version: 66.06
glider: 139
mission: 8
dive: 336
start: 9 1 110 22 43 1
data:
$ID,139
$MISSION,8
$DIVE,336
$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,-2157914.8
$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,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
$GPS1,223737,2104.722,-15754.624,34,0.9,34,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-71.2
$GPS2,224244,2104.648,-15754.597,15,1.5,15,9.8
$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,74.1,20294,-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,-64.40,0.000,2,0.000,0.000,428,1710,2771,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.6,-3.8,12,110,12.45,2.40,-1.85,0.000,4,0.133,0.037,2754,3115,2873,0,0,0,0,0,0
$GC,123,-0.53,-58.4,16.3,-29.6,18,130,1.05,2.42,0.00,0.000,6,0.078,0.034,2983,1702,2873,0,0,0,0,0,0
$GC,325,-0.99,-58.4,29.6,-5.0,64,332,0.40,2.42,0.00,0.000,4,0.030,0.043,2863,292,2875,0,0,0,0,0,0
$GC,399,-1.13,-58.4,37.2,-11.9,71,403,0.00,2.30,0.00,0.000,6,0.000,0.018,2863,1744,2875,0,0,0,0,0,0
$GC,664,-1.31,-58.4,65.7,-9.2,92,669,0.22,2.50,0.00,0.000,4,0.041,0.044,2793,290,2875,0,0,0,0,0,0
$GC,734,-1.27,-58.4,75.5,-14.9,97,739,0.15,2.25,0.00,0.000,6,0.100,0.018,2823,1719,2876,0,0,0,0,0,0
$GC,997,-1.43,-58.4,102.5,-7.9,117,1002,0.15,2.45,0.00,0.000,4,0.055,0.044,2773,293,2876,0,0,0,0,0,0
$GC,1101,-1.43,-58.4,115.2,-12.9,124,1108,0.00,2.25,0.00,0.000,6,0.000,0.018,2773,1699,2876,0,0,0,0,0,0
$GC,1363,-1.49,-58.4,145.5,-11.8,145,1367,0.00,2.40,0.00,0.000,4,0.000,0.045,2773,293,2878,0,0,0,0,0,0
$GC,1433,-1.52,-58.4,155.0,-12.8,150,1437,0.00,2.20,0.00,0.000,6,0.000,0.018,2773,1701,2878,0,0,0,0,0,0
$GC,1693,-1.61,-58.4,182.3,-9.0,170,1698,0.10,2.25,0.00,0.000,4,0.074,0.024,2737,3073,2878,0,0,0,0,0,0
$GC,1741,-1.67,-58.4,186.7,-10.0,173,1747,0.00,2.30,0.00,0.000,6,0.000,0.033,2737,1697,2878,0,0,0,0,0,0
$GC,2011,-1.67,-58.4,214.7,-11.0,191,2015,0.00,2.25,0.00,0.000,4,0.000,0.023,2737,3078,2878,0,0,0,0,0,0
$GC,2032,-1.73,-58.4,216.7,-9.8,192,2036,0.00,2.33,0.00,0.000,6,0.000,0.031,2737,1693,2878,0,0,0,0,0,0
$GC,2363,-1.76,-58.4,252.1,-10.3,208,2367,0.00,2.25,0.00,0.000,4,0.000,0.024,2736,3072,2878,0,0,0,0,0,0
$GC,2431,-1.88,-58.4,259.0,-9.6,211,2435,0.20,2.33,0.00,0.000,6,0.048,0.034,2678,1692,2878,0,0,0,0,0,0
$GC,2764,-1.81,-58.4,299.4,-13.1,227,2769,0.12,2.30,0.00,0.000,4,0.108,0.025,2702,3072,2878,0,0,0,0,0,0
$GC,2816,-1.81,-58.4,305.7,-10.4,229,2820,0.00,2.30,0.00,0.000,6,0.000,0.035,2702,1698,2878,0,0,0,0,0,0
$GC,3142,-1.81,-58.4,343.4,-12.1,237,3143,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,1698,2877,0,0,0,0,0,0
$GC,3466,-1.81,-58.4,380.7,-11.2,245,3470,0.00,2.28,0.00,0.000,4,0.000,0.028,2702,3069,2876,0,0,0,0,0,0
$GC,3495,-1.85,-58.4,384.0,-10.2,245,3499,0.00,2.33,0.00,0.000,6,0.000,0.038,2702,1703,2875,0,0,0,0,0,0
$GC,3836,-1.85,-58.4,416.6,-9.4,254,3840,0.00,2.28,0.00,0.000,4,0.000,0.030,2702,3070,2873,0,0,0,0,0,0
$GC,4008,-1.92,-58.4,432.7,-9.8,257,4012,0.00,2.33,0.00,0.000,6,0.000,0.040,2702,1701,2871,0,0,0,0,0,0
$STATE,4216,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4216,begin apogee
$GC,4221,-0.31,0.0,453.0,9.7,262,4275,1.55,0.00,49.28,0.829,6,0.078,0.000,3028,1700,2630,0,0,0,0,0,0
$STATE,4275,end apogee,CONTROL_FINISHED_OK
$STATE,4276,begin climb
$GC,4278,1.56,58.4,454.0,0.0,263,4338,1.80,2.38,50.47,0.812,4,0.028,0.032,3457,3074,2391,0,0,0,0,0,0
$GC,4433,1.32,105.2,451.3,3.7,267,4482,0.35,2.40,41.35,0.808,6,0.100,0.038,3390,1690,2200,0,0,0,0,0,0
$GC,4805,1.14,105.2,414.3,10.9,276,4810,0.20,2.35,0.00,0.000,4,0.107,0.031,3353,3069,2191,0,0,0,0,0,0
$GC,4996,1.09,105.2,398.3,8.4,280,5000,0.00,2.38,0.00,0.000,6,0.000,0.041,3352,1696,2191,0,0,0,0,0,0
$GC,5315,1.02,116.1,375.0,6.9,288,5331,0.15,2.38,8.57,0.691,4,0.109,0.031,3324,3071,2155,0,0,0,0,0,0
$GC,5399,1.05,136.1,369.8,6.1,289,5423,0.00,2.40,19.15,0.768,6,0.000,0.040,3324,1692,2074,0,0,0,0,0,0
$GC,5737,1.05,136.1,342.9,8.5,298,5741,0.00,2.35,0.00,0.000,4,0.000,0.031,3324,3073,2069,0,0,0,0,0,0
$GC,5746,1.05,136.1,342.0,9.1,298,5750,0.00,2.38,0.00,0.000,6,0.000,0.040,3323,1694,2070,0,0,0,0,0,0
$GC,6065,1.05,136.1,313.4,9.3,306,6066,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1694,2067,0,0,0,0,0,0
$GC,6372,1.08,159.5,290.5,5.8,317,6400,0.00,2.50,20.77,0.740,4,0.000,0.054,3323,296,1978,0,0,0,0,0,0
$GC,6417,1.02,159.5,287.4,7.9,319,6421,0.00,2.33,0.00,0.000,6,0.000,0.026,3324,1686,1976,0,0,0,0,0,0
$GC,6748,1.02,159.5,261.8,8.8,335,6753,0.00,2.47,0.00,0.000,4,0.000,0.054,3324,292,1973,0,0,0,0,0,0
$GC,6902,0.96,159.5,245.9,9.6,341,6908,0.00,2.33,0.00,0.000,6,0.000,0.025,3324,1707,1970,0,0,0,0,0,0
$GC,7220,1.00,159.5,219.8,8.0,357,7221,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1712,1970,0,0,0,0,0,0
$GC,7534,1.04,159.5,190.7,10.0,375,7538,0.00,2.28,0.00,0.000,4,0.000,0.028,3324,3085,1969,0,0,0,0,0,0
$GC,7628,1.14,159.9,182.5,7.9,382,7633,0.10,2.35,0.00,0.000,6,0.077,0.035,3355,1696,1969,0,0,0,0,0,0
$GC,7895,1.15,173.5,164.1,6.7,403,7912,0.00,2.47,11.93,0.601,4,0.000,0.050,3356,296,1921,0,0,0,0,0,0
$GC,7928,1.08,173.5,161.4,8.1,405,7933,0.00,2.30,0.00,0.000,6,0.000,0.022,3356,1711,1919,0,0,0,0,0,0
$GC,8186,1.08,173.5,139.3,9.1,426,8190,0.00,2.22,0.00,0.000,4,0.000,0.025,3356,3077,1919,0,0,0,0,0,0
$GC,8229,1.12,173.5,135.6,8.5,429,8233,0.00,2.33,0.00,0.000,6,0.000,0.033,3356,1698,1919,0,0,0,0,0,0
$GC,8492,1.12,173.5,115.5,8.2,450,8496,0.00,2.40,0.00,0.000,4,0.000,0.048,3355,297,1919,0,0,0,0,0,0
$GC,8524,1.04,173.5,112.3,10.9,452,8531,0.12,2.28,0.00,0.000,6,0.082,0.021,3327,1707,1917,0,0,0,0,0,0
$GC,8787,1.17,198.6,95.2,5.6,473,8818,0.12,2.55,22.85,0.561,4,0.064,0.045,3368,296,1819,0,0,0,0,0,0
$GC,9044,1.20,223.2,75.5,5.7,491,9071,0.00,2.28,22.30,0.537,6,0.000,0.019,3368,1718,1718,0,0,0,0,0,0
$GC,9333,1.28,230.7,57.4,7.2,514,9348,0.00,2.53,7.57,0.449,4,0.000,0.046,3367,293,1689,0,0,0,0,0,0
$GC,9461,1.28,230.7,45.5,9.2,523,9465,0.00,2.22,0.00,0.000,6,0.000,0.018,3368,1701,1686,0,0,0,0,0,0
$GC,9725,1.35,230.7,21.8,9.0,555,9732,0.12,2.47,0.00,0.000,4,0.062,0.045,3410,297,1685,0,0,0,0,0,0
$GC,9791,1.23,230.7,13.8,13.2,569,9797,0.17,2.22,0.00,0.000,6,0.077,0.018,3371,1695,1685,0,0,0,0,0,0
$STATE,9897,end climb,SURFACE_DEPTH_REACHED
$STATE,9897,begin surface coast
$FINISH,0.9,0.999797
$STATE,9930,end surface coast,CONTROL_FINISHED_OK
$STATE,9930,begin surface
$SM_CCo,9952,97.88,0.482,0,0,957,410.14
$SM_GC,1.58,0.00,0.00,97.88,0.000,0.000,0.482,425,1701,957,-12.30,0.03,410.14
$IRIDIUM_FIX,2057.14,-15756.91,261199,202011
$TT8_MAMPS,0.029146
$HUMID,54.17
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.5,29.096
$10V_AH,10.3,24.166
$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,32.200,112.625,254.250,97.875,0.000,30.851,27.873,123.389,4.500,0.000,15.458,1183.649,6394.273,421.144,1906.751,449.369,0.000,1243.361,0.000,1882.044,0.000,29.263,0.000
$DEVICE_MAMPS,132.691,54.457,829.127,482.443,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,403.422,388.270,914.275,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355724
$DATA_FILE_SIZE,34894,600
$CAP_FILE_SIZE,114170,0
$CFSIZE,260165632,195960832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020910,013125,2104.256,-15754.087,10,1.7,15,9.8