version: 66.06
glider: 139
mission: 8
dive: 331
start: 9 1 110 8 50 4
data:
$ID,139
$MISSION,8
$DIVE,331
$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,-2157810.5
$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
$GPS1,084055,2107.094,-15758.624,42,1.4,42,9.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-70.7
$GPS2,084944,2107.004,-15758.608,14,2.0,14,9.8
$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,84.8,27200,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.56,-58.4,0.0,0.0,0,82,0.00,0.00,-64.62,0.000,2,0.000,0.000,430,1688,2781,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.6,-4.0,12,105,12.48,2.47,-1.60,0.000,4,0.134,0.055,2751,288,2871,0,0,0,0,0,0
$GC,125,-0.61,-58.4,19.1,-35.5,19,132,0.98,2.35,0.00,0.000,6,0.088,0.018,2962,1737,2872,0,0,0,0,0,0
$GC,326,-1.04,-58.4,34.5,-5.1,51,331,0.35,2.50,0.00,0.000,4,0.034,0.044,2858,289,2874,0,0,0,0,0,0
$GC,368,-1.14,-58.4,38.9,-12.0,54,372,0.00,2.22,0.00,0.000,6,0.000,0.018,2858,1711,2874,0,0,0,0,0,0
$GC,628,-1.30,-58.4,67.5,-10.7,74,633,0.20,2.45,0.00,0.000,4,0.046,0.044,2797,290,2874,0,0,0,0,0,0
$GC,682,-1.26,-58.4,75.2,-15.4,78,686,0.15,2.20,0.00,0.000,6,0.097,0.018,2827,1699,2874,0,0,0,0,0,0
$GC,950,-1.41,-58.4,105.6,-11.8,99,954,0.15,2.45,0.00,0.000,4,0.056,0.045,2778,290,2874,0,0,0,0,0,0
$GC,1032,-1.41,-58.4,118.1,-15.2,105,1036,0.00,2.20,0.00,0.000,6,0.000,0.018,2778,1703,2875,0,0,0,0,0,0
$GC,1295,-1.49,-58.4,150.7,-12.2,125,1299,0.00,2.42,0.00,0.000,4,0.000,0.046,2778,295,2875,0,0,0,0,0,0
$GC,1337,-1.53,-58.4,156.7,-12.6,128,1341,0.00,2.22,0.00,0.000,6,0.000,0.018,2778,1707,2875,0,0,0,0,0,0
$GC,1598,-1.61,-58.4,187.7,-12.0,148,1603,0.12,2.22,0.00,0.000,4,0.064,0.023,2737,3073,2876,0,0,0,0,0,0
$GC,1638,-1.68,-58.4,192.9,-13.1,151,1642,0.00,2.33,0.00,0.000,6,0.000,0.031,2738,1688,2876,0,0,0,0,0,0
$GC,1900,-1.68,-58.4,227.9,-13.2,165,1904,0.00,2.38,0.00,0.000,4,0.000,0.045,2737,298,2876,0,0,0,0,0,0
$GC,1915,-1.68,-58.4,230.4,-13.5,165,1921,0.00,2.22,0.00,0.000,6,0.000,0.019,2737,1704,2876,0,0,0,0,0,0
$GC,2232,-1.72,-58.4,266.7,-11.5,181,2236,0.00,2.25,0.00,0.000,4,0.000,0.025,2737,3066,2876,0,0,0,0,0,0
$GC,2298,-1.82,-58.4,273.6,-9.9,183,2304,0.15,2.30,0.00,0.000,6,0.058,0.032,2691,1697,2876,0,0,0,0,0,0
$GC,2612,-1.79,-58.4,309.5,-11.4,197,2616,0.00,2.30,0.00,0.000,4,0.000,0.025,2691,3071,2875,0,0,0,0,0,0
$GC,2692,-1.79,-58.4,317.5,-9.8,198,2696,0.00,2.30,0.00,0.000,6,0.000,0.035,2691,1693,2875,0,0,0,0,0,0
$GC,3023,-1.79,-58.4,352.9,-11.2,206,3027,0.00,2.25,0.00,0.000,4,0.000,0.026,2691,3065,2874,0,0,0,0,0,0
$GC,3174,-1.79,-58.4,369.1,-10.9,209,3179,0.00,2.30,0.00,0.000,6,0.000,0.037,2691,1702,2874,0,0,0,0,0,0
$GC,3524,-1.79,-58.4,411.7,-12.8,218,3528,0.00,2.33,0.00,0.000,4,0.000,0.030,2691,3071,2871,0,0,0,0,0,0
$GC,3614,-1.83,-58.4,423.4,-14.0,220,3619,0.00,2.33,0.00,0.000,6,0.000,0.040,2690,1702,2870,0,0,0,0,0,0
$STATE,3817,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3817,begin apogee
$GC,3823,-0.31,0.0,450.7,13.2,225,3876,1.62,0.00,48.90,0.822,6,0.081,0.000,3031,1702,2630,0,0,0,0,0,0
$STATE,3877,end apogee,CONTROL_FINISHED_OK
$STATE,3877,begin climb
$GC,3879,1.56,58.4,452.4,0.0,226,3937,1.75,2.55,50.05,0.806,4,0.029,0.053,3450,293,2390,0,0,0,0,0,0
$GC,4066,1.20,111.9,451.5,3.1,230,4119,0.45,2.30,46.65,0.808,6,0.105,0.025,3363,1690,2172,0,0,0,0,0,0
$GC,4429,1.08,111.9,421.2,9.7,239,4431,0.15,0.00,0.00,0.000,6,0.111,0.000,3336,1690,2164,0,0,0,0,0,0
$GC,4754,1.03,111.9,389.4,9.9,247,4756,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,1690,2160,0,0,0,0,0,0
$GC,5080,1.00,111.9,358.8,9.4,255,5084,0.00,2.33,0.00,0.000,4,0.000,0.031,3335,3077,2158,0,0,0,0,0,0
$GC,5159,1.00,111.9,351.6,9.0,256,5163,0.00,2.38,0.00,0.000,6,0.000,0.039,3335,1699,2158,0,0,0,0,0,0
$GC,5491,0.97,116.6,325.1,7.5,264,5496,0.12,2.35,0.00,0.000,4,0.118,0.031,3312,3075,2155,0,0,0,0,0,0
$GC,5553,1.05,143.3,321.5,5.5,265,5586,0.00,2.38,25.70,0.762,6,0.000,0.038,3312,1695,2045,0,0,0,0,0,0
$GC,5911,1.10,152.4,298.6,7.1,274,5927,0.12,2.47,8.88,0.666,4,0.071,0.053,3346,297,2007,0,0,0,0,0,0
$GC,5935,1.04,152.4,296.5,9.6,275,5939,0.00,2.33,0.00,0.000,6,0.000,0.026,3347,1696,2005,0,0,0,0,0,0
$GC,6266,1.04,152.4,265.1,11.6,291,6270,0.00,2.47,0.00,0.000,4,0.000,0.053,3346,297,2004,0,0,0,0,0,0
$GC,6322,0.92,152.4,258.2,12.0,293,6327,0.22,2.30,0.00,0.000,6,0.101,0.026,3303,1708,2002,0,0,0,0,0,0
$GC,6640,1.01,161.8,233.4,7.0,308,6650,0.00,0.00,8.75,0.627,6,0.000,0.000,3303,1712,1970,0,0,0,0,0,0
$GC,6950,1.12,172.5,210.3,6.9,323,6967,0.17,2.53,10.90,0.635,4,0.058,0.050,3351,289,1926,0,0,0,0,0,0
$GC,6977,1.06,172.5,207.8,8.5,324,6981,0.00,2.33,0.00,0.000,6,0.000,0.024,3351,1704,1924,0,0,0,0,0,0
$GC,7306,1.07,179.7,178.4,7.2,347,7320,0.00,2.50,7.40,0.562,4,0.000,0.050,3351,297,1897,0,0,0,0,0,0
$GC,7366,0.98,179.7,172.8,8.8,351,7371,0.20,2.28,0.00,0.000,6,0.098,0.022,3312,1716,1895,0,0,0,0,0,0
$GC,7630,1.09,184.3,155.3,7.5,371,7644,0.12,2.53,5.47,0.489,4,0.067,0.048,3350,301,1877,0,0,0,0,0,0
$GC,7733,1.02,184.3,143.3,11.4,378,7738,0.15,2.25,0.00,0.000,6,0.102,0.021,3321,1714,1876,0,0,0,0,0,0
$GC,7995,1.12,184.3,120.1,9.7,398,7999,0.00,2.47,0.00,0.000,4,0.000,0.046,3321,292,1875,0,0,0,0,0,0
$GC,8015,1.15,184.3,117.9,9.0,399,8021,0.12,2.22,0.00,0.000,6,0.066,0.021,3360,1704,1875,0,0,0,0,0,0
$GC,8276,1.25,215.9,101.4,5.0,420,8310,0.00,2.50,28.70,0.570,4,0.000,0.046,3359,292,1749,0,0,0,0,0,0
$GC,8387,1.25,215.9,91.7,10.0,428,8391,0.00,2.22,0.00,0.000,6,0.000,0.020,3360,1705,1745,0,0,0,0,0,0
$GC,8650,1.34,224.7,72.7,7.1,448,8666,0.15,2.47,8.48,0.475,4,0.057,0.044,3405,289,1713,0,0,0,0,0,0
$GC,8814,1.23,224.7,52.9,12.6,459,8821,0.15,2.25,0.00,0.000,6,0.081,0.018,3371,1704,1711,0,0,0,0,0,0
$GC,9076,1.30,224.7,29.8,8.6,480,9082,0.00,2.22,0.00,0.000,4,0.000,0.021,3371,3063,1711,0,0,0,0,0,0
$GC,9121,1.42,237.7,26.6,6.7,489,9140,0.12,2.33,12.55,0.469,6,0.033,0.030,3417,1692,1659,0,0,0,0,0,0
$GC,9334,1.37,237.7,4.2,12.9,537,9341,0.00,2.40,0.00,0.000,4,0.000,0.042,3417,304,1659,0,0,0,0,0,0
$STATE,9347,end climb,SURFACE_DEPTH_REACHED
$STATE,9347,begin surface coast
$FINISH,1.0,1.023104
$STATE,9373,end surface coast,CONTROL_FINISHED_OK
$STATE,9373,begin surface
$SM_CCo,9398,96.93,0.483,0,0,958,410.14
$SM_GC,1.57,0.00,0.00,96.93,0.000,0.000,0.483,427,1681,958,-12.30,-0.54,410.14
$IRIDIUM_FIX,2059.45,-15756.04,261199,080840
$TT8_MAMPS,0.028379
$HUMID,53.81
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.5,28.707
$10V_AH,10.3,23.795
$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,32.950,112.575,262.425,96.925,0.000,56.111,64.653,216.770,4.500,0.000,14.389,1091.225,6225.943,421.345,1686.188,599.942,0.000,1172.262,0.000,1665.993,0.000,29.257,0.000
$DEVICE_MAMPS,134.225,55.224,822.224,483.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,365.688,350.321,812.480,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,31762,544
$CAP_FILE_SIZE,113883,0
$CFSIZE,260165632,196231168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010910,112907,2106.595,-15757.520,9,1.9,9,9.8