version: 66.06
glider: 139
mission: 8
dive: 426
start: 9 12 110 6 24 44
data:
$ID,139
$MISSION,8
$DIVE,426
$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,-2159903.5
$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
$GPS1,061837,2053.095,-15753.550,37,1.3,37,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-73.8
$GPS2,062426,2052.987,-15753.558,14,1.8,14,9.8
$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,27.9,30038,-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,-64.20,0.000,2,0.000,0.000,428,1708,2763,0,0,0,0,0,0
$GC,85,-1.38,-77.9,3.6,-3.9,12,109,12.43,2.38,-3.40,0.000,4,0.134,0.036,2744,3109,2950,0,0,0,0,0,0
$GC,323,-1.33,-77.9,52.4,-16.6,45,327,0.00,2.38,0.00,0.000,6,0.000,0.034,2744,1696,2952,0,0,0,0,0,0
$GC,584,-1.19,-77.9,99.1,-18.4,65,589,0.22,2.38,0.00,0.000,4,0.096,0.043,2789,295,2953,0,0,0,0,0,0
$GC,616,-1.10,-77.9,104.4,-15.9,67,621,0.10,2.33,0.00,0.000,6,0.110,0.018,2809,1739,2953,0,0,0,0,0,0
$GC,884,-1.16,-77.9,133.5,-9.3,88,888,0.00,2.50,0.00,0.000,4,0.000,0.044,2809,290,2954,0,0,0,0,0,0
$GC,951,-1.16,-77.9,141.2,-11.4,93,955,0.00,2.25,0.00,0.000,6,0.000,0.018,2809,1718,2955,0,0,0,0,0,0
$GC,1214,-1.23,-77.9,162.9,-8.1,113,1219,0.12,2.47,0.00,0.000,4,0.063,0.046,2767,295,2956,0,0,0,0,0,0
$GC,1261,-1.19,-77.9,168.9,-12.1,116,1268,0.08,2.25,0.00,0.000,6,0.077,0.018,2787,1692,2956,0,0,0,0,0,0
$GC,1524,-1.22,-77.9,197.3,-11.8,137,1528,0.00,2.28,0.00,0.000,4,0.000,0.024,2787,3077,2956,0,0,0,0,0,0
$GC,1550,-1.28,-77.9,200.5,-11.3,139,1554,0.00,2.30,0.00,0.000,6,0.000,0.033,2787,1697,2956,0,0,0,0,0,0
$GC,1881,-1.33,-77.9,234.5,-9.2,155,1886,0.12,2.42,0.00,0.000,4,0.065,0.048,2747,298,2956,0,0,0,0,0,0
$GC,1933,-1.24,-77.9,241.2,-13.4,157,1938,0.15,2.22,0.00,0.000,6,0.096,0.020,2777,1704,2956,0,0,0,0,0,0
$GC,2263,-1.27,-77.9,270.1,-9.4,173,2264,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1709,2955,0,0,0,0,0,0
$GC,2569,-1.33,-77.9,298.5,-8.9,188,2573,0.00,2.25,0.00,0.000,4,0.000,0.027,2778,3076,2954,0,0,0,0,0,0
$GC,2591,-1.40,-77.9,300.3,-8.9,189,2596,0.15,2.33,0.00,0.000,6,0.058,0.034,2733,1696,2954,0,0,0,0,0,0
$GC,2938,-1.37,-77.9,336.9,-10.9,198,2942,0.00,2.28,0.00,0.000,4,0.000,0.027,2733,3072,2953,0,0,0,0,0,0
$GC,2981,-1.37,-77.9,341.6,-10.4,198,2987,0.00,2.33,0.00,0.000,6,0.000,0.037,2733,1696,2953,0,0,0,0,0,0
$GC,3313,-1.33,-77.9,379.9,-12.1,207,3318,0.12,2.30,0.00,0.000,4,0.102,0.028,2758,3071,2951,0,0,0,0,0,0
$GC,3405,-1.42,-77.9,390.0,-9.8,208,3410,0.00,2.33,0.00,0.000,6,0.000,0.038,2758,1696,2950,0,0,0,0,0,0
$GC,3738,-1.46,-77.9,418.3,-7.6,217,3743,0.12,2.45,0.00,0.000,4,0.068,0.055,2720,296,2948,0,0,0,0,0,0
$GC,3760,-1.40,-77.9,420.2,-8.5,217,3765,0.12,2.25,0.00,0.000,6,0.104,0.025,2745,1690,2948,0,0,0,0,0,0
$STATE,4103,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4103,begin apogee
$GC,4109,-0.31,0.0,451.3,9.7,226,4177,1.10,0.00,64.38,0.830,6,0.075,0.000,2979,1696,2630,0,0,0,0,0,0
$STATE,4178,end apogee,CONTROL_FINISHED_OK
$STATE,4178,begin climb
$GC,4180,1.38,77.9,452.8,0.0,227,4260,1.62,2.40,66.82,0.813,4,0.041,0.031,3349,3083,2311,0,0,0,0,0,0
$GC,4439,1.27,117.6,443.2,5.2,232,4480,0.12,2.42,35.15,0.798,6,0.117,0.039,3326,1691,2150,0,0,0,0,0,0
$GC,4821,1.15,117.6,409.2,9.6,242,4826,0.12,2.38,0.00,0.000,4,0.115,0.032,3303,3086,2141,0,0,0,0,0,0
$GC,4888,1.15,117.6,403.2,8.7,243,4892,0.00,2.40,0.00,0.000,6,0.000,0.041,3303,1692,2140,0,0,0,0,0,0
$GC,5233,1.10,117.6,372.8,9.0,252,5234,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,1692,2137,0,0,0,0,0,0
$GC,5558,1.06,138.5,348.1,6.5,260,5583,0.12,2.47,17.35,0.752,4,0.117,0.031,3280,3085,2064,0,0,0,0,0,0
$GC,5663,1.10,173.5,341.7,5.5,262,5703,0.00,2.42,32.62,0.770,6,0.000,0.040,3281,1694,1921,0,0,0,0,0,0
$GC,6021,1.15,215.0,320.5,5.1,271,6064,0.00,2.55,37.15,0.761,4,0.000,0.056,3280,296,1752,0,0,0,0,0,0
$GC,6121,1.10,215.0,314.0,8.9,273,6125,0.00,2.35,0.00,0.000,6,0.000,0.026,3280,1703,1747,0,0,0,0,0,0
$GC,6444,1.14,218.3,286.5,7.7,285,6449,0.00,2.53,0.00,0.000,4,0.000,0.056,3280,292,1745,0,0,0,0,0,0
$GC,6473,1.08,218.3,283.8,8.6,286,6477,0.00,2.33,0.00,0.000,6,0.000,0.025,3280,1706,1742,0,0,0,0,0,0
$GC,6793,1.12,218.3,255.1,10.2,302,6797,0.00,2.50,0.00,0.000,4,0.000,0.055,3280,295,1742,0,0,0,0,0,0
$GC,6863,1.09,218.3,247.0,11.9,305,6867,0.00,2.30,0.00,0.000,6,0.000,0.025,3281,1704,1740,0,0,0,0,0,0
$GC,7194,1.14,218.3,215.2,9.3,321,7198,0.00,2.50,0.00,0.000,4,0.000,0.053,3281,293,1739,0,0,0,0,0,0
$GC,7245,1.14,218.3,208.8,12.8,323,7249,0.00,2.30,0.00,0.000,6,0.000,0.025,3280,1708,1738,0,0,0,0,0,0
$GC,7568,1.20,218.3,174.7,9.9,346,7573,0.12,2.53,0.00,0.000,4,0.067,0.052,3318,287,1738,0,0,0,0,0,0
$GC,7638,1.09,218.3,165.5,13.5,351,7643,0.15,2.33,0.00,0.000,6,0.105,0.023,3290,1713,1737,0,0,0,0,0,0
$GC,7900,1.16,218.3,141.8,8.8,371,7904,0.00,2.50,0.00,0.000,4,0.000,0.050,3290,287,1737,0,0,0,0,0,0
$GC,8121,1.16,218.3,120.6,8.1,387,8125,0.00,2.28,0.00,0.000,6,0.000,0.021,3290,1714,1735,0,0,0,0,0,0
$GC,8391,1.27,218.3,101.9,8.2,408,8393,0.15,0.00,0.00,0.000,6,0.058,0.000,3337,1719,1735,0,0,0,0,0,0
$GC,8644,1.30,218.3,77.0,9.8,428,8648,0.00,2.20,0.00,0.000,4,0.000,0.023,3337,3075,1735,0,0,0,0,0,0
$GC,8672,1.35,218.3,74.5,9.0,430,8676,0.00,2.30,0.00,0.000,6,0.000,0.031,3336,1695,1735,0,0,0,0,0,0
$GC,8937,1.38,239.3,53.3,6.5,451,8966,0.00,2.47,19.15,0.520,4,0.000,0.045,3336,300,1653,0,0,0,0,0,0
$GC,8983,1.35,239.3,49.7,8.6,454,8987,0.00,2.25,0.00,0.000,6,0.000,0.019,3337,1714,1651,0,0,0,0,0,0
$GC,9246,1.38,239.3,28.4,8.4,476,9253,0.00,2.47,0.00,0.000,4,0.000,0.046,3336,302,1651,0,0,0,0,0,0
$GC,9279,1.38,239.3,25.0,8.9,482,9286,0.00,2.25,0.00,0.000,6,0.000,0.018,3337,1707,1649,0,0,0,0,0,0
$GC,9481,1.43,239.3,6.7,8.5,528,9488,0.10,2.47,0.00,0.000,4,0.074,0.047,3373,305,1649,0,0,0,0,0,0
$STATE,9515,end climb,SURFACE_DEPTH_REACHED
$STATE,9515,begin surface coast
$FINISH,1.1,1.023067
$STATE,9546,end surface coast,CONTROL_FINISHED_OK
$STATE,9546,begin surface
$SM_CCo,9571,98.22,0.486,0,0,958,410.14
$SM_GC,1.48,0.00,0.00,98.22,0.000,0.000,0.486,426,1718,958,-12.07,0.51,410.14
$IRIDIUM_FIX,2047.91,-15752.63,071299,030320
$TT8_MAMPS,0.028379
$HUMID,55.55
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.5,36.770
$10V_AH,10.4,30.746
$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,29.950,108.800,272.625,98.225,0.000,26.994,26.418,172.607,4.500,0.000,14.358,1079.315,6356.531,426.605,1670.494,485.389,0.000,1175.058,0.000,1647.567,0.000,29.263,0.000
$DEVICE_MAMPS,134.225,55.991,829.894,486.278,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,365.564,350.932,782.737,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355856
$DATA_FILE_SIZE,31806,542
$CAP_FILE_SIZE,106915,0
$CFSIZE,260165632,191275008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120910,090644,2053.020,-15753.135,12,1.8,12,9.8