version: 66.06
glider: 139
mission: 8
dive: 454
start: 9 15 110 12 24 56
data:
$ID,139
$MISSION,8
$DIVE,454
$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,-2160517
$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
$GPS1,121857,2057.100,-15753.969,41,2.8,60,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-73.9
$GPS2,122438,2057.062,-15754.038,17,1.4,17,9.8
$SPEED_LIMITS,0.137,0.183
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$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,316.6,25060,-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,-77.9,0.0,0.0,0,81,0.00,0.00,-64.15,0.000,2,0.000,0.000,428,1680,2739,0,0,0,0,0,0
$GC,85,-1.38,-77.9,3.2,-3.0,12,109,12.40,2.42,-4.00,0.000,4,0.133,0.038,2740,3109,2950,0,0,0,0,0,0
$GC,282,-1.31,-77.9,44.8,-16.1,42,287,0.12,2.40,0.00,0.000,6,0.108,0.034,2764,1692,2951,0,0,0,0,0,0
$GC,544,-1.27,-77.9,83.1,-14.0,62,548,0.00,2.40,0.00,0.000,4,0.000,0.044,2764,296,2952,0,0,0,0,0,0
$GC,623,-1.12,-77.9,96.8,-17.6,68,628,0.20,2.33,0.00,0.000,6,0.100,0.018,2803,1738,2953,0,0,0,0,0,0
$GC,889,-1.12,-77.9,130.4,-11.3,89,893,0.00,2.20,0.00,0.000,4,0.000,0.021,2803,3097,2953,0,0,0,0,0,0
$GC,998,-1.24,-77.9,142.2,-9.2,97,1002,0.00,2.35,0.00,0.000,6,0.000,0.031,2802,1698,2953,0,0,0,0,0,0
$GC,1264,-1.29,-77.9,168.9,-9.6,118,1269,0.15,2.30,0.00,0.000,4,0.056,0.022,2754,3092,2954,0,0,0,0,0,0
$GC,1301,-1.29,-77.9,173.7,-12.4,120,1308,0.00,2.38,0.00,0.000,6,0.000,0.032,2755,1700,2954,0,0,0,0,0,0
$GC,1568,-1.24,-77.9,205.9,-12.4,140,1570,0.12,0.00,0.00,0.000,6,0.100,0.000,2781,1701,2954,0,0,0,0,0,0
$GC,1874,-1.28,-77.9,234.5,-9.2,155,1878,0.00,2.42,0.00,0.000,4,0.000,0.046,2781,290,2955,0,0,0,0,0,0
$GC,1953,-1.28,-77.9,243.9,-11.6,158,1957,0.00,2.28,0.00,0.000,6,0.000,0.019,2781,1711,2955,0,0,0,0,0,0
$GC,2271,-1.34,-77.9,276.5,-9.7,173,2276,0.10,2.45,0.00,0.000,4,0.074,0.048,2745,296,2955,0,0,0,0,0,0
$GC,2302,-1.26,-77.9,280.0,-11.4,174,2307,0.15,2.25,0.00,0.000,6,0.093,0.021,2776,1702,2955,0,0,0,0,0,0
$GC,2649,-1.31,-77.9,312.5,-9.3,188,2653,0.00,2.28,0.00,0.000,4,0.000,0.026,2776,3074,2954,0,0,0,0,0,0
$GC,2677,-1.41,-77.9,315.6,-10.1,188,2682,0.15,2.33,0.00,0.000,6,0.057,0.035,2729,1703,2954,0,0,0,0,0,0
$GC,3015,-1.35,-77.9,359.2,-13.7,197,3023,0.12,2.33,0.00,0.000,4,0.101,0.028,2754,3080,2953,0,0,0,0,0,0
$GC,3089,-1.42,-77.9,368.3,-10.9,198,3093,0.00,2.35,0.00,0.000,6,0.000,0.036,2754,1700,2953,0,0,0,0,0,0
$GC,3435,-1.42,-77.9,402.8,-8.4,207,3439,0.00,2.30,0.00,0.000,4,0.000,0.028,2754,3079,2950,0,0,0,0,0,0
$GC,3459,-1.47,-77.9,404.7,-7.4,207,3464,0.12,2.38,0.00,0.000,6,0.066,0.038,2715,1692,2950,0,0,0,0,0,0
$GC,3802,-1.42,-77.9,444.3,-12.7,216,3806,0.12,2.47,0.00,0.000,4,0.102,0.057,2739,295,2948,0,0,0,0,0,0
$GC,3818,-1.35,-77.9,446.0,-10.7,216,3822,0.00,2.28,0.00,0.000,6,0.000,0.025,2739,1701,2948,0,0,0,0,0,0
$STATE,3882,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3882,begin apogee
$GC,3888,-0.31,0.0,451.4,7.8,218,3956,1.12,0.00,65.12,0.815,6,0.074,0.000,2978,1705,2630,0,0,0,0,0,0
$STATE,3957,end apogee,CONTROL_FINISHED_OK
$STATE,3957,begin climb
$GC,3960,1.38,77.9,451.5,0.0,219,4039,1.62,2.40,66.93,0.801,4,0.039,0.030,3351,3084,2311,0,0,0,0,0,0
$GC,4046,1.27,120.9,446.8,5.0,221,4091,0.12,2.42,38.55,0.782,6,0.118,0.037,3328,1695,2136,0,0,0,0,0,0
$GC,4419,1.15,120.9,415.2,8.3,230,4424,0.15,2.50,0.00,0.000,4,0.114,0.057,3300,294,2126,0,0,0,0,0,0
$GC,4541,0.99,120.9,404.6,9.2,232,4546,0.17,2.33,0.00,0.000,6,0.110,0.026,3268,1696,2121,0,0,0,0,0,0
$GC,4879,1.01,130.7,381.8,7.2,241,4891,0.00,2.55,7.03,0.645,4,0.000,0.057,3267,291,2097,0,0,0,0,0,0
$GC,5003,0.97,151.9,373.3,6.5,243,5029,0.00,2.33,20.42,0.757,6,0.000,0.026,3268,1708,2010,0,0,0,0,0,0
$GC,5348,1.01,151.9,347.6,8.8,252,5352,0.00,2.30,0.00,0.000,4,0.000,0.031,3267,3077,2005,0,0,0,0,0,0
$GC,5394,1.08,151.9,342.7,9.9,253,5399,0.00,2.40,0.00,0.000,6,0.000,0.039,3267,1692,2005,0,0,0,0,0,0
$GC,5719,1.15,168.8,319.4,6.8,261,5740,0.15,2.53,15.38,0.721,4,0.062,0.056,3309,294,1941,0,0,0,0,0,0
$GC,5853,1.03,168.8,304.8,12.4,264,5858,0.17,2.33,0.00,0.000,6,0.102,0.025,3276,1695,1936,0,0,0,0,0,0
$GC,6190,1.07,168.8,277.6,8.0,278,6191,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1700,1935,0,0,0,0,0,0
$GC,6497,1.16,200.5,257.2,5.7,293,6533,0.12,2.53,28.35,0.709,4,0.068,0.052,3311,294,1811,0,0,0,0,0,0
$GC,6580,1.06,200.5,249.4,11.3,296,6587,0.12,2.35,0.00,0.000,6,0.084,0.025,3283,1696,1808,0,0,0,0,0,0
$GC,6896,1.13,200.5,221.7,8.4,312,6900,0.00,2.47,0.00,0.000,4,0.000,0.052,3283,294,1807,0,0,0,0,0,0
$GC,6975,1.13,200.5,214.5,9.7,315,6979,0.00,2.30,0.00,0.000,6,0.000,0.024,3283,1711,1804,0,0,0,0,0,0
$GC,7295,1.22,227.2,190.9,6.1,334,7326,0.15,2.58,23.65,0.643,4,0.058,0.050,3328,299,1702,0,0,0,0,0,0
$GC,7361,1.10,227.2,185.0,10.0,338,7369,0.15,2.33,0.00,0.000,6,0.080,0.022,3294,1705,1699,0,0,0,0,0,0
$GC,7623,1.17,227.2,161.6,10.2,359,7627,0.00,2.47,0.00,0.000,4,0.000,0.050,3293,290,1698,0,0,0,0,0,0
$GC,7720,1.17,227.2,150.0,12.1,366,7724,0.00,2.30,0.00,0.000,6,0.000,0.021,3293,1707,1695,0,0,0,0,0,0
$GC,7981,1.25,238.6,128.4,7.1,386,7994,0.12,0.00,10.23,0.538,6,0.064,0.000,3334,1713,1657,0,0,0,0,0,0
$GC,8247,1.25,238.6,103.1,12.5,407,8252,0.00,2.45,0.00,0.000,4,0.000,0.048,3334,293,1655,0,0,0,0,0,0
$GC,8275,1.19,238.6,99.3,13.7,409,8279,0.12,2.28,0.00,0.000,6,0.100,0.020,3309,1713,1654,0,0,0,0,0,0
$GC,8544,1.29,238.6,74.2,9.4,430,8548,0.00,2.47,0.00,0.000,4,0.000,0.046,3309,289,1654,0,0,0,0,0,0
$GC,8697,1.33,238.6,59.1,9.2,441,8704,0.10,2.28,0.00,0.000,6,0.033,0.019,3352,1710,1653,0,0,0,0,0,0
$GC,8960,1.33,238.6,34.8,8.6,462,8964,0.00,2.45,0.00,0.000,4,0.000,0.047,3352,293,1653,0,0,0,0,0,0
$GC,9042,1.25,238.6,27.1,8.7,473,9049,0.12,2.25,0.00,0.000,6,0.071,0.018,3321,1697,1653,0,0,0,0,0,0
$GC,9245,1.38,284.9,12.3,4.8,519,9291,0.12,2.50,39.83,0.487,4,0.062,0.045,3364,286,1468,0,0,0,0,0,0
$STATE,9328,end climb,SURFACE_DEPTH_REACHED
$STATE,9329,begin surface coast
$FINISH,1.8,1.023214
$STATE,9334,end surface coast,CONTROL_FINISHED_OK
$STATE,9334,begin surface
$SM_CCo,9360,69.88,0.478,0,0,957,410.14
$SM_GC,1.51,0.00,0.00,69.88,0.000,0.000,0.478,430,1717,957,-12.06,0.42,410.14
$IRIDIUM_FIX,2050.21,-15752.63,101299,090907
$TT8_MAMPS,0.029146
$HUMID,55.51
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.5,39.232
$10V_AH,10.2,32.801
$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,31.100,109.250,315.475,69.875,0.000,24.946,40.822,148.683,4.500,0.000,17.443,1076.488,6094.530,423.081,1689.384,485.882,0.000,1191.818,0.000,1665.277,0.000,29.270,0.000
$DEVICE_MAMPS,133.458,56.758,815.321,477.841,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,360.138,348.999,783.763,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,28594,536
$CAP_FILE_SIZE,110336,0
$CFSIZE,260165632,189788160
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150910,150255,2056.874,-15754.835,11,1.7,11,9.8