version: 66.06
glider: 139
mission: 8
dive: 371
start: 9 5 110 23 24 1
data:
$ID,139
$MISSION,8
$DIVE,371
$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,-2158729.8
$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,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
$GPS1,231822,2056.313,-15752.358,11,3.4,30,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-72.2
$GPS2,232346,2056.235,-15752.433,12,3.6,31,9.8
$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,33.0,24186,-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,-58.4,0.0,0.0,0,82,0.00,0.00,-64.25,0.000,2,0.000,0.000,428,1697,2761,0,0,0,0,0,0
$GC,86,-1.56,-58.4,3.6,-4.0,12,104,12.45,0.00,-2.03,0.000,6,0.133,0.000,2753,1698,2870,0,0,0,0,0,0
$GC,301,-1.48,-58.4,48.1,-17.1,45,306,0.12,2.35,0.00,0.000,4,0.113,0.022,2776,3115,2873,0,0,0,0,0,0
$GC,354,-1.55,-58.4,56.4,-14.3,49,358,0.00,2.38,0.00,0.000,6,0.000,0.032,2776,1698,2873,0,0,0,0,0,0
$GC,619,-1.55,-58.4,100.8,-17.2,70,623,0.00,2.35,0.00,0.000,4,0.000,0.021,2776,3115,2873,0,0,0,0,0,0
$GC,632,-1.55,-58.4,103.2,-16.9,71,636,0.00,2.40,0.00,0.000,6,0.000,0.030,2776,1690,2873,0,0,0,0,0,0
$GC,898,-1.60,-58.4,145.5,-12.3,92,903,0.12,2.40,0.00,0.000,4,0.064,0.045,2736,290,2875,0,0,0,0,0,0
$GC,931,-1.50,-58.4,150.6,-14.8,94,938,0.12,2.33,0.00,0.000,6,0.081,0.018,2767,1734,2875,0,0,0,0,0,0
$GC,1194,-1.58,-58.4,176.7,-9.9,115,1198,0.00,2.45,0.00,0.000,4,0.000,0.044,2766,295,2876,0,0,0,0,0,0
$GC,1226,-1.58,-58.4,181.0,-11.6,117,1232,0.00,2.22,0.00,0.000,6,0.000,0.018,2766,1714,2876,0,0,0,0,0,0
$GC,1484,-1.65,-58.4,205.9,-8.8,136,1489,0.12,2.22,0.00,0.000,4,0.064,0.024,2727,3077,2876,0,0,0,0,0,0
$GC,1570,-1.71,-58.4,214.3,-9.6,139,1575,0.00,2.30,0.00,0.000,6,0.000,0.032,2726,1689,2877,0,0,0,0,0,0
$GC,1886,-1.71,-58.4,249.7,-11.5,155,1890,0.00,2.25,0.00,0.000,4,0.000,0.024,2726,3068,2877,0,0,0,0,0,0
$GC,1938,-1.79,-58.4,255.7,-11.8,157,1942,0.00,2.30,0.00,0.000,6,0.000,0.033,2726,1696,2876,0,0,0,0,0,0
$GC,2264,-1.79,-58.4,292.3,-11.3,173,2268,0.00,2.30,0.00,0.000,4,0.000,0.025,2726,3068,2876,0,0,0,0,0,0
$GC,2344,-1.87,-58.4,300.6,-10.8,176,2349,0.15,2.33,0.00,0.000,6,0.059,0.034,2681,1692,2876,0,0,0,0,0,0
$GC,2675,-1.81,-58.4,339.5,-11.7,184,2680,0.12,2.30,0.00,0.000,4,0.107,0.027,2706,3067,2875,0,0,0,0,0,0
$GC,2853,-1.87,-58.4,359.4,-10.4,187,2857,0.00,2.30,0.00,0.000,6,0.000,0.036,2706,1699,2874,0,0,0,0,0,0
$GC,3184,-1.87,-58.4,395.6,-11.0,195,3185,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1699,2872,0,0,0,0,0,0
$GC,3510,-1.87,-58.4,435.8,-12.9,203,3514,0.00,2.28,0.00,0.000,4,0.000,0.030,2706,3065,2869,0,0,0,0,0,0
$GC,3530,-1.91,-58.4,438.6,-13.2,203,3535,0.10,2.33,0.00,0.000,6,0.080,0.039,2675,1698,2870,0,0,0,0,0,0
$STATE,3630,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3630,begin apogee
$GC,3635,-0.31,0.0,452.7,14.1,206,3689,1.70,0.00,49.00,0.822,6,0.083,0.000,3030,1697,2630,0,0,0,0,0,0
$STATE,3689,end apogee,CONTROL_FINISHED_OK
$STATE,3689,begin climb
$GC,3692,1.56,58.4,455.0,0.0,207,3750,1.75,2.53,50.03,0.806,4,0.030,0.052,3449,287,2391,0,0,0,0,0,0
$GC,3759,1.37,177.9,456.7,-2.9,208,3872,0.25,2.33,104.45,0.810,6,0.107,0.025,3401,1691,1903,0,0,0,0,0,0
$GC,4191,1.21,177.9,404.9,15.3,219,4196,0.20,2.50,0.00,0.000,4,0.105,0.054,3363,287,1893,0,0,0,0,0,0
$GC,4221,1.00,177.9,399.6,17.7,219,4226,0.22,2.33,0.00,0.000,6,0.102,0.026,3320,1695,1891,0,0,0,0,0,0
$GC,4558,1.00,177.9,355.7,12.9,228,4562,0.00,2.50,0.00,0.000,4,0.000,0.056,3319,294,1888,0,0,0,0,0,0
$GC,4665,0.93,177.9,341.0,13.7,230,4669,0.00,2.33,0.00,0.000,6,0.000,0.027,3320,1705,1885,0,0,0,0,0,0
$GC,5016,0.96,177.9,299.4,11.9,239,5020,0.00,2.50,0.00,0.000,4,0.000,0.054,3319,294,1884,0,0,0,0,0,0
$GC,5025,0.96,177.9,297.9,12.0,239,5030,0.00,2.30,0.00,0.000,6,0.000,0.027,3320,1711,1883,0,0,0,0,0,0
$GC,5341,1.01,177.9,262.5,11.8,254,5345,0.00,2.50,0.00,0.000,4,0.000,0.054,3319,293,1883,0,0,0,0,0,0
$GC,5370,0.96,177.9,258.9,12.7,255,5374,0.00,2.33,0.00,0.000,6,0.000,0.025,3319,1705,1881,0,0,0,0,0,0
$GC,5692,1.02,177.9,225.8,9.8,271,5696,0.00,2.50,0.00,0.000,4,0.000,0.052,3320,288,1880,0,0,0,0,0,0
$GC,5752,1.02,177.9,219.5,9.9,273,5758,0.00,2.33,0.00,0.000,6,0.000,0.024,3320,1710,1878,0,0,0,0,0,0
$GC,6080,1.08,177.9,187.0,10.6,293,6084,0.00,2.25,0.00,0.000,4,0.000,0.026,3320,3082,1878,0,0,0,0,0,0
$GC,6133,1.17,177.9,181.6,9.4,297,6138,0.15,2.35,0.00,0.000,6,0.061,0.035,3363,1688,1879,0,0,0,0,0,0
$GC,6399,1.17,177.9,153.6,11.7,318,6403,0.00,2.30,0.00,0.000,4,0.000,0.025,3363,3085,1878,0,0,0,0,0,0
$GC,6478,1.22,177.9,143.6,11.7,324,6482,0.00,2.35,0.00,0.000,6,0.000,0.035,3363,1700,1878,0,0,0,0,0,0
$GC,6745,1.25,177.9,118.0,8.7,345,6749,0.00,2.40,0.00,0.000,4,0.000,0.048,3362,296,1879,0,0,0,0,0,0
$GC,6884,1.19,177.9,107.2,8.1,355,6888,0.00,2.25,0.00,0.000,6,0.000,0.021,3363,1717,1875,0,0,0,0,0,0
$GC,7147,1.26,200.2,90.9,5.9,375,7168,0.00,2.50,15.57,0.540,4,0.000,0.045,3363,290,1813,0,0,0,0,0,0
$GC,7240,1.22,200.2,83.6,10.7,381,7246,0.00,2.28,0.00,0.000,6,0.000,0.019,3363,1704,1810,0,0,0,0,0,0
$GC,7500,1.31,214.8,65.2,6.6,402,7516,0.00,0.00,13.80,0.505,6,0.000,0.000,3363,1709,1753,0,0,0,0,0,0
$GC,7771,1.37,214.8,43.2,8.4,423,7776,0.15,2.45,0.00,0.000,4,0.058,0.045,3408,289,1752,0,0,0,0,0,0
$GC,7812,1.24,214.8,38.7,11.4,426,7817,0.20,2.25,0.00,0.000,6,0.095,0.018,3368,1718,1751,0,0,0,0,0,0
$GC,8076,1.29,214.8,16.3,8.5,472,8082,0.00,2.47,0.00,0.000,4,0.000,0.044,3369,297,1751,0,0,0,0,0,0
$GC,8090,1.34,214.8,14.9,8.9,474,8097,0.00,2.22,0.00,0.000,6,0.000,0.018,3369,1711,1750,0,0,0,0,0,0
$STATE,8218,end climb,SURFACE_DEPTH_REACHED
$STATE,8218,begin surface coast
$FINISH,0.9,1.020633
$STATE,8249,end surface coast,CONTROL_FINISHED_OK
$STATE,8250,begin surface
$SM_CCo,8272,107.60,0.480,0,0,957,410.14
$SM_GC,1.70,0.00,0.00,107.60,0.000,0.000,0.480,428,1713,957,-12.29,0.40,410.14
$IRIDIUM_FIX,2050.21,-15750.49,301199,202004
$TT8_MAMPS,0.029146
$HUMID,54.64
$INTERNAL_PRESSURE,9.30354
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.5,32.083
$10V_AH,10.3,26.741
$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,30.500,98.800,232.850,107.600,0.000,28.615,27.755,123.674,4.500,0.000,32.846,992.477,5336.612,396.445,1556.099,418.132,0.000,1069.433,0.000,1519.635,0.000,29.260,0.000
$DEVICE_MAMPS,133.458,55.991,822.224,480.142,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,342.974,333.292,790.281,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,28589,510
$CAP_FILE_SIZE,97264,0
$CFSIZE,260165632,194162688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060910,014502,2056.339,-15752.473,43,1.5,43,9.8