version: 66.06
glider: 139
mission: 8
dive: 416
start: 9 11 110 2 32 56
data:
$ID,139
$MISSION,8
$DIVE,416
$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,-2159678.8
$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
$GPS1,022637,2057.140,-15754.480,40,1.0,40,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-73.0
$GPS2,023238,2057.062,-15754.593,15,1.2,15,9.8
$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,41.4,25878,-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,-64.28,0.000,2,0.000,0.000,425,1704,2735,0,0,0,0,0,0
$GC,85,-1.38,-77.9,3.1,-3.1,12,109,12.43,2.38,-4.20,0.000,4,0.133,0.038,2743,3106,2950,0,0,0,0,0,0
$GC,131,-0.60,-77.9,15.8,-27.1,20,138,0.77,2.42,0.00,0.000,6,0.076,0.034,2919,1693,2951,0,0,0,0,0,0
$GC,342,-0.83,-77.9,33.7,-7.3,60,347,0.22,2.42,0.00,0.000,4,0.043,0.044,2849,285,2952,0,0,0,0,0,0
$GC,411,-0.83,-77.9,42.0,-12.3,65,415,0.00,2.33,0.00,0.000,6,0.000,0.018,2849,1736,2952,0,0,0,0,0,0
$GC,671,-0.89,-77.9,71.9,-11.5,85,675,0.00,2.50,0.00,0.000,4,0.000,0.045,2849,289,2952,0,0,0,0,0,0
$GC,737,-0.89,-77.9,79.9,-12.5,90,741,0.00,2.28,0.00,0.000,6,0.000,0.018,2849,1719,2952,0,0,0,0,0,0
$GC,1005,-0.99,-77.9,108.1,-9.5,111,1009,0.00,2.45,0.00,0.000,4,0.000,0.044,2849,287,2953,0,0,0,0,0,0
$GC,1032,-1.04,-77.9,110.8,-10.4,113,1037,0.12,2.25,0.00,0.000,6,0.063,0.018,2805,1707,2953,0,0,0,0,0,0
$GC,1298,-1.04,-77.9,133.9,-8.3,134,1302,0.00,2.42,0.00,0.000,4,0.000,0.045,2805,289,2954,0,0,0,0,0,0
$GC,1331,-0.98,-77.9,137.5,-11.2,136,1338,0.10,2.25,0.00,0.000,6,0.073,0.018,2832,1699,2954,0,0,0,0,0,0
$GC,1594,-1.09,-77.9,159.4,-9.3,157,1598,0.00,2.40,0.00,0.000,4,0.000,0.045,2831,293,2955,0,0,0,0,0,0
$GC,1669,-1.16,-77.9,166.5,-8.9,162,1674,0.15,2.22,0.00,0.000,6,0.056,0.018,2781,1704,2955,0,0,0,0,0,0
$GC,1929,-1.16,-77.9,194.6,-11.6,182,1933,0.00,2.22,0.00,0.000,4,0.000,0.023,2781,3071,2955,0,0,0,0,0,0
$GC,2056,-1.23,-77.9,206.8,-8.9,189,2061,0.00,2.30,0.00,0.000,6,0.000,0.031,2781,1689,2955,0,0,0,0,0,0
$GC,2380,-1.26,-77.9,232.8,-6.0,205,2381,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1688,2956,0,0,0,0,0,0
$GC,2688,-1.30,-77.9,249.9,-5.7,220,2692,0.00,2.38,0.00,0.000,4,0.000,0.046,2781,290,2956,0,0,0,0,0,0
$GC,2720,-1.30,-77.9,252.6,-8.3,221,2724,0.00,2.22,0.00,0.000,6,0.000,0.021,2781,1696,2956,0,0,0,0,0,0
$GC,3036,-1.35,-77.9,281.8,-10.0,236,3038,0.10,0.00,0.00,0.000,6,0.074,0.000,2745,1702,2955,0,0,0,0,0,0
$GC,3364,-1.35,-77.9,319.6,-12.1,248,3368,0.00,2.28,0.00,0.000,4,0.000,0.027,2745,3080,2954,0,0,0,0,0,0
$GC,3393,-1.38,-77.9,322.8,-10.6,248,3397,0.00,2.33,0.00,0.000,6,0.000,0.035,2745,1690,2954,0,0,0,0,0,0
$GC,3733,-1.38,-77.9,359.5,-11.0,257,3737,0.00,2.30,0.00,0.000,4,0.000,0.027,2745,3076,2952,0,0,0,0,0,0
$GC,3782,-1.44,-77.9,364.6,-10.5,258,3787,0.00,2.33,0.00,0.000,6,0.000,0.037,2745,1697,2952,0,0,0,0,0,0
$GC,4110,-1.44,-77.9,399.1,-10.2,266,4114,0.00,2.30,0.00,0.000,4,0.000,0.028,2744,3078,2950,0,0,0,0,0,0
$GC,4157,-1.51,-77.9,403.5,-9.3,267,4162,0.10,2.38,0.00,0.000,6,0.076,0.040,2712,1696,2950,0,0,0,0,0,0
$GC,4484,-1.44,-77.9,442.9,-12.6,275,4489,0.12,2.47,0.00,0.000,4,0.104,0.058,2736,289,2948,0,0,0,0,0,0
$GC,4506,-1.37,-77.9,445.9,-13.1,275,4510,0.00,2.30,0.00,0.000,6,0.000,0.025,2736,1696,2948,0,0,0,0,0,0
$STATE,4564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4564,begin apogee
$GC,4570,-0.31,0.0,453.3,11.7,277,4638,1.15,0.00,64.93,0.822,6,0.075,0.000,2980,1700,2630,0,0,0,0,0,0
$STATE,4639,end apogee,CONTROL_FINISHED_OK
$STATE,4639,begin climb
$GC,4642,1.38,77.9,455.6,0.0,278,4718,1.62,2.40,67.47,0.810,4,0.039,0.031,3353,3083,2311,0,0,0,0,0,0
$GC,4733,1.35,199.0,457.7,-0.3,281,4846,0.00,2.42,105.88,0.809,6,0.000,0.038,3353,1694,1817,0,0,0,0,0,0
$GC,5184,1.19,199.0,409.9,11.8,292,5189,0.22,2.50,0.00,0.000,4,0.100,0.057,3310,297,1807,0,0,0,0,0,0
$GC,5222,1.03,199.0,405.2,12.6,292,5228,0.17,2.35,0.00,0.000,6,0.107,0.027,3277,1702,1804,0,0,0,0,0,0
$GC,5553,1.03,199.0,373.4,9.7,301,5558,0.00,2.50,0.00,0.000,4,0.000,0.057,3277,294,1802,0,0,0,0,0,0
$GC,5601,0.96,199.0,368.2,11.7,302,5606,0.00,2.35,0.00,0.000,6,0.000,0.027,3276,1704,1800,0,0,0,0,0,0
$GC,5924,0.96,199.0,335.7,9.6,310,5928,0.00,2.50,0.00,0.000,4,0.000,0.057,3276,296,1800,0,0,0,0,0,0
$GC,5986,0.91,199.0,328.2,13.2,311,5991,0.15,2.30,0.00,0.000,6,0.107,0.027,3248,1701,1797,0,0,0,0,0,0
$GC,6337,1.03,207.2,299.4,7.3,320,6349,0.12,2.50,4.45,0.516,4,0.068,0.054,3285,292,1785,0,0,0,0,0,0
$GC,6400,0.98,207.2,292.6,11.8,322,6407,0.08,2.35,0.00,0.000,6,0.087,0.026,3265,1704,1784,0,0,0,0,0,0
$GC,6717,1.05,207.2,264.2,8.3,338,6721,0.00,2.50,0.00,0.000,4,0.000,0.054,3265,294,1783,0,0,0,0,0,0
$GC,6866,1.05,207.2,250.4,9.0,344,6870,0.00,2.30,0.00,0.000,6,0.000,0.025,3266,1704,1781,0,0,0,0,0,0
$GC,7186,1.14,207.2,225.1,9.3,360,7191,0.15,2.50,0.00,0.000,4,0.059,0.053,3310,296,1781,0,0,0,0,0,0
$GC,7326,1.06,207.2,205.6,14.0,366,7331,0.15,2.28,0.00,0.000,6,0.101,0.023,3281,1701,1779,0,0,0,0,0,0
$GC,7648,1.11,207.2,177.6,8.5,390,7649,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1707,1779,0,0,0,0,0,0
$GC,7902,1.20,215.4,159.9,7.3,410,7918,0.12,2.47,8.10,0.546,4,0.066,0.048,3321,295,1750,0,0,0,0,0,0
$GC,7938,1.10,215.4,156.4,10.1,412,7943,0.15,2.28,0.00,0.000,6,0.099,0.021,3291,1711,1749,0,0,0,0,0,0
$GC,8202,1.18,215.4,136.0,8.1,432,8206,0.00,2.47,0.00,0.000,4,0.000,0.048,3291,294,1749,0,0,0,0,0,0
$GC,8274,1.18,215.4,128.4,10.1,437,8280,0.00,2.25,0.00,0.000,6,0.000,0.021,3291,1716,1748,0,0,0,0,0,0
$GC,8534,1.27,215.4,104.3,8.9,458,8539,0.15,2.47,0.00,0.000,4,0.056,0.047,3340,289,1748,0,0,0,0,0,0
$GC,8587,1.20,215.4,98.4,12.4,462,8592,0.15,2.25,0.00,0.000,6,0.097,0.020,3310,1703,1747,0,0,0,0,0,0
$GC,8856,1.32,243.8,77.6,6.0,483,8888,0.12,0.00,25.65,0.545,6,0.063,0.000,3352,1709,1635,0,0,0,0,0,0
$GC,9144,1.32,243.8,51.2,9.8,506,9148,0.00,2.20,0.00,0.000,4,0.000,0.021,3352,3069,1633,0,0,0,0,0,0
$GC,9184,1.38,243.8,47.0,10.2,509,9188,0.00,2.33,0.00,0.000,6,0.000,0.031,3352,1694,1633,0,0,0,0,0,0
$GC,9448,1.38,243.8,17.8,11.0,545,9455,0.00,2.42,0.00,0.000,4,0.000,0.045,3353,298,1633,0,0,0,0,0,0
$GC,9488,1.30,243.8,13.2,12.0,553,9495,0.00,2.25,0.00,0.000,6,0.000,0.018,3352,1695,1631,0,0,0,0,0,0
$STATE,9579,end climb,SURFACE_DEPTH_REACHED
$STATE,9579,begin surface coast
$FINISH,0.9,1.021927
$STATE,9609,end surface coast,CONTROL_FINISHED_OK
$STATE,9609,begin surface
$SM_CCo,9632,88.88,0.483,0,0,958,410.14
$SM_GC,1.68,0.00,0.00,88.88,0.000,0.000,0.483,427,1702,958,-12.07,0.06,410.14
$IRIDIUM_FIX,2047.91,-15752.63,051299,232336
$TT8_MAMPS,0.028379
$HUMID,55.47
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.5,35.886
$10V_AH,10.3,30.013
$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,31.175,113.275,276.475,88.875,0.000,27.331,30.301,178.964,4.500,0.000,15.755,1135.658,6279.786,440.221,1715.333,509.109,0.000,1192.870,0.000,1700.465,0.000,29.282,0.000
$DEVICE_MAMPS,132.691,57.525,822.224,483.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,390.345,382.033,867.169,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355856
$DATA_FILE_SIZE,31768,580
$CAP_FILE_SIZE,110494,0
$CFSIZE,260165632,191819776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110910,051604,2056.606,-15755.081,9,2.9,28,9.8