version: 66.06
glider: 139
mission: 8
dive: 337
start: 9 2 110 1 36 56
data:
$ID,139
$MISSION,8
$DIVE,337
$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,-2157932.5
$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
$GPS1,013125,2104.256,-15754.087,10,1.7,15,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-73.4
$GPS2,013639,2104.177,-15754.057,16,1.8,16,9.8
$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,71.3,19483,-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,-64.47,0.000,2,0.000,0.000,425,1701,2772,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.6,-4.0,12,110,12.48,2.40,-1.80,0.000,4,0.133,0.036,2752,3112,2872,0,0,0,0,0,0
$GC,160,-1.56,-58.4,23.6,-18.8,27,167,0.00,2.42,0.00,0.000,6,0.000,0.035,2751,1705,2873,0,0,0,0,0,0
$GC,360,-1.48,-58.4,62.3,-19.1,47,365,0.12,2.45,0.00,0.000,4,0.112,0.047,2774,288,2874,0,0,0,0,0,0
$GC,427,-1.35,-58.4,75.7,-22.2,52,432,0.15,2.33,0.00,0.000,6,0.113,0.018,2804,1742,2874,0,0,0,0,0,0
$GC,697,-1.47,-58.4,109.2,-11.0,73,702,0.10,2.50,0.00,0.000,4,0.074,0.044,2768,293,2875,0,0,0,0,0,0
$GC,803,-1.47,-58.4,123.4,-13.2,80,810,0.00,2.25,0.00,0.000,6,0.000,0.018,2768,1701,2876,0,0,0,0,0,0
$GC,1063,-1.52,-58.4,155.4,-11.8,101,1067,0.00,2.25,0.00,0.000,4,0.000,0.023,2768,3076,2876,0,0,0,0,0,0
$GC,1145,-1.65,-58.4,164.1,-10.0,107,1150,0.12,2.30,0.00,0.000,6,0.064,0.031,2728,1694,2876,0,0,0,0,0,0
$GC,1411,-1.65,-58.4,197.2,-12.3,128,1415,0.00,2.25,0.00,0.000,4,0.000,0.023,2728,3074,2877,0,0,0,0,0,0
$GC,1444,-1.70,-58.4,200.9,-10.4,130,1451,0.00,2.33,0.00,0.000,6,0.000,0.031,2728,1702,2877,0,0,0,0,0,0
$GC,1700,-1.70,-58.4,232.2,-12.4,143,1704,0.00,2.22,0.00,0.000,4,0.000,0.023,2727,3069,2877,0,0,0,0,0,0
$GC,1774,-1.77,-58.4,241.8,-12.4,146,1778,0.00,2.28,0.00,0.000,6,0.000,0.031,2727,1700,2876,0,0,0,0,0,0
$GC,2094,-1.77,-58.4,276.4,-10.3,162,2096,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1699,2877,0,0,0,0,0,0
$GC,2402,-1.80,-58.4,304.2,-8.6,176,2407,0.00,2.40,0.00,0.000,4,0.000,0.048,2727,297,2876,0,0,0,0,0,0
$GC,2464,-1.80,-58.4,310.8,-11.0,177,2468,0.00,2.22,0.00,0.000,6,0.000,0.021,2727,1693,2876,0,0,0,0,0,0
$GC,2779,-1.83,-58.4,339.9,-9.2,185,2784,0.12,2.30,0.00,0.000,4,0.066,0.028,2690,3081,2875,0,0,0,0,0,0
$GC,2884,-1.83,-58.4,351.0,-10.5,187,2889,0.00,2.33,0.00,0.000,6,0.000,0.038,2690,1703,2874,0,0,0,0,0,0
$GC,3204,-1.83,-58.4,390.3,-13.3,195,3208,0.00,2.28,0.00,0.000,4,0.000,0.029,2690,3077,2873,0,0,0,0,0,0
$GC,3283,-1.83,-58.4,400.3,-12.0,196,3287,0.00,2.33,0.00,0.000,6,0.000,0.038,2690,1701,2873,0,0,0,0,0,0
$GC,3621,-1.83,-58.4,436.0,-10.1,205,3625,0.00,2.33,0.00,0.000,4,0.000,0.031,2690,3079,2870,0,0,0,0,0,0
$GC,3672,-1.87,-58.4,440.9,-8.8,206,3676,0.00,2.38,0.00,0.000,6,0.000,0.040,2690,1696,2870,0,0,0,0,0,0
$STATE,3784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3784,begin apogee
$GC,3791,-0.31,0.0,451.5,9.5,209,3844,1.62,0.00,49.00,0.828,6,0.082,0.000,3028,1696,2630,0,0,0,0,0,0
$STATE,3845,end apogee,CONTROL_FINISHED_OK
$STATE,3845,begin climb
$GC,3848,1.56,58.4,452.2,0.0,210,3908,1.80,2.45,50.47,0.809,4,0.029,0.032,3454,3078,2391,0,0,0,0,0,0
$GC,3965,1.33,103.9,449.9,3.8,213,4013,0.32,2.40,40.10,0.803,6,0.104,0.038,3392,1696,2206,0,0,0,0,0,0
$GC,4328,1.15,103.9,420.9,8.1,222,4333,0.20,2.38,0.00,0.000,4,0.107,0.031,3355,3078,2197,0,0,0,0,0,0
$GC,4439,1.12,133.8,415.2,5.2,224,4471,0.00,2.38,26.23,0.793,6,0.000,0.041,3354,1702,2083,0,0,0,0,0,0
$GC,4796,1.05,134.6,389.2,7.8,233,4801,0.12,2.38,0.00,0.000,4,0.116,0.033,3331,3079,2076,0,0,0,0,0,0
$GC,4880,1.05,137.4,382.2,7.6,234,4886,0.00,2.38,0.00,0.000,6,0.000,0.041,3331,1700,2076,0,0,0,0,0,0
$GC,5211,1.05,137.4,354.9,8.1,243,5215,0.00,2.35,0.00,0.000,4,0.000,0.032,3331,3081,2073,0,0,0,0,0,0
$GC,5226,1.05,137.4,353.6,8.9,243,5230,0.00,2.40,0.00,0.000,6,0.000,0.041,3331,1695,2073,0,0,0,0,0,0
$GC,5539,1.06,143.1,330.4,7.4,251,5552,0.00,2.35,7.25,0.657,4,0.000,0.031,3331,3078,2046,0,0,0,0,0,0
$GC,5683,1.08,156.3,319.9,6.7,254,5703,0.00,2.40,13.43,0.726,6,0.000,0.040,3331,1697,1991,0,0,0,0,0,0
$GC,6032,1.08,156.3,288.0,9.8,265,6036,0.00,2.35,0.00,0.000,4,0.000,0.030,3331,3081,1988,0,0,0,0,0,0
$GC,6071,1.13,156.3,284.4,8.7,266,6078,0.00,2.42,0.00,0.000,6,0.000,0.039,3331,1695,1988,0,0,0,0,0,0
$GC,6388,1.13,156.3,259.1,8.0,282,6389,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,1695,1986,0,0,0,0,0,0
$GC,6697,1.13,156.3,233.1,8.9,297,6702,0.00,2.45,0.00,0.000,4,0.000,0.053,3331,296,1985,0,0,0,0,0,0
$GC,6768,1.05,156.3,226.4,9.9,300,6772,0.00,2.28,0.00,0.000,6,0.000,0.025,3331,1707,1982,0,0,0,0,0,0
$GC,7093,1.05,156.3,199.1,8.2,316,7097,0.00,2.28,0.00,0.000,4,0.000,0.028,3331,3079,1982,0,0,0,0,0,0
$GC,7199,1.12,156.3,189.7,8.3,323,7204,0.00,2.35,0.00,0.000,6,0.000,0.035,3331,1688,1982,0,0,0,0,0,0
$GC,7461,1.18,168.7,170.8,6.8,344,7477,0.12,2.40,10.57,0.594,4,0.069,0.025,3368,3080,1941,0,0,0,0,0,0
$GC,7523,1.18,168.7,165.1,9.3,348,7527,0.00,2.35,0.00,0.000,6,0.000,0.035,3368,1695,1941,0,0,0,0,0,0
$GC,7783,1.18,168.7,144.9,8.0,368,7787,0.00,2.42,0.00,0.000,4,0.000,0.048,3367,294,1940,0,0,0,0,0,0
$GC,7812,1.05,168.7,142.1,9.7,370,7817,0.20,2.28,0.00,0.000,6,0.097,0.021,3328,1711,1938,0,0,0,0,0,0
$GC,8074,1.16,201.4,127.0,5.0,390,8111,0.10,2.55,30.12,0.601,4,0.077,0.048,3361,300,1807,0,0,0,0,0,0
$GC,8122,1.12,205.6,123.6,7.5,394,8137,0.00,2.28,4.72,0.423,6,0.000,0.021,3361,1707,1792,0,0,0,0,0,0
$GC,8392,1.12,205.6,99.1,9.0,415,8396,0.00,2.45,0.00,0.000,4,0.000,0.046,3361,297,1790,0,0,0,0,0,0
$GC,8448,1.06,205.6,92.1,12.0,419,8453,0.15,2.25,0.00,0.000,6,0.099,0.021,3332,1710,1789,0,0,0,0,0,0
$GC,8712,1.21,226.8,73.1,6.0,439,8742,0.15,2.53,19.48,0.534,4,0.057,0.046,3378,304,1704,0,0,0,0,0,0
$GC,8855,1.16,226.8,58.4,10.8,449,8860,0.12,2.22,0.00,0.000,6,0.104,0.019,3353,1702,1700,0,0,0,0,0,0
$GC,9118,1.25,226.8,34.9,9.3,469,9122,0.00,2.45,0.00,0.000,4,0.000,0.044,3353,291,1700,0,0,0,0,0,0
$GC,9230,1.25,226.8,25.0,9.5,485,9237,0.00,2.25,0.00,0.000,6,0.000,0.019,3353,1705,1699,0,0,0,0,0,0
$GC,9432,1.35,226.8,10.1,8.0,531,9439,0.17,2.47,0.00,0.000,4,0.051,0.046,3405,300,1699,0,0,0,0,0,0
$STATE,9504,end climb,SURFACE_DEPTH_REACHED
$STATE,9505,begin surface coast
$FINISH,1.9,1.023052
$STATE,9513,end surface coast,CONTROL_FINISHED_OK
$STATE,9513,begin surface
$SM_CCo,9539,105.65,0.486,0,0,957,410.14
$SM_GC,1.54,0.00,0.00,105.65,0.000,0.000,0.486,429,1702,957,-12.29,0.06,410.14
$IRIDIUM_FIX,2054.83,-15753.90,261199,222221
$TT8_MAMPS,0.029146
$HUMID,54.37
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.5,29.174
$10V_AH,10.3,24.240
$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,30.875,117.650,251.375,105.650,0.000,22.713,35.252,129.667,4.500,0.000,16.975,1105.070,6229.768,438.227,1737.055,444.379,0.000,1215.028,0.000,1711.787,0.000,29.260,0.000
$DEVICE_MAMPS,133.458,52.923,828.360,485.511,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,368.692,351.769,795.290,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,31713,548
$CAP_FILE_SIZE,109816,0
$CFSIZE,260165632,195911680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020910,041901,2103.907,-15753.960,42,1.2,42,9.8