version: 66.06
glider: 139
mission: 8
dive: 361
start: 9 4 110 19 1 42
data:
$ID,139
$MISSION,8
$DIVE,361
$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,-2158500
$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,28
$R_STBD_OVSHOOT,91
$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
$GPS1,184546,2058.280,-15752.469,14,2.2,33,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-71.6
$GPS2,190124,2058.168,-15752.587,36,1.4,46,9.8
$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,39.9,21900,-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,16,-1.56,-58.4,0.0,0.0,0,87,0.00,0.00,-68.28,0.000,6,0.000,0.000,427,1716,2870,0,0,0,0,0,0
$GC,91,-1.56,-58.4,3.8,-4.2,13,109,12.43,2.20,0.00,0.000,4,0.133,0.021,2754,3053,2873,0,0,0,0,0,0
$GC,138,-1.06,-58.4,19.6,-31.9,22,145,0.47,2.33,0.00,0.000,6,0.079,0.035,2865,1703,2873,0,0,0,0,0,0
$GC,338,-1.25,-58.4,42.0,-10.4,50,342,0.17,2.42,0.00,0.000,4,0.050,0.044,2810,292,2874,0,0,0,0,0,0
$GC,370,-1.25,-58.4,46.6,-14.5,52,377,0.00,2.22,0.00,0.000,6,0.000,0.018,2810,1667,2874,0,0,0,0,0,0
$GC,631,-1.30,-58.4,84.4,-14.3,73,635,0.00,2.33,0.00,0.000,4,0.000,0.021,2810,3088,2874,0,0,0,0,0,0
$GC,677,-1.43,-58.4,91.3,-13.4,76,684,0.08,2.38,0.00,0.000,6,0.036,0.033,2770,1691,2874,0,0,0,0,0,0
$GC,940,-1.43,-58.4,128.6,-12.4,97,944,0.00,2.35,0.00,0.000,4,0.000,0.043,2770,296,2875,0,0,0,0,0,0
$GC,979,-1.43,-58.4,134.1,-14.0,100,983,0.00,2.22,0.00,0.000,6,0.000,0.018,2770,1719,2875,0,0,0,0,0,0
$GC,1246,-1.49,-58.4,168.9,-11.3,121,1250,0.00,2.17,0.00,0.000,4,0.000,0.021,2770,3072,2876,0,0,0,0,0,0
$GC,1376,-1.63,-58.4,179.2,-7.1,130,1384,0.08,2.33,0.00,0.000,6,0.038,0.031,2734,1700,2875,0,0,0,0,0,0
$GC,1641,-1.63,-58.4,205.9,-11.7,150,1645,0.00,2.25,0.00,0.000,4,0.000,0.022,2735,3071,2876,0,0,0,0,0,0
$GC,1708,-1.71,-58.4,214.1,-12.2,153,1712,0.00,2.28,0.00,0.000,6,0.000,0.031,2735,1697,2876,0,0,0,0,0,0
$GC,2041,-1.74,-58.4,256.0,-12.7,169,2043,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1696,2876,0,0,0,0,0,0
$GC,2346,-1.78,-58.4,292.9,-11.8,184,2351,0.10,2.30,0.00,0.000,4,0.076,0.025,2700,3074,2875,0,0,0,0,0,0
$GC,2384,-1.78,-58.4,297.1,-10.9,185,2389,0.00,2.33,0.00,0.000,6,0.000,0.035,2700,1697,2875,0,0,0,0,0,0
$GC,2697,-1.78,-58.4,327.0,-8.8,194,2701,0.00,2.25,0.00,0.000,4,0.000,0.025,2699,3069,2875,0,0,0,0,0,0
$GC,2725,-1.82,-58.4,330.0,-9.3,194,2729,0.00,2.30,0.00,0.000,6,0.000,0.035,2699,1695,2875,0,0,0,0,0,0
$GC,3062,-1.82,-58.4,365.6,-11.5,203,3066,0.00,2.28,0.00,0.000,4,0.000,0.027,2700,3068,2873,0,0,0,0,0,0
$GC,3150,-1.85,-58.4,376.0,-11.0,204,3155,0.00,2.33,0.00,0.000,6,0.000,0.038,2699,1702,2873,0,0,0,0,0,0
$GC,3481,-1.85,-58.4,412.7,-10.6,213,3485,0.00,2.45,0.00,0.000,4,0.000,0.054,2699,289,2870,0,0,0,0,0,0
$GC,3505,-1.79,-58.4,415.4,-11.0,213,3510,0.00,2.28,0.00,0.000,6,0.000,0.024,2699,1687,2870,0,0,0,0,0,0
$GC,3845,-1.79,-58.4,448.7,-9.6,222,3850,0.00,2.33,0.00,0.000,4,0.000,0.032,2699,3085,2867,0,0,0,0,0,0
$STATE,3857,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3857,begin apogee
$GC,3867,-0.31,0.0,450.1,9.6,222,3919,1.55,0.00,48.35,0.823,6,0.082,0.000,3027,1694,2630,0,0,0,0,0,0
$STATE,3920,end apogee,CONTROL_FINISHED_OK
$STATE,3920,begin climb
$GC,3923,1.56,58.4,451.0,0.0,223,3981,1.77,2.53,50.38,0.806,4,0.029,0.052,3452,293,2390,0,0,0,0,0,0
$GC,4042,1.18,106.5,449.1,3.6,225,4091,0.47,2.33,42.60,0.801,6,0.104,0.025,3361,1711,2194,0,0,0,0,0,0
$GC,4423,1.08,113.7,422.1,7.2,235,4436,0.12,2.38,5.85,0.617,4,0.118,0.031,3338,3078,2166,0,0,0,0,0,0
$GC,4453,1.09,144.4,420.3,5.1,235,4488,0.00,2.40,28.75,0.789,6,0.000,0.040,3337,1697,2041,0,0,0,0,0,0
$GC,4800,1.05,144.4,394.0,8.0,244,4804,0.00,2.50,0.00,0.000,4,0.000,0.056,3337,291,2034,0,0,0,0,0,0
$GC,4838,0.90,144.4,389.9,10.9,244,4844,0.20,2.35,0.00,0.000,6,0.107,0.027,3300,1704,2031,0,0,0,0,0,0
$GC,5170,0.95,144.4,359.8,9.1,253,5171,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,1709,2029,0,0,0,0,0,0
$GC,5495,1.00,144.4,332.5,8.2,261,5496,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,1709,2027,0,0,0,0,0,0
$GC,5821,1.08,146.5,307.2,7.7,269,5826,0.15,2.53,0.00,0.000,4,0.064,0.054,3340,288,2026,0,0,0,0,0,0
$GC,5832,1.08,149.2,306.0,7.7,269,5836,0.00,2.33,0.00,0.000,6,0.000,0.026,3340,1710,2024,0,0,0,0,0,0
$GC,6150,1.08,149.2,276.6,8.9,283,6154,0.00,2.28,0.00,0.000,4,0.000,0.029,3340,3082,2024,0,0,0,0,0,0
$GC,6175,1.08,150.6,274.6,7.8,284,6179,0.00,2.38,0.00,0.000,6,0.000,0.038,3340,1688,2023,0,0,0,0,0,0
$GC,6504,1.10,168.1,251.1,6.3,300,6530,0.00,2.55,18.90,0.702,4,0.000,0.053,3340,294,1944,0,0,0,0,0,0
$GC,6667,1.01,168.1,232.9,14.1,307,6671,0.00,2.30,0.00,0.000,6,0.000,0.025,3340,1701,1939,0,0,0,0,0,0
$GC,6998,1.01,168.8,202.8,7.8,323,7002,0.00,2.30,0.00,0.000,4,0.000,0.027,3340,3082,1938,0,0,0,0,0,0
$GC,7137,1.12,199.0,195.0,5.2,331,7171,0.00,2.35,27.90,0.660,6,0.000,0.035,3340,1695,1817,0,0,0,0,0,0
$GC,7432,1.16,199.0,168.3,11.4,354,7436,0.00,2.45,0.00,0.000,4,0.000,0.048,3340,291,1814,0,0,0,0,0,0
$GC,7580,1.16,199.0,148.6,14.1,365,7584,0.00,2.30,0.00,0.000,6,0.000,0.021,3341,1716,1811,0,0,0,0,0,0
$GC,7846,1.24,203.1,122.5,7.5,386,7856,0.12,0.00,4.00,0.390,6,0.066,0.000,3379,1720,1801,0,0,0,0,0,0
$GC,8111,1.24,207.5,102.8,7.5,407,8125,0.00,2.53,5.57,0.445,4,0.000,0.045,3379,294,1784,0,0,0,0,0,0
$GC,8230,1.19,207.5,91.2,9.6,415,8234,0.00,2.25,0.00,0.000,6,0.000,0.019,3379,1712,1781,0,0,0,0,0,0
$GC,8496,1.22,207.5,67.9,8.9,436,8500,0.00,2.20,0.00,0.000,4,0.000,0.022,3379,3071,1781,0,0,0,0,0,0
$GC,8529,1.28,207.5,64.7,8.9,438,8535,0.00,2.33,0.00,0.000,6,0.000,0.031,3379,1697,1781,0,0,0,0,0,0
$GC,8788,1.28,207.5,42.5,9.2,459,8792,0.00,2.22,0.00,0.000,4,0.000,0.021,3379,3072,1781,0,0,0,0,0,0
$GC,8802,1.32,207.5,41.0,9.4,460,8807,0.00,2.28,0.00,0.000,6,0.000,0.030,3379,1698,1781,0,0,0,0,0,0
$GC,9065,1.32,207.5,17.6,9.1,500,9071,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,1698,1781,0,0,0,0,0,0
$STATE,9221,end climb,SURFACE_DEPTH_REACHED
$STATE,9221,begin surface coast
$FINISH,1.0,1.023419
$STATE,9252,end surface coast,CONTROL_FINISHED_OK
$STATE,9252,begin surface
$SM_CCo,9275,184.65,0.478,0,0,449,534.75
$SM_GC,1.59,0.00,0.00,184.65,0.000,0.000,0.478,428,1694,449,-12.30,-0.17,534.75
$IRIDIUM_FIX,2052.52,-15751.76,291199,191955
$TT8_MAMPS,0.028379
$HUMID,52.79
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,31.179
$10V_AH,10.3,25.983
$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,30.325,102.750,232.300,184.650,0.000,141.876,400.415,0.000,4.500,0.000,46.413,1053.416,6415.021,480.012,1642.654,806.570,0.000,1197.338,0.000,1596.199,0.000,31.949,0.000
$DEVICE_MAMPS,132.691,55.991,822.991,477.841,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,364.926,351.012,807.198,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355680
$DATA_FILE_SIZE,28635,543
$CAP_FILE_SIZE,101705,0
$CFSIZE,260165632,194666496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040910,214036,2058.132,-15752.453,36,1.0,36,9.8