version: 66.06
glider: 139
mission: 8
dive: 332
start: 9 1 110 11 35 22
data:
$ID,139
$MISSION,8
$DIVE,332
$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,-2157855
$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
$GPS1,112907,2106.595,-15757.520,9,1.9,9,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-72.7
$GPS2,113506,2106.540,-15757.460,33,0.9,43,9.8
$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,83.3,25163,-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,-64.62,0.000,2,0.000,0.000,427,1686,2786,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.6,-3.9,12,104,12.43,0.00,-1.52,0.000,6,0.133,0.000,2753,1686,2871,0,0,0,0,0,0
$GC,296,-1.46,-58.4,53.2,-21.0,42,301,0.15,2.38,0.00,0.000,4,0.105,0.021,2783,3113,2873,0,0,0,0,0,0
$GC,363,-1.55,-58.4,64.4,-15.2,47,367,0.00,2.38,0.00,0.000,6,0.000,0.034,2782,1698,2874,0,0,0,0,0,0
$GC,629,-1.59,-58.4,101.7,-12.7,68,634,0.12,2.40,0.00,0.000,4,0.064,0.045,2742,296,2875,0,0,0,0,0,0
$GC,718,-1.51,-58.4,116.8,-17.4,74,725,0.10,2.33,0.00,0.000,6,0.079,0.018,2767,1737,2875,0,0,0,0,0,0
$GC,981,-1.57,-58.4,150.4,-12.2,95,982,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1738,2876,0,0,0,0,0,0
$GC,1231,-1.64,-58.4,178.3,-11.2,115,1236,0.12,2.47,0.00,0.000,4,0.064,0.045,2726,296,2877,0,0,0,0,0,0
$GC,1292,-1.56,-58.4,187.2,-14.5,119,1299,0.15,2.22,0.00,0.000,6,0.101,0.018,2757,1714,2877,0,0,0,0,0,0
$GC,1567,-1.62,-58.4,220.6,-11.9,136,1571,0.00,2.22,0.00,0.000,4,0.000,0.024,2757,3073,2877,0,0,0,0,0,0
$GC,1628,-1.75,-58.4,227.8,-10.9,138,1635,0.15,2.35,0.00,0.000,6,0.031,0.032,2704,1692,2877,0,0,0,0,0,0
$GC,1943,-1.75,-58.4,266.5,-11.9,154,1944,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,1692,2876,0,0,0,0,0,0
$GC,2255,-1.75,-58.4,299.8,-11.1,169,2260,0.00,2.30,0.00,0.000,4,0.000,0.025,2704,3069,2876,0,0,0,0,0,0
$GC,2400,-1.79,-58.4,316.6,-10.7,173,2404,0.00,2.30,0.00,0.000,6,0.000,0.034,2704,1694,2876,0,0,0,0,0,0
$GC,2723,-1.79,-58.4,351.5,-10.6,181,2724,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,1693,2875,0,0,0,0,0,0
$GC,3047,-1.79,-58.4,385.7,-10.5,189,3051,0.00,2.42,0.00,0.000,4,0.000,0.052,2703,299,2874,0,0,0,0,0,0
$GC,3080,-1.72,-58.4,389.3,-11.0,189,3084,0.00,2.22,0.00,0.000,6,0.000,0.024,2704,1687,2873,0,0,0,0,0,0
$GC,3413,-1.72,-58.4,421.7,-10.2,197,3417,0.00,2.33,0.00,0.000,4,0.000,0.031,2704,3079,2870,0,0,0,0,0,0
$GC,3441,-1.77,-58.4,424.5,-8.7,197,3445,0.00,2.35,0.00,0.000,6,0.000,0.038,2704,1695,2871,0,0,0,0,0,0
$STATE,3694,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3694,begin apogee
$GC,3700,-0.31,0.0,450.1,10.6,204,3753,1.55,0.00,48.95,0.829,6,0.081,0.000,3028,1695,2630,0,0,0,0,0,0
$STATE,3754,end apogee,CONTROL_FINISHED_OK
$STATE,3754,begin climb
$GC,3757,1.56,58.4,451.4,0.0,205,3812,1.77,0.00,50.28,0.811,6,0.031,0.000,3450,1695,2391,0,0,0,0,0,0
$GC,4127,1.35,124.7,447.0,1.9,214,4192,0.25,2.58,57.50,0.823,4,0.110,0.055,3398,299,2120,0,0,0,0,0,0
$GC,4310,1.05,124.7,429.3,13.7,218,4315,0.35,2.35,0.00,0.000,6,0.103,0.027,3331,1698,2113,0,0,0,0,0,0
$GC,4639,1.05,124.7,394.4,10.4,226,4643,0.00,2.35,0.00,0.000,4,0.000,0.032,3330,3088,2110,0,0,0,0,0,0
$GC,4705,1.05,124.7,387.4,10.2,227,4710,0.00,2.40,0.00,0.000,6,0.000,0.041,3330,1697,2110,0,0,0,0,0,0
$GC,5050,1.05,124.7,355.9,8.5,236,5054,0.00,2.45,0.00,0.000,4,0.000,0.055,3330,295,2107,0,0,0,0,0,0
$GC,5103,0.92,124.7,351.4,8.8,237,5108,0.15,2.33,0.00,0.000,6,0.120,0.027,3303,1711,2104,0,0,0,0,0,0
$GC,5422,0.98,132.5,327.3,7.2,245,5434,0.00,2.53,5.15,0.577,4,0.000,0.053,3303,288,2088,0,0,0,0,0,0
$GC,5494,0.93,132.5,321.7,8.0,246,5498,0.00,2.33,0.00,0.000,6,0.000,0.027,3303,1711,2086,0,0,0,0,0,0
$GC,5820,1.00,141.0,297.8,7.1,255,5836,0.00,2.33,8.85,0.669,4,0.000,0.029,3303,3078,2054,0,0,0,0,0,0
$GC,5955,1.09,142.9,288.1,7.7,260,5962,0.12,2.40,0.00,0.000,6,0.041,0.038,3344,1702,2054,0,0,0,0,0,0
$GC,6270,1.09,142.9,262.1,8.2,276,6274,0.00,2.30,0.00,0.000,4,0.000,0.029,3344,3081,2052,0,0,0,0,0,0
$GC,6358,1.09,142.9,254.4,10.3,279,6363,0.00,2.35,0.00,0.000,6,0.000,0.038,3343,1699,2051,0,0,0,0,0,0
$GC,6674,1.09,142.9,227.0,7.9,295,6678,0.00,2.45,0.00,0.000,4,0.000,0.051,3344,294,2051,0,0,0,0,0,0
$GC,6698,1.01,142.9,225.1,8.2,296,6703,0.12,2.28,0.00,0.000,6,0.114,0.025,3321,1708,2049,0,0,0,0,0,0
$GC,7027,1.07,157.7,204.8,6.6,312,7050,0.00,2.55,15.12,0.657,4,0.000,0.051,3320,297,1986,0,0,0,0,0,0
$GC,7142,1.03,157.7,195.5,9.4,318,7146,0.00,2.28,0.00,0.000,6,0.000,0.023,3321,1703,1983,0,0,0,0,0,0
$GC,7409,1.10,171.2,176.7,6.7,339,7429,0.00,0.00,13.27,0.615,6,0.000,0.000,3321,1709,1930,0,0,0,0,0,0
$GC,7686,1.19,180.0,157.0,7.1,361,7701,0.15,2.50,9.15,0.561,4,0.060,0.046,3365,292,1895,0,0,0,0,0,0
$GC,7763,1.07,180.0,150.0,8.5,366,7767,0.15,2.30,0.00,0.000,6,0.103,0.021,3335,1716,1892,0,0,0,0,0,0
$GC,8031,1.13,180.7,130.2,7.8,387,8035,0.00,2.45,0.00,0.000,4,0.000,0.047,3335,296,1891,0,0,0,0,0,0
$GC,8123,1.13,180.7,120.9,9.4,394,8127,0.00,2.25,0.00,0.000,6,0.000,0.021,3335,1714,1890,0,0,0,0,0,0
$GC,8391,1.23,201.1,101.5,6.1,415,8419,0.15,2.30,19.40,0.561,4,0.058,0.024,3380,3071,1809,0,0,0,0,0,0
$GC,8453,1.27,201.1,95.7,10.3,419,8458,0.00,2.35,0.00,0.000,6,0.000,0.031,3380,1689,1809,0,0,0,0,0,0
$GC,8720,1.27,201.1,71.2,8.2,440,8724,0.00,2.40,0.00,0.000,4,0.000,0.045,3380,294,1808,0,0,0,0,0,0
$GC,8864,1.22,201.1,58.1,8.7,450,8871,0.00,2.25,0.00,0.000,6,0.000,0.019,3380,1710,1806,0,0,0,0,0,0
$GC,9127,1.28,220.3,41.6,6.2,471,9155,0.00,2.45,17.75,0.500,4,0.000,0.042,3380,296,1729,0,0,0,0,0,0
$GC,9253,1.23,220.3,31.4,9.5,480,9257,0.00,2.22,0.00,0.000,6,0.000,0.018,3380,1692,1726,0,0,0,0,0,0
$GC,9516,1.28,220.3,9.9,9.3,538,9523,0.00,2.45,0.00,0.000,4,0.000,0.044,3380,293,1726,0,0,0,0,0,0
$GC,9551,1.28,220.3,6.1,11.2,544,9557,0.00,2.25,0.00,0.000,6,0.000,0.018,3380,1716,1726,0,0,0,0,0,0
$STATE,9584,end climb,SURFACE_DEPTH_REACHED
$STATE,9584,begin surface coast
$FINISH,0.9,1.014335
$STATE,9615,end surface coast,CONTROL_FINISHED_OK
$STATE,9615,begin surface
$SM_CCo,9637,107.10,0.485,0,0,957,410.14
$SM_GC,1.54,0.00,0.00,107.10,0.000,0.000,0.485,430,1717,957,-12.29,0.48,410.14
$IRIDIUM_FIX,2057.14,-15756.91,261199,080854
$TT8_MAMPS,0.029146
$HUMID,53.46
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.5,28.785
$10V_AH,10.3,23.870
$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,30.625,99.075,245.425,107.100,0.000,27.462,34.173,144.630,4.500,0.000,43.656,1098.675,6352.508,423.423,1753.353,473.253,0.000,1182.110,0.000,1709.675,0.000,29.261,0.000
$DEVICE_MAMPS,132.691,55.224,829.127,484.744,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,375.474,358.679,817.768,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,31770,558
$CAP_FILE_SIZE,106522,0
$CFSIZE,260165632,196177920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010910,141907,2106.231,-15756.560,41,0.9,41,9.8