version: 66.06
glider: 139
mission: 8
dive: 443
start: 9 14 110 6 1 25
data:
$ID,139
$MISSION,8
$DIVE,443
$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,-2160235.2
$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
$GPS1,055537,2057.374,-15749.752,39,0.9,39,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-71.5
$GPS2,060107,2057.360,-15749.824,9,1.1,14,9.8
$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,27.5,19686,-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,-64.70,0.000,2,0.000,0.000,426,1705,2766,0,0,0,0,0,0
$GC,85,-1.38,-77.9,3.5,-3.9,12,110,12.43,2.40,-3.45,0.000,4,0.133,0.041,2744,3104,2950,0,0,0,0,0,0
$GC,220,-1.30,-77.9,33.0,-16.2,38,227,0.08,2.40,0.00,0.000,6,0.086,0.033,2761,1700,2952,0,0,0,0,0,0
$GC,480,-1.15,-77.9,76.1,-17.4,59,485,0.17,2.35,0.00,0.000,4,0.097,0.021,2797,3114,2953,0,0,0,0,0,0
$GC,496,-1.06,-77.9,78.9,-17.1,60,501,0.10,2.38,0.00,0.000,6,0.114,0.031,2816,1689,2953,0,0,0,0,0,0
$GC,756,-1.06,-77.9,112.7,-11.5,80,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1689,2954,0,0,0,0,0,0
$GC,1008,-1.14,-77.9,138.3,-9.2,100,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1689,2955,0,0,0,0,0,0
$GC,1261,-1.24,-77.9,161.1,-9.6,120,1266,0.15,2.40,0.00,0.000,4,0.056,0.047,2767,290,2956,0,0,0,0,0,0
$GC,1281,-1.24,-77.9,163.6,-11.0,121,1286,0.00,2.30,0.00,0.000,6,0.000,0.019,2766,1738,2956,0,0,0,0,0,0
$GC,1540,-1.24,-77.9,195.4,-12.7,142,1541,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1739,2956,0,0,0,0,0,0
$GC,1804,-1.24,-77.9,226.4,-12.2,156,1808,0.00,2.47,0.00,0.000,4,0.000,0.047,2766,296,2956,0,0,0,0,0,0
$GC,1856,-1.18,-77.9,233.3,-13.8,158,1861,0.12,2.28,0.00,0.000,6,0.102,0.020,2793,1716,2956,0,0,0,0,0,0
$GC,2179,-1.25,-77.9,264.5,-9.7,174,2183,0.00,2.47,0.00,0.000,4,0.000,0.048,2793,290,2956,0,0,0,0,0,0
$GC,2253,-1.29,-77.9,272.8,-10.6,177,2258,0.10,2.25,0.00,0.000,6,0.074,0.021,2759,1700,2956,0,0,0,0,0,0
$GC,2598,-1.29,-77.9,305.0,-9.8,193,2599,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1705,2955,0,0,0,0,0,0
$GC,2923,-1.29,-77.9,335.1,-8.9,201,2924,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1705,2954,0,0,0,0,0,0
$GC,3249,-1.29,-77.9,363.7,-9.0,209,3250,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1705,2953,0,0,0,0,0,0
$GC,3574,-1.29,-77.9,396.4,-10.2,217,3579,0.00,2.45,0.00,0.000,4,0.000,0.054,2758,294,2950,0,0,0,0,0,0
$GC,3610,-1.25,-77.9,400.2,-11.2,217,3614,0.00,2.25,0.00,0.000,6,0.000,0.025,2758,1690,2950,0,0,0,0,0,0
$GC,3942,-1.25,-77.9,435.0,-10.6,225,3946,0.00,2.33,0.00,0.000,4,0.000,0.032,2758,3086,2949,0,0,0,0,0,0
$GC,3993,-1.34,-77.9,440.5,-9.9,226,3997,0.00,2.35,0.00,0.000,6,0.000,0.041,2757,1704,2948,0,0,0,0,0,0
$STATE,4105,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4106,begin apogee
$GC,4113,-0.31,0.0,451.9,10.1,229,4181,1.05,0.00,64.72,0.830,6,0.071,0.000,2983,1704,2630,0,0,0,0,0,0
$STATE,4181,end apogee,CONTROL_FINISHED_OK
$STATE,4182,begin climb
$GC,4184,1.38,77.9,453.8,0.0,230,4263,1.60,2.40,66.97,0.813,4,0.041,0.031,3349,3088,2311,0,0,0,0,0,0
$GC,4283,1.32,168.7,454.8,1.7,232,4371,0.00,2.42,79.85,0.808,6,0.000,0.038,3349,1698,1942,0,0,0,0,0,0
$GC,4681,1.17,168.7,407.9,13.4,242,4686,0.22,2.53,0.00,0.000,4,0.100,0.056,3305,291,1932,0,0,0,0,0,0
$GC,4697,1.01,168.7,406.0,11.8,242,4702,0.17,2.33,0.00,0.000,6,0.106,0.027,3272,1704,1930,0,0,0,0,0,0
$GC,5047,1.01,168.7,373.9,9.2,251,5052,0.00,2.53,0.00,0.000,4,0.000,0.056,3272,294,1928,0,0,0,0,0,0
$GC,5132,0.96,168.7,364.1,11.4,252,5138,0.00,2.33,0.00,0.000,6,0.000,0.027,3272,1699,1924,0,0,0,0,0,0
$GC,5464,1.01,178.6,337.7,7.2,261,5476,0.00,2.58,6.90,0.633,4,0.000,0.057,3272,294,1901,0,0,0,0,0,0
$GC,5560,0.97,178.6,329.9,8.7,263,5564,0.00,2.33,0.00,0.000,6,0.000,0.027,3272,1705,1898,0,0,0,0,0,0
$GC,5888,1.03,204.7,310.2,6.1,271,5920,0.00,2.55,24.58,0.743,4,0.000,0.054,3272,294,1794,0,0,0,0,0,0
$GC,6008,1.03,204.7,300.4,8.6,273,6012,0.00,2.33,0.00,0.000,6,0.000,0.026,3272,1707,1789,0,0,0,0,0,0
$GC,6330,1.09,204.7,274.8,8.5,289,6334,0.00,2.50,0.00,0.000,4,0.000,0.053,3272,297,1788,0,0,0,0,0,0
$GC,6353,1.09,204.7,272.1,10.9,290,6357,0.00,2.33,0.00,0.000,6,0.000,0.025,3272,1711,1786,0,0,0,0,0,0
$GC,6683,1.16,204.7,241.5,9.1,306,6688,0.12,2.47,0.00,0.000,4,0.067,0.052,3309,297,1785,0,0,0,0,0,0
$GC,6822,1.06,204.7,224.8,12.3,312,6827,0.15,2.30,0.00,0.000,6,0.105,0.025,3280,1714,1784,0,0,0,0,0,0
$GC,7152,1.11,204.7,192.4,9.0,330,7156,0.00,2.50,0.00,0.000,4,0.000,0.051,3280,291,1784,0,0,0,0,0,0
$GC,7170,1.11,204.7,190.3,9.5,331,7175,0.00,2.28,0.00,0.000,6,0.000,0.024,3280,1702,1783,0,0,0,0,0,0
$GC,7430,1.20,231.7,171.7,6.1,352,7460,0.15,2.55,23.08,0.634,4,0.060,0.050,3324,301,1685,0,0,0,0,0,0
$GC,7495,1.08,231.7,165.5,11.4,356,7502,0.17,2.33,0.00,0.000,6,0.081,0.022,3285,1707,1681,0,0,0,0,0,0
$GC,7758,1.14,231.7,139.0,10.5,377,7763,0.00,2.50,0.00,0.000,4,0.000,0.051,3285,290,1681,0,0,0,0,0,0
$GC,7854,1.14,231.7,127.5,8.7,384,7858,0.00,2.28,0.00,0.000,6,0.000,0.021,3285,1711,1678,0,0,0,0,0,0
$GC,8116,1.24,234.6,105.3,7.7,404,8118,0.15,0.00,0.00,0.000,6,0.058,0.000,3331,1716,1678,0,0,0,0,0,0
$GC,8366,1.24,234.6,77.8,10.2,424,8370,0.00,2.47,0.00,0.000,4,0.000,0.048,3331,293,1678,0,0,0,0,0,0
$GC,8476,1.20,234.6,67.7,8.3,432,8480,0.00,2.25,0.00,0.000,6,0.000,0.020,3331,1711,1678,0,0,0,0,0,0
$GC,8741,1.25,234.6,46.1,9.3,453,8745,0.00,2.20,0.00,0.000,4,0.000,0.023,3331,3074,1677,0,0,0,0,0,0
$GC,8796,1.33,234.6,41.1,8.3,457,8801,0.00,2.33,0.00,0.000,6,0.000,0.030,3331,1691,1678,0,0,0,0,0,0
$GC,9059,1.39,234.6,19.7,8.6,495,9066,0.00,2.42,0.00,0.000,4,0.000,0.048,3331,297,1678,0,0,0,0,0,0
$GC,9083,1.39,234.6,17.4,9.1,499,9090,0.00,2.25,0.00,0.000,6,0.000,0.019,3331,1711,1678,0,0,0,0,0,0
$STATE,9264,end climb,SURFACE_DEPTH_REACHED
$STATE,9264,begin surface coast
$FINISH,0.9,1.010498
$STATE,9304,end surface coast,CONTROL_FINISHED_OK
$STATE,9304,begin surface
$SM_CCo,9327,99.65,0.486,0,0,957,410.14
$SM_GC,1.51,0.00,0.00,99.65,0.000,0.000,0.486,428,1712,957,-12.06,0.34,410.14
$IRIDIUM_FIX,2052.52,-15751.76,091299,030351
$TT8_MAMPS,0.028379
$HUMID,55.15
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,421.9,72.3
$24V_AH,23.5,38.284
$10V_AH,10.3,31.998
$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,29.300,95.325,266.100,99.650,0.000,30.593,32.371,139.403,4.500,0.000,14.886,1057.474,6216.313,418.583,1612.385,452.083,0.000,1120.735,0.000,1589.164,0.000,30.736,0.000
$DEVICE_MAMPS,132.691,56.758,829.894,486.278,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,370.879,357.556,820.236,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,31827,550
$CAP_FILE_SIZE,100130,0
$CFSIZE,260165632,190373888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140910,083954,2057.668,-15749.823,26,0.9,43,9.8