version: 66.06
glider: 139
mission: 8
dive: 335
start: 9 1 110 19 55 1
data:
$ID,139
$MISSION,8
$DIVE,335
$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,-2157898.5
$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
$GPS1,194931,2105.244,-15755.244,42,1.4,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-72.0
$GPS2,195444,2105.192,-15755.230,13,1.5,13,9.8
$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,77.1,21305,-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,-64.45,0.000,2,0.000,0.000,426,1699,2748,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.3,-3.1,12,110,12.43,2.40,-2.35,0.000,4,0.132,0.036,2752,3115,2872,0,0,0,0,0,0
$GC,175,-1.56,-58.4,24.9,-17.2,30,181,0.00,2.42,0.00,0.000,6,0.000,0.034,2751,1700,2874,0,0,0,0,0,0
$GC,383,-1.48,-58.4,66.4,-20.1,50,388,0.12,2.45,0.00,0.000,4,0.114,0.048,2774,293,2875,0,0,0,0,0,0
$GC,430,-1.35,-58.4,76.7,-22.5,53,437,0.12,2.33,0.00,0.000,6,0.090,0.018,2803,1736,2875,0,0,0,0,0,0
$GC,691,-1.44,-58.4,115.0,-12.7,74,695,0.00,2.50,0.00,0.000,4,0.000,0.045,2803,291,2875,0,0,0,0,0,0
$GC,715,-1.48,-58.4,118.9,-15.5,76,720,0.12,2.25,0.00,0.000,6,0.063,0.018,2763,1720,2875,0,0,0,0,0,0
$GC,981,-1.52,-58.4,152.3,-11.7,97,985,0.00,2.17,0.00,0.000,4,0.000,0.021,2763,3060,2876,0,0,0,0,0,0
$GC,1046,-1.62,-58.4,159.1,-9.4,102,1050,0.00,2.28,0.00,0.000,6,0.000,0.030,2763,1687,2876,0,0,0,0,0,0
$GC,1313,-1.66,-58.4,188.2,-11.7,123,1315,0.12,0.00,0.00,0.000,6,0.065,0.000,2722,1686,2877,0,0,0,0,0,0
$GC,1577,-1.66,-58.4,220.5,-12.5,139,1581,0.00,2.25,0.00,0.000,4,0.000,0.023,2722,3057,2876,0,0,0,0,0,0
$GC,1700,-1.71,-58.4,235.9,-11.8,144,1704,0.00,2.25,0.00,0.000,6,0.000,0.031,2722,1698,2877,0,0,0,0,0,0
$GC,2024,-1.71,-58.4,275.1,-11.3,160,2025,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1697,2877,0,0,0,0,0,0
$GC,2333,-1.71,-58.4,308.1,-9.9,173,2337,0.00,2.22,0.00,0.000,4,0.000,0.025,2722,3058,2877,0,0,0,0,0,0
$GC,2389,-1.79,-58.4,313.5,-9.3,174,2393,0.00,2.25,0.00,0.000,6,0.000,0.033,2722,1700,2877,0,0,0,0,0,0
$GC,2705,-1.83,-58.4,347.6,-11.5,182,2709,0.00,2.25,0.00,0.000,4,0.000,0.026,2722,3055,2877,0,0,0,0,0,0
$GC,2723,-1.90,-58.4,350.3,-11.9,182,2728,0.15,2.28,0.00,0.000,6,0.058,0.035,2677,1700,2876,0,0,0,0,0,0
$GC,3071,-1.84,-58.4,393.3,-12.0,191,3076,0.10,2.28,0.00,0.000,4,0.115,0.029,2696,3054,2875,0,0,0,0,0,0
$GC,3300,-1.88,-58.4,417.7,-10.6,196,3304,0.00,2.30,0.00,0.000,6,0.000,0.038,2696,1697,2873,0,0,0,0,0,0
$STATE,3588,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3588,begin apogee
$GC,3595,-0.31,0.0,451.4,11.9,203,3648,1.60,0.00,49.35,0.818,6,0.081,0.000,3031,1696,2630,0,0,0,0,0,0
$STATE,3649,end apogee,CONTROL_FINISHED_OK
$STATE,3649,begin climb
$GC,3652,1.56,58.4,453.1,0.0,204,3707,1.75,0.00,50.15,0.801,6,0.028,0.000,3453,1696,2391,0,0,0,0,0,0
$GC,4023,1.32,113.7,446.5,2.9,213,4077,0.30,2.53,47.92,0.813,4,0.104,0.054,3391,293,2165,0,0,0,0,0,0
$GC,4137,1.03,113.7,439.3,10.0,215,4142,0.32,2.30,0.00,0.000,6,0.100,0.026,3328,1672,2159,0,0,0,0,0,0
$GC,4480,1.01,118.2,413.3,7.5,224,4484,0.00,2.38,0.00,0.000,4,0.000,0.033,3329,3083,2155,0,0,0,0,0,0
$GC,4662,1.01,123.4,398.4,7.4,228,4675,0.00,2.40,7.80,0.680,6,0.000,0.040,3329,1699,2126,0,0,0,0,0,0
$GC,4989,1.01,123.4,369.3,9.3,236,4993,0.00,2.38,0.00,0.000,4,0.000,0.033,3328,3088,2123,0,0,0,0,0,0
$GC,5007,1.01,123.4,367.3,9.3,236,5011,0.00,2.42,0.00,0.000,6,0.000,0.039,3329,1690,2122,0,0,0,0,0,0
$GC,5353,1.03,133.8,340.7,7.0,245,5365,0.00,0.00,9.88,0.703,6,0.000,0.000,3329,1690,2084,0,0,0,0,0,0
$GC,5677,1.03,138.9,315.8,7.4,253,5685,0.00,0.00,5.75,0.597,6,0.000,0.000,3328,1690,2063,0,0,0,0,0,0
$GC,5983,1.04,143.6,293.2,7.5,262,5995,0.00,2.45,5.57,0.571,4,0.000,0.031,3328,3088,2043,0,0,0,0,0,0
$GC,6118,1.09,145.4,283.2,7.7,267,6123,0.00,2.40,0.00,0.000,6,0.000,0.038,3328,1698,2043,0,0,0,0,0,0
$GC,6434,1.10,160.0,262.2,6.6,283,6457,0.00,2.53,16.02,0.701,4,0.000,0.053,3328,293,1977,0,0,0,0,0,0
$GC,6514,1.04,160.0,255.3,9.5,286,6518,0.00,2.35,0.00,0.000,6,0.000,0.025,3328,1714,1973,0,0,0,0,0,0
$GC,6834,1.07,164.8,230.3,7.5,302,6846,0.00,2.50,5.00,0.516,4,0.000,0.051,3328,294,1957,0,0,0,0,0,0
$GC,6937,1.02,164.8,220.7,10.2,306,6941,0.00,2.30,0.00,0.000,6,0.000,0.024,3328,1715,1954,0,0,0,0,0,0
$GC,7257,1.07,174.4,199.0,7.0,322,7272,0.00,2.53,9.80,0.602,4,0.000,0.048,3329,289,1918,0,0,0,0,0,0
$GC,7309,1.03,174.4,194.8,9.1,325,7313,0.00,2.30,0.00,0.000,6,0.000,0.023,3328,1710,1916,0,0,0,0,0,0
$GC,7571,1.11,184.1,172.5,7.0,345,7587,0.00,2.35,9.98,0.579,4,0.000,0.025,3329,3080,1879,0,0,0,0,0,0
$GC,7617,1.24,187.6,168.8,7.6,348,7629,0.17,2.38,4.93,0.464,6,0.054,0.034,3378,1691,1865,0,0,0,0,0,0
$GC,7881,1.20,187.6,141.9,11.4,369,7885,0.00,2.30,0.00,0.000,4,0.000,0.024,3378,3079,1864,0,0,0,0,0,0
$GC,7920,1.20,187.6,137.3,10.9,372,7924,0.00,2.33,0.00,0.000,6,0.000,0.033,3378,1697,1863,0,0,0,0,0,0
$GC,8184,1.20,187.6,111.7,8.6,393,8186,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,1697,1863,0,0,0,0,0,0
$GC,8438,1.23,213.9,93.3,5.5,413,8468,0.00,2.50,23.90,0.555,4,0.000,0.047,3378,298,1757,0,0,0,0,0,0
$GC,8561,1.18,214.7,85.0,7.8,422,8565,0.00,2.28,0.00,0.000,6,0.000,0.019,3378,1718,1754,0,0,0,0,0,0
$GC,8834,1.23,223.1,65.6,7.1,443,8849,0.00,2.47,9.25,0.474,4,0.000,0.044,3378,300,1719,0,0,0,0,0,0
$GC,8954,1.17,223.1,54.0,10.1,451,8961,0.10,2.25,0.00,0.000,6,0.078,0.019,3354,1710,1716,0,0,0,0,0,0
$GC,9217,1.28,226.0,34.3,7.6,472,9227,0.10,2.47,3.83,0.325,4,0.072,0.044,3390,290,1708,0,0,0,0,0,0
$GC,9294,1.20,226.0,26.6,11.0,480,9300,0.10,2.25,0.00,0.000,6,0.078,0.018,3366,1707,1707,0,0,0,0,0,0
$GC,9497,1.27,226.0,7.8,9.6,526,9503,0.00,2.45,0.00,0.000,4,0.000,0.044,3365,300,1707,0,0,0,0,0,0
$STATE,9542,end climb,SURFACE_DEPTH_REACHED
$STATE,9542,begin surface coast
$FINISH,1.6,1.023012
$STATE,9552,end surface coast,CONTROL_FINISHED_OK
$STATE,9552,begin surface
$SM_CCo,9578,105.78,0.481,0,0,957,410.14
$SM_GC,1.53,0.00,0.00,105.78,0.000,0.000,0.481,429,1710,957,-12.29,0.28,410.14
$IRIDIUM_FIX,2057.14,-15753.90,261199,171750
$TT8_MAMPS,0.029146
$HUMID,53.26
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,23.5,29.019
$10V_AH,10.3,24.085
$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,30.150,98.875,259.125,105.775,0.000,28.303,32.638,130.459,4.500,0.000,13.207,1074.602,6389.191,427.102,1662.126,442.380,0.000,1163.569,0.000,1639.640,0.000,29.251,0.000
$DEVICE_MAMPS,131.924,54.457,818.389,480.909,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,362.012,339.020,766.287,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,28626,538
$CAP_FILE_SIZE,105332,0
$CFSIZE,260165632,196030464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010910,223737,2104.722,-15754.624,34,0.9,34,9.8