version: 66.06
glider: 139
mission: 8
dive: 372
start: 9 6 110 1 53 13
data:
$ID,139
$MISSION,8
$DIVE,372
$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,-2158744
$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
$GPS1,014502,2056.339,-15752.473,43,1.5,43,9.8
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-69.2
$GPS2,015256,2056.245,-15752.563,13,1.5,13,9.8
$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,33.4,24327,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.56,-58.4,0.0,0.0,0,82,0.00,0.00,-64.32,0.000,2,0.000,0.000,428,1714,2739,0,0,0,0,0,0
$GC,86,-1.56,-58.4,3.3,-3.1,12,111,12.48,2.35,-2.47,0.000,4,0.133,0.037,2754,3107,2871,0,0,0,0,0,0
$GC,136,-1.06,-58.4,17.9,-27.2,21,143,0.47,2.42,0.00,0.000,6,0.081,0.033,2865,1696,2872,0,0,0,0,0,0
$GC,345,-1.23,-58.4,43.3,-11.4,51,349,0.15,2.42,0.00,0.000,4,0.055,0.046,2816,290,2873,0,0,0,0,0,0
$GC,391,-1.23,-58.4,50.3,-15.4,54,397,0.00,2.33,0.00,0.000,6,0.000,0.018,2815,1731,2873,0,0,0,0,0,0
$GC,651,-1.29,-58.4,83.2,-11.5,75,655,0.00,2.47,0.00,0.000,4,0.000,0.045,2815,289,2874,0,0,0,0,0,0
$GC,677,-1.29,-58.4,86.2,-11.9,77,681,0.00,2.22,0.00,0.000,6,0.000,0.018,2816,1713,2874,0,0,0,0,0,0
$GC,942,-1.40,-58.4,115.7,-12.4,98,946,0.00,2.42,0.00,0.000,4,0.000,0.046,2815,297,2875,0,0,0,0,0,0
$GC,983,-1.45,-58.4,121.0,-13.4,101,987,0.15,2.17,0.00,0.000,6,0.057,0.018,2769,1704,2875,0,0,0,0,0,0
$GC,1248,-1.51,-58.4,149.1,-7.9,122,1252,0.00,2.40,0.00,0.000,4,0.000,0.043,2769,293,2875,0,0,0,0,0,0
$GC,1304,-1.51,-58.4,154.2,-9.9,126,1308,0.00,2.20,0.00,0.000,6,0.000,0.018,2769,1704,2875,0,0,0,0,0,0
$GC,1565,-1.59,-58.4,180.3,-10.6,146,1569,0.00,2.25,0.00,0.000,4,0.000,0.024,2769,3065,2876,0,0,0,0,0,0
$GC,1691,-1.73,-58.4,193.3,-10.3,155,1696,0.20,2.28,0.00,0.000,6,0.048,0.031,2709,1694,2876,0,0,0,0,0,0
$GC,1955,-1.73,-58.4,227.2,-13.5,169,1959,0.00,2.28,0.00,0.000,4,0.000,0.024,2709,3063,2875,0,0,0,0,0,0
$GC,1983,-1.73,-58.4,230.8,-12.1,170,1987,0.00,2.28,0.00,0.000,6,0.000,0.034,2709,1701,2875,0,0,0,0,0,0
$GC,2303,-1.73,-58.4,266.6,-10.7,186,2307,0.00,2.25,0.00,0.000,4,0.000,0.025,2709,3062,2875,0,0,0,0,0,0
$GC,2456,-1.77,-58.4,282.7,-9.7,192,2462,0.00,2.30,0.00,0.000,6,0.000,0.033,2709,1705,2875,0,0,0,0,0,0
$GC,2789,-1.77,-58.4,317.6,-10.6,205,2793,0.00,2.25,0.00,0.000,4,0.000,0.026,2709,3069,2874,0,0,0,0,0,0
$GC,2917,-1.83,-58.4,330.7,-10.4,207,2921,0.00,2.30,0.00,0.000,6,0.000,0.035,2709,1699,2874,0,0,0,0,0,0
$GC,3248,-1.83,-58.4,365.3,-9.7,215,3249,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1699,2872,0,0,0,0,0,0
$GC,3573,-1.83,-58.4,399.8,-10.1,223,3577,0.00,2.30,0.00,0.000,4,0.000,0.029,2708,3068,2869,0,0,0,0,0,0
$GC,3594,-1.87,-58.4,401.8,-10.0,223,3598,0.00,2.30,0.00,0.000,6,0.000,0.039,2709,1704,2869,0,0,0,0,0,0
$GC,3943,-1.87,-58.4,432.1,-8.3,232,3947,0.00,2.28,0.00,0.000,4,0.000,0.031,2709,3058,2867,0,0,0,0,0,0
$GC,3957,-1.91,-58.4,433.2,-8.3,232,3962,0.12,2.30,0.00,0.000,6,0.069,0.039,2673,1699,2867,0,0,0,0,0,0
$STATE,4142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4142,begin apogee
$GC,4149,-0.31,0.0,453.0,10.8,237,4202,1.73,0.00,48.40,0.832,6,0.086,0.000,3030,1698,2630,0,0,0,0,0,0
$STATE,4203,end apogee,CONTROL_FINISHED_OK
$STATE,4203,begin climb
$GC,4205,1.56,58.4,454.3,0.0,238,4264,1.75,2.53,50.50,0.815,4,0.030,0.051,3447,287,2390,0,0,0,0,0,0
$GC,4273,1.36,162.0,454.3,-1.4,239,4374,0.28,2.30,90.62,0.815,6,0.109,0.025,3396,1687,1968,0,0,0,0,0,0
$GC,4697,1.19,162.0,406.3,13.3,250,4699,0.17,0.00,0.00,0.000,6,0.110,0.000,3362,1687,1958,0,0,0,0,0,0
$GC,5023,1.11,162.0,366.4,12.1,258,5027,0.00,2.47,0.00,0.000,4,0.000,0.056,3362,296,1955,0,0,0,0,0,0
$GC,5042,0.96,162.0,363.4,13.9,258,5047,0.28,2.30,0.00,0.000,6,0.104,0.028,3310,1695,1952,0,0,0,0,0,0
$GC,5389,0.99,162.0,326.9,10.3,267,5394,0.00,2.47,0.00,0.000,4,0.000,0.057,3309,297,1950,0,0,0,0,0,0
$GC,5452,0.94,162.0,319.3,12.0,268,5456,0.00,2.30,0.00,0.000,6,0.000,0.027,3310,1701,1948,0,0,0,0,0,0
$GC,5784,0.99,162.0,285.2,10.3,279,5788,0.00,2.50,0.00,0.000,4,0.000,0.054,3309,293,1947,0,0,0,0,0,0
$GC,5808,0.99,162.0,282.2,11.7,280,5812,0.00,2.33,0.00,0.000,6,0.000,0.027,3310,1709,1946,0,0,0,0,0,0
$GC,6137,1.06,162.0,252.5,8.9,296,6142,0.00,2.47,0.00,0.000,4,0.000,0.053,3310,296,1945,0,0,0,0,0,0
$GC,6206,1.06,162.0,245.5,11.4,299,6210,0.00,2.30,0.00,0.000,6,0.000,0.025,3310,1707,1943,0,0,0,0,0,0
$GC,6537,1.13,162.0,211.3,11.0,315,6542,0.15,2.47,0.00,0.000,4,0.063,0.051,3352,295,1943,0,0,0,0,0,0
$GC,6584,1.01,162.0,205.1,14.6,317,6589,0.15,2.30,0.00,0.000,6,0.106,0.025,3323,1707,1942,0,0,0,0,0,0
$GC,6914,1.09,175.7,176.9,6.7,341,6929,0.00,2.30,8.40,0.578,4,0.000,0.025,3323,3077,1912,0,0,0,0,0,0
$GC,6944,1.20,189.8,174.5,6.6,343,6964,0.17,2.38,14.02,0.617,6,0.055,0.035,3371,1690,1856,0,0,0,0,0,0
$GC,7216,1.20,189.8,146.7,10.4,365,7220,0.00,2.42,0.00,0.000,4,0.000,0.049,3371,296,1853,0,0,0,0,0,0
$GC,7449,1.11,189.8,117.2,12.6,382,7454,0.15,2.28,0.00,0.000,6,0.104,0.021,3342,1715,1849,0,0,0,0,0,0
$GC,7716,1.24,217.3,95.8,5.4,403,7747,0.12,2.55,24.30,0.568,4,0.065,0.047,3381,298,1744,0,0,0,0,0,0
$GC,7883,1.16,217.3,80.6,10.3,415,7888,0.15,2.25,0.00,0.000,6,0.101,0.020,3352,1711,1739,0,0,0,0,0,0
$GC,8153,1.27,223.7,60.7,7.3,436,8162,0.10,0.00,6.40,0.439,6,0.074,0.000,3385,1717,1718,0,0,0,0,0,0
$GC,8415,1.27,223.7,34.0,10.4,457,8419,0.00,2.45,0.00,0.000,4,0.000,0.044,3385,285,1717,0,0,0,0,0,0
$GC,8472,1.19,223.7,27.1,12.7,464,8479,0.10,2.28,0.00,0.000,6,0.081,0.018,3361,1711,1716,0,0,0,0,0,0
$GC,8673,1.25,223.7,6.7,9.5,510,8680,0.00,2.22,0.00,0.000,4,0.000,0.021,3361,3069,1716,0,0,0,0,0,0
$GC,8710,1.36,224.8,4.0,7.8,517,8717,0.12,2.35,0.00,0.000,6,0.032,0.033,3407,1692,1716,0,0,0,0,0,0
$STATE,8722,end climb,SURFACE_DEPTH_REACHED
$STATE,8722,begin surface coast
$FINISH,0.9,1.023286
$STATE,8761,end surface coast,CONTROL_FINISHED_OK
$STATE,8762,begin surface
$SM_CCo,8784,99.47,0.484,0,0,956,410.14
$SM_GC,1.57,0.00,0.00,99.47,0.000,0.000,0.484,431,1689,956,-12.28,-0.31,410.14
$IRIDIUM_FIX,2050.21,-15752.63,301199,232305
$TT8_MAMPS,0.029146
$HUMID,55.59
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.5,32.165
$10V_AH,10.3,26.814
$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,31.725,103.000,242.650,99.475,0.000,59.133,65.551,167.723,4.750,0.000,13.439,1032.992,5795.348,401.811,1587.279,540.368,0.000,1106.780,0.000,1566.246,0.000,32.086,0.000
$DEVICE_MAMPS,132.691,56.758,832.195,483.977,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,355.101,343.824,799.668,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355640
$DATA_FILE_SIZE,28643,528
$CAP_FILE_SIZE,103255,0
$CFSIZE,260165632,194105344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060910,042237,2056.377,-15752.397,41,0.9,41,9.8