version: 66.06
glider: 139
mission: 8
dive: 338
start: 9 2 110 4 24 31
data:
$ID,139
$MISSION,8
$DIVE,338
$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,-2157945.8
$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
$GPS1,041901,2103.907,-15753.960,42,1.2,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-74.2
$GPS2,042414,2103.833,-15753.939,12,1.7,12,9.8
$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,69.3,19393,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.56,-58.4,0.0,0.0,0,82,0.00,0.00,-64.28,0.000,2,0.000,0.000,428,1703,2760,0,0,0,0,0,0
$GC,86,-1.56,-58.4,3.5,-3.8,12,104,12.48,0.00,-2.03,0.000,6,0.133,0.000,2751,1703,2871,0,0,0,0,0,0
$GC,301,-1.48,-58.4,52.3,-17.9,43,306,0.12,2.45,0.00,0.000,4,0.110,0.047,2775,289,2874,0,0,0,0,0,0
$GC,317,-1.38,-58.4,55.3,-17.5,44,322,0.12,2.35,0.00,0.000,6,0.114,0.019,2799,1748,2874,0,0,0,0,0,0
$GC,579,-1.47,-58.4,90.9,-11.7,64,583,0.00,2.50,0.00,0.000,4,0.000,0.044,2799,290,2875,0,0,0,0,0,0
$GC,619,-1.47,-58.4,96.3,-13.5,67,623,0.00,2.25,0.00,0.000,6,0.000,0.018,2799,1717,2875,0,0,0,0,0,0
$GC,885,-1.57,-58.4,126.3,-10.2,88,890,0.17,2.47,0.00,0.000,4,0.052,0.047,2745,287,2876,0,0,0,0,0,0
$GC,938,-1.49,-58.4,135.4,-17.9,92,942,0.15,2.22,0.00,0.000,6,0.102,0.018,2776,1706,2876,0,0,0,0,0,0
$GC,1204,-1.57,-58.4,167.0,-10.1,113,1208,0.00,2.42,0.00,0.000,4,0.000,0.045,2775,293,2877,0,0,0,0,0,0
$GC,1246,-1.57,-58.4,172.2,-12.1,116,1250,0.00,2.20,0.00,0.000,6,0.000,0.019,2775,1698,2877,0,0,0,0,0,0
$GC,1513,-1.66,-58.4,200.1,-10.9,137,1517,0.17,2.28,0.00,0.000,4,0.052,0.024,2723,3078,2877,0,0,0,0,0,0
$GC,1670,-1.73,-58.4,220.1,-12.1,143,1676,0.00,2.33,0.00,0.000,6,0.000,0.033,2723,1697,2877,0,0,0,0,0,0
$GC,1988,-1.73,-58.4,258.9,-12.7,159,1992,0.00,2.25,0.00,0.000,4,0.000,0.024,2723,3074,2878,0,0,0,0,0,0
$GC,2132,-1.78,-58.4,275.0,-10.4,165,2136,0.00,2.30,0.00,0.000,6,0.000,0.031,2723,1699,2878,0,0,0,0,0,0
$GC,2451,-1.78,-58.4,308.6,-10.0,179,2455,0.00,2.42,0.00,0.000,4,0.000,0.048,2722,292,2876,0,0,0,0,0,0
$GC,2475,-1.74,-58.4,311.3,-11.3,179,2479,0.00,2.25,0.00,0.000,6,0.000,0.021,2723,1691,2877,0,0,0,0,0,0
$GC,2815,-1.77,-58.4,344.9,-9.8,188,2819,0.00,2.30,0.00,0.000,4,0.000,0.028,2723,3079,2876,0,0,0,0,0,0
$GC,2934,-1.87,-58.4,356.9,-10.7,190,2939,0.12,2.35,0.00,0.000,6,0.067,0.036,2684,1697,2876,0,0,0,0,0,0
$GC,3275,-1.83,-58.4,398.1,-12.0,199,3279,0.00,2.30,0.00,0.000,4,0.000,0.029,2684,3081,2874,0,0,0,0,0,0
$GC,3290,-1.83,-58.4,399.9,-11.4,199,3297,0.00,2.35,0.00,0.000,6,0.000,0.038,2684,1692,2874,0,0,0,0,0,0
$GC,3607,-1.80,-58.4,432.4,-10.1,207,3612,0.12,2.35,0.00,0.000,4,0.109,0.031,2708,3076,2872,0,0,0,0,0,0
$GC,3719,-1.86,-58.4,442.3,-7.6,209,3723,0.00,2.35,0.00,0.000,6,0.000,0.041,2708,1698,2871,0,0,0,0,0,0
$STATE,3817,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3817,begin apogee
$GC,3823,-0.31,0.0,451.7,9.4,212,3876,1.52,0.00,49.20,0.827,6,0.080,0.000,3028,1698,2630,0,0,0,0,0,0
$STATE,3877,end apogee,CONTROL_FINISHED_OK
$STATE,3877,begin climb
$GC,3880,1.56,58.4,452.5,0.0,213,3938,1.77,2.42,50.25,0.808,4,0.030,0.032,3451,3080,2391,0,0,0,0,0,0
$GC,3951,1.39,151.8,452.2,-0.5,214,4044,0.25,2.40,81.88,0.810,6,0.107,0.037,3404,1690,2010,0,0,0,0,0,0
$GC,4376,1.20,151.8,396.7,15.4,225,4381,0.22,2.38,0.00,0.000,4,0.104,0.031,3361,3082,2000,0,0,0,0,0,0
$GC,4559,1.16,151.8,371.5,12.2,229,4563,0.00,2.42,0.00,0.000,6,0.000,0.042,3361,1697,1999,0,0,0,0,0,0
$GC,4886,1.09,151.8,333.5,11.2,237,4891,0.12,2.47,0.00,0.000,4,0.117,0.054,3337,294,1994,0,0,0,0,0,0
$GC,4902,0.99,151.8,331.8,10.1,237,4907,0.12,2.33,0.00,0.000,6,0.119,0.028,3315,1693,1992,0,0,0,0,0,0
$GC,5253,0.99,151.8,302.7,8.6,246,5257,0.00,2.33,0.00,0.000,4,0.000,0.031,3315,3087,1991,0,0,0,0,0,0
$GC,5290,1.08,151.8,298.9,9.7,246,5296,0.00,2.40,0.00,0.000,6,0.000,0.040,3315,1698,1991,0,0,0,0,0,0
$GC,5607,1.13,151.8,271.8,8.3,262,5612,0.12,2.35,0.00,0.000,4,0.071,0.030,3350,3088,1989,0,0,0,0,0,0
$GC,5691,1.13,151.8,264.3,8.0,265,5696,0.00,2.38,0.00,0.000,6,0.000,0.038,3350,1693,1988,0,0,0,0,0,0
$GC,6007,1.13,151.8,236.6,8.5,281,6008,0.00,0.00,0.00,0.000,6,0.000,0.000,3350,1693,1987,0,0,0,0,0,0
$GC,6317,1.13,156.0,211.5,7.5,296,6318,0.00,0.00,0.00,0.000,6,0.000,0.000,3350,1693,1986,0,0,0,0,0,0
$GC,6629,1.14,167.1,190.7,6.9,315,6645,0.00,2.40,9.77,0.595,4,0.000,0.026,3351,3086,1947,0,0,0,0,0,0
$GC,6736,1.21,167.1,181.9,8.6,322,6744,0.00,2.40,0.00,0.000,6,0.000,0.035,3350,1698,1947,0,0,0,0,0,0
$GC,6996,1.22,180.5,164.9,6.7,343,7016,0.00,2.45,13.15,0.594,4,0.000,0.047,3350,294,1893,0,0,0,0,0,0
$GC,7059,1.15,180.5,159.8,9.0,347,7064,0.00,2.30,0.00,0.000,6,0.000,0.021,3350,1717,1890,0,0,0,0,0,0
$GC,7319,1.20,192.4,142.3,6.8,368,7337,0.00,2.55,11.55,0.556,4,0.000,0.047,3350,293,1845,0,0,0,0,0,0
$GC,7365,1.14,192.4,138.2,10.3,371,7369,0.00,2.25,0.00,0.000,6,0.000,0.021,3351,1703,1842,0,0,0,0,0,0
$GC,7630,1.18,192.4,116.3,8.7,392,7634,0.00,2.42,0.00,0.000,4,0.000,0.046,3350,294,1842,0,0,0,0,0,0
$GC,7648,1.18,192.4,113.9,10.7,393,7654,0.00,2.25,0.00,0.000,6,0.000,0.020,3350,1706,1841,0,0,0,0,0,0
$GC,7908,1.25,192.4,90.5,8.4,414,7913,0.10,2.22,0.00,0.000,4,0.075,0.022,3384,3072,1841,0,0,0,0,0,0
$GC,7993,1.29,192.4,83.5,8.1,420,7997,0.00,2.33,0.00,0.000,6,0.000,0.031,3384,1689,1841,0,0,0,0,0,0
$GC,8258,1.29,195.1,62.4,7.7,441,8262,0.00,2.25,0.00,0.000,4,0.000,0.021,3384,3076,1840,0,0,0,0,0,0
$GC,8290,1.34,195.1,59.7,8.0,443,8294,0.00,2.30,0.00,0.000,6,0.000,0.030,3384,1691,1840,0,0,0,0,0,0
$GC,8551,1.36,206.4,40.4,6.9,463,8570,0.00,2.40,13.60,0.484,4,0.000,0.044,3384,297,1787,0,0,0,0,0,0
$GC,8640,1.29,206.4,33.5,8.3,469,8646,0.00,2.25,0.00,0.000,6,0.000,0.018,3384,1711,1784,0,0,0,0,0,0
$GC,8902,1.34,213.2,14.3,7.3,524,8915,0.00,2.45,6.93,0.409,4,0.000,0.042,3384,293,1760,0,0,0,0,0,0
$STATE,9009,end climb,SURFACE_DEPTH_REACHED
$STATE,9009,begin surface coast
$FINISH,0.8,1.016667
$STATE,9031,end surface coast,CONTROL_FINISHED_OK
$STATE,9031,begin surface
$SM_CCo,9057,115.32,0.480,0,0,958,410.14
$SM_GC,1.57,0.00,0.00,115.32,0.000,0.000,0.480,425,1710,958,-12.31,0.28,410.14
$IRIDIUM_FIX,2057.14,-15756.91,271199,010111
$TT8_MAMPS,0.028379
$HUMID,53.15
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.5,29.251
$10V_AH,10.3,24.314
$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,30.300,108.050,236.325,115.325,0.000,30.006,31.471,129.202,4.500,0.000,12.499,1082.560,5838.954,416.291,1697.522,447.648,0.000,1157.530,0.000,1681.732,0.000,29.268,0.000
$DEVICE_MAMPS,133.458,54.457,826.826,480.142,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,371.435,363.361,835.290,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,31800,552
$CAP_FILE_SIZE,105563,0
$CFSIZE,260165632,195858432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020910,065814,2103.489,-15754.095,13,1.8,13,9.8