version: 66.06
glider: 139
mission: 8
dive: 359
start: 9 4 110 13 39 1
data:
$ID,139
$MISSION,8
$DIVE,359
$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,-2158436.5
$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
$GPS1,133054,2058.254,-15752.876,39,1.4,57,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-70.7
$GPS2,133844,2058.177,-15752.939,15,1.4,15,9.8
$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,41.0,22358,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.56,-58.4,0.0,0.0,0,83,0.00,0.00,-64.32,0.000,2,0.000,0.000,427,1706,2756,0,0,0,0,0,0
$GC,87,-1.56,-58.4,3.3,-3.4,12,111,12.43,2.38,-2.17,0.000,4,0.132,0.036,2752,3106,2870,0,0,0,0,0,0
$GC,209,-1.56,-58.4,30.3,-16.3,38,216,0.00,2.40,0.00,0.000,6,0.000,0.031,2752,1700,2872,0,0,0,0,0,0
$GC,469,-1.49,-58.4,78.8,-17.7,59,474,0.10,2.33,0.00,0.000,4,0.118,0.022,2771,3112,2873,0,0,0,0,0,0
$GC,530,-1.58,-58.4,88.5,-12.8,63,536,0.00,2.40,0.00,0.000,6,0.000,0.035,2770,1693,2873,0,0,0,0,0,0
$GC,791,-1.62,-58.4,123.1,-14.1,84,795,0.00,2.40,0.00,0.000,4,0.000,0.045,2770,291,2874,0,0,0,0,0,0
$GC,824,-1.62,-58.4,128.5,-15.6,86,831,0.08,2.33,0.00,0.000,6,0.038,0.018,2736,1733,2874,0,0,0,0,0,0
$GC,1086,-1.62,-58.4,164.3,-12.0,107,1090,0.00,2.17,0.00,0.000,4,0.000,0.022,2736,3081,2875,0,0,0,0,0,0
$GC,1168,-1.70,-58.4,174.0,-11.3,113,1173,0.00,2.33,0.00,0.000,6,0.000,0.031,2736,1694,2875,0,0,0,0,0,0
$GC,1446,-1.70,-58.4,210.2,-13.9,133,1450,0.00,2.38,0.00,0.000,4,0.000,0.045,2736,295,2875,0,0,0,0,0,0
$GC,1480,-1.64,-58.4,215.6,-15.8,134,1484,0.00,2.22,0.00,0.000,6,0.000,0.019,2736,1711,2875,0,0,0,0,0,0
$GC,1798,-1.67,-58.4,252.9,-9.1,149,1802,0.00,2.22,0.00,0.000,4,0.000,0.025,2736,3069,2875,0,0,0,0,0,0
$GC,1908,-1.76,-58.4,261.7,-7.6,153,1913,0.00,2.30,0.00,0.000,6,0.000,0.032,2735,1701,2875,0,0,0,0,0,0
$GC,2225,-1.83,-58.4,284.7,-8.3,169,2230,0.15,2.30,0.00,0.000,4,0.058,0.025,2690,3075,2875,0,0,0,0,0,0
$GC,2297,-1.83,-58.4,292.5,-11.6,172,2302,0.00,2.30,0.00,0.000,6,0.000,0.035,2690,1702,2875,0,0,0,0,0,0
$GC,2619,-1.79,-58.4,334.3,-13.0,182,2623,0.00,2.42,0.00,0.000,4,0.000,0.050,2690,289,2874,0,0,0,0,0,0
$GC,2638,-1.72,-58.4,336.9,-13.2,182,2643,0.17,2.25,0.00,0.000,6,0.097,0.023,2726,1694,2874,0,0,0,0,0,0
$GC,2986,-1.75,-58.4,371.9,-9.1,191,2990,0.00,2.33,0.00,0.000,4,0.000,0.029,2725,3078,2872,0,0,0,0,0,0
$GC,3056,-1.84,-58.4,378.1,-8.2,192,3061,0.12,2.33,0.00,0.000,6,0.068,0.038,2688,1701,2871,0,0,0,0,0,0
$GC,3399,-1.84,-58.4,412.0,-9.9,201,3403,0.00,2.33,0.00,0.000,4,0.000,0.031,2688,3078,2869,0,0,0,0,0,0
$GC,3526,-1.84,-58.4,424.9,-10.2,203,3530,0.00,2.35,0.00,0.000,6,0.000,0.040,2688,1701,2868,0,0,0,0,0,0
$STATE,3773,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3773,begin apogee
$GC,3780,-0.31,0.0,451.4,10.4,209,3832,1.65,0.00,48.35,0.835,6,0.083,0.000,3032,1700,2630,0,0,0,0,0,0
$STATE,3833,end apogee,CONTROL_FINISHED_OK
$STATE,3833,begin climb
$GC,3836,1.56,58.4,452.3,0.0,210,3896,1.77,2.42,50.42,0.817,4,0.028,0.032,3452,3071,2391,0,0,0,0,0,0
$GC,3973,1.34,112.6,450.4,3.0,213,4027,0.30,2.40,47.80,0.815,6,0.108,0.038,3395,1689,2170,0,0,0,0,0,0
$GC,4352,1.17,112.6,415.5,10.1,222,4357,0.20,2.40,0.00,0.000,4,0.109,0.031,3358,3082,2160,0,0,0,0,0,0
$GC,4369,1.03,112.6,413.9,10.0,222,4374,0.17,2.38,0.00,0.000,6,0.120,0.040,3326,1702,2160,0,0,0,0,0,0
$GC,4720,1.05,126.1,389.2,6.7,231,4736,0.00,2.40,10.93,0.729,4,0.000,0.033,3326,3071,2115,0,0,0,0,0,0
$GC,4746,1.07,143.2,387.3,6.4,231,4770,0.00,2.38,16.77,0.760,6,0.000,0.041,3326,1696,2046,0,0,0,0,0,0
$GC,5098,1.07,144.2,360.4,7.8,240,5102,0.00,2.50,0.00,0.000,4,0.000,0.057,3326,293,2040,0,0,0,0,0,0
$GC,5131,0.95,144.2,357.3,8.7,240,5135,0.00,2.33,0.00,0.000,6,0.000,0.028,3326,1693,2037,0,0,0,0,0,0
$GC,5467,0.95,144.2,330.9,7.9,249,5472,0.00,2.47,0.00,0.000,4,0.000,0.055,3326,292,2036,0,0,0,0,0,0
$GC,5486,0.89,144.2,329.0,8.9,249,5491,0.17,2.33,0.00,0.000,6,0.111,0.027,3293,1704,2034,0,0,0,0,0,0
$GC,5832,0.96,144.2,301.3,8.3,258,5837,0.00,2.50,0.00,0.000,4,0.000,0.054,3293,294,2034,0,0,0,0,0,0
$GC,5993,0.96,144.2,284.8,9.7,264,5997,0.00,2.33,0.00,0.000,6,0.000,0.027,3293,1709,2031,0,0,0,0,0,0
$GC,6323,1.08,167.7,263.1,5.8,280,6349,0.17,2.38,20.67,0.720,4,0.058,0.031,3341,3084,1946,0,0,0,0,0,0
$GC,6531,1.12,167.7,241.8,9.6,289,6536,0.00,2.40,0.00,0.000,6,0.000,0.039,3341,1695,1945,0,0,0,0,0,0
$GC,6863,1.12,167.7,212.9,8.9,305,6867,0.00,2.45,0.00,0.000,4,0.000,0.052,3340,295,1941,0,0,0,0,0,0
$GC,6918,1.04,167.7,206.2,11.7,307,6923,0.00,2.33,0.00,0.000,6,0.000,0.025,3341,1712,1939,0,0,0,0,0,0
$GC,7242,1.11,200.6,180.6,4.9,330,7277,0.00,2.53,29.35,0.658,4,0.000,0.050,3341,296,1811,0,0,0,0,0,0
$GC,7337,1.06,200.6,172.8,9.0,336,7341,0.00,2.30,0.00,0.000,6,0.000,0.022,3341,1710,1807,0,0,0,0,0,0
$GC,7602,1.12,200.6,146.4,11.1,357,7607,0.00,2.47,0.00,0.000,4,0.000,0.048,3341,294,1806,0,0,0,0,0,0
$GC,7644,1.12,200.6,140.9,13.0,360,7648,0.00,2.28,0.00,0.000,6,0.000,0.021,3341,1708,1805,0,0,0,0,0,0
$GC,7906,1.19,200.6,114.6,8.6,380,7910,0.00,2.45,0.00,0.000,4,0.000,0.047,3341,294,1805,0,0,0,0,0,0
$GC,7997,1.20,205.7,106.7,7.4,386,8007,0.00,2.28,4.72,0.423,6,0.000,0.021,3341,1708,1791,0,0,0,0,0,0
$GC,8275,1.37,241.2,91.1,4.7,408,8316,0.25,2.53,31.92,0.561,4,0.044,0.044,3413,299,1645,0,0,0,0,0,0
$GC,8417,1.23,241.2,74.3,15.0,418,8422,0.22,2.20,0.00,0.000,6,0.095,0.019,3369,1702,1642,0,0,0,0,0,0
$GC,8680,1.30,241.2,46.4,11.3,438,8684,0.00,2.20,0.00,0.000,4,0.000,0.021,3369,3067,1641,0,0,0,0,0,0
$GC,8734,1.42,241.2,39.5,12.0,442,8739,0.17,2.30,0.00,0.000,6,0.051,0.031,3420,1692,1640,0,0,0,0,0,0
$GC,8997,1.30,241.2,4.0,13.0,490,9004,0.17,0.00,0.00,0.000,6,0.097,0.000,3385,1691,1641,0,0,0,0,0,0
$STATE,9009,end climb,SURFACE_DEPTH_REACHED
$STATE,9009,begin surface coast
$FINISH,1.0,1.022927
$STATE,9032,end surface coast,CONTROL_FINISHED_OK
$STATE,9032,begin surface
$SM_CCo,9055,89.90,0.485,0,0,957,410.14
$SM_GC,1.61,0.00,0.00,89.90,0.000,0.000,0.485,430,1685,957,-12.29,-0.31,410.14
$IRIDIUM_FIX,2050.21,-15659.91,291199,131349
$TT8_MAMPS,0.029146
$HUMID,55.04
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.5,31.006
$10V_AH,10.2,25.835
$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,31.025,108.350,260.950,89.900,0.000,53.886,101.720,130.138,4.500,0.000,15.948,1009.855,6070.087,409.572,1584.525,539.500,0.000,1136.615,0.000,1561.897,0.000,29.253,0.000
$DEVICE_MAMPS,131.924,56.758,835.263,484.744,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,334.292,313.843,692.742,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355724
$DATA_FILE_SIZE,28707,497
$CAP_FILE_SIZE,104443,0
$CFSIZE,260165632,194777088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040910,161237,2058.256,-15752.746,32,1.4,32,9.8