version: 66.06
glider: 139
mission: 8
dive: 328
start: 9 1 110 0 37 24
data:
$ID,139
$MISSION,8
$DIVE,328
$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,60
$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,-2157720.5
$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,3100
$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
$GPS1,003137,2107.266,-15800.514,74,0.8,74,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-72.7
$GPS2,003707,2107.241,-15800.504,12,1.9,17,9.8
$SPEED_LIMITS,0.137,0.159
$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,85.2,30500,-23.8,-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,-1.56,-58.4,0.0,0.0,0,83,0.00,0.00,-64.82,0.000,2,0.000,0.000,427,1689,2788,0,0,0,0,0,0
$GC,86,-1.56,-58.4,3.6,-4.2,12,106,12.52,2.45,-1.50,0.000,4,0.135,0.037,2753,3118,2872,0,0,0,0,0,0
$GC,152,-1.56,-58.4,22.0,-18.6,25,159,0.00,2.45,0.00,0.000,6,0.000,0.034,2753,1695,2873,0,0,0,0,0,0
$GC,351,-1.47,-58.4,59.0,-18.7,47,353,0.12,0.00,0.00,0.000,6,0.115,0.000,2776,1695,2874,0,0,0,0,0,0
$GC,604,-1.47,-58.4,96.8,-12.4,67,609,0.00,2.35,0.00,0.000,4,0.000,0.021,2776,3118,2875,0,0,0,0,0,0
$GC,680,-1.60,-58.4,107.0,-12.4,72,686,0.10,2.40,0.00,0.000,6,0.035,0.031,2737,1700,2875,0,0,0,0,0,0
$GC,943,-1.60,-58.4,143.8,-13.6,93,948,0.00,2.40,0.00,0.000,4,0.000,0.045,2737,289,2876,0,0,0,0,0,0
$GC,999,-1.53,-58.4,152.1,-14.4,97,1004,0.15,2.30,0.00,0.000,6,0.104,0.018,2766,1741,2876,0,0,0,0,0,0
$GC,1262,-1.61,-58.4,180.8,-11.9,117,1267,0.00,2.50,0.00,0.000,4,0.000,0.045,2766,289,2877,0,0,0,0,0,0
$GC,1288,-1.61,-58.4,184.3,-13.0,119,1292,0.00,2.25,0.00,0.000,6,0.000,0.019,2766,1718,2877,0,0,0,0,0,0
$GC,1553,-1.70,-58.4,213.4,-10.8,136,1558,0.17,2.45,0.00,0.000,4,0.052,0.046,2713,295,2877,0,0,0,0,0,0
$GC,1624,-1.60,-58.4,222.9,-13.8,139,1629,0.17,2.20,0.00,0.000,6,0.097,0.019,2748,1702,2877,0,0,0,0,0,0
$GC,1954,-1.67,-58.4,260.9,-11.2,155,1958,0.00,2.25,0.00,0.000,4,0.000,0.025,2748,3073,2877,0,0,0,0,0,0
$GC,2104,-1.79,-58.4,278.0,-11.8,161,2109,0.17,2.30,0.00,0.000,6,0.053,0.033,2697,1694,2877,0,0,0,0,0,0
$GC,2440,-1.79,-58.4,319.1,-11.3,173,2444,0.00,2.25,0.00,0.000,4,0.000,0.025,2697,3069,2877,0,0,0,0,0,0
$GC,2638,-1.79,-58.4,340.7,-10.3,177,2642,0.00,2.30,0.00,0.000,6,0.000,0.035,2696,1699,2876,0,0,0,0,0,0
$GC,2989,-1.79,-58.4,384.9,-13.5,186,2993,0.00,2.28,0.00,0.000,4,0.000,0.028,2697,3073,2874,0,0,0,0,0,0
$GC,3063,-1.83,-58.4,394.3,-12.3,187,3067,0.00,2.33,0.00,0.000,6,0.000,0.038,2696,1695,2874,0,0,0,0,0,0
$GC,3400,-1.83,-58.4,434.1,-11.6,196,3404,0.00,2.30,0.00,0.000,4,0.000,0.031,2697,3065,2872,0,0,0,0,0,0
$GC,3423,-1.83,-58.4,436.8,-11.3,196,3427,0.00,2.33,0.00,0.000,6,0.000,0.040,2696,1701,2871,0,0,0,0,0,0
$STATE,3557,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3557,begin apogee
$GC,3563,-0.31,0.0,450.2,9.9,200,3616,1.60,0.00,49.25,0.820,6,0.084,0.000,3029,1700,2630,0,0,0,0,0,0
$STATE,3617,end apogee,CONTROL_FINISHED_OK
$STATE,3617,begin climb
$GC,3620,1.56,58.4,451.1,0.0,201,3680,1.80,2.40,50.28,0.804,4,0.029,0.031,3452,3061,2390,0,0,0,0,0,0
$GC,3816,1.31,85.4,443.9,5.5,205,3845,0.32,2.38,23.45,0.781,6,0.108,0.038,3390,1687,2282,0,0,0,0,0,0
$GC,4191,1.15,94.5,417.7,7.1,215,4207,0.20,2.38,8.35,0.687,4,0.109,0.031,3352,3065,2243,0,0,0,0,0,0
$GC,4286,1.10,109.1,411.8,6.6,217,4306,0.00,2.35,14.43,0.753,6,0.000,0.040,3352,1702,2184,0,0,0,0,0,0
$GC,4618,1.02,109.1,384.5,8.7,225,4623,0.15,2.53,0.00,0.000,4,0.116,0.057,3324,293,2179,0,0,0,0,0,0
$GC,4637,0.91,109.1,382.4,9.2,225,4642,0.12,2.28,0.00,0.000,6,0.123,0.028,3302,1681,2177,0,0,0,0,0,0
$GC,4985,0.96,125.3,358.3,6.4,234,5005,0.00,2.45,14.02,0.746,4,0.000,0.032,3301,3082,2119,0,0,0,0,0,0
$GC,5192,1.04,136.3,342.9,6.9,238,5209,0.12,2.38,11.38,0.720,6,0.072,0.040,3335,1695,2074,0,0,0,0,0,0
$GC,5541,1.04,136.6,316.0,7.9,247,5545,0.00,2.38,0.00,0.000,4,0.000,0.031,3335,3091,2069,0,0,0,0,0,0
$GC,5570,1.05,140.5,313.8,7.5,247,5579,0.00,2.40,4.35,0.521,6,0.000,0.039,3335,1693,2057,0,0,0,0,0,0
$GC,5888,1.06,152.5,292.4,6.8,257,5905,0.00,2.38,12.05,0.704,4,0.000,0.030,3335,3083,2008,0,0,0,0,0,0
$GC,6067,1.06,152.5,277.9,8.4,264,6071,0.00,2.38,0.00,0.000,6,0.000,0.038,3335,1698,2008,0,0,0,0,0,0
$GC,6397,1.08,169.6,252.4,6.4,280,6420,0.00,2.42,16.23,0.698,4,0.000,0.029,3335,3103,1938,0,0,0,0,0,0
$GC,6436,1.14,185.9,250.0,6.4,281,6457,0.00,2.42,16.10,0.686,6,0.000,0.037,3335,1695,1870,0,0,0,0,0,0
$GC,6775,1.17,185.9,218.5,9.6,298,6779,0.00,2.45,0.00,0.000,4,0.000,0.052,3335,288,1866,0,0,0,0,0,0
$GC,6891,1.10,185.9,205.9,12.0,303,6895,0.00,2.33,0.00,0.000,6,0.000,0.023,3335,1719,1864,0,0,0,0,0,0
$GC,7221,1.13,185.9,173.6,9.7,327,7225,0.00,2.50,0.00,0.000,4,0.000,0.049,3335,292,1863,0,0,0,0,0,0
$GC,7287,1.08,185.9,165.2,11.7,332,7291,0.00,2.25,0.00,0.000,6,0.000,0.022,3335,1701,1861,0,0,0,0,0,0
$GC,7556,1.14,185.9,135.9,10.8,353,7557,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,1709,1861,0,0,0,0,0,0
$GC,7810,1.22,200.2,112.3,6.6,373,7830,0.12,2.47,12.65,0.558,4,0.066,0.045,3373,289,1811,0,0,0,0,0,0
$GC,7900,1.10,200.2,103.5,11.7,379,7906,0.17,2.28,0.00,0.000,6,0.100,0.020,3339,1711,1809,0,0,0,0,0,0
$GC,8162,1.19,201.8,81.5,7.7,400,8166,0.00,2.45,0.00,0.000,4,0.000,0.046,3339,294,1809,0,0,0,0,0,0
$GC,8216,1.19,202.1,76.8,7.9,404,8220,0.00,2.22,0.00,0.000,6,0.000,0.020,3339,1711,1808,0,0,0,0,0,0
$GC,8479,1.35,225.3,62.8,5.8,424,8504,0.22,0.00,22.40,0.534,6,0.047,0.000,3403,1718,1710,0,0,0,0,0,0
$GC,8755,1.35,225.3,39.3,9.4,446,8759,0.00,2.45,0.00,0.000,4,0.000,0.044,3402,287,1709,0,0,0,0,0,0
$GC,8796,1.24,225.3,34.9,10.7,449,8801,0.15,2.25,0.00,0.000,6,0.104,0.019,3373,1711,1708,0,0,0,0,0,0
$GC,9060,1.31,225.3,9.5,8.4,503,9067,0.00,2.20,0.00,0.000,4,0.000,0.021,3374,3059,1707,0,0,0,0,0,0
$GC,9105,1.40,225.3,5.5,9.1,512,9112,0.10,2.33,0.00,0.000,6,0.035,0.030,3413,1690,1707,0,0,0,0,0,0
$STATE,9125,end climb,SURFACE_DEPTH_REACHED
$STATE,9126,begin surface coast
$FINISH,0.9,1.023227
$STATE,9157,end surface coast,CONTROL_FINISHED_OK
$STATE,9157,begin surface
$SM_CCo,9179,106.38,0.489,0,0,957,410.14
$SM_GC,1.47,0.00,0.00,106.38,0.000,0.000,0.489,430,1686,957,-12.28,-0.40,410.14
$IRIDIUM_FIX,2059.45,-15803.33,251199,212144
$TT8_MAMPS,0.029146
$HUMID,54.52
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.5,28.464
$10V_AH,10.3,23.574
$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,31.250,103.750,254.925,106.375,0.000,31.189,30.362,140.646,4.500,0.000,17.905,1069.857,5957.356,423.541,1709.236,455.090,0.000,1175.480,0.000,1682.124,0.000,29.256,0.000
$DEVICE_MAMPS,134.992,56.758,819.923,489.346,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,352.322,334.336,772.548,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355724
$DATA_FILE_SIZE,28710,523
$CAP_FILE_SIZE,107381,0
$CFSIZE,260165632,196399104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010910,031321,2107.174,-15759.736,12,2.3,31,9.8