version: 66.06
glider: 139
mission: 8
dive: 444
start: 9 14 110 8 45 47
data:
$ID,139
$MISSION,8
$DIVE,444
$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,-2160259.8
$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
$GPS1,083954,2057.668,-15749.823,26,0.9,43,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-71.0
$GPS2,084531,2057.681,-15749.885,12,1.0,23,9.8
$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,28.8,19281,-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,-64.10,0.000,2,0.000,0.000,427,1715,2730,0,0,0,0,0,0
$GC,85,-1.38,-77.9,3.2,-3.1,12,110,12.43,2.38,-4.20,0.000,4,0.134,0.041,2739,3105,2950,0,0,0,0,0,0
$GC,161,-1.26,-77.9,22.5,-19.0,27,167,0.12,2.42,0.00,0.000,6,0.088,0.035,2768,1700,2952,0,0,0,0,0,0
$GC,370,-1.14,-77.9,58.5,-16.0,49,375,0.17,2.33,0.00,0.000,4,0.098,0.022,2803,3113,2953,0,0,0,0,0,0
$GC,439,-1.19,-77.9,68.3,-13.8,54,443,0.00,2.38,0.00,0.000,6,0.000,0.031,2803,1696,2953,0,0,0,0,0,0
$GC,704,-1.19,-77.9,106.3,-12.8,75,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1695,2954,0,0,0,0,0,0
$GC,958,-1.25,-77.9,134.7,-10.6,95,963,0.12,2.40,0.00,0.000,4,0.064,0.046,2762,296,2955,0,0,0,0,0,0
$GC,987,-1.16,-77.9,138.3,-12.0,97,992,0.15,2.28,0.00,0.000,6,0.098,0.018,2793,1736,2955,0,0,0,0,0,0
$GC,1251,-1.21,-77.9,160.6,-8.4,117,1255,0.00,2.47,0.00,0.000,4,0.000,0.045,2792,293,2956,0,0,0,0,0,0
$GC,1276,-1.21,-77.9,163.3,-9.6,119,1280,0.00,2.25,0.00,0.000,6,0.000,0.019,2793,1713,2957,0,0,0,0,0,0
$GC,1546,-1.26,-77.9,192.9,-12.3,140,1550,0.00,2.42,0.00,0.000,4,0.000,0.046,2792,297,2957,0,0,0,0,0,0
$GC,1586,-1.26,-77.9,198.4,-13.8,143,1590,0.00,2.22,0.00,0.000,6,0.000,0.020,2793,1704,2957,0,0,0,0,0,0
$GC,1851,-1.32,-77.9,229.2,-11.5,156,1855,0.12,2.28,0.00,0.000,4,0.064,0.025,2752,3077,2957,0,0,0,0,0,0
$GC,1885,-1.36,-77.9,233.8,-12.3,157,1889,0.00,2.30,0.00,0.000,6,0.000,0.033,2751,1701,2957,0,0,0,0,0,0
$GC,2200,-1.36,-77.9,272.1,-10.8,172,2204,0.00,2.40,0.00,0.000,4,0.000,0.047,2751,293,2956,0,0,0,0,0,0
$GC,2251,-1.30,-77.9,278.2,-12.4,174,2255,0.00,2.25,0.00,0.000,6,0.000,0.021,2752,1693,2956,0,0,0,0,0,0
$GC,2570,-1.30,-77.9,311.7,-9.3,187,2574,0.00,2.30,0.00,0.000,4,0.000,0.027,2752,3081,2956,0,0,0,0,0,0
$GC,2742,-1.36,-77.9,326.9,-8.2,190,2746,0.00,2.33,0.00,0.000,6,0.000,0.035,2752,1697,2955,0,0,0,0,0,0
$GC,3075,-1.36,-77.9,360.2,-10.7,198,3079,0.00,2.30,0.00,0.000,4,0.000,0.028,2752,3083,2953,0,0,0,0,0,0
$GC,3088,-1.36,-77.9,362.1,-10.9,198,3093,0.00,2.35,0.00,0.000,6,0.000,0.035,2752,1702,2953,0,0,0,0,0,0
$GC,3440,-1.36,-77.9,398.4,-9.6,207,3445,0.00,2.30,0.00,0.000,4,0.000,0.029,2752,3082,2951,0,0,0,0,0,0
$GC,3474,-1.43,-77.9,401.5,-8.4,207,3478,0.00,2.35,0.00,0.000,6,0.000,0.038,2752,1698,2951,0,0,0,0,0,0
$GC,3806,-1.43,-77.9,430.0,-8.1,215,3810,0.00,2.47,0.00,0.000,4,0.000,0.056,2752,290,2949,0,0,0,0,0,0
$GC,3886,-1.43,-77.9,436.7,-9.3,216,3890,0.00,2.30,0.00,0.000,6,0.000,0.025,2752,1697,2949,0,0,0,0,0,0
$STATE,4056,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4056,begin apogee
$GC,4062,-0.31,0.0,450.7,8.0,221,4131,1.08,0.00,65.12,0.825,6,0.074,0.000,2981,1702,2630,0,0,0,0,0,0
$STATE,4132,end apogee,CONTROL_FINISHED_OK
$STATE,4132,begin climb
$GC,4134,1.38,77.9,451.4,0.0,222,4212,1.62,2.40,66.78,0.810,4,0.041,0.031,3352,3090,2311,0,0,0,0,0,0
$GC,4232,1.29,143.4,449.4,3.5,224,4297,0.12,2.42,58.47,0.801,6,0.117,0.038,3330,1700,2044,0,0,0,0,0,0
$GC,4632,1.17,143.4,412.5,8.9,234,4637,0.12,2.53,0.00,0.000,4,0.117,0.058,3307,298,2033,0,0,0,0,0,0
$GC,4747,1.01,143.4,401.9,8.5,236,4752,0.20,2.33,0.00,0.000,6,0.103,0.027,3269,1703,2029,0,0,0,0,0,0
$GC,5094,1.04,143.4,373.7,8.5,245,5099,0.00,2.35,0.00,0.000,4,0.000,0.032,3269,3087,2028,0,0,0,0,0,0
$GC,5175,1.11,149.1,367.3,7.5,246,5180,0.10,2.40,0.00,0.000,6,0.080,0.041,3299,1694,2027,0,0,0,0,0,0
$GC,5508,1.09,155.7,341.9,7.4,254,5523,0.00,2.53,8.68,0.672,4,0.000,0.054,3298,288,1994,0,0,0,0,0,0
$GC,5557,0.97,155.7,337.8,8.5,255,5562,0.20,2.35,0.00,0.000,6,0.101,0.027,3260,1702,1992,0,0,0,0,0,0
$GC,5882,1.12,226.5,325.3,3.1,263,5954,0.15,2.58,63.70,0.772,4,0.064,0.056,3301,296,1706,0,0,0,0,0,0
$GC,5988,1.01,226.5,316.7,11.9,265,5993,0.15,2.33,0.00,0.000,6,0.105,0.026,3272,1704,1702,0,0,0,0,0,0
$GC,6318,1.06,226.5,283.0,12.1,277,6322,0.00,2.53,0.00,0.000,4,0.000,0.054,3272,290,1698,0,0,0,0,0,0
$GC,6341,1.06,226.5,279.3,14.0,278,6346,0.00,2.33,0.00,0.000,6,0.000,0.026,3272,1702,1696,0,0,0,0,0,0
$GC,6672,1.13,226.5,242.4,8.9,294,6677,0.10,2.50,0.00,0.000,4,0.077,0.053,3303,295,1695,0,0,0,0,0,0
$GC,6856,1.05,226.5,221.8,12.1,302,6861,0.12,2.30,0.00,0.000,6,0.107,0.024,3279,1708,1692,0,0,0,0,0,0
$GC,7179,1.12,226.5,194.1,9.7,319,7183,0.00,2.50,0.00,0.000,4,0.000,0.052,3279,292,1693,0,0,0,0,0,0
$GC,7207,1.09,226.5,190.2,11.8,321,7212,0.00,2.28,0.00,0.000,6,0.000,0.024,3279,1708,1691,0,0,0,0,0,0
$GC,7470,1.16,226.5,163.1,9.9,341,7475,0.10,2.47,0.00,0.000,4,0.077,0.051,3311,294,1691,0,0,0,0,0,0
$GC,7569,1.09,226.5,149.8,13.7,348,7574,0.12,2.28,0.00,0.000,6,0.106,0.022,3287,1703,1690,0,0,0,0,0,0
$GC,7837,1.16,226.5,125.7,8.6,369,7841,0.00,2.47,0.00,0.000,4,0.000,0.049,3286,293,1690,0,0,0,0,0,0
$GC,7913,1.19,226.5,118.0,8.4,374,7921,0.08,2.30,0.00,0.000,6,0.040,0.021,3320,1706,1690,0,0,0,0,0,0
$GC,8176,1.23,230.0,96.9,7.7,395,8181,0.00,2.47,0.00,0.000,4,0.000,0.048,3320,287,1690,0,0,0,0,0,0
$GC,8195,1.23,232.6,95.0,7.7,396,8205,0.00,2.30,3.88,0.367,6,0.000,0.021,3320,1710,1680,0,0,0,0,0,0
$GC,8472,1.34,271.5,79.5,5.3,418,8515,0.10,2.55,34.75,0.555,4,0.074,0.048,3355,300,1521,0,0,0,0,0,0
$GC,8621,1.25,271.5,62.4,13.2,428,8628,0.12,2.28,0.00,0.000,6,0.073,0.020,3325,1704,1516,0,0,0,0,0,0
$GC,8884,1.32,271.5,35.2,10.3,449,8885,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,1710,1516,0,0,0,0,0,0
$GC,9136,1.39,271.5,10.4,9.0,499,9143,0.12,2.50,0.00,0.000,4,0.063,0.047,3368,292,1516,0,0,0,0,0,0
$GC,9189,1.26,271.5,3.3,14.5,510,9196,0.17,2.25,0.00,0.000,6,0.073,0.019,3327,1712,1515,0,0,0,0,0,0
$STATE,9201,end climb,SURFACE_DEPTH_REACHED
$STATE,9201,begin surface coast
$FINISH,0.8,1.016100
$STATE,9224,end surface coast,CONTROL_FINISHED_OK
$STATE,9224,begin surface
$SM_CCo,9247,74.70,0.482,0,0,957,410.14
$SM_GC,1.68,0.00,0.00,74.70,0.000,0.000,0.482,429,1714,957,-12.06,0.40,410.14
$IRIDIUM_FIX,2050.21,-15747.49,091299,060625
$TT8_MAMPS,0.029146
$HUMID,56.65
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,21.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,441.0,52.8
$24V_AH,23.5,38.371
$10V_AH,10.2,32.069
$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,30.325,113.975,301.375,74.700,0.000,27.823,29.281,146.287,4.750,0.000,23.824,1048.842,6092.982,417.849,1631.945,465.386,0.000,1165.346,0.000,1597.922,0.000,32.245,0.000
$DEVICE_MAMPS,134.225,57.525,824.525,482.443,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,348.379,330.621,737.119,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,28671,517
$CAP_FILE_SIZE,108123,0
$CFSIZE,260165632,190320640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140910,112222,2057.773,-15749.654,15,2.1,34,9.8