version: 66.06
glider: 139
mission: 8
dive: 448
start: 9 14 110 19 51 47
data:
$ID,139
$MISSION,8
$DIVE,448
$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,-2160379.8
$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
$GPS1,194522,2058.620,-15749.611,11,3.6,30,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-73.0
$GPS2,195131,2058.598,-15749.625,40,1.7,40,9.8
$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,31.1,17688,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.38,-77.9,0.0,0.0,0,82,0.00,0.00,-64.20,0.000,2,0.000,0.000,430,1709,2738,0,0,0,0,0,0
$GC,86,-1.38,-77.9,3.3,-3.2,12,110,12.38,2.38,-4.10,0.000,4,0.132,0.037,2742,3105,2950,0,0,0,0,0,0
$GC,233,-1.31,-77.9,34.0,-15.8,40,240,0.08,2.40,0.00,0.000,6,0.091,0.034,2760,1705,2952,0,0,0,0,0,0
$GC,493,-1.17,-77.9,74.3,-13.8,61,498,0.17,2.45,0.00,0.000,4,0.101,0.046,2795,286,2953,0,0,0,0,0,0
$GC,513,-1.01,-77.9,77.5,-14.3,62,521,0.12,2.35,0.00,0.000,6,0.079,0.018,2825,1740,2953,0,0,0,0,0,0
$GC,775,-1.06,-77.9,104.8,-11.9,83,780,0.00,2.47,0.00,0.000,4,0.000,0.045,2825,295,2954,0,0,0,0,0,0
$GC,804,-1.06,-77.9,109.0,-14.4,85,808,0.00,2.22,0.00,0.000,6,0.000,0.018,2825,1714,2954,0,0,0,0,0,0
$GC,1066,-1.15,-77.9,139.0,-11.5,105,1072,0.12,2.42,0.00,0.000,4,0.061,0.046,2779,300,2955,0,0,0,0,0,0
$GC,1106,-1.07,-77.9,144.9,-15.3,107,1112,0.17,2.20,0.00,0.000,6,0.087,0.018,2817,1692,2955,0,0,0,0,0,0
$GC,1366,-1.15,-77.9,171.4,-8.9,128,1370,0.00,2.40,0.00,0.000,4,0.000,0.044,2817,295,2956,0,0,0,0,0,0
$GC,1396,-1.19,-77.9,174.1,-9.6,130,1401,0.12,2.22,0.00,0.000,6,0.061,0.019,2773,1711,2956,0,0,0,0,0,0
$GC,1669,-1.19,-77.9,202.8,-10.5,151,1670,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1716,2957,0,0,0,0,0,0
$GC,1978,-1.22,-77.9,240.9,-12.6,166,1979,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1717,2957,0,0,0,0,0,0
$GC,2289,-1.26,-77.9,279.5,-12.9,181,2296,0.00,2.22,0.00,0.000,4,0.000,0.025,2774,3067,2957,0,0,0,0,0,0
$GC,2325,-1.37,-77.9,284.3,-12.2,182,2329,0.00,2.30,0.00,0.000,6,0.000,0.035,2773,1695,2957,0,0,0,0,0,0
$GC,2665,-1.41,-77.9,321.8,-10.4,194,2670,0.15,2.42,0.00,0.000,4,0.058,0.050,2727,291,2956,0,0,0,0,0,0
$GC,2709,-1.31,-77.9,326.7,-10.9,195,2714,0.17,2.25,0.00,0.000,6,0.092,0.022,2763,1687,2955,0,0,0,0,0,0
$GC,3040,-1.31,-77.9,350.1,-7.1,203,3044,0.00,2.30,0.00,0.000,4,0.000,0.028,2763,3082,2954,0,0,0,0,0,0
$GC,3163,-1.40,-77.9,359.1,-7.6,205,3167,0.00,2.35,0.00,0.000,6,0.000,0.037,2763,1693,2953,0,0,0,0,0,0
$GC,3503,-1.40,-77.9,386.6,-8.8,214,3507,0.00,2.42,0.00,0.000,4,0.000,0.054,2763,293,2952,0,0,0,0,0,0
$GC,3541,-1.40,-77.9,390.7,-10.9,214,3547,0.00,2.28,0.00,0.000,6,0.000,0.024,2763,1704,2951,0,0,0,0,0,0
$GC,3875,-1.43,-77.9,421.2,-9.2,223,3880,0.12,2.50,0.00,0.000,4,0.067,0.055,2726,292,2949,0,0,0,0,0,0
$GC,3901,-1.36,-77.9,424.5,-12.3,223,3906,0.12,2.28,0.00,0.000,6,0.104,0.025,2750,1696,2949,0,0,0,0,0,0
$STATE,4158,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4158,begin apogee
$GC,4164,-0.31,0.0,453.8,11.2,230,4232,1.08,0.00,64.70,0.828,6,0.072,0.000,2980,1701,2630,0,0,0,0,0,0
$STATE,4233,end apogee,CONTROL_FINISHED_OK
$STATE,4233,begin climb
$GC,4236,1.38,77.9,456.0,0.0,231,4312,1.62,2.42,67.38,0.812,4,0.038,0.031,3354,3091,2311,0,0,0,0,0,0
$GC,4327,1.34,197.0,458.4,-0.2,234,4438,0.00,2.45,104.43,0.810,6,0.000,0.038,3354,1690,1825,0,0,0,0,0,0
$GC,4780,1.19,197.0,409.5,12.5,245,4785,0.22,2.50,0.00,0.000,4,0.098,0.057,3310,297,1816,0,0,0,0,0,0
$GC,4805,1.02,197.0,406.2,12.4,245,4810,0.20,2.33,0.00,0.000,6,0.101,0.027,3272,1704,1814,0,0,0,0,0,0
$GC,5147,1.06,197.0,371.2,11.3,254,5151,0.00,2.53,0.00,0.000,4,0.000,0.057,3272,296,1811,0,0,0,0,0,0
$GC,5231,1.01,197.0,359.3,14.2,255,5237,0.00,2.35,0.00,0.000,6,0.000,0.027,3272,1706,1808,0,0,0,0,0,0
$GC,5562,1.05,197.0,320.4,11.1,264,5567,0.00,2.50,0.00,0.000,4,0.000,0.055,3272,294,1808,0,0,0,0,0,0
$GC,5644,1.01,197.0,310.6,12.5,265,5649,0.00,2.35,0.00,0.000,6,0.000,0.026,3272,1710,1806,0,0,0,0,0,0
$GC,5960,1.08,217.1,287.4,6.5,277,5982,0.00,2.58,15.15,0.704,4,0.000,0.055,3272,293,1745,0,0,0,0,0,0
$GC,6072,1.08,217.1,277.5,9.9,281,6078,0.00,2.35,0.00,0.000,6,0.000,0.026,3272,1711,1740,0,0,0,0,0,0
$GC,6389,1.15,217.1,245.1,11.3,297,6394,0.12,2.53,0.00,0.000,4,0.066,0.054,3309,295,1740,0,0,0,0,0,0
$GC,6490,1.06,217.1,231.6,13.8,301,6495,0.15,2.30,0.00,0.000,6,0.103,0.025,3280,1707,1738,0,0,0,0,0,0
$GC,6812,1.13,217.1,200.0,8.4,317,6816,0.00,2.50,0.00,0.000,4,0.000,0.053,3280,294,1738,0,0,0,0,0,0
$GC,6914,1.13,217.1,191.0,8.4,324,6922,0.00,2.33,0.00,0.000,6,0.000,0.024,3280,1703,1736,0,0,0,0,0,0
$GC,7174,1.20,217.1,171.6,9.3,345,7178,0.12,2.28,0.00,0.000,4,0.066,0.026,3319,3086,1736,0,0,0,0,0,0
$GC,7222,1.26,217.1,166.0,12.8,348,7228,0.00,2.40,0.00,0.000,6,0.000,0.036,3319,1697,1736,0,0,0,0,0,0
$GC,7482,1.26,217.1,133.8,11.2,369,7486,0.00,2.42,0.00,0.000,4,0.000,0.049,3319,290,1736,0,0,0,0,0,0
$GC,7563,1.18,217.1,124.6,11.3,375,7567,0.00,2.30,0.00,0.000,6,0.000,0.021,3319,1714,1735,0,0,0,0,0,0
$GC,7832,1.22,245.1,106.5,6.0,396,7862,0.00,2.55,24.15,0.573,4,0.000,0.048,3319,297,1630,0,0,0,0,0,0
$GC,7882,1.18,245.1,102.4,9.4,399,7887,0.00,2.28,0.00,0.000,6,0.000,0.021,3319,1713,1627,0,0,0,0,0,0
$GC,8143,1.27,245.1,77.3,10.1,420,8144,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,1718,1627,0,0,0,0,0,0
$GC,8394,1.35,245.1,54.3,8.3,440,8399,0.10,2.47,0.00,0.000,4,0.072,0.047,3356,293,1626,0,0,0,0,0,0
$GC,8476,1.25,245.1,45.5,11.2,446,8481,0.17,2.22,0.00,0.000,6,0.088,0.019,3320,1709,1625,0,0,0,0,0,0
$GC,8740,1.34,245.1,23.7,7.9,478,8747,0.00,2.47,0.00,0.000,4,0.000,0.046,3320,297,1625,0,0,0,0,0,0
$GC,8797,1.34,245.1,18.6,9.0,490,8804,0.00,2.25,0.00,0.000,6,0.000,0.019,3320,1706,1624,0,0,0,0,0,0
$STATE,8982,end climb,SURFACE_DEPTH_REACHED
$STATE,8982,begin surface coast
$FINISH,0.8,1.009301
$STATE,9022,end surface coast,CONTROL_FINISHED_OK
$STATE,9022,begin surface
$SM_CCo,9045,89.85,0.481,0,0,957,410.14
$SM_GC,1.62,0.00,0.00,89.85,0.000,0.000,0.481,429,1712,957,-12.06,0.31,410.14
$IRIDIUM_FIX,2050.21,-15722.63,091299,161644
$TT8_MAMPS,0.028379
$HUMID,55.11
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,421.2,74.4
$24V_AH,23.5,38.715
$10V_AH,10.2,32.362
$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,29.900,104.500,275.800,89.850,0.000,22.760,34.254,158.062,4.500,0.000,41.017,1045.954,5932.726,436.780,1612.609,471.272,0.000,1136.377,0.000,1571.315,0.000,30.753,0.000
$DEVICE_MAMPS,131.924,56.758,827.593,480.909,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,364.465,350.866,814.970,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,28632,542
$CAP_FILE_SIZE,101232,0
$CFSIZE,260165632,190115840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140910,222525,2058.733,-15749.337,44,1.4,44,9.8