version: 66.06
glider: 139
mission: 8
dive: 447
start: 9 14 110 16 53 52
data:
$ID,139
$MISSION,8
$DIVE,447
$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,-2160338
$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
$GPS1,164755,2058.433,-15749.462,41,2.0,41,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-71.3
$GPS2,165336,2058.431,-15749.525,14,2.0,30,9.8
$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,30.1,17813,-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,13,begin dive
$GC,15,-1.38,-77.9,0.0,0.0,0,82,0.00,0.00,-64.22,0.000,2,0.000,0.000,426,1701,2727,0,0,0,0,0,0
$GC,85,-1.38,-77.9,3.2,-2.7,12,110,12.45,2.38,-4.25,0.000,4,0.135,0.035,2743,3107,2949,0,0,0,0,0,0
$GC,123,-0.27,-77.9,15.0,-27.5,18,130,1.12,2.42,0.00,0.000,6,0.078,0.033,2989,1697,2950,0,0,0,0,0,0
$GC,325,-0.67,-77.9,27.7,-5.5,64,333,0.35,2.45,0.00,0.000,4,0.034,0.044,2886,293,2952,0,0,0,0,0,0
$GC,412,-0.78,-77.9,36.2,-10.8,74,417,0.00,2.33,0.00,0.000,6,0.000,0.018,2886,1741,2952,0,0,0,0,0,0
$GC,678,-0.93,-77.9,61.8,-9.4,95,680,0.17,0.00,0.00,0.000,6,0.050,0.000,2829,1741,2952,0,0,0,0,0,0
$GC,931,-0.93,-77.9,89.8,-11.3,115,935,0.00,2.50,0.00,0.000,4,0.000,0.045,2829,294,2953,0,0,0,0,0,0
$GC,974,-0.93,-77.9,95.6,-13.5,118,978,0.00,2.25,0.00,0.000,6,0.000,0.018,2829,1719,2954,0,0,0,0,0,0
$GC,1237,-1.01,-77.9,124.9,-10.6,138,1241,0.00,2.45,0.00,0.000,4,0.000,0.044,2829,294,2955,0,0,0,0,0,0
$GC,1292,-1.06,-77.9,132.6,-13.7,142,1296,0.00,2.22,0.00,0.000,6,0.000,0.018,2829,1707,2955,0,0,0,0,0,0
$GC,1554,-1.17,-77.9,159.2,-8.6,162,1559,0.15,2.42,0.00,0.000,4,0.055,0.046,2779,297,2956,0,0,0,0,0,0
$GC,1608,-1.13,-77.9,164.1,-8.1,166,1613,0.12,2.20,0.00,0.000,6,0.099,0.018,2804,1701,2956,0,0,0,0,0,0
$GC,1877,-1.20,-77.9,183.2,-8.5,187,1881,0.00,2.25,0.00,0.000,4,0.000,0.023,2804,3078,2957,0,0,0,0,0,0
$GC,1902,-1.32,-77.9,186.0,-9.4,189,1907,0.20,2.30,0.00,0.000,6,0.046,0.032,2744,1698,2957,0,0,0,0,0,0
$GC,2164,-1.28,-77.9,220.0,-13.8,205,2169,0.12,2.42,0.00,0.000,4,0.100,0.046,2769,289,2956,0,0,0,0,0,0
$GC,2198,-1.23,-77.9,226.2,-15.7,206,2202,0.00,2.25,0.00,0.000,6,0.000,0.019,2769,1704,2957,0,0,0,0,0,0
$GC,2515,-1.23,-77.9,261.6,-9.5,221,2516,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,1709,2956,0,0,0,0,0,0
$GC,2824,-1.27,-77.9,288.0,-8.9,236,2828,0.00,2.25,0.00,0.000,4,0.000,0.025,2769,3071,2956,0,0,0,0,0,0
$GC,2871,-1.37,-77.9,291.7,-7.8,238,2875,0.00,2.30,0.00,0.000,6,0.000,0.035,2769,1700,2956,0,0,0,0,0,0
$GC,3195,-1.41,-77.9,319.7,-9.5,249,3200,0.12,2.42,0.00,0.000,4,0.067,0.050,2730,299,2955,0,0,0,0,0,0
$GC,3238,-1.29,-77.9,325.1,-11.9,249,3245,0.17,2.22,0.00,0.000,6,0.093,0.022,2767,1693,2955,0,0,0,0,0,0
$GC,3570,-1.33,-77.9,358.5,-10.3,258,3574,0.00,2.30,0.00,0.000,4,0.000,0.028,2766,3078,2953,0,0,0,0,0,0
$GC,3626,-1.42,-77.9,363.8,-9.5,259,3631,0.12,2.35,0.00,0.000,6,0.066,0.037,2729,1698,2953,0,0,0,0,0,0
$GC,3941,-1.39,-77.9,394.2,-9.6,267,3945,0.00,2.30,0.00,0.000,4,0.000,0.029,2728,3078,2951,0,0,0,0,0,0
$GC,4002,-1.39,-77.9,399.9,-9.8,268,4007,0.00,2.38,0.00,0.000,6,0.000,0.039,2728,1695,2950,0,0,0,0,0,0
$GC,4321,-1.36,-77.9,431.7,-10.5,276,4326,0.12,2.45,0.00,0.000,4,0.104,0.057,2753,296,2948,0,0,0,0,0,0
$GC,4341,-1.32,-77.9,433.9,-10.2,276,4345,0.00,2.30,0.00,0.000,6,0.000,0.025,2753,1703,2948,0,0,0,0,0,0
$STATE,4561,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4561,begin apogee
$GC,4568,-0.31,0.0,453.4,8.8,282,4636,1.08,0.00,64.82,0.827,6,0.072,0.000,2982,1708,2630,0,0,0,0,0,0
$STATE,4637,end apogee,CONTROL_FINISHED_OK
$STATE,4637,begin climb
$GC,4640,1.38,77.9,454.8,0.0,283,4712,1.60,0.00,67.32,0.814,6,0.041,0.000,3350,1708,2312,0,0,0,0,0,0
$GC,5011,1.22,100.6,437.7,6.4,292,5038,0.17,2.40,20.23,0.778,4,0.107,0.032,3317,3082,2218,0,0,0,0,0,0
$GC,5174,1.21,157.8,428.3,4.0,295,5233,0.00,2.42,51.58,0.808,6,0.000,0.040,3317,1693,1986,0,0,0,0,0,0
$GC,5558,1.13,157.8,397.6,8.9,305,5562,0.00,2.50,0.00,0.000,4,0.000,0.056,3317,291,1977,0,0,0,0,0,0
$GC,5583,0.97,157.8,394.9,11.0,305,5588,0.28,2.33,0.00,0.000,6,0.100,0.027,3263,1700,1974,0,0,0,0,0,0
$GC,5924,1.02,162.1,368.8,7.6,314,5929,0.00,2.50,0.00,0.000,4,0.000,0.057,3263,290,1972,0,0,0,0,0,0
$GC,6004,0.98,162.1,361.6,9.2,315,6008,0.00,2.35,0.00,0.000,6,0.000,0.027,3263,1703,1969,0,0,0,0,0,0
$GC,6336,1.04,162.1,333.9,8.9,323,6341,0.00,2.50,0.00,0.000,4,0.000,0.055,3263,295,1969,0,0,0,0,0,0
$GC,6374,1.04,162.1,329.6,11.7,323,6379,0.00,2.30,0.00,0.000,6,0.000,0.027,3263,1701,1967,0,0,0,0,0,0
$GC,6705,1.09,162.9,301.2,7.8,332,6710,0.10,2.50,0.00,0.000,4,0.078,0.054,3293,290,1967,0,0,0,0,0,0
$GC,6726,1.04,162.9,299.5,8.5,332,6730,0.00,2.33,0.00,0.000,6,0.000,0.026,3293,1711,1966,0,0,0,0,0,0
$GC,7056,1.07,187.5,276.6,6.2,348,7085,0.00,2.60,23.95,0.727,4,0.000,0.053,3293,297,1865,0,0,0,0,0,0
$GC,7178,0.99,187.5,265.0,10.8,353,7183,0.12,2.33,0.00,0.000,6,0.108,0.025,3270,1701,1860,0,0,0,0,0,0
$GC,7500,1.07,187.5,234.6,9.9,369,7504,0.00,2.47,0.00,0.000,4,0.000,0.052,3269,292,1859,0,0,0,0,0,0
$GC,7547,1.07,187.5,229.7,11.4,371,7551,0.00,2.30,0.00,0.000,6,0.000,0.025,3269,1705,1857,0,0,0,0,0,0
$GC,7878,1.16,194.3,202.0,7.4,387,7887,0.15,0.00,6.00,0.537,6,0.061,0.000,3313,1709,1838,0,0,0,0,0,0
$GC,8199,1.16,194.3,170.8,10.4,411,8204,0.00,2.45,0.00,0.000,4,0.000,0.050,3313,294,1838,0,0,0,0,0,0
$GC,8214,1.13,194.3,168.4,11.7,412,8218,0.00,2.28,0.00,0.000,6,0.000,0.023,3313,1708,1836,0,0,0,0,0,0
$GC,8472,1.15,211.0,144.6,6.8,432,8494,0.00,2.50,16.50,0.601,4,0.000,0.048,3312,294,1769,0,0,0,0,0,0
$GC,8519,1.06,211.0,141.0,9.3,435,8524,0.15,2.30,0.00,0.000,6,0.100,0.022,3283,1698,1766,0,0,0,0,0,0
$GC,8781,1.19,237.2,124.0,6.1,455,8812,0.12,2.55,23.62,0.590,4,0.065,0.050,3322,297,1662,0,0,0,0,0,0
$GC,8853,1.14,237.2,116.7,12.8,460,8858,0.12,2.28,0.00,0.000,6,0.101,0.021,3298,1714,1659,0,0,0,0,0,0
$GC,9122,1.25,237.2,89.7,10.7,481,9127,0.10,2.50,0.00,0.000,4,0.074,0.048,3333,289,1658,0,0,0,0,0,0
$GC,9233,1.25,237.2,75.5,11.5,489,9237,0.00,2.25,0.00,0.000,6,0.000,0.019,3333,1709,1656,0,0,0,0,0,0
$GC,9501,1.32,254.9,54.5,6.7,510,9523,0.00,2.53,15.90,0.508,4,0.000,0.046,3333,300,1589,0,0,0,0,0,0
$GC,9584,1.32,254.9,47.0,10.2,516,9588,0.00,2.22,0.00,0.000,6,0.000,0.019,3334,1707,1587,0,0,0,0,0,0
$GC,9847,1.38,254.9,25.6,8.4,544,9854,0.00,2.47,0.00,0.000,4,0.000,0.047,3333,300,1586,0,0,0,0,0,0
$GC,9921,1.35,254.9,18.0,11.1,560,9927,0.00,2.25,0.00,0.000,6,0.000,0.018,3334,1702,1586,0,0,0,0,0,0
$STATE,10078,end climb,SURFACE_DEPTH_REACHED
$STATE,10078,begin surface coast
$FINISH,1.2,1.023208
$STATE,10110,end surface coast,CONTROL_FINISHED_OK
$STATE,10111,begin surface
$SM_CCo,10133,87.55,0.484,0,0,958,410.14
$SM_GC,1.54,0.00,0.00,87.55,0.000,0.000,0.484,430,1709,958,-12.05,0.25,410.14
$IRIDIUM_FIX,2050.21,-15750.49,091299,141409
$TT8_MAMPS,0.029146
$HUMID,54.96
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,38.628
$10V_AH,10.3,32.290
$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,31.725,118.525,289.925,87.550,0.000,33.882,29.477,134.684,4.750,0.000,31.012,1173.023,6690.092,442.794,1778.216,474.175,0.000,1208.501,0.000,1741.614,0.000,32.158,0.000
$DEVICE_MAMPS,134.992,56.758,826.826,483.977,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,406.209,391.867,922.757,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,34978,603
$CAP_FILE_SIZE,114229,0
$CFSIZE,260165632,190152704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140910,194522,2058.620,-15749.611,11,3.6,30,9.8