version: 66.06
glider: 139
mission: 8
dive: 356
start: 9 4 110 5 20 22
data:
$ID,139
$MISSION,8
$DIVE,356
$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,534.75397
$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,-2158353.8
$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,30
$R_STBD_OVSHOOT,73
$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
$GPS1,050437,2059.324,-15752.065,11,1.8,28,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-70.1
$GPS2,052004,2059.127,-15752.150,15,3.1,34,9.8
$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,42.4,20195,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.56,-58.4,0.0,0.0,0,103,0.00,0.00,-85.47,0.000,6,0.000,0.000,429,1696,2870,0,0,0,0,0,0
$GC,107,-1.56,-58.4,3.7,-4.1,16,124,12.43,0.00,0.00,0.000,6,0.133,0.000,2754,1697,2872,0,0,0,0,0,0
$GC,324,-1.48,-58.4,51.6,-18.3,47,326,0.10,0.00,0.00,0.000,6,0.120,0.000,2774,1697,2873,0,0,0,0,0,0
$GC,574,-1.48,-58.4,96.8,-17.3,67,578,0.00,2.22,0.00,0.000,4,0.000,0.021,2774,3070,2874,0,0,0,0,0,0
$GC,627,-1.59,-58.4,104.5,-13.9,71,632,0.00,2.30,0.00,0.000,6,0.000,0.033,2774,1695,2873,0,0,0,0,0,0
$GC,896,-1.63,-58.4,140.5,-10.1,92,901,0.12,2.40,0.00,0.000,4,0.064,0.046,2734,293,2874,0,0,0,0,0,0
$GC,966,-1.55,-58.4,151.3,-15.0,97,971,0.12,2.20,0.00,0.000,6,0.108,0.018,2758,1696,2874,0,0,0,0,0,0
$GC,1226,-1.59,-58.4,182.2,-11.1,117,1230,0.00,2.40,0.00,0.000,4,0.000,0.045,2758,292,2874,0,0,0,0,0,0
$GC,1255,-1.59,-58.4,186.2,-14.2,119,1259,0.00,2.22,0.00,0.000,6,0.000,0.018,2758,1710,2875,0,0,0,0,0,0
$GC,1515,-1.65,-58.4,215.1,-11.3,135,1519,0.00,2.22,0.00,0.000,4,0.000,0.024,2758,3069,2875,0,0,0,0,0,0
$GC,1658,-1.76,-58.4,229.5,-8.8,141,1663,0.20,2.30,0.00,0.000,6,0.048,0.031,2700,1695,2875,0,0,0,0,0,0
$GC,1982,-1.73,-58.4,265.3,-11.1,157,1984,0.10,0.00,0.00,0.000,6,0.117,0.000,2719,1695,2874,0,0,0,0,0,0
$GC,2291,-1.73,-58.4,301.8,-11.8,172,2292,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1694,2874,0,0,0,0,0,0
$GC,2615,-1.73,-58.4,343.4,-13.0,180,2619,0.00,2.30,0.00,0.000,4,0.000,0.027,2719,3070,2872,0,0,0,0,0,0
$GC,2680,-1.82,-58.4,350.8,-10.5,181,2685,0.00,2.30,0.00,0.000,6,0.000,0.035,2719,1702,2872,0,0,0,0,0,0
$GC,3028,-1.86,-58.4,387.4,-10.4,190,3033,0.12,2.30,0.00,0.000,4,0.067,0.029,2682,3064,2870,0,0,0,0,0,0
$GC,3132,-1.86,-58.4,399.0,-9.9,192,3136,0.00,2.33,0.00,0.000,6,0.000,0.038,2682,1702,2869,0,0,0,0,0,0
$GC,3447,-1.82,-58.4,432.2,-10.7,200,3449,0.10,0.00,0.00,0.000,6,0.118,0.000,2700,1702,2866,0,0,0,0,0,0
$STATE,3647,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3647,begin apogee
$GC,3653,-0.31,0.0,452.9,10.1,205,3705,1.58,0.00,48.08,0.831,6,0.081,0.000,3030,1702,2630,0,0,0,0,0,0
$STATE,3706,end apogee,CONTROL_FINISHED_OK
$STATE,3706,begin climb
$GC,3709,1.56,58.4,453.8,0.0,206,3767,1.77,2.53,50.50,0.812,4,0.031,0.051,3449,289,2390,0,0,0,0,0,0
$GC,3776,1.33,145.2,452.9,0.1,207,3862,0.30,2.33,76.18,0.811,6,0.109,0.025,3394,1694,2038,0,0,0,0,0,0
$GC,4205,1.17,145.2,401.7,13.2,218,4210,0.20,2.50,0.00,0.000,4,0.107,0.054,3356,296,2026,0,0,0,0,0,0
$GC,4216,1.00,145.2,400.0,12.8,218,4221,0.20,2.33,0.00,0.000,6,0.111,0.028,3319,1704,2025,0,0,0,0,0,0
$GC,4531,1.00,145.2,372.3,8.5,226,4535,0.00,2.33,0.00,0.000,4,0.000,0.031,3319,3085,2023,0,0,0,0,0,0
$GC,4560,1.05,149.8,369.8,7.5,226,4564,0.00,2.40,0.00,0.000,6,0.000,0.040,3318,1700,2023,0,0,0,0,0,0
$GC,4895,1.05,149.8,340.8,8.7,235,4899,0.00,2.45,0.00,0.000,4,0.000,0.055,3319,296,2020,0,0,0,0,0,0
$GC,4966,0.97,149.8,333.3,11.3,236,4970,0.00,2.33,0.00,0.000,6,0.000,0.027,3319,1700,2017,0,0,0,0,0,0
$GC,5306,0.97,149.8,296.5,10.2,245,5307,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,1706,2016,0,0,0,0,0,0
$GC,5616,1.01,149.8,268.0,8.3,260,5620,0.00,2.45,0.00,0.000,4,0.000,0.053,3318,296,2015,0,0,0,0,0,0
$GC,5638,0.97,149.8,266.0,10.6,261,5642,0.00,2.33,0.00,0.000,6,0.000,0.027,3319,1703,2013,0,0,0,0,0,0
$GC,5974,1.06,184.3,242.2,4.8,277,6012,0.00,0.00,31.33,0.712,6,0.000,0.000,3318,1710,1877,0,0,0,0,0,0
$GC,6322,1.13,184.3,216.4,8.7,294,6324,0.12,0.00,0.00,0.000,6,0.068,0.000,3355,1711,1872,0,0,0,0,0,0
$GC,6637,1.13,184.3,180.1,12.3,314,6641,0.00,2.28,0.00,0.000,4,0.000,0.025,3355,3088,1871,0,0,0,0,0,0
$GC,6692,1.18,184.3,174.1,10.2,318,6696,0.00,2.38,0.00,0.000,6,0.000,0.035,3355,1694,1871,0,0,0,0,0,0
$GC,6951,1.18,184.3,151.4,8.1,338,6952,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,1694,1870,0,0,0,0,0,0
$GC,7203,1.22,192.3,132.9,7.2,358,7218,0.00,2.38,6.90,0.505,4,0.000,0.025,3355,3090,1846,0,0,0,0,0,0
$GC,7271,1.30,192.3,127.3,8.4,362,7277,0.08,2.38,0.00,0.000,6,0.041,0.032,3388,1701,1845,0,0,0,0,0,0
$GC,7532,1.30,192.3,102.3,9.7,383,7536,0.00,2.40,0.00,0.000,4,0.000,0.047,3388,297,1846,0,0,0,0,0,0
$GC,7674,1.19,192.3,85.7,12.7,393,7680,0.15,2.28,0.00,0.000,6,0.107,0.020,3359,1719,1843,0,0,0,0,0,0
$GC,7935,1.31,237.9,68.9,3.8,414,7981,0.12,2.28,39.95,0.541,4,0.065,0.022,3399,3075,1660,0,0,0,0,0,0
$GC,8057,1.38,237.9,60.3,8.9,423,8061,0.00,2.33,0.00,0.000,6,0.000,0.034,3399,1700,1659,0,0,0,0,0,0
$GC,8322,1.34,237.9,31.0,12.6,444,8323,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1701,1657,0,0,0,0,0,0
$STATE,8538,end climb,SURFACE_DEPTH_REACHED
$STATE,8539,begin surface coast
$FINISH,1.3,1.023355
$STATE,8561,end surface coast,CONTROL_FINISHED_OK
$STATE,8561,begin surface
$SM_CCo,8585,170.52,0.482,0,0,449,534.75
$SM_GC,1.55,0.00,0.00,170.52,0.000,0.000,0.482,425,1698,449,-12.31,-0.06,534.75
$IRIDIUM_FIX,2052.52,-15752.63,291199,050551
$TT8_MAMPS,0.028379
$HUMID,53.30
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.5,30.730
$10V_AH,10.3,25.612
$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,30.550,70.125,252.925,170.525,0.000,143.231,400.408,0.000,4.500,0.000,35.811,949.932,6044.515,477.081,1451.947,759.742,0.000,1106.761,0.000,1411.393,0.000,33.641,0.000
$DEVICE_MAMPS,132.691,55.224,831.428,482.443,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,335.673,321.138,732.487,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,28572,499
$CAP_FILE_SIZE,88406,0
$CFSIZE,260165632,194912256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040910,074728,2059.025,-15752.133,11,3.5,30,9.8