version: 66.06
glider: 139
mission: 8
dive: 370
start: 9 5 110 20 39 42
data:
$ID,139
$MISSION,8
$DIVE,370
$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,-2158696.2
$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
$GPS1,203324,2056.467,-15752.220,42,1.7,42,9.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-71.5
$GPS2,203925,2056.392,-15752.280,10,1.7,15,9.8
$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,33.0,23794,-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,-58.4,0.0,0.0,0,84,0.00,0.00,-64.75,0.000,2,0.000,0.000,428,1709,2740,0,0,0,0,0,0
$GC,87,-1.56,-58.4,3.0,-2.5,12,112,12.45,2.38,-2.55,0.000,4,0.133,0.038,2755,3106,2871,0,0,0,0,0,0
$GC,247,-1.56,-58.4,33.8,-15.9,43,253,0.00,2.40,0.00,0.000,6,0.000,0.033,2755,1702,2873,0,0,0,0,0,0
$GC,507,-1.48,-58.4,79.1,-17.6,64,512,0.10,2.35,0.00,0.000,4,0.123,0.021,2773,3122,2874,0,0,0,0,0,0
$GC,541,-1.54,-58.4,84.8,-14.7,66,547,0.00,2.42,0.00,0.000,6,0.000,0.032,2773,1697,2874,0,0,0,0,0,0
$GC,800,-1.54,-58.4,123.8,-14.1,87,804,0.00,2.33,0.00,0.000,4,0.000,0.021,2773,3115,2874,0,0,0,0,0,0
$GC,820,-1.58,-58.4,126.6,-13.2,88,824,0.00,2.38,0.00,0.000,6,0.000,0.032,2773,1691,2874,0,0,0,0,0,0
$GC,1081,-1.65,-58.4,155.9,-11.3,108,1086,0.15,2.42,0.00,0.000,4,0.057,0.046,2727,289,2875,0,0,0,0,0,0
$GC,1153,-1.56,-58.4,166.6,-16.0,113,1158,0.15,2.30,0.00,0.000,6,0.103,0.018,2757,1736,2875,0,0,0,0,0,0
$GC,1415,-1.61,-58.4,195.0,-9.2,133,1419,0.00,2.20,0.00,0.000,4,0.000,0.023,2757,3082,2876,0,0,0,0,0,0
$GC,1476,-1.72,-58.4,200.5,-8.3,137,1482,0.15,2.30,0.00,0.000,6,0.057,0.030,2710,1689,2876,0,0,0,0,0,0
$GC,1731,-1.68,-58.4,226.3,-10.3,150,1736,0.12,2.33,0.00,0.000,4,0.106,0.023,2734,3082,2876,0,0,0,0,0,0
$GC,1779,-1.76,-58.4,231.2,-9.4,152,1783,0.00,2.30,0.00,0.000,6,0.000,0.031,2735,1699,2876,0,0,0,0,0,0
$GC,2107,-1.80,-58.4,269.0,-14.7,168,2112,0.12,2.30,0.00,0.000,4,0.064,0.024,2695,3087,2877,0,0,0,0,0,0
$GC,2304,-1.80,-58.4,298.1,-14.0,176,2311,0.00,2.35,0.00,0.000,6,0.000,0.033,2695,1706,2876,0,0,0,0,0,0
$GC,2618,-1.76,-58.4,340.9,-13.2,185,2623,0.10,2.33,0.00,0.000,4,0.116,0.026,2714,3087,2876,0,0,0,0,0,0
$GC,2763,-1.83,-58.4,358.9,-11.2,188,2767,0.00,2.35,0.00,0.000,6,0.000,0.035,2714,1701,2875,0,0,0,0,0,0
$GC,3080,-1.83,-58.4,394.5,-10.7,196,3085,0.00,2.33,0.00,0.000,4,0.000,0.028,2714,3085,2874,0,0,0,0,0,0
$GC,3114,-1.90,-58.4,398.1,-10.2,196,3119,0.12,2.35,0.00,0.000,6,0.067,0.038,2676,1695,2874,0,0,0,0,0,0
$GC,3446,-1.86,-58.4,439.3,-12.4,204,3453,0.00,2.33,0.00,0.000,4,0.000,0.030,2677,3086,2871,0,0,0,0,0,0
$STATE,3534,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3534,begin apogee
$GC,3544,-0.31,0.0,450.5,11.9,205,3597,1.65,0.00,49.40,0.815,6,0.086,0.000,3031,1697,2630,0,0,0,0,0,0
$STATE,3598,end apogee,CONTROL_FINISHED_OK
$STATE,3598,begin climb
$GC,3600,1.56,58.4,452.4,0.0,207,3655,1.77,0.00,50.70,0.801,6,0.028,0.000,3454,1697,2391,0,0,0,0,0,0
$GC,3956,1.30,99.8,442.8,4.2,216,3999,0.32,2.55,35.65,0.802,4,0.105,0.054,3387,290,2223,0,0,0,0,0,0
$GC,4020,1.03,99.8,439.1,8.0,217,4026,0.32,2.33,0.00,0.000,6,0.103,0.025,3325,1693,2218,0,0,0,0,0,0
$GC,4372,1.06,119.6,414.9,6.1,226,4396,0.00,2.58,17.52,0.769,4,0.000,0.054,3325,294,2141,0,0,0,0,0,0
$GC,4411,0.97,129.6,412.0,7.0,226,4428,0.00,2.35,10.57,0.714,6,0.000,0.027,3325,1710,2101,0,0,0,0,0,0
$GC,4746,0.97,129.6,383.1,8.7,235,4748,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,1711,2096,0,0,0,0,0,0
$GC,5072,0.97,129.6,353.7,9.0,243,5077,0.00,2.50,0.00,0.000,4,0.000,0.054,3325,295,2093,0,0,0,0,0,0
$GC,5147,0.87,129.6,345.5,12.0,244,5152,0.17,2.33,0.00,0.000,6,0.112,0.027,3292,1698,2089,0,0,0,0,0,0
$GC,5485,0.96,131.1,317.1,7.8,253,5489,0.00,2.33,0.00,0.000,4,0.000,0.031,3292,3091,2088,0,0,0,0,0,0
$GC,5509,1.07,138.2,315.2,7.3,253,5522,0.17,2.38,6.90,0.634,6,0.058,0.038,3339,1698,2066,0,0,0,0,0,0
$GC,5834,1.07,138.2,289.9,8.0,264,5839,0.00,2.45,0.00,0.000,4,0.000,0.053,3339,293,2064,0,0,0,0,0,0
$GC,5857,1.00,138.2,288.3,8.1,265,5861,0.00,2.35,0.00,0.000,6,0.000,0.026,3339,1715,2062,0,0,0,0,0,0
$GC,6187,1.00,138.2,262.1,8.6,281,6192,0.00,2.50,0.00,0.000,4,0.000,0.051,3339,293,2061,0,0,0,0,0,0
$GC,6207,0.94,138.2,260.0,10.0,282,6212,0.17,2.30,0.00,0.000,6,0.104,0.025,3305,1706,2060,0,0,0,0,0,0
$GC,6540,1.03,138.2,230.9,8.3,298,6544,0.00,2.28,0.00,0.000,4,0.000,0.028,3305,3086,2059,0,0,0,0,0,0
$GC,6574,1.15,146.6,228.2,7.1,299,6589,0.20,2.35,7.93,0.602,6,0.053,0.035,3359,1692,2032,0,0,0,0,0,0
$GC,6905,1.12,146.6,195.8,9.5,316,6909,0.00,2.30,0.00,0.000,4,0.000,0.026,3359,3084,2030,0,0,0,0,0,0
$GC,6933,1.13,157.7,193.3,6.9,318,6951,0.00,2.33,11.30,0.616,6,0.000,0.033,3359,1700,1987,0,0,0,0,0,0
$GC,7210,1.14,165.0,173.5,7.2,340,7225,0.00,2.38,8.00,0.558,4,0.000,0.026,3360,3083,1956,0,0,0,0,0,0
$GC,7434,1.22,193.3,157.2,5.3,356,7465,0.00,2.35,26.15,0.621,6,0.000,0.034,3359,1691,1841,0,0,0,0,0,0
$GC,7725,1.23,205.1,139.2,6.8,379,7742,0.00,2.45,11.48,0.558,4,0.000,0.048,3359,296,1793,0,0,0,0,0,0
$GC,7900,1.20,205.1,124.7,9.7,391,7905,0.00,2.30,0.00,0.000,6,0.000,0.020,3360,1718,1789,0,0,0,0,0,0
$GC,8160,1.26,205.1,101.4,8.5,412,8164,0.00,2.45,0.00,0.000,4,0.000,0.047,3359,298,1789,0,0,0,0,0,0
$GC,8290,1.26,205.1,87.9,10.6,421,8295,0.00,2.25,0.00,0.000,6,0.000,0.019,3359,1714,1787,0,0,0,0,0,0
$GC,8551,1.34,210.0,68.0,7.5,442,8567,0.15,2.45,5.20,0.405,4,0.057,0.043,3405,293,1771,0,0,0,0,0,0
$GC,8633,1.22,210.0,59.2,11.3,447,8640,0.17,2.25,0.00,0.000,6,0.079,0.019,3366,1706,1771,0,0,0,0,0,0
$GC,8896,1.29,210.0,37.4,8.3,468,8900,0.00,2.42,0.00,0.000,4,0.000,0.044,3365,298,1771,0,0,0,0,0,0
$GC,8934,1.29,210.0,33.9,7.9,471,8939,0.00,2.20,0.00,0.000,6,0.000,0.018,3366,1717,1771,0,0,0,0,0,0
$GC,9197,1.36,210.0,11.8,8.8,525,9205,0.12,2.20,0.00,0.000,4,0.064,0.021,3407,3052,1771,0,0,0,0,0,0
$GC,9241,1.36,210.0,7.2,10.5,534,9248,0.00,2.28,0.00,0.000,6,0.000,0.028,3407,1701,1771,0,0,0,0,0,0
$STATE,9284,end climb,SURFACE_DEPTH_REACHED
$STATE,9284,begin surface coast
$FINISH,0.8,1.009895
$STATE,9315,end surface coast,CONTROL_FINISHED_OK
$STATE,9315,begin surface
$SM_CCo,9339,112.12,0.479,0,0,957,410.14
$SM_GC,1.53,0.00,0.00,112.12,0.000,0.000,0.479,428,1693,957,-12.30,-0.20,410.14
$IRIDIUM_FIX,2047.91,-15750.49,301199,181858
$TT8_MAMPS,0.029146
$HUMID,53.38
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.70
$XPDR_PINGS,1
$24V_AH,23.5,32.006
$10V_AH,10.3,26.672
$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,31.350,113.000,240.800,112.125,0.000,27.333,28.578,181.746,4.750,0.000,16.085,1090.586,6088.805,445.795,1696.576,488.243,0.000,1189.105,0.000,1673.302,0.000,29.258,0.000
$DEVICE_MAMPS,132.691,54.457,815.321,479.375,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,369.301,352.237,814.909,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,31740,550
$CAP_FILE_SIZE,109083,0
$CFSIZE,260165632,194203648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050910,231822,2056.313,-15752.358,11,3.4,30,9.8