version: 66.06
glider: 139
mission: 8
dive: 386
start: 9 7 110 16 2 12
data:
$ID,139
$MISSION,8
$DIVE,386
$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,-2159040.8
$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
$GPS1,155607,2056.939,-15749.095,32,1.6,32,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-71.9
$GPS2,160155,2056.901,-15749.124,11,1.6,11,9.8
$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,23.2,19684,-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,-64.32,0.000,2,0.000,0.000,429,1710,2747,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.4,-3.8,12,110,12.45,2.38,-2.38,0.000,4,0.133,0.040,2753,3102,2872,0,0,0,0,0,0
$GC,191,-1.56,-58.4,26.7,-16.5,34,198,0.00,2.40,0.00,0.000,6,0.000,0.033,2752,1699,2873,0,0,0,0,0,0
$GC,391,-1.46,-58.4,63.3,-20.5,52,396,0.15,2.33,0.00,0.000,4,0.107,0.022,2781,3112,2874,0,0,0,0,0,0
$GC,445,-1.53,-58.4,72.4,-15.3,56,450,0.00,2.38,0.00,0.000,6,0.000,0.035,2780,1698,2874,0,0,0,0,0,0
$GC,711,-1.53,-58.4,112.8,-16.8,77,715,0.00,2.40,0.00,0.000,4,0.000,0.044,2781,288,2875,0,0,0,0,0,0
$GC,726,-1.59,-58.4,115.2,-15.6,78,731,0.12,2.30,0.00,0.000,6,0.064,0.018,2743,1745,2876,0,0,0,0,0,0
$GC,986,-1.59,-58.4,145.8,-11.2,98,990,0.00,2.47,0.00,0.000,4,0.000,0.044,2743,296,2877,0,0,0,0,0,0
$GC,1019,-1.55,-58.4,150.5,-13.5,100,1026,0.00,2.25,0.00,0.000,6,0.000,0.018,2742,1708,2876,0,0,0,0,0,0
$GC,1282,-1.58,-58.4,177.4,-9.6,121,1283,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1714,2878,0,0,0,0,0,0
$GC,1547,-1.63,-58.4,205.0,-10.5,141,1551,0.00,2.20,0.00,0.000,4,0.000,0.024,2743,3064,2878,0,0,0,0,0,0
$GC,1642,-1.72,-58.4,213.7,-9.2,145,1646,0.00,2.28,0.00,0.000,6,0.000,0.032,2743,1693,2878,0,0,0,0,0,0
$GC,1969,-1.76,-58.4,246.1,-9.4,161,1971,0.12,0.00,0.00,0.000,6,0.068,0.000,2706,1693,2878,0,0,0,0,0,0
$GC,2276,-1.76,-58.4,285.6,-12.8,176,2278,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1692,2877,0,0,0,0,0,0
$GC,2604,-1.76,-58.4,326.9,-12.0,187,2605,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1692,2876,0,0,0,0,0,0
$GC,2929,-1.76,-58.4,363.2,-10.7,195,2933,0.00,2.30,0.00,0.000,4,0.000,0.028,2705,3062,2875,0,0,0,0,0,0
$GC,3120,-1.81,-58.4,384.0,-10.0,199,3125,0.00,2.30,0.00,0.000,6,0.000,0.038,2705,1701,2874,0,0,0,0,0,0
$GC,3440,-1.81,-58.4,418.2,-10.3,207,3444,0.00,2.42,0.00,0.000,4,0.000,0.054,2705,296,2872,0,0,0,0,0,0
$GC,3465,-1.76,-58.4,421.3,-11.8,207,3469,0.00,2.22,0.00,0.000,6,0.000,0.025,2705,1676,2871,0,0,0,0,0,0
$STATE,3762,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3762,begin apogee
$GC,3768,-0.31,0.0,452.2,9.8,215,3821,1.55,0.00,49.28,0.825,6,0.079,0.000,3030,1680,2630,0,0,0,0,0,0
$STATE,3822,end apogee,CONTROL_FINISHED_OK
$STATE,3822,begin climb
$GC,3825,1.56,58.4,453.2,0.0,216,3883,1.75,2.50,50.15,0.810,4,0.031,0.052,3446,290,2391,0,0,0,0,0,0
$GC,4151,1.21,108.8,445.9,3.4,223,4201,0.43,2.33,43.67,0.814,6,0.107,0.025,3365,1710,2186,0,0,0,0,0,0
$GC,4511,1.11,111.5,420.0,7.6,232,4513,0.12,0.00,0.00,0.000,6,0.119,0.000,3342,1710,2177,0,0,0,0,0,0
$GC,4835,1.06,111.5,391.8,8.9,240,4836,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,1711,2175,0,0,0,0,0,0
$GC,5160,1.02,118.1,367.0,7.3,248,5172,0.00,2.55,7.25,0.663,4,0.000,0.054,3342,296,2148,0,0,0,0,0,0
$GC,5284,0.87,118.1,356.8,8.4,250,5289,0.28,2.30,0.00,0.000,6,0.101,0.027,3289,1693,2144,0,0,0,0,0,0
$GC,5621,0.99,160.3,341.9,4.1,259,5667,0.12,2.42,38.70,0.784,4,0.071,0.031,3324,3079,1975,0,0,0,0,0,0
$GC,5719,1.04,160.3,334.7,9.2,261,5723,0.00,2.38,0.00,0.000,6,0.000,0.040,3323,1700,1975,0,0,0,0,0,0
$GC,6037,1.04,160.3,307.2,8.2,269,6038,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,1700,1970,0,0,0,0,0,0
$GC,6347,1.04,160.3,282.6,8.8,281,6351,0.00,2.47,0.00,0.000,4,0.000,0.054,3323,296,1968,0,0,0,0,0,0
$GC,6392,0.97,160.3,278.1,11.4,283,6397,0.00,2.33,0.00,0.000,6,0.000,0.026,3323,1712,1965,0,0,0,0,0,0
$GC,6724,0.97,160.3,244.3,10.1,299,6728,0.00,2.28,0.00,0.000,4,0.000,0.029,3323,3082,1965,0,0,0,0,0,0
$GC,6747,1.03,160.3,241.6,10.4,300,6752,0.00,2.38,0.00,0.000,6,0.000,0.038,3323,1698,1965,0,0,0,0,0,0
$GC,7072,1.07,160.3,212.8,7.9,316,7076,0.00,2.45,0.00,0.000,4,0.000,0.052,3323,293,1964,0,0,0,0,0,0
$GC,7181,1.01,160.3,202.9,9.9,320,7187,0.00,2.33,0.00,0.000,6,0.000,0.025,3324,1706,1961,0,0,0,0,0,0
$GC,7509,1.09,184.1,180.0,5.8,345,7537,0.00,2.38,19.85,0.650,4,0.000,0.028,3324,3079,1879,0,0,0,0,0,0
$GC,7562,1.18,184.1,176.1,8.0,348,7569,0.10,2.40,0.00,0.000,6,0.040,0.036,3360,1703,1878,0,0,0,0,0,0
$GC,7822,1.18,184.1,151.9,8.8,369,7826,0.00,2.45,0.00,0.000,4,0.000,0.049,3360,287,1876,0,0,0,0,0,0
$GC,8086,1.09,184.1,124.1,10.8,388,8091,0.12,2.30,0.00,0.000,6,0.110,0.021,3337,1710,1872,0,0,0,0,0,0
$GC,8348,1.16,184.1,102.6,8.4,408,8352,0.00,2.25,0.00,0.000,4,0.000,0.025,3337,3077,1872,0,0,0,0,0,0
$GC,8516,1.33,221.3,89.6,4.5,420,8556,0.22,2.33,33.00,0.578,6,0.048,0.031,3397,1695,1726,0,0,0,0,0,0
$GC,8821,1.34,227.7,66.6,7.3,444,8832,0.00,0.00,6.65,0.452,6,0.000,0.000,3398,1694,1699,0,0,0,0,0,0
$GC,9086,1.34,227.7,44.2,8.8,465,9090,0.00,2.40,0.00,0.000,4,0.000,0.044,3397,294,1699,0,0,0,0,0,0
$GC,9112,1.24,227.7,41.4,11.7,467,9117,0.15,2.25,0.00,0.000,6,0.102,0.019,3369,1713,1697,0,0,0,0,0,0
$GC,9377,1.29,227.7,18.2,10.1,507,9384,0.00,2.47,0.00,0.000,4,0.000,0.044,3368,297,1697,0,0,0,0,0,0
$GC,9412,1.29,227.7,14.7,9.6,514,9419,0.00,2.22,0.00,0.000,6,0.000,0.018,3369,1706,1697,0,0,0,0,0,0
$STATE,9534,end climb,SURFACE_DEPTH_REACHED
$STATE,9534,begin surface coast
$FINISH,0.8,0.999228
$STATE,9571,end surface coast,CONTROL_FINISHED_OK
$STATE,9571,begin surface
$SM_CCo,9595,100.25,0.486,0,0,958,410.14
$SM_GC,1.63,0.00,0.00,100.25,0.000,0.000,0.486,428,1711,958,-12.29,0.31,410.14
$IRIDIUM_FIX,2050.21,-15744.48,021299,131326
$TT8_MAMPS,0.029146
$HUMID,54.52
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,420.5,59.8
$24V_AH,23.5,33.318
$10V_AH,10.2,27.843
$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,30.325,84.775,248.550,100.250,0.000,28.689,28.125,169.373,4.500,0.000,11.165,1072.163,6400.217,398.393,1699.481,469.468,0.000,1138.793,0.000,1678.907,0.000,30.699,0.000
$DEVICE_MAMPS,132.691,54.457,825.292,486.278,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,370.736,349.012,800.233,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,31771,550
$CAP_FILE_SIZE,101044,0
$CFSIZE,260165632,193372160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070910,184524,2057.740,-15748.572,40,0.9,58,9.8