version: 66.06
glider: 139
mission: 8
dive: 351
start: 9 3 110 15 44 6
data:
$ID,139
$MISSION,8
$DIVE,351
$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,-2158237.2
$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
$GPS1,153837,2100.524,-15752.939,32,1.5,32,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-72.2
$GPS2,154349,2100.466,-15752.901,10,1.6,15,9.8
$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,50.3,19891,-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,-64.60,0.000,2,0.000,0.000,431,1702,2764,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.6,-3.8,12,110,12.45,2.42,-1.98,0.000,4,0.133,0.037,2753,3117,2872,0,0,0,0,0,0
$GC,173,-1.56,-58.4,25.9,-17.5,30,180,0.00,2.45,0.00,0.000,6,0.000,0.039,2753,1703,2873,0,0,0,0,0,0
$GC,377,-1.49,-58.4,62.8,-18.4,49,382,0.12,2.45,0.00,0.000,4,0.110,0.047,2776,293,2875,0,0,0,0,0,0
$GC,433,-1.42,-58.4,74.0,-19.8,53,437,0.00,2.30,0.00,0.000,6,0.000,0.018,2776,1731,2875,0,0,0,0,0,0
$GC,696,-1.45,-58.4,110.4,-12.4,73,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1732,2876,0,0,0,0,0,0
$GC,946,-1.52,-58.4,139.5,-10.2,93,953,0.00,2.20,0.00,0.000,4,0.000,0.022,2776,3089,2877,0,0,0,0,0,0
$GC,1018,-1.67,-58.4,147.2,-9.5,98,1024,0.17,2.33,0.00,0.000,6,0.051,0.031,2724,1689,2877,0,0,0,0,0,0
$GC,1286,-1.67,-58.4,177.6,-12.2,119,1290,0.00,2.35,0.00,0.000,4,0.000,0.044,2724,298,2877,0,0,0,0,0,0
$GC,1301,-1.61,-58.4,180.1,-12.4,120,1306,0.12,2.25,0.00,0.000,6,0.105,0.019,2748,1719,2877,0,0,0,0,0,0
$GC,1577,-1.66,-58.4,213.4,-12.9,138,1581,0.00,2.42,0.00,0.000,4,0.000,0.044,2747,295,2878,0,0,0,0,0,0
$GC,1599,-1.66,-58.4,216.4,-13.0,139,1603,0.00,2.22,0.00,0.000,6,0.000,0.020,2748,1698,2878,0,0,0,0,0,0
$GC,1931,-1.71,-58.4,256.2,-11.0,155,1933,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1704,2878,0,0,0,0,0,0
$GC,2239,-1.79,-58.4,285.4,-8.9,170,2244,0.17,2.42,0.00,0.000,4,0.054,0.048,2696,297,2878,0,0,0,0,0,0
$GC,2268,-1.70,-58.4,288.9,-12.2,171,2273,0.17,2.25,0.00,0.000,6,0.095,0.021,2732,1696,2878,0,0,0,0,0,0
$GC,2588,-1.74,-58.4,321.0,-10.5,182,2589,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1702,2877,0,0,0,0,0,0
$GC,2913,-1.79,-58.4,358.7,-11.7,190,2917,0.00,2.42,0.00,0.000,4,0.000,0.051,2731,293,2876,0,0,0,0,0,0
$GC,2927,-1.79,-58.4,360.8,-11.4,190,2931,0.00,2.28,0.00,0.000,6,0.000,0.024,2732,1695,2876,0,0,0,0,0,0
$GC,3277,-1.86,-58.4,405.7,-12.2,199,3282,0.17,2.30,0.00,0.000,4,0.056,0.031,2683,3079,2874,0,0,0,0,0,0
$GC,3306,-1.86,-58.4,409.7,-13.3,199,3311,0.00,2.33,0.00,0.000,6,0.000,0.039,2683,1705,2874,0,0,0,0,0,0
$STATE,3640,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3640,begin apogee
$GC,3646,-0.31,0.0,455.0,13.0,208,3699,1.65,0.00,49.58,0.823,6,0.082,0.000,3028,1704,2630,0,0,0,0,0,0
$STATE,3700,end apogee,CONTROL_FINISHED_OK
$STATE,3700,begin climb
$GC,3704,1.56,58.4,456.6,0.0,209,3762,1.77,2.55,50.08,0.808,4,0.030,0.053,3453,294,2391,0,0,0,0,0,0
$GC,3914,1.17,91.2,451.4,4.9,213,3951,0.50,2.33,28.60,0.795,6,0.105,0.026,3357,1704,2258,0,0,0,0,0,0
$GC,4298,1.08,96.8,422.7,7.4,223,4311,0.12,2.42,5.35,0.597,4,0.119,0.032,3334,3084,2234,0,0,0,0,0,0
$GC,4355,1.09,110.5,418.9,6.7,224,4375,0.00,2.42,13.77,0.751,6,0.000,0.040,3335,1690,2178,0,0,0,0,0,0
$GC,4718,1.06,115.9,393.8,7.4,233,4730,0.00,2.50,5.60,0.610,4,0.000,0.055,3335,295,2155,0,0,0,0,0,0
$GC,4797,0.92,115.9,386.7,9.2,234,4802,0.17,2.33,0.00,0.000,6,0.112,0.027,3302,1691,2153,0,0,0,0,0,0
$GC,5134,0.98,135.6,366.2,6.1,243,5158,0.00,2.45,18.30,0.767,4,0.000,0.032,3302,3088,2077,0,0,0,0,0,0
$GC,5241,1.06,135.6,357.9,8.9,245,5246,0.12,2.42,0.00,0.000,6,0.070,0.041,3337,1692,2076,0,0,0,0,0,0
$GC,5555,1.06,135.6,330.0,8.9,253,5559,0.00,2.35,0.00,0.000,4,0.000,0.031,3336,3086,2072,0,0,0,0,0,0
$GC,5564,1.06,135.6,329.1,8.6,253,5568,0.00,2.40,0.00,0.000,6,0.000,0.039,3336,1699,2072,0,0,0,0,0,0
$GC,5879,1.06,135.6,302.0,9.0,261,5883,0.00,2.50,0.00,0.000,4,0.000,0.057,3336,287,2071,0,0,0,0,0,0
$GC,6147,0.97,152.0,280.6,6.4,271,6168,0.12,2.33,14.52,0.710,6,0.115,0.025,3314,1714,2010,0,0,0,0,0,0
$GC,6485,1.03,156.6,259.4,7.5,288,6497,0.00,2.53,5.40,0.556,4,0.000,0.051,3313,296,1990,0,0,0,0,0,0
$GC,6578,1.03,156.6,250.6,10.7,292,6582,0.00,2.30,0.00,0.000,6,0.000,0.025,3314,1702,1988,0,0,0,0,0,0
$GC,6908,1.12,176.0,224.7,6.1,308,6932,0.12,2.35,18.42,0.677,4,0.068,0.026,3350,3086,1911,0,0,0,0,0,0
$GC,7006,1.16,176.0,217.8,8.0,312,7010,0.00,2.38,0.00,0.000,6,0.000,0.036,3350,1697,1911,0,0,0,0,0,0
$GC,7327,1.16,176.0,187.6,11.0,331,7331,0.00,2.45,0.00,0.000,4,0.000,0.050,3350,295,1908,0,0,0,0,0,0
$GC,7366,1.07,176.0,182.8,12.0,334,7371,0.00,2.28,0.00,0.000,6,0.000,0.023,3350,1707,1906,0,0,0,0,0,0
$GC,7631,1.07,176.0,156.4,8.8,355,7635,0.00,2.47,0.00,0.000,4,0.000,0.048,3350,293,1906,0,0,0,0,0,0
$GC,7769,1.01,178.9,144.7,7.6,365,7774,0.15,2.28,0.00,0.000,6,0.103,0.021,3321,1707,1905,0,0,0,0,0,0
$GC,8035,1.14,196.4,129.7,6.3,386,8057,0.12,0.00,18.30,0.584,6,0.066,0.000,3360,1714,1829,0,0,0,0,0,0
$GC,8313,1.19,199.3,106.5,7.6,408,8322,0.00,2.47,3.95,0.377,4,0.000,0.047,3360,297,1816,0,0,0,0,0,0
$GC,8332,1.19,199.3,104.5,8.2,408,8338,0.00,2.28,0.00,0.000,6,0.000,0.020,3361,1703,1816,0,0,0,0,0,0
$GC,8595,1.26,209.7,83.7,7.0,429,8608,0.00,0.00,10.70,0.507,6,0.000,0.000,3361,1704,1775,0,0,0,0,0,0
$GC,8858,1.34,214.4,64.1,7.5,450,8868,0.12,0.00,5.70,0.420,6,0.063,0.000,3402,1704,1755,0,0,0,0,0,0
$GC,9122,1.34,214.4,40.1,9.3,471,9126,0.00,2.42,0.00,0.000,4,0.000,0.044,3401,291,1755,0,0,0,0,0,0
$GC,9152,1.22,214.4,37.0,10.7,473,9157,0.17,2.22,0.00,0.000,6,0.097,0.018,3367,1717,1753,0,0,0,0,0,0
$GC,9417,1.31,230.9,18.8,6.4,519,9440,0.00,2.50,15.62,0.471,4,0.000,0.044,3367,303,1687,0,0,0,0,0,0
$STATE,9571,end climb,SURFACE_DEPTH_REACHED
$STATE,9571,begin surface coast
$FINISH,1.0,1.023095
$STATE,9590,end surface coast,CONTROL_FINISHED_OK
$STATE,9590,begin surface
$SM_CCo,9614,98.72,0.479,0,0,957,410.14
$SM_GC,1.66,0.00,0.00,98.72,0.000,0.000,0.479,424,1701,957,-12.31,0.03,410.14
$IRIDIUM_FIX,2052.52,-15754.77,281199,131303
$TT8_MAMPS,0.028379
$HUMID,53.07
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,23.5,30.292
$10V_AH,10.3,25.255
$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,31.150,99.575,263.900,98.725,0.000,24.372,28.409,137.149,4.500,0.000,15.415,1090.107,6398.900,420.613,1661.916,453.413,0.000,1154.287,0.000,1647.300,0.000,29.262,0.000
$DEVICE_MAMPS,133.458,56.758,822.991,479.375,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,375.061,360.429,815.273,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,31811,557
$CAP_FILE_SIZE,105787,0
$CFSIZE,260165632,195186688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030910,182726,2100.434,-15752.601,28,2.2,47,9.8