version: 66.06
glider: 139
mission: 8
dive: 380
start: 9 6 110 23 24 32
data:
$ID,139
$MISSION,8
$DIVE,380
$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,-2158921.8
$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
$GPS1,231828,2055.744,-15750.641,14,3.7,33,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-72.9
$GPS2,232417,2055.668,-15750.709,22,3.5,41,9.8
$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,25.8,23115,-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,-64.28,0.000,2,0.000,0.000,430,1692,2734,0,0,0,0,0,0
$GC,86,-1.56,-58.4,3.1,-3.0,12,110,12.43,2.45,-2.67,0.000,4,0.133,0.053,2753,292,2871,0,0,0,0,0,0
$GC,136,-0.96,-58.4,17.9,-29.7,21,143,0.60,2.35,0.00,0.000,6,0.087,0.018,2888,1732,2872,0,0,0,0,0,0
$GC,340,-1.20,-58.4,39.5,-9.2,52,345,0.22,2.47,0.00,0.000,4,0.043,0.044,2819,294,2873,0,0,0,0,0,0
$GC,380,-1.20,-58.4,44.5,-14.7,55,385,0.00,2.25,0.00,0.000,6,0.000,0.018,2819,1723,2873,0,0,0,0,0,0
$GC,645,-1.28,-58.4,82.1,-14.3,76,649,0.00,2.45,0.00,0.000,4,0.000,0.046,2819,295,2874,0,0,0,0,0,0
$GC,684,-1.28,-58.4,88.3,-16.4,79,688,0.00,2.22,0.00,0.000,6,0.000,0.018,2819,1703,2875,0,0,0,0,0,0
$GC,951,-1.42,-58.4,122.5,-11.4,100,956,0.12,2.42,0.00,0.000,4,0.063,0.044,2776,293,2875,0,0,0,0,0,0
$GC,971,-1.46,-58.4,125.2,-11.1,101,976,0.00,2.20,0.00,0.000,6,0.000,0.018,2776,1708,2875,0,0,0,0,0,0
$GC,1232,-1.52,-58.4,148.9,-8.0,122,1237,0.00,2.42,0.00,0.000,4,0.000,0.044,2775,286,2875,0,0,0,0,0,0
$GC,1245,-1.57,-58.4,150.1,-8.6,123,1249,0.00,2.22,0.00,0.000,6,0.000,0.018,2776,1713,2876,0,0,0,0,0,0
$GC,1511,-1.66,-58.4,176.3,-10.3,144,1516,0.17,2.20,0.00,0.000,4,0.053,0.023,2723,3064,2876,0,0,0,0,0,0
$GC,1635,-1.71,-58.4,193.7,-14.2,153,1640,0.00,2.30,0.00,0.000,6,0.000,0.033,2722,1687,2876,0,0,0,0,0,0
$GC,1892,-1.71,-58.4,226.0,-11.8,167,1896,0.00,2.35,0.00,0.000,4,0.000,0.045,2722,298,2876,0,0,0,0,0,0
$GC,1908,-1.67,-58.4,228.3,-12.8,167,1914,0.00,2.17,0.00,0.000,6,0.000,0.020,2722,1688,2876,0,0,0,0,0,0
$GC,2225,-1.67,-58.4,267.4,-11.9,183,2229,0.00,2.28,0.00,0.000,4,0.000,0.025,2723,3069,2876,0,0,0,0,0,0
$GC,2296,-1.74,-58.4,276.2,-12.9,186,2301,0.00,2.30,0.00,0.000,6,0.000,0.035,2722,1695,2876,0,0,0,0,0,0
$GC,2624,-1.74,-58.4,313.1,-10.4,199,2628,0.00,2.25,0.00,0.000,4,0.000,0.026,2722,3067,2875,0,0,0,0,0,0
$GC,2676,-1.81,-58.4,317.8,-8.4,200,2680,0.00,2.30,0.00,0.000,6,0.000,0.035,2722,1700,2875,0,0,0,0,0,0
$GC,2998,-1.81,-58.4,350.9,-10.3,208,3002,0.00,2.25,0.00,0.000,4,0.000,0.027,2722,3066,2874,0,0,0,0,0,0
$GC,3017,-1.86,-58.4,352.7,-9.3,208,3022,0.12,2.30,0.00,0.000,6,0.067,0.035,2683,1696,2874,0,0,0,0,0,0
$GC,3364,-1.81,-58.4,394.2,-12.5,217,3369,0.10,2.30,0.00,0.000,4,0.117,0.028,2702,3066,2872,0,0,0,0,0,0
$GC,3490,-1.86,-58.4,407.1,-10.0,219,3494,0.00,2.30,0.00,0.000,6,0.000,0.038,2702,1703,2871,0,0,0,0,0,0
$GC,3825,-1.86,-58.4,444.1,-11.7,227,3829,0.00,2.28,0.00,0.000,4,0.000,0.030,2702,3066,2869,0,0,0,0,0,0
$STATE,3874,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3874,begin apogee
$GC,3882,-0.31,0.0,450.1,10.9,228,3935,1.52,0.00,48.50,0.818,6,0.081,0.000,3026,1691,2630,0,0,0,0,0,0
$STATE,3936,end apogee,CONTROL_FINISHED_OK
$STATE,3936,begin climb
$GC,3940,1.56,58.4,451.5,0.0,229,3997,1.77,2.50,50.05,0.800,4,0.030,0.052,3446,294,2391,0,0,0,0,0,0
$GC,4043,1.22,125.1,451.3,1.9,231,4112,0.43,2.30,58.65,0.802,6,0.105,0.025,3365,1701,2118,0,0,0,0,0,0
$GC,4435,1.11,125.1,419.0,9.1,241,4437,0.12,0.00,0.00,0.000,6,0.118,0.000,3342,1701,2108,0,0,0,0,0,0
$GC,4761,1.06,125.1,391.6,8.3,249,4766,0.00,2.33,0.00,0.000,4,0.000,0.032,3342,3079,2105,0,0,0,0,0,0
$GC,4799,1.06,125.1,388.0,8.9,249,4804,0.00,2.40,0.00,0.000,6,0.000,0.040,3341,1694,2105,0,0,0,0,0,0
$GC,5130,1.02,125.1,359.0,8.6,258,5134,0.00,2.47,0.00,0.000,4,0.000,0.056,3341,294,2102,0,0,0,0,0,0
$GC,5180,0.88,125.1,354.1,11.3,259,5186,0.25,2.30,0.00,0.000,6,0.104,0.027,3294,1698,2099,0,0,0,0,0,0
$GC,5511,0.97,140.7,329.6,6.5,267,5524,0.00,0.00,11.23,0.704,6,0.000,0.000,3295,1703,2056,0,0,0,0,0,0
$GC,5835,1.06,141.4,305.1,7.8,275,5839,0.15,2.33,0.00,0.000,4,0.064,0.031,3336,3083,2052,0,0,0,0,0,0
$GC,5853,1.11,141.4,303.6,7.9,275,5857,0.00,2.38,0.00,0.000,6,0.000,0.038,3335,1689,2053,0,0,0,0,0,0
$GC,6186,1.11,141.4,273.2,8.0,290,6190,0.00,2.35,0.00,0.000,4,0.000,0.029,3336,3082,2051,0,0,0,0,0,0
$GC,6295,1.17,155.2,266.4,6.7,294,6314,0.00,2.40,13.52,0.683,6,0.000,0.038,3336,1699,1997,0,0,0,0,0,0
$GC,6633,1.18,164.0,243.0,7.1,311,6649,0.00,2.50,9.23,0.627,4,0.000,0.051,3336,293,1960,0,0,0,0,0,0
$GC,6657,1.18,164.0,241.0,8.4,312,6661,0.00,2.35,0.00,0.000,6,0.000,0.025,3336,1714,1959,0,0,0,0,0,0
$GC,6986,1.18,164.0,211.5,9.8,328,6990,0.00,2.47,0.00,0.000,4,0.000,0.051,3335,295,1957,0,0,0,0,0,0
$GC,7131,1.11,164.0,192.7,13.7,335,7136,0.00,2.28,0.00,0.000,6,0.000,0.023,3336,1708,1954,0,0,0,0,0,0
$GC,7389,1.11,164.0,164.8,9.5,356,7393,0.00,2.25,0.00,0.000,4,0.000,0.026,3336,3078,1954,0,0,0,0,0,0
$GC,7429,1.17,164.0,161.8,8.5,359,7433,0.00,2.35,0.00,0.000,6,0.000,0.034,3336,1694,1954,0,0,0,0,0,0
$GC,7695,1.23,168.9,141.1,7.4,380,7711,0.12,2.42,5.03,0.461,4,0.067,0.046,3373,289,1939,0,0,0,0,0,0
$GC,7718,1.23,168.9,138.9,8.6,381,7722,0.00,2.28,0.00,0.000,6,0.000,0.021,3374,1711,1939,0,0,0,0,0,0
$GC,7979,1.25,185.1,119.2,6.4,401,7999,0.00,2.30,15.50,0.571,4,0.000,0.025,3374,3078,1875,0,0,0,0,0,0
$GC,8262,1.31,197.5,95.5,6.8,421,8282,0.00,2.35,12.52,0.534,6,0.000,0.031,3374,1687,1823,0,0,0,0,0,0
$GC,8536,1.35,197.5,73.9,9.6,443,8539,0.00,2.30,0.00,0.000,4,0.000,0.022,3374,3081,1822,0,0,0,0,0,0
$GC,8647,1.44,197.5,63.2,9.7,451,8652,0.17,2.33,0.00,0.000,6,0.053,0.030,3423,1700,1822,0,0,0,0,0,0
$GC,8917,1.36,197.5,37.5,9.0,472,8923,0.12,0.00,0.00,0.000,6,0.107,0.000,3399,1700,1822,0,0,0,0,0,0
$GC,9178,1.36,197.5,15.9,8.3,519,9184,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1700,1822,0,0,0,0,0,0
$STATE,9332,end climb,SURFACE_DEPTH_REACHED
$STATE,9332,begin surface coast
$FINISH,1.0,1.004417
$STATE,9363,end surface coast,CONTROL_FINISHED_OK
$STATE,9363,begin surface
$SM_CCo,9385,114.80,0.481,0,0,957,410.14
$SM_GC,1.54,0.00,0.00,114.80,0.000,0.000,0.481,428,1696,957,-12.30,-0.11,410.14
$IRIDIUM_FIX,2047.91,-15748.36,011299,202002
$TT8_MAMPS,0.029146
$HUMID,54.13
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,32.825
$10V_AH,10.3,27.400
$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,31.125,107.375,224.225,114.800,0.000,28.939,28.110,141.331,5.000,0.000,41.975,1103.331,6131.339,406.048,1736.733,468.579,0.000,1153.566,0.000,1692.627,0.000,34.954,0.000
$DEVICE_MAMPS,132.691,55.991,818.389,480.909,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,377.377,363.996,845.303,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,31678,561
$CAP_FILE_SIZE,106526,0
$CFSIZE,260165632,193683456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070910,020407,2055.820,-15750.589,35,1.6,35,9.8