version: 66.06
glider: 139
mission: 8
dive: 340
start: 9 2 110 9 54 30
data:
$ID,139
$MISSION,8
$DIVE,340
$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,-2157997.5
$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
$GPS1,094455,2103.155,-15754.065,54,1.2,54,9.8
$_CALLS,2
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-72.0
$GPS2,095413,2103.052,-15754.061,15,1.2,15,9.8
$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,65.3,19921,-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,-64.50,0.000,2,0.000,0.000,429,1715,2773,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.5,-3.8,12,105,12.48,2.38,-1.80,0.000,4,0.134,0.036,2751,3112,2871,0,0,0,0,0,0
$GC,218,-1.56,-58.4,35.2,-16.4,37,225,0.00,2.42,0.00,0.000,6,0.000,0.033,2750,1696,2873,0,0,0,0,0,0
$GC,478,-1.48,-58.4,81.0,-17.6,58,483,0.12,2.42,0.00,0.000,4,0.114,0.044,2774,289,2874,0,0,0,0,0,0
$GC,504,-1.40,-58.4,85.2,-15.8,60,508,0.00,2.33,0.00,0.000,6,0.000,0.018,2774,1739,2874,0,0,0,0,0,0
$GC,776,-1.44,-58.4,118.3,-12.3,81,777,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1741,2875,0,0,0,0,0,0
$GC,1029,-1.49,-58.4,145.2,-10.1,101,1033,0.00,2.20,0.00,0.000,4,0.000,0.022,2774,3086,2875,0,0,0,0,0,0
$GC,1180,-1.65,-58.4,162.4,-11.8,112,1185,0.15,2.35,0.00,0.000,6,0.057,0.031,2728,1689,2875,0,0,0,0,0,0
$GC,1448,-1.61,-58.4,197.8,-12.2,133,1452,0.00,2.35,0.00,0.000,4,0.000,0.044,2728,296,2875,0,0,0,0,0,0
$GC,1474,-1.55,-58.4,201.4,-12.8,135,1479,0.17,2.22,0.00,0.000,6,0.097,0.019,2762,1703,2876,0,0,0,0,0,0
$GC,1808,-1.63,-58.4,237.1,-10.3,151,1812,0.00,2.25,0.00,0.000,4,0.000,0.025,2762,3076,2875,0,0,0,0,0,0
$GC,1840,-1.78,-58.4,240.9,-10.5,152,1845,0.22,2.33,0.00,0.000,6,0.045,0.032,2698,1689,2876,0,0,0,0,0,0
$GC,2160,-1.74,-58.4,283.0,-13.4,167,2165,0.12,2.33,0.00,0.000,4,0.107,0.025,2723,3081,2876,0,0,0,0,0,0
$GC,2278,-1.79,-58.4,296.4,-11.3,172,2282,0.00,2.33,0.00,0.000,6,0.000,0.034,2722,1699,2876,0,0,0,0,0,0
$GC,2599,-1.82,-58.4,333.2,-11.4,181,2603,0.00,2.28,0.00,0.000,4,0.000,0.026,2722,3079,2875,0,0,0,0,0,0
$GC,2655,-1.92,-58.4,339.7,-10.9,182,2660,0.15,2.35,0.00,0.000,6,0.060,0.035,2675,1694,2875,0,0,0,0,0,0
$GC,2977,-1.86,-58.4,378.9,-12.6,190,2981,0.00,2.33,0.00,0.000,4,0.000,0.029,2675,3079,2874,0,0,0,0,0,0
$GC,3037,-1.86,-58.4,386.9,-12.4,191,3041,0.00,2.35,0.00,0.000,6,0.000,0.038,2675,1702,2873,0,0,0,0,0,0
$GC,3387,-1.80,-58.4,430.4,-12.5,200,3392,0.15,2.33,0.00,0.000,4,0.104,0.031,2704,3072,2870,0,0,0,0,0,0
$GC,3504,-1.87,-58.4,443.0,-11.2,202,3508,0.00,2.38,0.00,0.000,6,0.000,0.041,2704,1693,2869,0,0,0,0,0,0
$STATE,3598,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3598,begin apogee
$GC,3604,-0.31,0.0,452.8,10.3,205,3657,1.55,0.00,48.83,0.823,6,0.082,0.000,3028,1692,2630,0,0,0,0,0,0
$STATE,3657,end apogee,CONTROL_FINISHED_OK
$STATE,3658,begin climb
$GC,3661,1.56,58.4,453.6,0.0,206,3719,1.77,2.53,50.05,0.807,4,0.030,0.053,3449,293,2390,0,0,0,0,0,0
$GC,3829,1.18,97.8,449.2,4.4,209,3871,0.47,2.33,34.58,0.797,6,0.105,0.025,3359,1704,2231,0,0,0,0,0,0
$GC,4208,1.08,97.8,418.1,9.0,219,4213,0.12,2.30,0.00,0.000,4,0.118,0.032,3336,3072,2222,0,0,0,0,0,0
$GC,4325,1.10,112.8,409.8,6.5,221,4346,0.00,2.40,12.77,0.741,6,0.000,0.039,3335,1689,2170,0,0,0,0,0,0
$GC,4672,1.06,121.8,385.7,7.1,230,4688,0.00,2.40,8.95,0.699,4,0.000,0.031,3336,3077,2132,0,0,0,0,0,0
$GC,4864,1.06,121.8,370.4,8.1,234,4868,0.00,2.40,0.00,0.000,6,0.000,0.040,3336,1696,2131,0,0,0,0,0,0
$GC,5182,1.02,121.8,342.9,8.4,242,5186,0.00,2.33,0.00,0.000,4,0.000,0.031,3336,3075,2127,0,0,0,0,0,0
$GC,5258,1.03,124.6,336.6,7.6,243,5262,0.00,2.35,0.00,0.000,6,0.000,0.038,3335,1699,2127,0,0,0,0,0,0
$GC,5593,1.03,129.7,312.3,7.4,252,5605,0.00,2.38,7.12,0.643,4,0.000,0.029,3337,3086,2101,0,0,0,0,0,0
$GC,5668,1.04,133.5,306.7,7.6,253,5680,0.00,2.40,5.25,0.570,6,0.000,0.038,3336,1695,2084,0,0,0,0,0,0
$GC,5995,1.04,133.6,281.7,7.9,267,6000,0.00,2.33,0.00,0.000,4,0.000,0.030,3336,3076,2082,0,0,0,0,0,0
$GC,6141,1.07,160.1,271.4,5.5,273,6176,0.00,2.35,24.62,0.729,6,0.000,0.038,3336,1695,1977,0,0,0,0,0,0
$GC,6484,1.07,161.4,244.7,7.8,290,6489,0.00,2.45,0.00,0.000,4,0.000,0.053,3335,294,1972,0,0,0,0,0,0
$GC,6522,0.98,161.4,241.0,9.9,291,6528,0.12,2.30,0.00,0.000,6,0.117,0.025,3313,1701,1970,0,0,0,0,0,0
$GC,6840,1.07,169.1,218.0,7.2,307,6851,0.00,0.00,8.10,0.599,6,0.000,0.000,3313,1705,1940,0,0,0,0,0,0
$GC,7177,1.16,174.8,194.2,7.4,325,7191,0.17,2.35,6.57,0.545,4,0.057,0.027,3362,3081,1916,0,0,0,0,0,0
$GC,7292,1.20,174.8,183.7,10.1,333,7296,0.00,2.35,0.00,0.000,6,0.000,0.035,3361,1696,1917,0,0,0,0,0,0
$GC,7556,1.20,174.8,160.8,8.8,354,7560,0.00,2.42,0.00,0.000,4,0.000,0.049,3361,298,1916,0,0,0,0,0,0
$GC,7663,1.09,174.8,150.1,10.6,362,7668,0.12,2.28,0.00,0.000,6,0.114,0.021,3339,1714,1913,0,0,0,0,0,0
$GC,7932,1.13,174.8,128.6,9.0,383,7933,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,1719,1913,0,0,0,0,0,0
$GC,8182,1.21,182.8,109.9,7.2,403,8196,0.10,2.22,8.38,0.510,4,0.077,0.021,3372,3077,1883,0,0,0,0,0,0
$GC,8256,1.24,182.8,104.0,8.7,408,8260,0.00,2.35,0.00,0.000,6,0.000,0.031,3371,1689,1882,0,0,0,0,0,0
$GC,8520,1.26,202.1,83.0,6.2,429,8544,0.00,2.42,18.50,0.538,4,0.000,0.044,3371,298,1804,0,0,0,0,0,0
$GC,8561,1.26,202.1,80.3,7.9,432,8566,0.00,2.28,0.00,0.000,6,0.000,0.020,3372,1717,1802,0,0,0,0,0,0
$GC,8828,1.34,218.4,63.9,6.4,453,8850,0.00,2.30,14.98,0.509,4,0.000,0.021,3372,3075,1738,0,0,0,0,0,0
$GC,8885,1.43,219.2,59.5,7.8,457,8890,0.17,2.35,0.00,0.000,6,0.052,0.031,3421,1689,1738,0,0,0,0,0,0
$GC,9152,1.38,219.2,34.9,8.9,478,9157,0.00,2.38,0.00,0.000,4,0.000,0.044,3421,292,1738,0,0,0,0,0,0
$GC,9309,1.24,219.2,17.5,11.3,506,9316,0.20,2.25,0.00,0.000,6,0.083,0.018,3370,1711,1734,0,0,0,0,0,0
$STATE,9458,end climb,SURFACE_DEPTH_REACHED
$STATE,9458,begin surface coast
$FINISH,0.8,1.009605
$STATE,9493,end surface coast,CONTROL_FINISHED_OK
$STATE,9493,begin surface
$SM_CCo,9517,109.93,0.483,0,0,958,410.14
$SM_GC,1.56,0.00,0.00,109.93,0.000,0.000,0.483,428,1716,958,-12.30,0.45,410.14
$IRIDIUM_FIX,2054.83,-15756.91,271199,090932
$TT8_MAMPS,0.029146
$HUMID,53.46
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.5,29.417
$10V_AH,10.3,24.463
$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,30.950,103.075,248.700,109.925,0.000,49.584,58.319,257.091,4.500,0.000,15.323,1107.511,6260.632,417.171,1767.443,629.736,0.000,1190.630,0.000,1737.436,0.000,29.271,0.000
$DEVICE_MAMPS,134.225,52.923,822.991,483.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,369.073,350.654,798.808,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,31784,548
$CAP_FILE_SIZE,113188,0
$CFSIZE,260165632,195747840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020910,123607,2102.901,-15753.989,32,1.1,32,9.8