version: 66.06
glider: 139
mission: 8
dive: 347
start: 9 3 110 5 6 38
data:
$ID,139
$MISSION,8
$DIVE,347
$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,-2158168.8
$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
$GPS1,050057,2101.184,-15752.837,11,3.3,30,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-72.1
$GPS2,050622,2101.101,-15752.806,12,4.1,31,9.8
$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,53.1,19185,-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,-64.70,0.000,2,0.000,0.000,422,1711,2771,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.6,-4.0,12,110,12.52,2.40,-1.83,0.000,4,0.134,0.038,2754,3112,2873,0,0,0,0,0,0
$GC,152,-1.56,-58.4,22.6,-18.9,25,159,0.00,2.40,0.00,0.000,6,0.000,0.031,2754,1703,2874,0,0,0,0,0,0
$GC,360,-1.48,-58.4,58.6,-16.2,47,365,0.10,2.42,0.00,0.000,4,0.122,0.045,2773,293,2875,0,0,0,0,0,0
$GC,434,-1.40,-58.4,71.5,-17.6,52,441,0.00,2.33,0.00,0.000,6,0.000,0.018,2773,1731,2875,0,0,0,0,0,0
$GC,696,-1.44,-58.4,108.7,-12.2,73,700,0.00,2.22,0.00,0.000,4,0.000,0.021,2773,3091,2876,0,0,0,0,0,0
$GC,728,-1.57,-58.4,113.1,-12.5,75,734,0.00,2.33,0.00,0.000,6,0.000,0.032,2773,1693,2876,0,0,0,0,0,0
$GC,990,-1.64,-58.4,146.3,-13.6,96,995,0.15,2.40,0.00,0.000,4,0.056,0.045,2726,290,2878,0,0,0,0,0,0
$GC,1018,-1.54,-58.4,150.8,-14.4,98,1023,0.17,2.25,0.00,0.000,6,0.095,0.018,2761,1708,2878,0,0,0,0,0,0
$GC,1281,-1.60,-58.4,180.7,-9.2,118,1285,0.00,2.42,0.00,0.000,4,0.000,0.044,2761,289,2878,0,0,0,0,0,0
$GC,1305,-1.60,-58.4,183.2,-9.1,120,1309,0.00,2.25,0.00,0.000,6,0.000,0.018,2761,1705,2878,0,0,0,0,0,0
$GC,1571,-1.67,-58.4,207.8,-10.7,139,1573,0.12,0.00,0.00,0.000,6,0.064,0.000,2719,1711,2879,0,0,0,0,0,0
$GC,1877,-1.67,-58.4,251.3,-14.7,154,1878,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1712,2879,0,0,0,0,0,0
$GC,2189,-1.67,-58.4,289.2,-10.5,169,2193,0.00,2.22,0.00,0.000,4,0.000,0.025,2719,3070,2878,0,0,0,0,0,0
$GC,2255,-1.75,-58.4,296.3,-10.0,172,2259,0.00,2.33,0.00,0.000,6,0.000,0.034,2719,1690,2878,0,0,0,0,0,0
$GC,2584,-1.75,-58.4,330.6,-10.4,181,2588,0.00,2.28,0.00,0.000,4,0.000,0.026,2719,3072,2878,0,0,0,0,0,0
$GC,2711,-1.82,-58.4,344.2,-10.6,183,2715,0.00,2.33,0.00,0.000,6,0.000,0.036,2719,1701,2878,0,0,0,0,0,0
$GC,3042,-1.82,-58.4,378.2,-9.8,191,3043,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1701,2876,0,0,0,0,0,0
$GC,3368,-1.87,-58.4,412.2,-10.1,199,3370,0.12,0.00,0.00,0.000,6,0.067,0.000,2680,1700,2874,0,0,0,0,0,0
$GC,3692,-1.83,-58.4,446.4,-10.0,207,3697,0.10,2.30,0.00,0.000,4,0.116,0.032,2699,3065,2871,0,0,0,0,0,0
$STATE,3728,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3728,begin apogee
$GC,3737,-0.31,0.0,450.1,8.8,207,3791,1.55,0.00,49.33,0.825,6,0.081,0.000,3026,1703,2630,0,0,0,0,0,0
$STATE,3792,end apogee,CONTROL_FINISHED_OK
$STATE,3792,begin climb
$GC,3794,1.56,58.4,450.6,0.0,209,3852,1.77,2.53,50.08,0.808,4,0.029,0.052,3451,294,2390,0,0,0,0,0,0
$GC,3977,1.17,91.8,444.4,4.9,213,4015,0.50,2.30,29.30,0.799,6,0.103,0.026,3355,1691,2254,0,0,0,0,0,0
$GC,4340,1.07,101.8,419.5,7.0,222,4357,0.12,2.40,9.05,0.706,4,0.113,0.031,3332,3080,2213,0,0,0,0,0,0
$GC,4553,1.10,128.6,406.8,5.5,226,4585,0.00,2.38,24.70,0.793,6,0.000,0.040,3332,1699,2105,0,0,0,0,0,0
$GC,4903,1.07,128.6,379.6,8.2,235,4907,0.00,2.33,0.00,0.000,4,0.000,0.032,3332,3075,2098,0,0,0,0,0,0
$GC,4946,1.08,136.2,375.9,7.2,236,4958,0.00,2.40,7.20,0.663,6,0.000,0.041,3332,1696,2074,0,0,0,0,0,0
$GC,5278,1.05,136.2,348.1,8.1,244,5279,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,1697,2070,0,0,0,0,0,0
$GC,5602,1.05,136.2,322.1,8.0,252,5606,0.00,2.35,0.00,0.000,4,0.000,0.031,3332,3080,2068,0,0,0,0,0,0
$GC,5686,1.10,150.9,315.7,6.6,253,5706,0.00,2.40,13.50,0.732,6,0.000,0.039,3332,1689,2014,0,0,0,0,0,0
$GC,6026,1.10,150.9,288.8,8.0,265,6031,0.00,2.47,0.00,0.000,4,0.000,0.054,3331,289,2010,0,0,0,0,0,0
$GC,6041,1.06,150.9,287.2,8.2,265,6046,0.00,2.30,0.00,0.000,6,0.000,0.026,3332,1695,2008,0,0,0,0,0,0
$GC,6359,1.08,171.8,263.4,6.0,281,6384,0.00,2.40,19.00,0.716,4,0.000,0.031,3332,3077,1929,0,0,0,0,0,0
$GC,6512,1.14,171.8,252.8,8.0,287,6518,0.00,2.40,0.00,0.000,6,0.000,0.038,3332,1690,1928,0,0,0,0,0,0
$GC,6830,1.14,171.8,222.3,9.3,303,6834,0.00,2.42,0.00,0.000,4,0.000,0.051,3332,294,1925,0,0,0,0,0,0
$GC,6890,1.08,171.8,215.8,10.5,305,6896,0.00,2.30,0.00,0.000,6,0.000,0.024,3332,1713,1922,0,0,0,0,0,0
$GC,7218,1.13,171.8,188.8,9.1,325,7222,0.00,2.47,0.00,0.000,4,0.000,0.050,3332,289,1922,0,0,0,0,0,0
$GC,7339,1.08,171.8,175.1,11.4,334,7344,0.00,2.28,0.00,0.000,6,0.000,0.022,3332,1707,1921,0,0,0,0,0,0
$GC,7607,1.15,181.6,151.9,7.0,355,7622,0.00,2.47,8.98,0.556,4,0.000,0.048,3332,294,1888,0,0,0,0,0,0
$GC,7666,1.15,184.7,147.5,7.6,359,7675,0.00,2.28,3.92,0.397,6,0.000,0.021,3332,1710,1877,0,0,0,0,0,0
$GC,7934,1.27,219.1,136.4,4.8,379,7974,0.20,2.33,31.80,0.606,4,0.048,0.024,3390,3068,1736,0,0,0,0,0,0
$GC,7991,1.27,219.1,131.0,10.5,383,7995,0.00,2.38,0.00,0.000,6,0.000,0.034,3389,1688,1735,0,0,0,0,0,0
$GC,8255,1.27,219.1,99.9,11.5,404,8259,0.00,2.38,0.00,0.000,4,0.000,0.044,3389,296,1733,0,0,0,0,0,0
$GC,8337,1.16,219.1,89.2,13.8,410,8342,0.17,2.25,0.00,0.000,6,0.097,0.019,3355,1709,1730,0,0,0,0,0,0
$GC,8602,1.25,219.1,62.2,9.1,430,8608,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,1715,1730,0,0,0,0,0,0
$GC,8862,1.35,228.4,40.6,7.1,451,8878,0.17,2.47,8.88,0.459,4,0.050,0.044,3409,287,1697,0,0,0,0,0,0
$GC,9134,1.24,228.4,14.5,12.2,495,9140,0.17,2.25,0.00,0.000,6,0.075,0.018,3370,1698,1690,0,0,0,0,0,0
$STATE,9242,end climb,SURFACE_DEPTH_REACHED
$STATE,9242,begin surface coast
$FINISH,0.9,1.023170
$STATE,9269,end surface coast,CONTROL_FINISHED_OK
$STATE,9269,begin surface
$SM_CCo,9292,101.35,0.486,0,0,957,410.14
$SM_GC,1.41,0.00,0.00,101.35,0.000,0.000,0.486,430,1704,957,-12.29,0.08,410.14
$IRIDIUM_FIX,2054.83,-15751.76,281199,020244
$TT8_MAMPS,0.028379
$HUMID,54.80
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,29.982
$10V_AH,10.3,24.972
$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,30.500,94.175,255.725,101.350,0.000,25.236,29.312,131.907,4.500,0.000,32.259,1033.113,6189.092,416.253,1643.938,434.540,0.000,1139.467,0.000,1607.923,0.000,29.245,0.000
$DEVICE_MAMPS,134.225,54.457,825.292,485.511,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,352.886,334.715,754.851,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,28620,525
$CAP_FILE_SIZE,101438,0
$CFSIZE,260165632,195391488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030910,074431,2100.929,-15752.888,41,1.6,41,9.8