version: 66.06
glider: 139
mission: 8
dive: 446
start: 9 14 110 14 4 50
data:
$ID,139
$MISSION,8
$DIVE,446
$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,-2160306.2
$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
$GPS1,135930,2058.053,-15749.515,40,0.9,46,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-74.2
$GPS2,140432,2058.047,-15749.539,12,1.7,12,9.8
$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,28.7,18379,-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,-77.9,0.0,0.0,0,77,0.00,0.00,-59.45,0.000,2,0.000,0.000,430,1705,2591,0,0,0,0,0,0
$GC,80,-1.38,-77.9,3.0,-2.6,11,110,12.43,2.40,-7.43,0.000,4,0.134,0.035,2743,3116,2950,0,0,0,0,0,0
$GC,192,-1.33,-77.9,26.0,-17.0,34,198,0.00,2.45,0.00,0.000,6,0.000,0.034,2743,1694,2951,0,0,0,0,0,0
$GC,396,-1.12,-77.9,66.3,-20.1,53,401,0.28,2.35,0.00,0.000,4,0.100,0.021,2800,3122,2952,0,0,0,0,0,0
$GC,523,-1.18,-77.9,86.1,-15.0,62,530,0.00,2.42,0.00,0.000,6,0.000,0.031,2799,1698,2952,0,0,0,0,0,0
$GC,783,-1.18,-77.9,117.9,-10.7,83,787,0.00,2.40,0.00,0.000,4,0.000,0.045,2800,288,2953,0,0,0,0,0,0
$GC,822,-1.12,-77.9,122.7,-13.3,86,827,0.00,2.30,0.00,0.000,6,0.000,0.018,2799,1737,2953,0,0,0,0,0,0
$GC,1089,-1.16,-77.9,150.5,-10.5,107,1093,0.00,2.50,0.00,0.000,4,0.000,0.045,2799,287,2954,0,0,0,0,0,0
$GC,1154,-1.16,-77.9,158.0,-11.2,112,1158,0.00,2.28,0.00,0.000,6,0.000,0.018,2799,1715,2955,0,0,0,0,0,0
$GC,1425,-1.21,-77.9,183.7,-10.0,133,1429,0.00,2.22,0.00,0.000,4,0.000,0.022,2800,3078,2955,0,0,0,0,0,0
$GC,1478,-1.34,-77.9,189.4,-10.0,137,1483,0.17,2.30,0.00,0.000,6,0.050,0.031,2745,1696,2956,0,0,0,0,0,0
$GC,1755,-1.28,-77.9,224.0,-12.1,153,1757,0.12,0.00,0.00,0.000,6,0.102,0.000,2771,1695,2956,0,0,0,0,0,0
$GC,2060,-1.28,-77.9,254.2,-10.1,168,2061,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,1695,2955,0,0,0,0,0,0
$GC,2372,-1.28,-77.9,283.6,-10.0,183,2376,0.00,2.38,0.00,0.000,4,0.000,0.047,2770,299,2956,0,0,0,0,0,0
$GC,2400,-1.25,-77.9,287.1,-11.5,184,2404,0.00,2.25,0.00,0.000,6,0.000,0.021,2770,1704,2955,0,0,0,0,0,0
$GC,2719,-1.28,-77.9,318.4,-10.1,196,2720,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1710,2954,0,0,0,0,0,0
$GC,3043,-1.33,-77.9,346.6,-8.5,204,3047,0.00,2.42,0.00,0.000,4,0.000,0.050,2770,300,2954,0,0,0,0,0,0
$GC,3061,-1.33,-77.9,348.5,-9.0,204,3065,0.00,2.22,0.00,0.000,6,0.000,0.023,2770,1698,2954,0,0,0,0,0,0
$GC,3408,-1.37,-77.9,373.8,-7.0,213,3409,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,1703,2952,0,0,0,0,0,0
$GC,3732,-1.43,-77.9,400.4,-8.4,221,3734,0.15,0.00,0.00,0.000,6,0.061,0.000,2728,1703,2950,0,0,0,0,0,0
$GC,4058,-1.39,-77.9,436.2,-11.0,229,4062,0.00,2.30,0.00,0.000,4,0.000,0.031,2728,3073,2948,0,0,0,0,0,0
$GC,4110,-1.42,-77.9,441.4,-9.5,230,4114,0.00,2.35,0.00,0.000,6,0.000,0.041,2727,1701,2948,0,0,0,0,0,0
$STATE,4222,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4222,begin apogee
$GC,4228,-0.31,0.0,452.6,9.6,233,4296,1.20,0.00,64.57,0.828,6,0.076,0.000,2981,1702,2630,0,0,0,0,0,0
$STATE,4297,end apogee,CONTROL_FINISHED_OK
$STATE,4297,begin climb
$GC,4300,1.38,77.9,454.2,0.0,234,4379,1.62,2.38,66.85,0.810,4,0.041,0.030,3353,3076,2311,0,0,0,0,0,0
$GC,4492,1.26,115.7,450.9,5.3,238,4533,0.15,2.40,33.78,0.794,6,0.114,0.038,3326,1699,2157,0,0,0,0,0,0
$GC,4852,1.15,121.1,423.4,7.5,247,4859,0.12,0.00,4.50,0.538,6,0.117,0.000,3303,1699,2135,0,0,0,0,0,0
$GC,5177,1.09,121.1,395.7,8.7,255,5181,0.00,2.33,0.00,0.000,4,0.000,0.032,3303,3074,2133,0,0,0,0,0,0
$GC,5221,1.06,121.1,392.2,8.2,256,5226,0.12,2.38,0.00,0.000,6,0.116,0.040,3280,1693,2132,0,0,0,0,0,0
$GC,5551,1.11,161.5,372.8,5.2,264,5593,0.00,2.53,36.75,0.790,4,0.000,0.055,3280,294,1970,0,0,0,0,0,0
$GC,5639,1.05,177.6,367.9,6.8,265,5660,0.00,2.33,15.05,0.735,6,0.000,0.027,3280,1699,1906,0,0,0,0,0,0
$GC,5976,1.11,222.3,350.8,4.9,274,6023,0.00,2.55,40.60,0.775,4,0.000,0.056,3280,291,1722,0,0,0,0,0,0
$GC,6051,1.03,222.3,345.8,9.3,275,6055,0.00,2.35,0.00,0.000,6,0.000,0.027,3280,1707,1718,0,0,0,0,0,0
$GC,6386,1.08,222.3,314.6,10.3,284,6391,0.00,2.50,0.00,0.000,4,0.000,0.055,3280,295,1714,0,0,0,0,0,0
$GC,6457,1.08,222.3,306.3,12.4,285,6461,0.00,2.33,0.00,0.000,6,0.000,0.026,3279,1709,1712,0,0,0,0,0,0
$GC,6782,1.14,222.3,269.8,11.2,299,6787,0.00,2.53,0.00,0.000,4,0.000,0.054,3280,290,1711,0,0,0,0,0,0
$GC,6886,1.14,222.3,257.0,11.8,303,6890,0.00,2.33,0.00,0.000,6,0.000,0.025,3280,1712,1708,0,0,0,0,0,0
$GC,7202,1.20,222.3,226.7,9.3,318,7207,0.15,2.50,0.00,0.000,4,0.062,0.053,3321,296,1708,0,0,0,0,0,0
$GC,7278,1.08,222.3,217.8,12.6,321,7283,0.17,2.30,0.00,0.000,6,0.100,0.024,3288,1701,1708,0,0,0,0,0,0
$GC,7604,1.13,222.3,187.6,9.9,341,7609,0.00,2.45,0.00,0.000,4,0.000,0.050,3287,294,1707,0,0,0,0,0,0
$GC,7685,1.13,222.3,177.1,13.1,347,7689,0.00,2.30,0.00,0.000,6,0.000,0.023,3287,1716,1707,0,0,0,0,0,0
$GC,7956,1.21,222.3,149.4,8.1,368,7957,0.12,0.00,0.00,0.000,6,0.067,0.000,3326,1721,1707,0,0,0,0,0,0
$GC,8205,1.21,222.3,126.7,8.6,388,8209,0.00,2.47,0.00,0.000,4,0.000,0.049,3326,294,1707,0,0,0,0,0,0
$GC,8230,1.13,222.3,124.2,11.0,390,8235,0.15,2.25,0.00,0.000,6,0.100,0.021,3296,1711,1707,0,0,0,0,0,0
$GC,8498,1.22,222.3,102.0,8.9,411,8502,0.00,2.47,0.00,0.000,4,0.000,0.048,3296,290,1707,0,0,0,0,0,0
$GC,8614,1.22,222.3,88.6,12.1,419,8620,0.00,2.25,0.00,0.000,6,0.000,0.020,3296,1701,1707,0,0,0,0,0,0
$GC,8874,1.35,238.8,66.4,6.8,440,8893,0.20,2.30,12.45,0.509,4,0.049,0.023,3355,3070,1656,0,0,0,0,0,0
$GC,8993,1.43,271.2,58.4,5.7,448,9028,0.00,2.35,28.75,0.528,6,0.000,0.032,3355,1698,1524,0,0,0,0,0,0
$GC,9281,1.43,271.2,33.0,10.5,471,9284,0.00,2.25,0.00,0.000,4,0.000,0.021,3355,3073,1521,0,0,0,0,0,0
$GC,9297,1.43,271.2,31.2,11.0,472,9301,0.00,2.33,0.00,0.000,6,0.000,0.031,3355,1697,1520,0,0,0,0,0,0
$GC,9560,1.43,271.2,4.9,10.5,530,9566,0.00,2.42,0.00,0.000,4,0.000,0.046,3355,304,1520,0,0,0,0,0,0
$STATE,9576,end climb,SURFACE_DEPTH_REACHED
$STATE,9576,begin surface coast
$FINISH,0.9,1.010685
$STATE,9603,end surface coast,CONTROL_FINISHED_OK
$STATE,9603,begin surface
$SM_CCo,9628,77.10,0.482,0,0,958,410.14
$SM_GC,1.65,0.00,0.00,77.10,0.000,0.000,0.482,426,1700,958,-12.07,0.00,410.14
$IRIDIUM_FIX,2050.21,-15747.49,091299,111101
$TT8_MAMPS,0.029146
$HUMID,55.90
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.5,38.543
$10V_AH,10.2,32.210
$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,29.675,99.350,303.300,77.100,0.000,25.444,29.201,124.971,4.500,0.000,12.985,1058.770,6482.026,421.067,1612.487,432.685,0.000,1147.391,0.000,1594.903,0.000,29.249,0.000
$DEVICE_MAMPS,134.225,55.991,827.593,481.676,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,363.021,342.432,770.254,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,28644,539
$CAP_FILE_SIZE,102758,0
$CFSIZE,260165632,190222336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140910,164755,2058.433,-15749.462,41,2.0,41,9.8