version: 66.06
glider: 139
mission: 8
dive: 353
start: 9 3 110 21 2 1
data:
$ID,139
$MISSION,8
$DIVE,353
$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,-2158286.2
$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
$GPS1,205636,2100.163,-15752.419,38,1.0,44,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-72.4
$GPS2,210144,2100.107,-15752.412,14,1.5,14,9.8
$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,47.4,19514,-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,-64.43,0.000,2,0.000,0.000,426,1700,2772,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.7,-4.0,12,110,12.43,2.42,-1.83,0.000,4,0.132,0.038,2752,3114,2873,0,0,0,0,0,0
$GC,187,-1.60,-58.4,27.7,-16.4,33,194,0.00,2.42,0.00,0.000,6,0.000,0.035,2752,1704,2873,0,0,0,0,0,0
$GC,391,-1.52,-58.4,61.4,-16.0,50,395,0.00,2.42,0.00,0.000,4,0.000,0.046,2752,286,2874,0,0,0,0,0,0
$GC,419,-1.35,-58.4,66.7,-18.8,52,425,0.25,2.33,0.00,0.000,6,0.098,0.018,2801,1738,2874,0,0,0,0,0,0
$GC,680,-1.42,-58.4,96.6,-9.3,72,684,0.00,2.17,0.00,0.000,4,0.000,0.021,2801,3084,2876,0,0,0,0,0,0
$GC,729,-1.57,-58.4,101.8,-9.6,75,736,0.20,2.30,0.00,0.000,6,0.044,0.030,2741,1693,2876,0,0,0,0,0,0
$GC,993,-1.57,-58.4,142.0,-15.6,96,997,0.00,2.38,0.00,0.000,4,0.000,0.044,2741,293,2877,0,0,0,0,0,0
$GC,1017,-1.49,-58.4,146.5,-16.6,98,1022,0.15,2.25,0.00,0.000,6,0.099,0.018,2772,1714,2877,0,0,0,0,0,0
$GC,1285,-1.56,-58.4,177.8,-10.4,119,1289,0.00,2.20,0.00,0.000,4,0.000,0.022,2772,3078,2877,0,0,0,0,0,0
$GC,1299,-1.66,-58.4,179.7,-10.0,120,1304,0.15,2.28,0.00,0.000,6,0.055,0.030,2723,1701,2877,0,0,0,0,0,0
$GC,1560,-1.66,-58.4,210.6,-12.6,138,1564,0.00,2.28,0.00,0.000,4,0.000,0.023,2723,3069,2878,0,0,0,0,0,0
$GC,1675,-1.72,-58.4,223.6,-10.6,143,1680,0.00,2.28,0.00,0.000,6,0.000,0.032,2723,1702,2877,0,0,0,0,0,0
$GC,2008,-1.72,-58.4,262.2,-13.0,159,2012,0.00,2.25,0.00,0.000,4,0.000,0.023,2723,3068,2878,0,0,0,0,0,0
$GC,2033,-1.77,-58.4,265.9,-13.5,160,2037,0.00,2.28,0.00,0.000,6,0.000,0.032,2723,1699,2877,0,0,0,0,0,0
$GC,2356,-1.77,-58.4,306.0,-12.0,175,2360,0.00,2.25,0.00,0.000,4,0.000,0.025,2723,3072,2877,0,0,0,0,0,0
$GC,2511,-1.84,-58.4,321.6,-8.9,178,2516,0.10,2.30,0.00,0.000,6,0.074,0.035,2688,1698,2877,0,0,0,0,0,0
$GC,2863,-1.81,-58.4,356.3,-10.1,187,2867,0.00,2.25,0.00,0.000,4,0.000,0.026,2689,3068,2875,0,0,0,0,0,0
$GC,2946,-1.81,-58.4,364.8,-9.4,188,2952,0.00,2.30,0.00,0.000,6,0.000,0.036,2689,1701,2875,0,0,0,0,0,0
$GC,3277,-1.81,-58.4,397.6,-10.2,197,3281,0.00,2.30,0.00,0.000,4,0.000,0.029,2689,3071,2874,0,0,0,0,0,0
$GC,3386,-1.84,-58.4,408.9,-10.3,199,3390,0.00,2.35,0.00,0.000,6,0.000,0.038,2688,1696,2873,0,0,0,0,0,0
$GC,3735,-1.84,-58.4,445.9,-10.3,208,3739,0.00,2.45,0.00,0.000,4,0.000,0.057,2688,299,2870,0,0,0,0,0,0
$GC,3750,-1.79,-58.4,447.6,-10.4,208,3755,0.10,2.22,0.00,0.000,6,0.118,0.025,2707,1681,2870,0,0,0,0,0,0
$STATE,3772,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3772,begin apogee
$GC,3778,-0.31,0.0,450.4,11.2,208,3831,1.50,0.00,49.22,0.822,6,0.077,0.000,3026,1686,2630,0,0,0,0,0,0
$STATE,3831,end apogee,CONTROL_FINISHED_OK
$STATE,3832,begin climb
$GC,3834,1.56,58.4,451.1,0.0,210,3892,1.77,2.40,50.17,0.806,4,0.028,0.030,3452,3082,2390,0,0,0,0,0,0
$GC,3989,1.34,105.2,447.5,3.7,213,4038,0.30,2.40,41.17,0.801,6,0.104,0.037,3395,1696,2200,0,0,0,0,0,0
$GC,4379,1.17,105.2,414.3,9.5,223,4384,0.20,2.47,0.00,0.000,4,0.105,0.054,3356,300,2191,0,0,0,0,0,0
$GC,4459,0.96,105.2,406.5,10.5,224,4464,0.22,2.30,0.00,0.000,6,0.100,0.027,3314,1700,2188,0,0,0,0,0,0
$GC,4791,0.97,113.8,382.3,7.1,232,4804,0.00,2.40,6.10,0.624,4,0.000,0.031,3314,3085,2166,0,0,0,0,0,0
$GC,4862,1.03,128.6,377.3,6.6,233,4884,0.00,2.40,15.20,0.752,6,0.000,0.038,3313,1699,2105,0,0,0,0,0,0
$GC,5210,1.03,128.6,348.6,8.6,242,5214,0.00,2.35,0.00,0.000,4,0.000,0.031,3313,3090,2100,0,0,0,0,0,0
$GC,5271,1.09,133.9,344.1,7.4,243,5284,0.10,2.40,5.30,0.582,6,0.077,0.041,3343,1702,2084,0,0,0,0,0,0
$GC,5626,1.10,134.9,315.1,7.8,252,5630,0.00,2.35,0.00,0.000,4,0.000,0.031,3343,3085,2082,0,0,0,0,0,0
$GC,5732,1.10,134.9,305.9,8.5,254,5736,0.00,2.40,0.00,0.000,6,0.000,0.039,3343,1694,2081,0,0,0,0,0,0
$GC,6065,1.10,135.4,279.2,7.8,268,6069,0.00,2.33,0.00,0.000,4,0.000,0.029,3343,3085,2079,0,0,0,0,0,0
$GC,6158,1.12,158.8,273.2,5.8,272,6188,0.00,2.38,22.90,0.726,6,0.000,0.038,3344,1698,1981,0,0,0,0,0,0
$GC,6510,1.13,161.0,245.9,7.7,289,6514,0.00,2.47,0.00,0.000,4,0.000,0.054,3343,293,1978,0,0,0,0,0,0
$GC,6534,1.04,161.0,243.7,8.7,290,6539,0.00,2.30,0.00,0.000,6,0.000,0.025,3344,1711,1976,0,0,0,0,0,0
$GC,6859,1.05,164.1,216.9,7.6,306,6866,0.00,0.00,4.95,0.505,6,0.000,0.000,3344,1716,1961,0,0,0,0,0,0
$GC,7180,1.07,182.3,196.8,6.3,323,7200,0.00,0.00,17.85,0.642,6,0.000,0.000,3344,1716,1886,0,0,0,0,0,0
$GC,7448,1.07,182.3,173.1,10.5,344,7452,0.00,2.50,0.00,0.000,4,0.000,0.049,3344,290,1883,0,0,0,0,0,0
$GC,7489,0.99,182.3,168.1,13.2,347,7493,0.15,2.30,0.00,0.000,6,0.103,0.021,3315,1712,1881,0,0,0,0,0,0
$GC,7759,1.10,182.3,142.2,8.9,368,7764,0.10,2.47,0.00,0.000,4,0.074,0.048,3350,290,1880,0,0,0,0,0,0
$GC,7876,1.04,182.3,130.7,9.9,376,7884,0.08,2.28,0.00,0.000,6,0.085,0.021,3330,1705,1879,0,0,0,0,0,0
$GC,8138,1.17,211.3,114.4,5.3,397,8172,0.12,2.50,25.92,0.574,4,0.063,0.044,3372,288,1767,0,0,0,0,0,0
$GC,8253,1.10,211.3,103.3,11.5,405,8258,0.17,2.22,0.00,0.000,6,0.096,0.020,3338,1705,1763,0,0,0,0,0,0
$GC,8518,1.21,211.3,74.3,11.3,425,8522,0.10,2.22,0.00,0.000,4,0.073,0.022,3375,3069,1763,0,0,0,0,0,0
$GC,8545,1.30,211.3,70.8,10.5,427,8549,0.00,2.33,0.00,0.000,6,0.000,0.031,3375,1690,1763,0,0,0,0,0,0
$GC,8811,1.34,211.3,47.7,8.5,448,8815,0.00,2.40,0.00,0.000,4,0.000,0.045,3375,294,1763,0,0,0,0,0,0
$GC,8826,1.34,211.3,45.9,9.2,449,8830,0.00,2.20,0.00,0.000,6,0.000,0.019,3375,1708,1762,0,0,0,0,0,0
$GC,9088,1.39,211.3,23.4,8.4,481,9095,0.12,2.47,0.00,0.000,4,0.062,0.044,3417,298,1762,0,0,0,0,0,0
$GC,9270,1.25,211.3,3.5,11.8,522,9277,0.17,2.20,0.00,0.000,6,0.081,0.019,3378,1689,1761,0,0,0,0,0,0
$STATE,9283,end climb,SURFACE_DEPTH_REACHED
$STATE,9283,begin surface coast
$FINISH,1.0,1.023131
$STATE,9310,end surface coast,CONTROL_FINISHED_OK
$STATE,9310,begin surface
$SM_CCo,9334,114.75,0.485,0,0,957,410.14
$SM_GC,1.59,0.00,0.00,114.75,0.000,0.000,0.485,425,1689,957,-12.31,-0.31,410.14
$IRIDIUM_FIX,2052.52,-15751.76,281199,181812
$TT8_MAMPS,0.028379
$HUMID,54.48
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,30.447
$10V_AH,10.3,25.395
$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,31.050,112.125,238.800,114.750,0.000,25.641,30.840,129.131,4.500,0.000,14.904,1075.358,6158.495,421.165,1656.777,445.056,0.000,1165.858,0.000,1635.245,0.000,29.260,0.000
$DEVICE_MAMPS,131.924,56.758,822.224,484.744,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,356.634,338.280,770.280,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,28600,530
$CAP_FILE_SIZE,108064,0
$CFSIZE,260165632,195084288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030910,234025,2059.868,-15752.323,12,1.5,17,9.8