version: 66.06
glider: 139
mission: 8
dive: 344
start: 9 2 110 21 9 29
data:
$ID,139
$MISSION,8
$DIVE,344
$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,-2158105
$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
$GPS1,210225,2101.904,-15753.338,11,1.9,28,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-71.3
$GPS2,210913,2101.792,-15753.312,16,1.9,33,9.8
$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,57.7,19441,-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,-58.4,0.0,0.0,0,98,0.00,0.00,-80.57,0.000,2,0.000,0.000,429,1702,2750,0,0,0,0,0,0
$GC,101,-1.56,-58.4,3.3,-3.5,15,120,12.45,0.00,-2.28,0.000,6,0.133,0.000,2752,1703,2871,0,0,0,0,0,0
$GC,313,-1.50,-58.4,48.3,-16.7,47,317,0.10,2.45,0.00,0.000,4,0.120,0.047,2770,289,2874,0,0,0,0,0,0
$GC,367,-1.37,-58.4,57.5,-18.0,51,372,0.15,2.33,0.00,0.000,6,0.109,0.018,2799,1735,2873,0,0,0,0,0,0
$GC,632,-1.43,-58.4,93.7,-13.2,72,637,0.00,2.47,0.00,0.000,4,0.000,0.044,2799,294,2874,0,0,0,0,0,0
$GC,662,-1.43,-58.4,97.9,-14.6,74,666,0.00,2.25,0.00,0.000,6,0.000,0.018,2799,1718,2874,0,0,0,0,0,0
$GC,922,-1.53,-58.4,129.4,-11.9,94,927,0.15,2.20,0.00,0.000,4,0.057,0.021,2752,3070,2875,0,0,0,0,0,0
$GC,947,-1.61,-58.4,132.9,-13.3,96,951,0.00,2.33,0.00,0.000,6,0.000,0.033,2752,1693,2875,0,0,0,0,0,0
$GC,1215,-1.65,-58.4,170.1,-12.6,117,1219,0.00,2.25,0.00,0.000,4,0.000,0.022,2752,3067,2876,0,0,0,0,0,0
$GC,1242,-1.72,-58.4,173.9,-11.1,119,1247,0.12,2.30,0.00,0.000,6,0.065,0.031,2711,1695,2875,0,0,0,0,0,0
$GC,1504,-1.67,-58.4,208.3,-12.7,137,1505,0.12,0.00,0.00,0.000,6,0.107,0.000,2736,1694,2875,0,0,0,0,0,0
$GC,1810,-1.67,-58.4,245.2,-11.9,152,1814,0.00,2.22,0.00,0.000,4,0.000,0.023,2736,3065,2875,0,0,0,0,0,0
$GC,1857,-1.74,-58.4,250.7,-11.0,154,1861,0.00,2.30,0.00,0.000,6,0.000,0.031,2736,1694,2876,0,0,0,0,0,0
$GC,2185,-1.80,-58.4,281.8,-8.7,170,2190,0.12,2.28,0.00,0.000,4,0.065,0.025,2696,3071,2875,0,0,0,0,0,0
$GC,2201,-1.83,-58.4,283.6,-8.8,170,2208,0.00,2.33,0.00,0.000,6,0.000,0.033,2696,1702,2875,0,0,0,0,0,0
$GC,2534,-1.83,-58.4,317.8,-10.1,183,2538,0.00,2.25,0.00,0.000,4,0.000,0.025,2696,3071,2875,0,0,0,0,0,0
$GC,2558,-1.83,-58.4,320.3,-10.9,183,2562,0.00,2.33,0.00,0.000,6,0.000,0.034,2696,1697,2874,0,0,0,0,0,0
$GC,2900,-1.83,-58.4,361.6,-12.9,192,2904,0.00,2.25,0.00,0.000,4,0.000,0.027,2696,3062,2874,0,0,0,0,0,0
$GC,3094,-1.83,-58.4,384.4,-10.4,196,3098,0.00,2.30,0.00,0.000,6,0.000,0.038,2696,1700,2872,0,0,0,0,0,0
$GC,3408,-1.83,-58.4,417.9,-10.1,204,3410,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,1699,2870,0,0,0,0,0,0
$STATE,3730,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3730,begin apogee
$GC,3736,-0.31,0.0,451.4,10.0,212,3789,1.60,0.00,48.60,0.818,6,0.082,0.000,3030,1700,2630,0,0,0,0,0,0
$STATE,3789,end apogee,CONTROL_FINISHED_OK
$STATE,3789,begin climb
$GC,3792,1.56,58.4,452.2,0.0,213,3850,1.75,2.53,50.12,0.804,4,0.029,0.052,3448,291,2390,0,0,0,0,0,0
$GC,4011,1.19,101.2,445.9,4.0,217,4059,0.45,2.30,37.28,0.799,6,0.106,0.025,3362,1688,2217,0,0,0,0,0,0
$GC,4383,1.08,101.2,415.1,9.2,227,4388,0.15,2.35,0.00,0.000,4,0.113,0.031,3334,3079,2210,0,0,0,0,0,0
$GC,4450,1.08,101.2,409.3,8.9,228,4454,0.00,2.38,0.00,0.000,6,0.000,0.041,3334,1701,2209,0,0,0,0,0,0
$GC,4796,1.03,101.2,381.0,8.2,237,4800,0.00,2.35,0.00,0.000,4,0.000,0.032,3334,3079,2205,0,0,0,0,0,0
$GC,4829,1.05,112.6,378.5,6.9,237,4845,0.00,2.38,9.35,0.702,6,0.000,0.039,3334,1692,2171,0,0,0,0,0,0
$GC,5169,1.05,112.6,350.7,8.1,246,5173,0.00,2.35,0.00,0.000,4,0.000,0.031,3334,3075,2166,0,0,0,0,0,0
$GC,5183,1.06,120.2,349.5,7.2,246,5195,0.00,2.38,7.78,0.669,6,0.000,0.039,3334,1696,2139,0,0,0,0,0,0
$GC,5536,1.07,129.1,324.8,7.1,255,5552,0.00,2.38,9.10,0.683,4,0.000,0.030,3334,3081,2102,0,0,0,0,0,0
$GC,5816,1.08,136.4,303.0,7.2,261,5829,0.00,2.38,8.00,0.653,6,0.000,0.039,3334,1697,2073,0,0,0,0,0,0
$GC,6146,1.09,146.3,282.0,7.0,275,6163,0.00,2.42,9.52,0.670,4,0.000,0.030,3334,3077,2033,0,0,0,0,0,0
$GC,6270,1.13,146.3,271.6,8.6,280,6274,0.00,2.40,0.00,0.000,6,0.000,0.040,3334,1694,2033,0,0,0,0,0,0
$GC,6590,1.14,153.2,245.5,7.3,296,6599,0.00,0.00,7.28,0.607,6,0.000,0.000,3334,1694,2005,0,0,0,0,0,0
$GC,6901,1.16,169.7,223.8,6.4,311,6923,0.00,2.38,16.10,0.671,4,0.000,0.026,3334,3082,1936,0,0,0,0,0,0
$GC,6998,1.25,169.7,216.8,7.9,315,7003,0.17,2.38,0.00,0.000,6,0.058,0.036,3381,1699,1937,0,0,0,0,0,0
$GC,7326,1.18,169.7,183.9,10.7,335,7331,0.12,2.33,0.00,0.000,4,0.110,0.025,3357,3080,1933,0,0,0,0,0,0
$GC,7338,1.14,169.7,182.5,9.9,336,7343,0.00,2.35,0.00,0.000,6,0.000,0.034,3357,1697,1934,0,0,0,0,0,0
$GC,7603,1.14,169.7,157.0,9.3,357,7607,0.00,2.42,0.00,0.000,4,0.000,0.048,3357,299,1933,0,0,0,0,0,0
$GC,7700,1.04,169.7,147.5,8.8,364,7705,0.15,2.25,0.00,0.000,6,0.107,0.021,3329,1709,1930,0,0,0,0,0,0
$GC,7961,1.15,183.1,131.4,6.7,384,7979,0.00,2.53,12.07,0.562,4,0.000,0.047,3329,296,1883,0,0,0,0,0,0
$GC,8008,1.15,183.1,127.2,9.6,387,8012,0.00,2.25,0.00,0.000,6,0.000,0.021,3329,1711,1881,0,0,0,0,0,0
$GC,8273,1.25,183.1,105.2,8.0,408,8278,0.20,2.47,0.00,0.000,4,0.050,0.045,3385,293,1881,0,0,0,0,0,0
$GC,8384,1.14,183.1,94.4,10.6,416,8389,0.17,2.25,0.00,0.000,6,0.100,0.020,3350,1710,1879,0,0,0,0,0,0
$GC,8652,1.29,234.0,78.6,3.3,437,8708,0.12,2.50,44.47,0.553,4,0.066,0.044,3389,291,1674,0,0,0,0,0,0
$GC,8758,1.21,234.0,70.3,12.3,444,8765,0.10,2.28,0.00,0.000,6,0.082,0.019,3366,1706,1671,0,0,0,0,0,0
$GC,9021,1.29,236.6,48.2,7.7,465,9026,0.00,2.42,0.00,0.000,4,0.000,0.044,3365,295,1669,0,0,0,0,0,0
$GC,9270,1.29,236.6,21.4,10.6,495,9277,0.00,2.22,0.00,0.000,6,0.000,0.018,3366,1701,1668,0,0,0,0,0,0
$GC,9472,1.37,236.6,3.0,10.2,541,9479,0.15,2.25,0.00,0.000,4,0.058,0.021,3411,3060,1668,0,0,0,0,0,0
$STATE,9486,end climb,SURFACE_DEPTH_REACHED
$STATE,9486,begin surface coast
$FINISH,0.8,1.001144
$STATE,9513,end surface coast,CONTROL_FINISHED_OK
$STATE,9513,begin surface
$SM_CCo,9539,91.93,0.480,0,0,957,410.14
$SM_GC,1.60,0.00,0.00,91.93,0.000,0.000,0.480,426,1694,957,-12.30,-0.17,410.14
$IRIDIUM_FIX,2052.52,-15751.76,271199,181831
$TT8_MAMPS,0.029146
$HUMID,54.09
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.5,29.747
$10V_AH,10.3,24.761
$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,31.200,102.975,259.675,91.925,0.000,23.267,27.779,213.833,4.500,0.000,35.089,1091.871,6239.477,415.415,1767.177,522.845,0.000,1192.001,0.000,1724.733,0.000,29.253,0.000
$DEVICE_MAMPS,133.458,52.156,818.389,480.142,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,369.271,351.914,804.882,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,31862,549
$CAP_FILE_SIZE,109064,0
$CFSIZE,260165632,195534848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020910,235107,2101.579,-15753.302,28,1.4,28,9.8