE,4047,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4048,begin apogee
$GC,4055,-0.31,0.0,453.2,8.9,224,4123,1.10,0.00,64.75,0.828,6,0.074,0.000,2980,1694,2630,0,0,0,0,0,0
$STATE,4124,end apogee,CONTROL_FINISHED_OK
$STATE,4124,begin climb
$GC,4126,1.38,77.9,454.6,0.0,225,4202,1.62,2.40,66.62,0.811,4,0.041,0.031,3350,3078,2312,0,0,0,0,0,0
$GC,4261,1.24,99.4,450.9,6.4,228,4287,0.15,2.42,20.02,0.766,6,0.112,0.039,3323,1691,2224,0,0,0,0,0,0
$GC,4625,1.11,99.4,417.9,9.6,237,4630,0.15,2.38,0.00,0.000,4,0.109,0.033,3295,3077,2215,0,0,0,0,0,0
$GC,4811,1.10,111.6,403.1,7.1,241,4828,0.00,2.38,10.30,0.715,6,0.000,0.041,3295,1699,2174,0,0,0,0,0,0
$GC,5139,1.11,160.1,385.5,4.6,249,5188,0.00,2.40,44.00,0.797,4,0.000,0.031,3295,3082,1977,0,0,0,0,0,0
$GC,5222,1.12,174.4,380.7,6.9,251,5242,0.00,2.40,14.15,0.731,6,0.000,0.041,3295,1700,1919,0,0,0,0,0,0
$GC,5553,1.12,174.4,353.2,8.7,259,5557,0.00,2.53,0.00,0.000,4,0.000,0.058,3295,290,1912,0,0,0,0,0,0
$GC,5604,1.02,174.4,347.7,10.1,260,5609,0.12,2.30,0.00,0.000,6,0.115,0.028,3272,1690,1908,0,0,0,0,0,0
$GC,5923,1.07,174.4,315.1,10.7,268,5928,0.00,2.47,0.00,0.000,4,0.000,0.055,3272,294,1907,0,0,0,0,0,0
$GC,5999,1.07,174.4,306.2,11.1,269,6003,0.00,2.33,0.00,0.000,6,0.000,0.027,3272,1702,1905,0,0,0,0,0,0
$GC,6319,1.12,181.1,280.6,7.4,283,6326,0.00,0.00,4.85,0.532,6,0.000,0.000,3272,1707,1891,0,0,0,0,0,0
$GC,6628,1.22,215.7,262.3,5.6,298,6667,0.20,2.40,32.25,0.719,4,0.052,0.028,3327,3089,1749,0,0,0,0,0,0
$GC,6679,1.19,215.7,258.3,8.3,300,6683,0.00,2.42,0.00,0.000,6,0.000,0.039,3327,1692,1749,0,0,0,0,0,0
$GC,7005,1.13,215.7,218.2,13.5,316,7010,0.15,2.47,0.00,0.000,4,0.104,0.054,3298,291,1746,0,0,0,0,0,0
$GC,7096,1.07,215.7,205.4,13.4,320,7100,0.00,2.33,0.00,0.000,6,0.000,0.024,3298,1714,1742,0,0,0,0,0,0
$GC,7425,1.07,215.7,170.4,9.9,344,7429,0.00,2.50,0.00,0.000,4,0.000,0.051,3298,295,1741,0,0,0,0,0,0
$GC,7477,1.02,215.7,164.8,10.5,348,7482,0.12,2.30,0.00,0.000,6,0.110,0.023,3275,1719,1740,0,0,0,0,0,0
$GC,7745,1.12,215.7,143.6,7.9,369,7746,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1723,1741,0,0,0,0,0,0
$GC,7995,1.23,218.1,123.3,7.7,389,8000,0.20,2.50,0.00,0.000,4,0.049,0.048,3332,293,1741,0,0,0,0,0,0
$GC,8056,1.14,218.1,117.6,8.8,393,8062,0.17,2.28,0.00,0.000,6,0.092,0.021,3297,1706,1739,0,0,0,0,0,0
$GC,8317,1.27,241.0,100.4,6.3,414,8345,0.12,2.53,21.27,0.564,4,0.064,0.047,3337,289,1646,0,0,0,0,0,0
$GC,8364,1.22,241.0,96.3,10.2,417,8368,0.00,2.28,0.00,0.000,6,0.000,0.020,3338,1714,1644,0,0,0,0,0,0
$GC,8628,1.22,241.0,69.0,9.8,438,8629,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,1719,1644,0,0,0,0,0,0
$GC,8882,1.26,241.0,45.8,9.2,458,8886,0.00,2.45,0.00,0.000,4,0.000,0.046,3337,293,1644,0,0,0,0,0,0
$GC,8989,1.23,241.0,35.1,10.3,466,8993,0.00,2.22,0.00,0.000,6,0.000,0.019,3338,1710,1642,0,0,0,0,0,0
$GC,9252,1.26,241.0,12.2,8.2,518,9258,0.00,2.47,0.00,0.000,4,0.000,0.045,3337,293,1642,0,0,0,0,0,0
$GC,9283,1.26,241.0,9.2,9.3,524,9289,0.00,2.25,0.00,0.000,6,0.000,0.018,3338,1703,1642,0,0,0,0,0,0
$STATE,9357,end climb,SURFACE_DEPTH_REACHED
$STATE,9357,begin surface coast
$FINISH,0.9,1.011600
$STATE,9397,end surface coast,CONTROL_FINISHED_OK
$STATE,9397,begin surface
$SM_CCo,9419,90.82,0.481,0,0,957,410.14
$SM_GC,1.65,0.00,0.00,90.82,0.000,0.000,0.481,426,1704,957,-12.07,0.14,410.14
$IRIDIUM_FIX,2050.21,-15752.63,091299,000009
$TT8_MAMPS,0.029146
$HUMID,55.27
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.5,38.199
$10V_AH,10.2,31.926
$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,30.025,104.175,278.225,90.825,0.000,27.094,39.376,140.756,4.750,0.000,17.046,1077.215,6254.494,420.789,1629.473,460.981,0.000,1138.913,0.000,1603.963,0.000,33.852,0.000
$DEVICE_MAMPS,131.924,58.292,827.593,480.909,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,370.370,356.234,810.311,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,31764,549
$CAP_FILE_SIZE,105372,0
$CFSIZE,260165632,190423040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140910,055537,2057.374,-15749.752,39,0.9,39,9.8