version: 66.06
glider: 139
mission: 8
dive: 429
start: 9 12 110 14 38 23
data:
$ID,139
$MISSION,8
$DIVE,429
$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,-2159956.8
$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
$GPS1,143230,2052.734,-15752.040,40,0.9,45,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-72.9
$GPS2,143807,2052.651,-15752.020,14,0.9,19,9.8
$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,23.0,29010,-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,-64.30,0.000,2,0.000,0.000,424,1713,2744,0,0,0,0,0,0
$GC,85,-1.38,-77.9,3.2,-3.5,12,110,12.38,2.38,-3.95,0.000,4,0.132,0.036,2743,3116,2950,0,0,0,0,0,0
$GC,202,-1.31,-77.9,29.3,-18.5,36,209,0.08,2.45,0.00,0.000,6,0.088,0.036,2761,1694,2952,0,0,0,0,0,0
$GC,399,-1.14,-77.9,68.0,-19.9,52,404,0.20,2.35,0.00,0.000,4,0.100,0.021,2800,3113,2952,0,0,0,0,0,0
$GC,432,-1.14,-77.9,74.1,-15.2,54,439,0.00,2.42,0.00,0.000,6,0.000,0.033,2800,1700,2952,0,0,0,0,0,0
$GC,693,-1.14,-77.9,111.2,-13.6,75,697,0.00,2.42,0.00,0.000,4,0.000,0.044,2800,289,2954,0,0,0,0,0,0
$GC,787,-1.14,-77.9,121.8,-8.5,82,791,0.00,2.30,0.00,0.000,6,0.000,0.018,2800,1737,2954,0,0,0,0,0,0
$GC,1051,-1.14,-77.9,143.9,-9.9,103,1055,0.00,2.50,0.00,0.000,4,0.000,0.044,2800,286,2954,0,0,0,0,0,0
$GC,1083,-1.14,-77.9,147.7,-11.0,105,1089,0.00,2.28,0.00,0.000,6,0.000,0.018,2800,1719,2955,0,0,0,0,0,0
$GC,1345,-1.19,-77.9,172.3,-9.6,126,1346,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1724,2955,0,0,0,0,0,0
$GC,1594,-1.24,-77.9,198.0,-11.0,146,1598,0.00,2.47,0.00,0.000,4,0.000,0.046,2800,289,2956,0,0,0,0,0,0
$GC,1711,-1.24,-77.9,212.4,-11.0,152,1715,0.00,2.25,0.00,0.000,6,0.000,0.019,2800,1703,2956,0,0,0,0,0,0
$GC,2038,-1.32,-77.9,244.8,-8.2,168,2043,0.17,2.45,0.00,0.000,4,0.050,0.047,2746,295,2956,0,0,0,0,0,0
$GC,2061,-1.28,-77.9,246.9,-9.2,169,2066,0.12,2.22,0.00,0.000,6,0.101,0.020,2771,1703,2956,0,0,0,0,0,0
$GC,2399,-1.28,-77.9,273.6,-7.0,185,2403,0.00,2.25,0.00,0.000,4,0.000,0.026,2771,3078,2956,0,0,0,0,0,0
$GC,2503,-1.36,-77.9,281.5,-8.4,189,2507,0.00,2.33,0.00,0.000,6,0.000,0.035,2770,1692,2956,0,0,0,0,0,0
$GC,2837,-1.40,-77.9,310.6,-8.3,202,2842,0.12,2.42,0.00,0.000,4,0.064,0.050,2732,288,2955,0,0,0,0,0,0
$GC,2959,-1.31,-77.9,324.8,-12.9,204,2964,0.17,2.28,0.00,0.000,6,0.091,0.022,2767,1697,2954,0,0,0,0,0,0
$GC,3296,-1.34,-77.9,354.8,-8.7,213,3300,0.00,2.30,0.00,0.000,4,0.000,0.028,2767,3081,2953,0,0,0,0,0,0
$GC,3349,-1.45,-77.9,359.1,-8.0,214,3354,0.15,2.35,0.00,0.000,6,0.058,0.038,2722,1692,2953,0,0,0,0,0,0
$GC,3674,-1.39,-77.9,393.6,-11.0,222,3679,0.12,2.35,0.00,0.000,4,0.101,0.029,2746,3081,2950,0,0,0,0,0,0
$GC,3755,-1.44,-77.9,402.2,-10.0,223,3759,0.00,2.35,0.00,0.000,6,0.000,0.038,2746,1697,2950,0,0,0,0,0,0
$GC,4090,-1.44,-77.9,438.5,-10.7,232,4094,0.00,2.35,0.00,0.000,4,0.000,0.031,2746,3086,2948,0,0,0,0,0,0
$GC,4118,-1.50,-77.9,441.3,-9.8,232,4123,0.00,2.40,0.00,0.000,6,0.000,0.040,2747,1693,2947,0,0,0,0,0,0
$STATE,4212,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4213,begin apogee
$GC,4220,-0.31,0.0,450.6,9.6,235,4288,1.10,0.00,64.40,0.828,6,0.074,0.000,2980,1693,2630,0,0,0,0,0,0
$STATE,4288,end apogee,CONTROL_FINISHED_OK
$STATE,4288,begin climb
$GC,4291,1.38,77.9,451.9,0.0,236,4368,1.62,2.40,66.55,0.815,4,0.039,0.030,3352,3081,2311,0,0,0,0,0,0
$GC,4375,1.31,166.0,451.3,1.9,238,4460,0.00,2.40,77.07,0.807,6,0.000,0.037,3352,1695,1953,0,0,0,0,0,0
$GC,4784,1.15,166.0,398.9,14.6,248,4786,0.25,0.00,0.00,0.000,6,0.097,0.000,3303,1695,1943,0,0,0,0,0,0
$GC,5110,1.10,166.0,362.7,10.9,256,5114,0.00,2.50,0.00,0.000,4,0.000,0.058,3303,294,1939,0,0,0,0,0,0
$GC,5138,0.96,166.0,359.2,12.2,256,5143,0.22,2.33,0.00,0.000,6,0.100,0.027,3259,1705,1936,0,0,0,0,0,0
$GC,5476,1.02,166.0,327.6,9.7,265,5480,0.00,2.33,0.00,0.000,4,0.000,0.031,3259,3082,1935,0,0,0,0,0,0
$GC,5499,1.11,166.0,325.3,8.4,265,5504,0.15,2.38,0.00,0.000,6,0.061,0.039,3302,1698,1935,0,0,0,0,0,0
$GC,5820,1.11,166.0,296.9,8.1,274,5821,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,1699,1933,0,0,0,0,0,0
$GC,6132,1.11,166.0,269.9,9.4,289,6136,0.00,2.47,0.00,0.000,4,0.000,0.054,3302,294,1932,0,0,0,0,0,0
$GC,6276,1.01,166.0,252.9,11.8,295,6282,0.15,2.30,0.00,0.000,6,0.103,0.025,3272,1705,1929,0,0,0,0,0,0
$GC,6602,1.12,199.2,229.2,5.6,311,6639,0.10,2.53,26.33,0.694,4,0.077,0.052,3304,297,1816,0,0,0,0,0,0
$GC,6654,1.07,211.4,225.9,7.1,313,6672,0.12,2.33,11.88,0.637,6,0.103,0.024,3281,1714,1768,0,0,0,0,0,0
$GC,6993,1.17,236.9,205.9,6.2,330,7024,0.10,2.60,22.95,0.660,4,0.075,0.051,3313,296,1663,0,0,0,0,0,0
$GC,7094,1.09,236.9,197.3,9.3,335,7099,0.12,2.30,0.00,0.000,6,0.104,0.023,3290,1711,1659,0,0,0,0,0,0
$GC,7357,1.15,236.9,173.2,11.9,355,7361,0.00,2.47,0.00,0.000,4,0.000,0.051,3289,297,1658,0,0,0,0,0,0
$GC,7449,1.15,236.9,159.6,14.8,362,7453,0.00,2.28,0.00,0.000,6,0.000,0.021,3289,1712,1656,0,0,0,0,0,0
$GC,7717,1.22,236.9,132.9,8.1,383,7719,0.12,0.00,0.00,0.000,6,0.063,0.000,3332,1718,1656,0,0,0,0,0,0
$GC,7966,1.22,236.9,108.2,9.4,403,7970,0.00,2.45,0.00,0.000,4,0.000,0.048,3331,296,1656,0,0,0,0,0,0
$GC,8117,1.17,236.9,89.0,12.5,414,8122,0.12,2.25,0.00,0.000,6,0.099,0.020,3307,1716,1654,0,0,0,0,0,0
$GC,8382,1.27,241.1,65.8,7.6,434,8386,0.00,2.45,0.00,0.000,4,0.000,0.047,3306,293,1654,0,0,0,0,0,0
$GC,8407,1.27,241.1,63.4,9.1,436,8411,0.00,2.22,0.00,0.000,6,0.000,0.019,3307,1707,1654,0,0,0,0,0,0
$GC,8674,1.37,241.1,41.4,9.0,457,8679,0.17,2.47,0.00,0.000,4,0.048,0.046,3364,293,1654,0,0,0,0,0,0
$GC,8801,1.25,241.1,25.5,12.7,471,8808,0.17,2.25,0.00,0.000,6,0.069,0.019,3323,1705,1654,0,0,0,0,0,0
$GC,9004,1.31,241.1,7.7,8.4,517,9011,0.00,2.45,0.00,0.000,4,0.000,0.045,3322,301,1654,0,0,0,0,0,0
$STATE,9050,end climb,SURFACE_DEPTH_REACHED
$STATE,9050,begin surface coast
$FINISH,0.9,1.010258
$STATE,9080,end surface coast,CONTROL_FINISHED_OK
$STATE,9081,begin surface
$SM_CCo,9105,97.28,0.486,0,0,957,410.14
$SM_GC,1.51,0.00,0.00,97.28,0.000,0.000,0.486,426,1700,957,-12.07,0.00,410.14
$IRIDIUM_FIX,2045.60,-15750.49,071299,121217
$TT8_MAMPS,0.028379
$HUMID,54.92
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.5,37.043
$10V_AH,10.3,30.959
$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,30.300,104.275,269.175,97.275,0.000,25.341,27.335,158.356,4.500,0.000,19.171,1056.646,5962.875,424.824,1625.090,468.399,0.000,1139.971,0.000,1598.051,0.000,29.253,0.000
$DEVICE_MAMPS,131.924,57.525,828.360,485.511,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,359.862,350.239,789.872,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355856
$DATA_FILE_SIZE,28571,534
$CAP_FILE_SIZE,103561,0
$CFSIZE,260165632,191127552
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120910,171258,2052.968,-15751.880,13,2.7,32,9.8