version: 66.06
glider: 139
mission: 8
dive: 348
start: 9 3 110 7 49 59
data:
$ID,139
$MISSION,8
$DIVE,348
$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,-2158189.2
$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
$GPS1,074431,2100.929,-15752.888,41,1.6,41,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-71.7
$GPS2,074943,2100.865,-15752.869,14,1.4,19,9.8
$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,52.1,19484,-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,-64.68,0.000,2,0.000,0.000,429,1704,2779,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.7,-4.4,12,105,12.45,2.40,-1.67,0.000,4,0.133,0.036,2752,3112,2871,0,0,0,0,0,0
$GC,163,-1.56,-58.4,23.9,-17.9,28,170,0.00,2.42,0.00,0.000,6,0.000,0.034,2752,1700,2873,0,0,0,0,0,0
$GC,363,-1.48,-58.4,57.7,-15.9,48,368,0.12,2.42,0.00,0.000,4,0.112,0.046,2775,286,2874,0,0,0,0,0,0
$GC,417,-1.42,-58.4,67.1,-17.2,52,422,0.00,2.30,0.00,0.000,6,0.000,0.018,2775,1729,2874,0,0,0,0,0,0
$GC,684,-1.42,-58.4,110.7,-15.2,73,688,0.00,2.20,0.00,0.000,4,0.000,0.022,2775,3087,2875,0,0,0,0,0,0
$GC,737,-1.55,-58.4,118.3,-12.8,77,741,0.00,2.33,0.00,0.000,6,0.000,0.031,2775,1696,2875,0,0,0,0,0,0
$GC,1008,-1.61,-58.4,155.9,-13.7,98,1013,0.12,2.30,0.00,0.000,4,0.064,0.022,2735,3086,2877,0,0,0,0,0,0
$GC,1027,-1.65,-58.4,159.2,-14.6,99,1034,0.00,2.30,0.00,0.000,6,0.000,0.030,2735,1700,2876,0,0,0,0,0,0
$GC,1287,-1.65,-58.4,192.5,-11.0,120,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1700,2877,0,0,0,0,0,0
$GC,1549,-1.65,-58.4,220.6,-11.4,135,1551,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1699,2877,0,0,0,0,0,0
$GC,1858,-1.65,-58.4,259.6,-12.1,150,1859,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1699,2878,0,0,0,0,0,0
$GC,2167,-1.70,-58.4,292.1,-8.9,165,2171,0.00,2.30,0.00,0.000,4,0.000,0.025,2735,3082,2877,0,0,0,0,0,0
$GC,2246,-1.79,-58.4,298.4,-7.5,168,2251,0.12,2.33,0.00,0.000,6,0.065,0.033,2696,1691,2877,0,0,0,0,0,0
$GC,2560,-1.79,-58.4,332.7,-12.0,176,2564,0.00,2.30,0.00,0.000,4,0.000,0.026,2696,3084,2877,0,0,0,0,0,0
$GC,2583,-1.79,-58.4,335.6,-10.8,176,2587,0.00,2.30,0.00,0.000,6,0.000,0.034,2696,1702,2877,0,0,0,0,0,0
$GC,2926,-1.79,-58.4,373.9,-11.0,185,2930,0.00,2.33,0.00,0.000,4,0.000,0.028,2696,3088,2875,0,0,0,0,0,0
$GC,2995,-1.83,-58.4,381.5,-10.0,186,3000,0.00,2.33,0.00,0.000,6,0.000,0.037,2696,1702,2875,0,0,0,0,0,0
$GC,3335,-1.83,-58.4,418.9,-11.1,195,3339,0.00,2.33,0.00,0.000,4,0.000,0.031,2696,3087,2874,0,0,0,0,0,0
$GC,3415,-1.89,-58.4,427.6,-10.2,196,3420,0.00,2.38,0.00,0.000,6,0.000,0.040,2695,1700,2872,0,0,0,0,0,0
$STATE,3626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3627,begin apogee
$GC,3632,-0.31,0.0,451.4,11.2,202,3686,1.60,0.00,49.40,0.821,6,0.081,0.000,3031,1700,2630,0,0,0,0,0,0
$STATE,3686,end apogee,CONTROL_FINISHED_OK
$STATE,3687,begin climb
$GC,3689,1.56,58.4,452.7,0.0,203,3747,1.75,2.53,49.97,0.808,4,0.029,0.053,3449,294,2390,0,0,0,0,0,0
$GC,3881,1.18,96.9,448.6,4.4,207,3922,0.47,2.35,33.38,0.798,6,0.104,0.026,3358,1709,2235,0,0,0,0,0,0
$GC,4241,1.07,96.9,422.5,8.1,216,4245,0.12,2.35,0.00,0.000,4,0.120,0.033,3335,3078,2228,0,0,0,0,0,0
$GC,4307,1.09,107.6,417.5,6.9,217,4324,0.00,2.38,9.82,0.713,6,0.000,0.040,3335,1699,2190,0,0,0,0,0,0
$GC,4655,1.05,107.6,387.9,8.8,226,4659,0.00,2.33,0.00,0.000,4,0.000,0.033,3335,3078,2185,0,0,0,0,0,0
$GC,4688,1.05,110.6,385.2,7.6,226,4692,0.00,2.38,0.00,0.000,6,0.000,0.040,3335,1692,2185,0,0,0,0,0,0
$GC,5020,1.01,110.6,357.5,8.5,234,5025,0.00,2.45,0.00,0.000,4,0.000,0.054,3335,293,2181,0,0,0,0,0,0
$GC,5072,0.86,110.6,352.4,9.3,235,5077,0.25,2.30,0.00,0.000,6,0.108,0.028,3288,1697,2180,0,0,0,0,0,0
$GC,5392,0.97,138.0,333.3,5.4,243,5422,0.10,0.00,26.70,0.772,6,0.081,0.000,3317,1702,2067,0,0,0,0,0,0
$GC,5716,0.98,153.5,311.0,6.5,251,5736,0.00,2.58,14.48,0.724,4,0.000,0.055,3316,300,2003,0,0,0,0,0,0
$GC,5822,0.94,153.5,302.5,8.3,253,5826,0.00,2.33,0.00,0.000,6,0.000,0.027,3317,1710,1999,0,0,0,0,0,0
$GC,6142,0.98,158.0,281.0,7.5,267,6154,0.00,2.33,4.88,0.543,4,0.000,0.029,3317,3085,1985,0,0,0,0,0,0
$GC,6243,1.07,158.0,272.9,8.4,271,6248,0.00,2.40,0.00,0.000,6,0.000,0.038,3316,1694,1984,0,0,0,0,0,0
$GC,6566,1.12,158.0,246.3,8.0,287,6568,0.12,0.00,0.00,0.000,6,0.069,0.000,3353,1693,1982,0,0,0,0,0,0
$GC,6873,1.13,161.8,220.4,7.6,302,6884,0.00,2.45,4.50,0.487,4,0.000,0.050,3352,294,1969,0,0,0,0,0,0
$GC,6984,1.02,161.8,210.6,9.2,306,6991,0.12,2.33,0.00,0.000,6,0.085,0.024,3324,1709,1967,0,0,0,0,0,0
$GC,7313,1.10,178.3,187.9,6.4,328,7335,0.00,2.55,15.73,0.637,4,0.000,0.049,3324,297,1903,0,0,0,0,0,0
$GC,7385,1.10,178.3,182.3,8.3,333,7389,0.00,2.30,0.00,0.000,6,0.000,0.022,3324,1711,1900,0,0,0,0,0,0
$GC,7650,1.20,185.5,164.9,7.3,354,7666,0.15,2.53,7.50,0.541,4,0.059,0.048,3368,299,1873,0,0,0,0,0,0
$GC,7743,1.08,185.5,155.0,11.4,360,7748,0.15,2.28,0.00,0.000,6,0.105,0.021,3338,1708,1871,0,0,0,0,0,0
$GC,8005,1.16,192.7,132.1,7.2,380,8020,0.00,2.53,7.70,0.514,4,0.000,0.048,3338,296,1844,0,0,0,0,0,0
$GC,8109,1.16,192.7,121.7,10.7,387,8113,0.00,2.25,0.00,0.000,6,0.000,0.020,3338,1712,1841,0,0,0,0,0,0
$GC,8372,1.26,198.7,100.3,7.4,407,8387,0.15,2.28,6.53,0.470,4,0.058,0.023,3385,3071,1820,0,0,0,0,0,0
$GC,8433,1.31,206.6,95.5,7.2,411,8447,0.00,2.33,9.27,0.504,6,0.000,0.031,3384,1694,1787,0,0,0,0,0,0
$GC,8705,1.31,212.6,75.4,7.3,432,8720,0.00,2.45,6.45,0.447,4,0.000,0.045,3384,304,1762,0,0,0,0,0,0
$GC,8778,1.24,212.6,68.9,9.6,437,8782,0.00,2.22,0.00,0.000,6,0.000,0.019,3384,1714,1760,0,0,0,0,0,0
$GC,9043,1.24,212.6,48.4,8.1,458,9044,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,1719,1760,0,0,0,0,0,0
$GC,9295,1.28,215.4,28.4,7.6,480,9308,0.00,2.47,3.95,0.333,4,0.000,0.044,3384,307,1751,0,0,0,0,0,0
$GC,9417,1.23,215.4,15.7,11.8,506,9424,0.00,2.22,0.00,0.000,6,0.000,0.018,3384,1711,1749,0,0,0,0,0,0
$STATE,9544,end climb,SURFACE_DEPTH_REACHED
$STATE,9544,begin surface coast
$FINISH,1.0,1.023065
$STATE,9575,end surface coast,CONTROL_FINISHED_OK
$STATE,9575,begin surface
$SM_CCo,9599,106.82,0.484,0,0,957,410.14
$SM_GC,1.57,0.00,0.00,106.82,0.000,0.000,0.484,426,1713,957,-12.30,0.37,410.14
$IRIDIUM_FIX,2052.52,-15751.76,281199,050532
$TT8_MAMPS,0.029146
$HUMID,53.34
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.5,30.059
$10V_AH,10.3,25.044
$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,30.475,99.100,250.250,106.825,0.000,29.719,27.678,126.637,4.500,0.000,19.638,1067.240,6454.415,425.890,1631.533,436.245,0.000,1145.864,0.000,1608.155,0.000,29.259,0.000
$DEVICE_MAMPS,133.458,55.224,820.690,483.977,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,364.987,348.046,785.274,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,28689,542
$CAP_FILE_SIZE,104023,0
$CFSIZE,260165632,195334144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030910,103306,2100.608,-15753.120,43,0.8,43,9.8