version: 66.06
glider: 139
mission: 8
dive: 378
start: 9 6 110 17 48 49
data:
$ID,139
$MISSION,8
$DIVE,378
$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,-2158862.5
$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
$GPS1,174257,2056.173,-15751.331,12,2.0,12,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-72.1
$GPS2,174832,2056.072,-15751.333,13,2.0,13,9.8
$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,29.1,23172,-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,-64.35,0.000,2,0.000,0.000,422,1711,2738,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.2,-3.2,12,109,12.52,2.50,-2.55,0.000,4,0.134,0.057,2755,289,2871,0,0,0,0,0,0
$GC,118,-0.32,-58.4,13.9,-23.8,17,126,1.27,2.38,0.00,0.000,6,0.088,0.019,3026,1742,2872,0,0,0,0,0,0
$GC,321,-1.01,-58.4,25.3,-5.9,63,328,0.62,2.50,0.00,0.000,4,0.040,0.041,2873,289,2874,0,0,0,0,0,0
$GC,385,-1.20,-58.4,31.2,-9.8,75,392,0.12,2.28,0.00,0.000,6,0.031,0.018,2824,1708,2874,0,0,0,0,0,0
$GC,647,-1.29,-58.4,65.7,-13.3,96,651,0.00,2.45,0.00,0.000,4,0.000,0.045,2824,294,2874,0,0,0,0,0,0
$GC,680,-1.32,-58.4,70.9,-14.7,98,687,0.00,2.25,0.00,0.000,6,0.000,0.018,2824,1706,2875,0,0,0,0,0,0
$GC,941,-1.46,-58.4,99.7,-7.8,119,946,0.17,2.45,0.00,0.000,4,0.051,0.045,2769,294,2875,0,0,0,0,0,0
$GC,1013,-1.46,-58.4,107.9,-12.8,124,1017,0.00,2.22,0.00,0.000,6,0.000,0.018,2768,1700,2875,0,0,0,0,0,0
$GC,1279,-1.53,-58.4,137.4,-12.6,145,1283,0.00,2.20,0.00,0.000,4,0.000,0.021,2769,3068,2877,0,0,0,0,0,0
$GC,1295,-1.61,-58.4,139.9,-13.3,146,1302,0.00,2.28,0.00,0.000,6,0.000,0.030,2769,1696,2876,0,0,0,0,0,0
$GC,1564,-1.70,-58.4,172.5,-11.8,167,1569,0.17,2.40,0.00,0.000,4,0.051,0.045,2715,293,2877,0,0,0,0,0,0
$GC,1584,-1.66,-58.4,175.4,-12.1,168,1591,0.08,2.25,0.00,0.000,6,0.084,0.019,2734,1702,2878,0,0,0,0,0,0
$GC,1850,-1.66,-58.4,205.9,-11.2,188,1854,0.00,2.40,0.00,0.000,4,0.000,0.045,2733,298,2878,0,0,0,0,0,0
$GC,1872,-1.66,-58.4,209.0,-12.7,189,1877,0.00,2.22,0.00,0.000,6,0.000,0.019,2733,1701,2878,0,0,0,0,0,0
$GC,2206,-1.70,-58.4,248.6,-12.8,205,2210,0.00,2.22,0.00,0.000,4,0.000,0.025,2733,3067,2878,0,0,0,0,0,0
$GC,2250,-1.80,-58.4,254.8,-12.9,207,2255,0.12,2.30,0.00,0.000,6,0.065,0.033,2693,1695,2878,0,0,0,0,0,0
$GC,2584,-1.76,-58.4,299.2,-12.3,223,2590,0.12,2.28,0.00,0.000,4,0.107,0.025,2717,3067,2877,0,0,0,0,0,0
$GC,2704,-1.83,-58.4,313.5,-11.9,226,2708,0.00,2.30,0.00,0.000,6,0.000,0.035,2717,1698,2877,0,0,0,0,0,0
$GC,3049,-1.83,-58.4,349.4,-9.7,235,3054,0.00,2.30,0.00,0.000,4,0.000,0.027,2717,3064,2876,0,0,0,0,0,0
$GC,3096,-1.90,-58.4,353.7,-8.9,236,3101,0.15,2.33,0.00,0.000,6,0.059,0.037,2673,1699,2876,0,0,0,0,0,0
$GC,3423,-1.84,-58.4,389.6,-11.1,244,3427,0.12,2.30,0.00,0.000,4,0.108,0.029,2697,3062,2873,0,0,0,0,0,0
$GC,3509,-1.88,-58.4,399.7,-12.1,245,3515,0.00,2.33,0.00,0.000,6,0.000,0.038,2697,1700,2873,0,0,0,0,0,0
$GC,3842,-1.88,-58.4,440.8,-12.5,254,3846,0.00,2.30,0.00,0.000,4,0.000,0.031,2697,3063,2870,0,0,0,0,0,0
$STATE,3914,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3914,begin apogee
$GC,3924,-0.31,0.0,450.0,10.9,255,3978,1.58,0.00,49.25,0.826,6,0.083,0.000,3028,1702,2630,0,0,0,0,0,0
$STATE,3979,end apogee,CONTROL_FINISHED_OK
$STATE,3979,begin climb
$GC,3981,1.56,58.4,452.8,0.0,257,4040,1.77,2.53,50.35,0.811,4,0.030,0.052,3448,291,2390,0,0,0,0,0,0
$GC,4192,1.20,109.6,450.7,3.3,261,4247,0.45,2.33,44.83,0.811,6,0.107,0.025,3362,1694,2183,0,0,0,0,0,0
$GC,4571,1.10,109.6,419.4,8.5,271,4576,0.12,2.35,0.00,0.000,4,0.117,0.032,3340,3078,2174,0,0,0,0,0,0
$GC,4671,1.13,129.6,412.8,6.1,273,4695,0.00,2.40,17.70,0.770,6,0.000,0.041,3340,1699,2101,0,0,0,0,0,0
$GC,5035,1.08,132.3,385.5,7.7,282,5039,0.00,2.35,0.00,0.000,4,0.000,0.032,3340,3075,2095,0,0,0,0,0,0
$GC,5049,1.05,136.5,384.0,7.5,282,5062,0.00,2.35,6.75,0.650,6,0.000,0.038,3340,1699,2072,0,0,0,0,0,0
$GC,5404,1.02,136.5,352.5,9.3,291,5408,0.00,2.35,0.00,0.000,4,0.000,0.030,3340,3081,2069,0,0,0,0,0,0
$GC,5530,1.02,136.5,339.2,10.2,293,5534,0.00,2.40,0.00,0.000,6,0.000,0.038,3340,1694,2068,0,0,0,0,0,0
$GC,5862,1.02,136.5,308.6,8.1,301,5863,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,1694,2066,0,0,0,0,0,0
$GC,6170,1.03,148.0,287.4,6.9,313,6182,0.00,0.00,10.25,0.683,6,0.000,0.000,3340,1694,2026,0,0,0,0,0,0
$GC,6478,1.04,153.3,264.7,7.4,328,6490,0.00,2.53,5.80,0.576,4,0.000,0.054,3339,297,2005,0,0,0,0,0,0
$GC,6652,0.93,153.3,248.3,10.0,335,6657,0.17,2.28,0.00,0.000,6,0.109,0.025,3307,1698,2002,0,0,0,0,0,0
$GC,6971,1.04,177.2,227.0,5.7,350,6996,0.00,0.00,22.62,0.692,6,0.000,0.000,3307,1703,1907,0,0,0,0,0,0
$GC,7298,1.17,195.7,209.6,6.2,366,7322,0.20,2.53,17.50,0.657,4,0.053,0.051,3361,294,1831,0,0,0,0,0,0
$GC,7443,1.04,195.7,190.3,15.5,374,7448,0.17,2.30,0.00,0.000,6,0.102,0.024,3328,1713,1826,0,0,0,0,0,0
$GC,7704,1.10,195.7,159.2,13.1,394,7708,0.00,2.50,0.00,0.000,4,0.000,0.050,3328,289,1825,0,0,0,0,0,0
$GC,7771,1.10,195.7,149.8,13.7,399,7775,0.00,2.30,0.00,0.000,6,0.000,0.022,3328,1707,1824,0,0,0,0,0,0
$GC,8037,1.20,204.2,124.6,7.1,420,8052,0.15,2.53,7.72,0.519,4,0.059,0.048,3372,296,1797,0,0,0,0,0,0
$GC,8100,1.10,204.2,117.6,12.1,424,8105,0.15,2.28,0.00,0.000,6,0.104,0.021,3342,1699,1795,0,0,0,0,0,0
$GC,8361,1.20,204.2,93.0,10.1,444,8365,0.00,2.45,0.00,0.000,4,0.000,0.047,3342,287,1795,0,0,0,0,0,0
$GC,8509,1.20,204.2,77.6,8.6,455,8513,0.00,2.25,0.00,0.000,6,0.000,0.020,3342,1713,1794,0,0,0,0,0,0
$GC,8775,1.35,233.7,62.3,5.2,476,8810,0.22,2.50,26.83,0.533,4,0.045,0.044,3405,291,1676,0,0,0,0,0,0
$GC,8876,1.22,233.7,51.9,12.0,483,8881,0.20,2.25,0.00,0.000,6,0.095,0.019,3367,1714,1672,0,0,0,0,0,0
$GC,9141,1.28,233.7,28.8,8.1,505,9147,0.00,2.50,0.00,0.000,4,0.000,0.044,3366,289,1672,0,0,0,0,0,0
$GC,9197,1.28,233.7,22.8,10.3,517,9204,0.00,2.25,0.00,0.000,6,0.000,0.018,3366,1701,1671,0,0,0,0,0,0
$GC,9399,1.33,233.7,3.3,10.6,563,9406,0.10,2.25,0.00,0.000,4,0.074,0.020,3402,3066,1671,0,0,0,0,0,0
$STATE,9413,end climb,SURFACE_DEPTH_REACHED
$STATE,9413,begin surface coast
$FINISH,0.8,1.002287
$STATE,9419,end surface coast,CONTROL_FINISHED_OK
$STATE,9419,begin surface
$SM_CCo,9445,97.00,0.482,0,0,958,410.14
$SM_GC,1.63,0.00,0.00,97.00,0.000,0.000,0.482,429,1677,958,-12.29,-0.68,410.14
$IRIDIUM_FIX,2045.60,-15753.50,011299,151549
$TT8_MAMPS,0.029146
$HUMID,54.92
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,32.634
$10V_AH,10.3,27.244
$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,33.475,112.850,259.600,97.000,0.000,29.531,32.911,144.769,4.750,0.000,13.227,1126.312,6055.701,428.722,1778.324,488.636,0.000,1208.643,0.000,1755.577,0.000,32.178,0.000
$DEVICE_MAMPS,134.225,56.758,826.059,481.676,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,380.646,365.338,880.275,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,31871,566
$CAP_FILE_SIZE,110753,0
$CFSIZE,260165632,193785856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060910,202909,2056.086,-15750.789,37,1.4,39,9.8