version: 66.06
glider: 139
mission: 8
dive: 364
start: 9 5 110 3 47 40
data:
$ID,139
$MISSION,8
$DIVE,364
$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,534.75397
$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,-2158571.5
$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,29
$R_STBD_OVSHOOT,72
$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
$GPS1,033152,2057.865,-15752.505,15,2.3,34,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-67.5
$GPS2,034722,2057.636,-15752.637,18,2.3,37,9.8
$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,38.2,22613,-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,13,begin dive
$GC,15,-1.56,-58.4,0.0,0.0,0,98,0.00,0.00,-80.53,0.000,2,0.000,0.000,427,1699,2712,0,0,0,0,0,0
$GC,102,-1.56,-58.4,3.0,-2.8,15,126,12.52,2.30,-3.15,0.000,4,0.137,0.038,2755,3064,2871,0,0,0,0,0,0
$GC,191,-1.56,-58.4,22.0,-14.8,33,198,0.00,2.33,0.00,0.000,6,0.000,0.030,2755,1693,2872,0,0,0,0,0,0
$GC,396,-1.47,-58.4,61.9,-19.0,54,397,0.12,0.00,0.00,0.000,6,0.115,0.000,2778,1693,2872,0,0,0,0,0,0
$GC,647,-1.47,-58.4,99.2,-14.0,74,652,0.00,2.38,0.00,0.000,4,0.000,0.045,2777,296,2873,0,0,0,0,0,0
$GC,672,-1.43,-58.4,103.0,-14.5,75,677,0.00,2.22,0.00,0.000,6,0.000,0.018,2778,1710,2873,0,0,0,0,0,0
$GC,930,-1.49,-58.4,136.5,-11.9,96,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1715,2873,0,0,0,0,0,0
$GC,1184,-1.57,-58.4,164.7,-11.0,116,1185,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1715,2873,0,0,0,0,0,0
$GC,1435,-1.67,-58.4,187.4,-8.7,136,1440,0.17,2.25,0.00,0.000,4,0.053,0.023,2727,3074,2874,0,0,0,0,0,0
$GC,1469,-1.71,-58.4,190.6,-9.6,138,1476,0.00,2.33,0.00,0.000,6,0.000,0.034,2727,1705,2873,0,0,0,0,0,0
$GC,1729,-1.71,-58.4,217.8,-10.8,154,1733,0.00,2.40,0.00,0.000,4,0.000,0.045,2727,289,2873,0,0,0,0,0,0
$GC,1751,-1.68,-58.4,220.4,-13.0,155,1755,0.00,2.25,0.00,0.000,6,0.000,0.019,2727,1703,2874,0,0,0,0,0,0
$GC,2083,-1.68,-58.4,261.4,-13.1,171,2087,0.00,2.28,0.00,0.000,4,0.000,0.025,2727,3075,2873,0,0,0,0,0,0
$GC,2112,-1.76,-58.4,265.3,-12.0,172,2116,0.00,2.33,0.00,0.000,6,0.000,0.033,2727,1693,2874,0,0,0,0,0,0
$GC,2455,-1.80,-58.4,303.8,-9.7,188,2459,0.00,2.30,0.00,0.000,4,0.000,0.026,2727,3074,2873,0,0,0,0,0,0
$GC,2608,-1.90,-58.4,318.5,-8.9,191,2612,0.17,2.30,0.00,0.000,6,0.054,0.035,2678,1701,2872,0,0,0,0,0,0
$GC,2959,-1.84,-58.4,359.5,-11.2,200,2964,0.00,2.30,0.00,0.000,4,0.000,0.028,2678,3074,2869,0,0,0,0,0,0
$GC,3057,-1.84,-58.4,370.2,-10.5,202,3061,0.00,2.33,0.00,0.000,6,0.000,0.037,2678,1697,2869,0,0,0,0,0,0
$GC,3381,-1.79,-58.4,405.0,-11.6,210,3385,0.15,2.33,0.00,0.000,4,0.104,0.030,2707,3076,2866,0,0,0,0,0,0
$GC,3395,-1.79,-58.4,406.9,-11.8,210,3399,0.00,2.38,0.00,0.000,6,0.000,0.038,2707,1690,2867,0,0,0,0,0,0
$GC,3746,-1.79,-58.4,446.7,-11.0,219,3750,0.00,2.30,0.00,0.000,4,0.000,0.031,2707,3068,2863,0,0,0,0,0,0
$STATE,3776,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3776,begin apogee
$GC,3784,-0.31,0.0,450.2,10.3,219,3838,1.52,0.00,47.85,0.823,6,0.083,0.000,3028,1694,2630,0,0,0,0,0,0
$STATE,3839,end apogee,CONTROL_FINISHED_OK
$STATE,3839,begin climb
$GC,3841,1.56,58.4,451.6,0.0,221,3902,1.77,2.50,50.53,0.807,4,0.029,0.051,3452,293,2389,0,0,0,0,0,0
$GC,3971,1.19,111.7,450.0,3.1,223,4025,0.47,2.30,47.05,0.804,6,0.107,0.025,3361,1694,2174,0,0,0,0,0,0
$GC,4348,1.09,111.7,419.6,8.6,233,4350,0.12,0.00,0.00,0.000,6,0.117,0.000,3338,1694,2163,0,0,0,0,0,0
$GC,4674,1.04,115.6,394.5,7.5,241,4678,0.00,2.47,0.00,0.000,4,0.000,0.056,3338,291,2161,0,0,0,0,0,0
$GC,4754,0.90,119.9,387.9,7.5,242,4767,0.20,2.33,5.45,0.599,6,0.108,0.027,3300,1698,2141,0,0,0,0,0,0
$GC,5097,0.97,145.6,368.1,5.6,251,5128,0.00,2.40,24.50,0.779,4,0.000,0.031,3299,3079,2035,0,0,0,0,0,0
$GC,5179,1.06,150.2,362.4,7.5,252,5191,0.15,2.40,5.70,0.598,6,0.062,0.041,3339,1693,2017,0,0,0,0,0,0
$GC,5521,1.03,150.2,328.0,10.2,261,5526,0.00,2.45,0.00,0.000,4,0.000,0.055,3339,294,2012,0,0,0,0,0,0
$GC,5537,0.95,150.2,325.9,10.8,261,5542,0.17,2.33,0.00,0.000,6,0.110,0.028,3307,1698,2010,0,0,0,0,0,0
$GC,5869,1.00,150.2,293.0,8.7,271,5873,0.00,2.30,0.00,0.000,4,0.000,0.031,3307,3081,2009,0,0,0,0,0,0
$GC,5893,1.09,150.2,290.5,9.4,272,5898,0.15,2.38,0.00,0.000,6,0.063,0.041,3347,1694,2009,0,0,0,0,0,0
$GC,6219,1.09,150.2,257.5,10.3,288,6223,0.00,2.45,0.00,0.000,4,0.000,0.054,3348,293,2008,0,0,0,0,0,0
$GC,6311,0.97,150.2,248.3,9.3,292,6316,0.17,2.33,0.00,0.000,6,0.105,0.025,3314,1709,2005,0,0,0,0,0,0
$GC,6640,1.04,154.6,221.3,7.5,308,6644,0.00,2.28,0.00,0.000,4,0.000,0.029,3314,3078,2004,0,0,0,0,0,0
$GC,6661,1.14,162.3,219.6,7.2,309,6678,0.15,2.35,10.18,0.635,6,0.061,0.038,3356,1696,1968,0,0,0,0,0,0
$GC,7001,1.14,162.3,183.8,10.3,330,7005,0.00,2.45,0.00,0.000,4,0.000,0.051,3356,297,1965,0,0,0,0,0,0
$GC,7225,1.04,162.3,160.4,9.7,346,7233,0.12,2.30,0.00,0.000,6,0.087,0.023,3328,1705,1962,0,0,0,0,0,0
$GC,7487,1.15,193.5,145.8,5.1,367,7522,0.10,2.55,27.83,0.621,4,0.077,0.048,3360,297,1840,0,0,0,0,0,0
$GC,7562,1.07,193.5,140.2,9.7,372,7567,0.15,2.28,0.00,0.000,6,0.105,0.021,3332,1707,1836,0,0,0,0,0,0
$GC,7823,1.17,198.4,118.6,7.5,392,7839,0.10,2.47,5.18,0.449,4,0.076,0.044,3365,296,1820,0,0,0,0,0,0
$GC,7929,1.09,198.4,107.2,11.3,399,7934,0.15,2.25,0.00,0.000,6,0.104,0.020,3337,1712,1819,0,0,0,0,0,0
$GC,8191,1.19,198.4,85.9,7.9,419,8196,0.10,2.50,0.00,0.000,4,0.074,0.046,3371,286,1818,0,0,0,0,0,0
$GC,8291,1.13,198.4,75.2,9.7,426,8296,0.12,2.25,0.00,0.000,6,0.108,0.020,3347,1701,1818,0,0,0,0,0,0
$GC,8553,1.25,204.2,53.5,7.4,446,8569,0.10,2.47,6.55,0.437,4,0.074,0.044,3382,301,1797,0,0,0,0,0,0
$GC,8645,1.18,204.2,44.3,10.1,452,8650,0.12,2.22,0.00,0.000,6,0.109,0.019,3359,1704,1796,0,0,0,0,0,0
$GC,8912,1.27,217.7,23.7,6.7,484,8930,0.00,0.00,13.50,0.472,6,0.000,0.000,3359,1711,1740,0,0,0,0,0,0
$GC,9125,1.34,217.7,3.1,10.7,532,9131,0.15,0.00,0.00,0.000,6,0.057,0.000,3405,1711,1740,0,0,0,0,0,0
$STATE,9136,end climb,SURFACE_DEPTH_REACHED
$STATE,9136,begin surface coast
$FINISH,0.9,1.008727
$STATE,9163,end surface coast,CONTROL_FINISHED_OK
$STATE,9163,begin surface
$SM_CCo,9186,178.15,0.481,0,0,449,534.75
$SM_GC,1.51,0.00,0.00,178.15,0.000,0.000,0.481,430,1708,449,-12.28,0.23,534.75
$IRIDIUM_FIX,2052.52,-15544.44,301199,030310
$TT8_MAMPS,0.028379
$HUMID,53.11
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.5,31.472
$10V_AH,10.3,26.217
$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,32.000,98.675,244.300,178.150,0.000,137.350,400.416,0.000,4.500,0.000,38.642,1061.576,6252.009,488.597,1698.363,793.250,0.000,1243.088,0.000,1649.566,0.000,29.270,0.000
$DEVICE_MAMPS,136.526,55.991,822.991,480.909,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,362.848,347.604,800.438,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355680
$DATA_FILE_SIZE,28719,540
$CAP_FILE_SIZE,106315,0
$CFSIZE,260165632,194445312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050910,062501,2057.549,-15752.369,38,2.0,38,9.8