version: 66.06
glider: 139
mission: 8
dive: 383
start: 9 7 110 7 50 13
data:
$ID,139
$MISSION,8
$DIVE,383
$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,-2158990.2
$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
$GPS1,074006,2056.342,-15749.521,40,1.1,40,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-72.3
$GPS2,074956,2056.226,-15749.578,14,1.6,14,9.8
$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,23.1,21160,-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,-64.25,0.000,2,0.000,0.000,426,1694,2753,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.3,-3.5,12,110,12.45,2.45,-2.20,0.000,4,0.133,0.055,2753,299,2871,0,0,0,0,0,0
$GC,144,-1.26,-58.4,20.5,-25.3,23,151,0.32,2.35,0.00,0.000,6,0.090,0.018,2822,1731,2872,0,0,0,0,0,0
$GC,346,-1.32,-58.4,48.9,-12.8,47,350,0.00,2.22,0.00,0.000,4,0.000,0.021,2822,3091,2873,0,0,0,0,0,0
$GC,363,-1.42,-58.4,51.0,-12.4,48,368,0.15,2.33,0.00,0.000,6,0.054,0.031,2771,1697,2873,0,0,0,0,0,0
$GC,632,-1.42,-58.4,90.3,-15.0,69,636,0.00,2.38,0.00,0.000,4,0.000,0.044,2771,297,2873,0,0,0,0,0,0
$GC,686,-1.33,-58.4,99.0,-16.8,73,691,0.17,2.25,0.00,0.000,6,0.093,0.018,2807,1724,2874,0,0,0,0,0,0
$GC,958,-1.45,-58.4,128.1,-11.3,94,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1725,2875,0,0,0,0,0,0
$GC,1207,-1.60,-58.4,152.1,-8.1,114,1212,0.25,2.20,0.00,0.000,4,0.041,0.020,2729,3081,2876,0,0,0,0,0,0
$GC,1228,-1.68,-58.4,154.1,-10.0,115,1233,0.00,2.30,0.00,0.000,6,0.000,0.031,2729,1699,2876,0,0,0,0,0,0
$GC,1488,-1.68,-58.4,186.1,-12.9,136,1489,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1699,2876,0,0,0,0,0,0
$GC,1746,-1.68,-58.4,220.3,-13.1,152,1750,0.00,2.28,0.00,0.000,4,0.000,0.024,2729,3077,2877,0,0,0,0,0,0
$GC,1819,-1.75,-58.4,229.5,-12.4,155,1823,0.00,2.30,0.00,0.000,6,0.000,0.032,2728,1698,2876,0,0,0,0,0,0
$GC,2150,-1.75,-58.4,268.2,-11.3,171,2151,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1696,2876,0,0,0,0,0,0
$GC,2478,-1.79,-58.4,305.0,-11.5,186,2482,0.00,2.30,0.00,0.000,4,0.000,0.026,2728,3077,2875,0,0,0,0,0,0
$GC,2549,-1.87,-58.4,312.6,-9.3,187,2554,0.17,2.33,0.00,0.000,6,0.053,0.034,2678,1700,2875,0,0,0,0,0,0
$GC,2891,-1.82,-58.4,348.1,-10.4,196,2896,0.12,2.33,0.00,0.000,4,0.110,0.028,2702,3077,2874,0,0,0,0,0,0
$GC,3096,-1.87,-58.4,368.2,-9.8,200,3100,0.00,2.33,0.00,0.000,6,0.000,0.038,2701,1698,2873,0,0,0,0,0,0
$GC,3441,-1.87,-58.4,405.4,-10.6,209,3445,0.00,2.30,0.00,0.000,4,0.000,0.029,2702,3068,2870,0,0,0,0,0,0
$GC,3516,-1.92,-58.4,413.0,-9.8,210,3520,0.00,2.35,0.00,0.000,6,0.000,0.040,2702,1694,2869,0,0,0,0,0,0
$GC,3856,-1.92,-58.4,448.5,-10.3,219,3857,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,1692,2867,0,0,0,0,0,0
$STATE,3896,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3896,begin apogee
$GC,3902,-0.31,0.0,452.5,10.2,220,3954,1.58,0.00,48.55,0.829,6,0.081,0.000,3032,1693,2630,0,0,0,0,0,0
$STATE,3955,end apogee,CONTROL_FINISHED_OK
$STATE,3955,begin climb
$GC,3958,1.56,58.4,453.5,0.0,221,4013,1.77,0.00,50.20,0.811,6,0.030,0.000,3447,1693,2390,0,0,0,0,0,0
$GC,4342,1.32,98.0,441.9,4.3,230,4385,0.28,2.58,34.20,0.808,4,0.107,0.056,3391,296,2229,0,0,0,0,0,0
$GC,4464,1.03,98.0,431.7,10.9,232,4470,0.32,2.33,0.00,0.000,6,0.102,0.027,3328,1687,2223,0,0,0,0,0,0
$GC,4802,1.02,113.6,407.5,6.5,241,4822,0.00,2.50,13.90,0.754,4,0.000,0.054,3328,293,2165,0,0,0,0,0,0
$GC,4890,0.88,113.6,400.7,8.7,242,4896,0.20,2.35,0.00,0.000,6,0.110,0.027,3291,1700,2161,0,0,0,0,0,0
$GC,5222,0.96,129.9,378.7,6.4,251,5239,0.00,0.00,15.07,0.757,6,0.000,0.000,3291,1706,2100,0,0,0,0,0,0
$GC,5547,1.04,147.5,357.3,6.3,259,5571,0.15,2.38,16.77,0.759,4,0.064,0.031,3331,3084,2028,0,0,0,0,0,0
$GC,5626,1.05,153.3,351.7,7.4,260,5640,0.00,2.40,7.10,0.649,6,0.000,0.041,3331,1700,2004,0,0,0,0,0,0
$GC,5965,1.05,153.3,321.5,9.3,269,5966,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,1700,1999,0,0,0,0,0,0
$GC,6272,1.05,153.3,293.7,9.3,278,6273,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,1700,1997,0,0,0,0,0,0
$GC,6581,1.05,156.3,268.7,7.6,293,6586,0.00,2.38,0.00,0.000,4,0.000,0.031,3331,3092,1996,0,0,0,0,0,0
$GC,6642,1.10,162.2,264.3,7.4,295,6655,0.00,2.40,7.93,0.638,6,0.000,0.038,3331,1696,1968,0,0,0,0,0,0
$GC,6978,1.10,162.2,238.5,9.2,312,6982,0.00,2.45,0.00,0.000,4,0.000,0.054,3331,290,1965,0,0,0,0,0,0
$GC,6999,1.06,162.2,235.8,12.0,313,7004,0.00,2.33,0.00,0.000,6,0.000,0.025,3331,1716,1963,0,0,0,0,0,0
$GC,7331,1.10,162.2,204.3,8.5,329,7335,0.00,2.25,0.00,0.000,4,0.000,0.028,3331,3080,1963,0,0,0,0,0,0
$GC,7352,1.15,166.3,202.7,7.5,330,7363,0.00,2.35,4.53,0.483,6,0.000,0.035,3331,1692,1951,0,0,0,0,0,0
$GC,7688,1.18,166.3,176.1,8.8,355,7693,0.12,2.45,0.00,0.000,4,0.068,0.049,3368,294,1950,0,0,0,0,0,0
$GC,7699,1.18,166.3,174.9,8.6,356,7703,0.00,2.28,0.00,0.000,6,0.000,0.023,3368,1713,1948,0,0,0,0,0,0
$GC,7965,1.18,166.3,149.9,9.2,377,7969,0.00,2.22,0.00,0.000,4,0.000,0.026,3369,3074,1948,0,0,0,0,0,0
$GC,8108,1.19,173.7,138.9,7.2,387,8121,0.00,2.33,7.97,0.545,6,0.000,0.032,3368,1698,1921,0,0,0,0,0,0
$GC,8375,1.23,205.2,124.3,5.1,408,8409,0.00,2.53,28.88,0.601,4,0.000,0.048,3368,272,1792,0,0,0,0,0,0
$GC,8672,1.18,208.2,99.9,7.6,429,8678,0.00,2.30,0.00,0.000,6,0.000,0.020,3368,1717,1787,0,0,0,0,0,0
$GC,8933,1.26,227.4,83.8,6.2,450,8961,0.00,2.55,19.73,0.542,4,0.000,0.045,3368,296,1701,0,0,0,0,0,0
$GC,9133,1.23,227.4,63.1,11.3,464,9140,0.00,2.25,0.00,0.000,6,0.000,0.019,3368,1704,1698,0,0,0,0,0,0
$GC,9396,1.28,227.4,40.5,8.8,485,9400,0.00,2.20,0.00,0.000,4,0.000,0.021,3368,3071,1697,0,0,0,0,0,0
$GC,9436,1.40,227.4,37.1,8.1,488,9441,0.15,2.33,0.00,0.000,6,0.057,0.031,3414,1693,1697,0,0,0,0,0,0
$GC,9700,1.36,227.4,8.1,13.1,536,9707,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,1693,1697,0,0,0,0,0,0
$STATE,9737,end climb,SURFACE_DEPTH_REACHED
$STATE,9737,begin surface coast
$FINISH,0.9,1.002698
$STATE,9760,end surface coast,CONTROL_FINISHED_OK
$STATE,9760,begin surface
$SM_CCo,9782,100.53,0.483,0,0,957,410.14
$SM_GC,1.62,0.00,0.00,100.53,0.000,0.000,0.483,426,1689,957,-12.30,-0.28,410.14
$IRIDIUM_FIX,2047.91,-15750.49,021299,070749
$TT8_MAMPS,0.028379
$HUMID,54.33
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.40
$XPDR_PINGS,1
$24V_AH,23.5,33.077
$10V_AH,10.2,27.624
$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,31.000,89.075,254.825,100.525,0.000,56.215,66.074,271.331,4.750,0.000,14.951,1080.425,6656.843,417.668,1647.858,669.392,0.000,1143.171,0.000,1632.514,0.000,29.261,0.000
$DEVICE_MAMPS,132.691,55.991,829.127,483.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,369.703,352.766,772.770,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,31885,549
$CAP_FILE_SIZE,107118,0
$CFSIZE,260165632,193523712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070910,103607,2056.425,-15749.210,31,1.5,31,9.8