version: 66.06
glider: 139
mission: 8
dive: 376
start: 9 6 110 12 31 46
data:
$ID,139
$MISSION,8
$DIVE,376
$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,-2158812.8
$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
$GPS1,122300,2056.079,-15751.985,41,1.6,41,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-72.9
$GPS2,123126,2055.976,-15752.053,16,1.6,16,9.8
$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,31.1,24105,-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,-58.4,0.0,0.0,0,87,0.00,0.00,-68.43,0.000,6,0.000,0.000,431,1714,2869,0,0,0,0,0,0
$GC,90,-1.56,-58.4,4.0,-4.6,13,108,12.43,0.00,0.00,0.000,6,0.133,0.000,2753,1715,2872,0,0,0,0,0,0
$GC,303,-1.48,-58.4,47.2,-17.0,45,308,0.12,2.30,0.00,0.000,4,0.113,0.022,2777,3112,2873,0,0,0,0,0,0
$GC,363,-1.56,-58.4,57.8,-16.0,49,369,0.00,2.40,0.00,0.000,6,0.000,0.033,2777,1704,2873,0,0,0,0,0,0
$GC,622,-1.56,-58.4,99.1,-14.3,70,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1704,2874,0,0,0,0,0,0
$GC,874,-1.61,-58.4,130.3,-10.2,90,879,0.12,2.35,0.00,0.000,4,0.064,0.022,2736,3115,2875,0,0,0,0,0,0
$GC,888,-1.66,-58.4,131.9,-9.8,91,893,0.00,2.38,0.00,0.000,6,0.000,0.030,2736,1690,2875,0,0,0,0,0,0
$GC,1150,-1.66,-58.4,158.4,-10.5,111,1154,0.00,2.40,0.00,0.000,4,0.000,0.045,2736,292,2875,0,0,0,0,0,0
$GC,1176,-1.60,-58.4,161.4,-11.4,113,1180,0.00,2.30,0.00,0.000,6,0.000,0.018,2736,1739,2875,0,0,0,0,0,0
$GC,1441,-1.60,-58.4,192.0,-12.9,134,1442,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1740,2876,0,0,0,0,0,0
$GC,1701,-1.60,-58.4,223.3,-11.4,149,1705,0.00,2.20,0.00,0.000,4,0.000,0.024,2737,3089,2876,0,0,0,0,0,0
$GC,1722,-1.64,-58.4,225.7,-11.4,150,1727,0.00,2.30,0.00,0.000,6,0.000,0.030,2736,1700,2876,0,0,0,0,0,0
$GC,2053,-1.68,-58.4,258.7,-9.2,166,2057,0.00,2.30,0.00,0.000,4,0.000,0.025,2736,3082,2876,0,0,0,0,0,0
$GC,2187,-1.77,-58.4,270.1,-8.3,172,2191,0.00,2.30,0.00,0.000,6,0.000,0.033,2736,1703,2876,0,0,0,0,0,0
$GC,2522,-1.82,-58.4,301.1,-9.7,188,2527,0.15,2.42,0.00,0.000,4,0.057,0.049,2690,292,2874,0,0,0,0,0,0
$GC,2536,-1.82,-58.4,303.3,-9.5,188,2541,0.00,2.25,0.00,0.000,6,0.000,0.021,2690,1706,2874,0,0,0,0,0,0
$GC,2890,-1.78,-58.4,342.5,-11.2,197,2894,0.12,2.30,0.00,0.000,4,0.108,0.028,2714,3082,2874,0,0,0,0,0,0
$GC,2919,-1.84,-58.4,346.3,-10.9,197,2923,0.00,2.35,0.00,0.000,6,0.000,0.036,2714,1697,2873,0,0,0,0,0,0
$GC,3260,-1.84,-58.4,385.2,-11.5,206,3264,0.00,2.30,0.00,0.000,4,0.000,0.028,2714,3077,2872,0,0,0,0,0,0
$GC,3407,-1.90,-58.4,400.7,-9.7,209,3412,0.12,2.33,0.00,0.000,6,0.068,0.038,2676,1698,2871,0,0,0,0,0,0
$GC,3723,-1.86,-58.4,436.9,-11.7,217,3727,0.00,2.33,0.00,0.000,4,0.000,0.031,2676,3077,2869,0,0,0,0,0,0
$GC,3836,-1.86,-58.4,449.5,-10.4,219,3840,0.00,2.03,0.00,0.000,3,0.000,0.038,2676,1870,2868,0,0,0,0,0,0
$STATE,3841,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3841,begin apogee
$GC,3847,-0.31,0.0,450.3,10.9,219,3900,1.65,0.00,48.67,0.817,6,0.084,0.000,3032,1687,2630,0,0,0,0,0,0
$STATE,3901,end apogee,CONTROL_FINISHED_OK
$STATE,3901,begin climb
$GC,3904,1.56,58.4,451.8,0.0,220,3962,1.73,2.40,50.67,0.803,4,0.028,0.030,3448,3080,2390,0,0,0,0,0,0
$GC,4022,1.36,117.5,450.3,2.6,223,4081,0.25,2.40,51.67,0.800,6,0.107,0.037,3399,1698,2151,0,0,0,0,0,0
$GC,4405,1.18,117.5,412.2,10.8,233,4410,0.22,2.35,0.00,0.000,4,0.101,0.030,3356,3081,2141,0,0,0,0,0,0
$GC,4439,1.13,117.5,409.0,9.0,233,4443,0.00,2.40,0.00,0.000,6,0.000,0.040,3356,1701,2141,0,0,0,0,0,0
$GC,4771,1.06,117.5,381.3,8.3,241,4776,0.12,2.35,0.00,0.000,4,0.111,0.031,3333,3079,2137,0,0,0,0,0,0
$GC,4809,1.06,117.5,378.0,8.0,241,4815,0.00,2.40,0.00,0.000,6,0.000,0.039,3332,1692,2136,0,0,0,0,0,0
$GC,5140,1.07,125.0,353.3,7.2,250,5147,0.00,0.00,4.82,0.556,6,0.000,0.000,3333,1692,2120,0,0,0,0,0,0
$GC,5466,1.07,130.7,328.5,7.4,258,5479,0.00,2.53,6.62,0.627,4,0.000,0.055,3332,298,2097,0,0,0,0,0,0
$GC,5498,0.97,130.7,325.6,8.6,258,5502,0.00,2.33,0.00,0.000,6,0.000,0.026,3332,1699,2094,0,0,0,0,0,0
$GC,5835,0.99,149.1,305.0,6.2,267,5854,0.00,0.00,17.55,0.730,6,0.000,0.000,3332,1704,2022,0,0,0,0,0,0
$GC,6142,0.99,149.1,280.9,8.7,280,6146,0.00,2.50,0.00,0.000,4,0.000,0.053,3332,289,2017,0,0,0,0,0,0
$GC,6221,0.90,149.1,272.1,11.8,283,6226,0.17,2.33,0.00,0.000,6,0.107,0.025,3300,1712,2015,0,0,0,0,0,0
$GC,6539,1.00,160.4,247.1,6.9,298,6556,0.00,2.35,10.68,0.652,4,0.000,0.028,3300,3074,1975,0,0,0,0,0,0
$GC,6580,1.12,169.5,244.0,7.1,299,6597,0.20,2.38,9.55,0.630,6,0.051,0.037,3354,1700,1939,0,0,0,0,0,0
$GC,6920,1.12,169.5,207.9,11.3,316,6924,0.00,2.33,0.00,0.000,4,0.000,0.028,3354,3081,1936,0,0,0,0,0,0
$GC,6962,1.12,169.5,203.0,10.6,318,6967,0.00,2.35,0.00,0.000,6,0.000,0.035,3354,1696,1936,0,0,0,0,0,0
$GC,7297,1.12,169.5,169.7,9.3,343,7301,0.00,2.42,0.00,0.000,4,0.000,0.049,3354,292,1935,0,0,0,0,0,0
$GC,7311,1.08,169.5,167.9,9.3,344,7316,0.00,2.28,0.00,0.000,6,0.000,0.023,3354,1711,1933,0,0,0,0,0,0
$GC,7570,1.08,169.5,141.8,11.4,364,7571,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,1715,1932,0,0,0,0,0,0
$GC,7823,1.08,169.5,121.2,8.2,384,7824,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,1716,1933,0,0,0,0,0,0
$GC,8075,1.15,185.9,102.9,6.4,404,8097,0.00,2.55,14.85,0.558,4,0.000,0.046,3354,287,1871,0,0,0,0,0,0
$GC,8148,1.14,198.5,98.1,6.8,409,8166,0.00,2.28,12.52,0.538,6,0.000,0.020,3354,1720,1819,0,0,0,0,0,0
$GC,8427,1.24,207.1,78.1,7.1,431,8442,0.00,2.47,8.95,0.492,4,0.000,0.044,3354,297,1783,0,0,0,0,0,0
$GC,8516,1.26,225.6,72.0,6.2,437,8541,0.00,2.25,16.88,0.525,6,0.000,0.019,3354,1712,1709,0,0,0,0,0,0
$GC,8796,1.36,235.8,55.2,7.0,459,8813,0.17,2.47,10.23,0.476,4,0.051,0.043,3408,293,1667,0,0,0,0,0,0
$GC,8863,1.23,235.8,47.7,12.1,463,8870,0.17,2.25,0.00,0.000,6,0.076,0.018,3368,1692,1665,0,0,0,0,0,0
$GC,9126,1.28,235.8,20.0,12.0,496,9133,0.00,2.45,0.00,0.000,4,0.000,0.044,3368,294,1665,0,0,0,0,0,0
$GC,9149,1.28,235.8,17.1,12.5,500,9156,0.00,2.25,0.00,0.000,6,0.000,0.018,3368,1706,1664,0,0,0,0,0,0
$STATE,9284,end climb,SURFACE_DEPTH_REACHED
$STATE,9284,begin surface coast
$FINISH,0.8,1.007040
$STATE,9315,end surface coast,CONTROL_FINISHED_OK
$STATE,9315,begin surface
$SM_CCo,9339,92.60,0.479,0,0,958,410.14
$SM_GC,1.69,0.00,0.00,92.60,0.000,0.000,0.479,427,1712,958,-12.30,0.34,410.14
$IRIDIUM_FIX,2050.21,-15750.49,011299,121256
$TT8_MAMPS,0.029146
$HUMID,54.56
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.40
$XPDR_PINGS,1
$24V_AH,23.5,32.477
$10V_AH,10.3,27.098
$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,30.300,98.875,263.675,92.600,0.000,64.320,56.911,195.286,4.750,0.000,16.260,1046.348,6341.984,424.294,1555.176,571.325,0.000,1113.798,0.000,1537.254,0.000,29.258,0.000
$DEVICE_MAMPS,132.691,64.428,816.855,479.375,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,361.944,350.293,782.773,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,28644,538
$CAP_FILE_SIZE,105144,0
$CFSIZE,260165632,193900544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060910,151007,2056.145,-15751.881,14,1.9,31,9.8