version: 66.06
glider: 139
mission: 8
dive: 385
start: 9 7 110 13 14 37
data:
$ID,139
$MISSION,8
$DIVE,385
$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,-2159028.8
$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
$GPS1,130837,2056.567,-15749.265,35,1.1,35,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-70.0
$GPS2,131420,2056.550,-15749.303,17,1.2,17,9.8
$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,22.9,20397,-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,-64.47,0.000,2,0.000,0.000,425,1710,2744,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.3,-3.6,12,110,12.48,2.50,-2.45,0.000,4,0.133,0.055,2753,292,2873,0,0,0,0,0,0
$GC,118,-0.32,-58.4,14.0,-24.2,17,126,1.27,2.35,0.00,0.000,6,0.087,0.019,3025,1739,2873,0,0,0,0,0,0
$GC,322,-1.00,-58.4,25.9,-5.7,63,329,0.62,2.50,0.00,0.000,4,0.039,0.042,2869,294,2875,0,0,0,0,0,0
$GC,380,-1.17,-58.4,31.3,-9.4,73,384,0.12,2.25,0.00,0.000,6,0.063,0.018,2827,1703,2875,0,0,0,0,0,0
$GC,649,-1.26,-58.4,66.9,-12.4,94,653,0.00,2.22,0.00,0.000,4,0.000,0.021,2827,3080,2875,0,0,0,0,0,0
$GC,674,-1.40,-58.4,70.3,-11.6,96,679,0.15,2.33,0.00,0.000,6,0.054,0.031,2775,1686,2875,0,0,0,0,0,0
$GC,943,-1.40,-58.4,101.2,-10.6,117,947,0.00,2.35,0.00,0.000,4,0.000,0.044,2775,298,2876,0,0,0,0,0,0
$GC,972,-1.36,-58.4,105.4,-12.9,119,977,0.15,2.20,0.00,0.000,6,0.100,0.018,2806,1711,2876,0,0,0,0,0,0
$GC,1234,-1.50,-58.4,129.7,-8.4,139,1239,0.15,2.45,0.00,0.000,4,0.056,0.044,2757,297,2877,0,0,0,0,0,0
$GC,1291,-1.50,-58.4,136.4,-12.0,143,1295,0.00,2.17,0.00,0.000,6,0.000,0.018,2757,1690,2878,0,0,0,0,0,0
$GC,1553,-1.55,-58.4,163.3,-9.9,163,1557,0.00,2.22,0.00,0.000,4,0.000,0.022,2757,3067,2878,0,0,0,0,0,0
$GC,1644,-1.66,-58.4,172.1,-9.5,169,1649,0.00,2.28,0.00,0.000,6,0.000,0.031,2757,1698,2878,0,0,0,0,0,0
$GC,1904,-1.72,-58.4,199.1,-11.2,190,1910,0.15,2.40,0.00,0.000,4,0.058,0.046,2710,297,2878,0,0,0,0,0,0
$GC,1967,-1.63,-58.4,208.1,-14.2,193,1971,0.17,2.22,0.00,0.000,6,0.098,0.019,2744,1697,2879,0,0,0,0,0,0
$GC,2284,-1.67,-58.4,242.5,-11.1,208,2288,0.00,2.25,0.00,0.000,4,0.000,0.024,2745,3071,2879,0,0,0,0,0,0
$GC,2336,-1.78,-58.4,248.0,-10.3,210,2340,0.15,2.30,0.00,0.000,6,0.058,0.032,2700,1693,2879,0,0,0,0,0,0
$GC,2663,-1.75,-58.4,293.5,-15.1,226,2668,0.10,2.30,0.00,0.000,4,0.116,0.025,2718,3079,2878,0,0,0,0,0,0
$GC,2825,-1.82,-58.4,314.5,-12.6,231,2829,0.00,2.33,0.00,0.000,6,0.000,0.035,2718,1695,2878,0,0,0,0,0,0
$GC,3169,-1.82,-58.4,350.2,-9.8,240,3174,0.00,2.28,0.00,0.000,4,0.000,0.027,2718,3070,2877,0,0,0,0,0,0
$GC,3341,-1.89,-58.4,364.7,-8.4,243,3346,0.15,2.35,0.00,0.000,6,0.060,0.037,2674,1693,2876,0,0,0,0,0,0
$GC,3673,-1.83,-58.4,404.3,-13.2,251,3675,0.12,0.00,0.00,0.000,6,0.107,0.000,2698,1692,2874,0,0,0,0,0,0
$GC,3998,-1.83,-58.4,444.0,-12.0,259,4003,0.00,2.35,0.00,0.000,4,0.000,0.031,2698,3072,2872,0,0,0,0,0,0
$STATE,4052,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4052,begin apogee
$GC,4060,-0.31,0.0,450.4,10.8,260,4114,1.58,0.00,49.28,0.816,6,0.083,0.000,3029,1693,2630,0,0,0,0,0,0
$STATE,4115,end apogee,CONTROL_FINISHED_OK
$STATE,4115,begin climb
$GC,4118,1.56,58.4,451.8,0.0,261,4173,1.77,0.00,50.22,0.802,6,0.030,0.000,3452,1693,2391,0,0,0,0,0,0
$GC,4488,1.33,114.7,444.9,2.8,270,4545,0.28,2.38,48.90,0.811,4,0.107,0.030,3395,3069,2161,0,0,0,0,0,0
$GC,4811,1.20,114.7,416.9,9.7,277,4816,0.17,2.38,0.00,0.000,6,0.114,0.040,3363,1694,2157,0,0,0,0,0,0
$GC,5137,1.12,120.6,392.0,7.4,285,5148,0.00,2.47,4.80,0.562,4,0.000,0.054,3363,296,2137,0,0,0,0,0,0
$GC,5239,0.92,120.6,382.9,9.5,287,5244,0.32,2.30,0.00,0.000,6,0.102,0.027,3300,1694,2133,0,0,0,0,0,0
$GC,5559,1.01,152.5,364.7,5.0,295,5596,0.00,2.40,29.30,0.781,4,0.000,0.030,3300,3087,2007,0,0,0,0,0,0
$GC,5657,1.10,152.5,357.8,8.5,297,5662,0.17,2.40,0.00,0.000,6,0.058,0.041,3346,1700,2007,0,0,0,0,0,0
$GC,5976,1.10,152.5,324.2,10.4,305,5980,0.00,2.38,0.00,0.000,4,0.000,0.031,3346,3086,2002,0,0,0,0,0,0
$GC,6013,1.10,152.5,319.9,11.1,305,6018,0.00,2.38,0.00,0.000,6,0.000,0.038,3346,1699,2002,0,0,0,0,0,0
$GC,6326,1.10,152.5,288.8,9.7,316,6327,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,1699,2000,0,0,0,0,0,0
$GC,6636,1.10,152.5,255.8,10.8,331,6640,0.00,2.47,0.00,0.000,4,0.000,0.054,3346,290,1998,0,0,0,0,0,0
$GC,6659,1.01,152.5,253.2,10.7,332,6664,0.15,2.30,0.00,0.000,6,0.108,0.025,3318,1708,1996,0,0,0,0,0,0
$GC,6988,1.05,152.5,219.0,10.8,348,6989,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,1714,1996,0,0,0,0,0,0
$GC,7307,1.11,157.1,190.8,7.5,367,7308,0.10,0.00,0.00,0.000,6,0.077,0.000,3349,1714,1995,0,0,0,0,0,0
$GC,7559,1.12,161.1,172.6,7.5,387,7568,0.00,0.00,6.72,0.538,6,0.000,0.000,3349,1714,1973,0,0,0,0,0,0
$GC,7821,1.12,161.1,148.0,9.8,408,7825,0.00,2.47,0.00,0.000,4,0.000,0.048,3349,292,1972,0,0,0,0,0,0
$GC,7834,1.12,161.1,146.9,10.0,409,7839,0.00,2.28,0.00,0.000,6,0.000,0.022,3350,1712,1970,0,0,0,0,0,0
$GC,8099,1.14,176.8,126.2,6.5,430,8120,0.00,2.55,15.05,0.581,4,0.000,0.048,3349,294,1908,0,0,0,0,0,0
$GC,8379,1.12,197.6,106.8,6.0,450,8405,0.00,2.25,19.10,0.571,6,0.000,0.021,3350,1720,1824,0,0,0,0,0,0
$GC,8671,1.21,197.6,79.0,10.8,473,8675,0.00,2.47,0.00,0.000,4,0.000,0.045,3349,289,1822,0,0,0,0,0,0
$GC,8793,1.21,197.6,66.5,10.1,482,8797,0.00,2.22,0.00,0.000,6,0.000,0.019,3349,1698,1818,0,0,0,0,0,0
$GC,9061,1.35,238.6,50.3,4.2,503,9104,0.20,2.28,35.72,0.528,4,0.048,0.021,3408,3069,1656,0,0,0,0,0,0
$GC,9147,1.35,238.6,43.3,10.2,509,9151,0.00,2.35,0.00,0.000,6,0.000,0.031,3408,1691,1655,0,0,0,0,0,0
$GC,9409,1.35,238.6,10.9,13.0,551,9416,0.00,2.42,0.00,0.000,4,0.000,0.047,3408,303,1654,0,0,0,0,0,0
$GC,9428,1.29,238.6,8.5,13.4,554,9435,0.10,2.25,0.00,0.000,6,0.084,0.018,3385,1706,1652,0,0,0,0,0,0
$STATE,9473,end climb,SURFACE_DEPTH_REACHED
$STATE,9473,begin surface coast
$FINISH,0.8,1.011609
$STATE,9505,end surface coast,CONTROL_FINISHED_OK
$STATE,9505,begin surface
$SM_CCo,9527,92.10,0.486,0,0,958,410.14
$SM_GC,1.70,0.00,0.00,92.10,0.000,0.000,0.486,429,1711,958,-12.29,0.31,410.14
$IRIDIUM_FIX,2050.21,-15747.49,021299,101050
$TT8_MAMPS,0.029146
$HUMID,55.86
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.5,33.238
$10V_AH,10.2,27.769
$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,33.400,98.400,259.100,92.100,0.000,30.762,37.396,150.587,4.500,0.000,17.666,1122.139,6152.057,400.520,1809.252,478.361,0.000,1187.708,0.000,1782.399,0.000,29.262,0.000
$DEVICE_MAMPS,133.458,55.224,816.088,485.511,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,383.737,372.677,859.593,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,31811,570
$CAP_FILE_SIZE,109094,0
$CFSIZE,260165632,193421312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070910,155607,2056.939,-15749.095,32,1.6,32,9.8