version: 66.06
glider: 139
mission: 8
dive: 365
start: 9 5 110 6 40 37
data:
$ID,139
$MISSION,8
$DIVE,365
$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,-2158593.5
$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,26
$R_STBD_OVSHOOT,73
$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
$GPS1,062501,2057.549,-15752.369,38,2.0,38,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-67.7
$GPS2,064019,2057.306,-15752.494,16,1.7,21,9.8
$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,36.6,22848,-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,-58.4,0.0,0.0,0,104,0.00,0.00,-85.53,0.000,3,0.000,0.000,429,1709,2869,0,0,0,0,0,0
$GC,107,-1.56,-58.4,3.4,-3.4,16,125,12.48,2.28,0.00,0.000,4,0.135,0.025,2752,3069,2872,0,0,0,0,0,0
$GC,164,-1.39,-58.4,20.8,-25.9,27,171,0.17,2.35,0.00,0.000,6,0.084,0.033,2791,1699,2872,0,0,0,0,0,0
$GC,363,-1.39,-58.4,54.4,-14.5,49,367,0.00,2.22,0.00,0.000,4,0.000,0.020,2791,3072,2873,0,0,0,0,0,0
$GC,389,-1.45,-58.4,57.6,-13.0,51,393,0.00,2.33,0.00,0.000,6,0.000,0.032,2791,1692,2873,0,0,0,0,0,0
$GC,654,-1.51,-58.4,94.2,-11.7,72,658,0.00,2.38,0.00,0.000,4,0.000,0.045,2791,294,2873,0,0,0,0,0,0
$GC,678,-1.51,-58.4,97.4,-13.3,74,682,0.00,2.22,0.00,0.000,6,0.000,0.018,2791,1704,2873,0,0,0,0,0,0
$GC,945,-1.56,-58.4,125.7,-11.2,95,950,0.15,2.45,0.00,0.000,4,0.057,0.046,2745,286,2874,0,0,0,0,0,0
$GC,1001,-1.45,-58.4,135.4,-18.6,99,1005,0.17,2.20,0.00,0.000,6,0.096,0.018,2780,1699,2874,0,0,0,0,0,0
$GC,1263,-1.54,-58.4,171.7,-14.8,119,1267,0.00,2.22,0.00,0.000,4,0.000,0.022,2780,3067,2874,0,0,0,0,0,0
$GC,1331,-1.67,-58.4,180.4,-12.0,124,1336,0.20,2.30,0.00,0.000,6,0.048,0.031,2721,1693,2874,0,0,0,0,0,0
$GC,1609,-1.67,-58.4,214.4,-10.8,142,1613,0.00,2.28,0.00,0.000,4,0.000,0.023,2721,3070,2874,0,0,0,0,0,0
$GC,1669,-1.71,-58.4,220.8,-9.7,144,1675,0.00,2.33,0.00,0.000,6,0.000,0.031,2721,1695,2874,0,0,0,0,0,0
$GC,1984,-1.71,-58.4,255.7,-11.6,160,1988,0.00,2.25,0.00,0.000,4,0.000,0.023,2721,3065,2874,0,0,0,0,0,0
$GC,2004,-1.75,-58.4,258.0,-11.8,160,2012,0.00,2.33,0.00,0.000,6,0.000,0.033,2721,1698,2875,0,0,0,0,0,0
$GC,2319,-1.78,-58.4,294.6,-11.8,176,2321,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1697,2874,0,0,0,0,0,0
$GC,2626,-1.82,-58.4,327.5,-10.2,185,2630,0.00,2.30,0.00,0.000,4,0.000,0.026,2721,3065,2873,0,0,0,0,0,0
$GC,2763,-1.90,-58.4,340.9,-9.9,188,2768,0.15,2.33,0.00,0.000,6,0.060,0.035,2677,1696,2872,0,0,0,0,0,0
$GC,3096,-1.84,-58.4,384.0,-13.3,196,3101,0.10,2.30,0.00,0.000,4,0.116,0.028,2696,3069,2870,0,0,0,0,0,0
$GC,3196,-1.88,-58.4,396.0,-10.9,198,3200,0.00,2.35,0.00,0.000,6,0.000,0.038,2696,1692,2870,0,0,0,0,0,0
$GC,3515,-1.88,-58.4,430.2,-10.6,206,3519,0.00,2.33,0.00,0.000,4,0.000,0.031,2697,3062,2867,0,0,0,0,0,0
$GC,3543,-1.92,-58.4,433.1,-10.3,206,3547,0.00,2.33,0.00,0.000,6,0.000,0.040,2696,1695,2866,0,0,0,0,0,0
$STATE,3720,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3720,begin apogee
$GC,3726,-0.31,0.0,451.4,10.3,211,3778,1.60,0.00,48.25,0.825,6,0.084,0.000,3029,1695,2630,0,0,0,0,0,0
$STATE,3779,end apogee,CONTROL_FINISHED_OK
$STATE,3779,begin climb
$GC,3782,1.56,58.4,452.9,0.0,212,3841,1.77,2.50,50.22,0.808,4,0.030,0.051,3452,293,2391,0,0,0,0,0,0
$GC,4013,1.19,104.2,448.8,3.8,217,4060,0.47,2.30,40.03,0.807,6,0.106,0.025,3361,1689,2205,0,0,0,0,0,0
$GC,4383,1.08,104.2,421.0,8.0,226,4388,0.12,2.40,0.00,0.000,4,0.118,0.032,3338,3082,2197,0,0,0,0,0,0
$GC,4409,1.05,112.8,419.2,7.1,226,4421,0.00,2.40,7.55,0.673,6,0.000,0.040,3338,1694,2170,0,0,0,0,0,0
$GC,4748,1.00,114.3,393.3,7.8,234,4753,0.00,2.35,0.00,0.000,4,0.000,0.032,3338,3082,2165,0,0,0,0,0,0
$GC,4814,1.00,115.5,388.1,7.8,235,4819,0.00,2.40,0.00,0.000,6,0.000,0.041,3338,1698,2165,0,0,0,0,0,0
$GC,5160,0.97,136.5,365.6,6.0,244,5189,0.12,2.38,21.58,0.777,4,0.119,0.030,3315,3073,2072,0,0,0,0,0,0
$GC,5264,1.02,136.5,358.0,8.0,246,5268,0.00,2.40,0.00,0.000,6,0.000,0.041,3315,1696,2071,0,0,0,0,0,0
$GC,5577,1.02,136.5,329.5,9.6,254,5581,0.00,2.47,0.00,0.000,4,0.000,0.056,3315,296,2067,0,0,0,0,0,0
$GC,5656,0.94,136.5,321.7,9.3,255,5660,0.00,2.33,0.00,0.000,6,0.000,0.027,3316,1701,2064,0,0,0,0,0,0
$GC,5970,0.95,141.5,296.2,7.4,263,5975,0.00,0.00,4.03,0.489,6,0.000,0.000,3315,1707,2053,0,0,0,0,0,0
$GC,6277,1.00,149.6,274.3,7.2,278,6293,0.00,2.53,9.00,0.659,4,0.000,0.054,3315,296,2020,0,0,0,0,0,0
$GC,6347,0.95,149.6,267.7,10.2,281,6352,0.00,2.30,0.00,0.000,6,0.000,0.026,3315,1702,2017,0,0,0,0,0,0
$GC,6679,1.00,155.4,241.7,7.4,297,6691,0.00,2.55,6.12,0.578,4,0.000,0.052,3314,296,1996,0,0,0,0,0,0
$GC,6734,0.96,155.4,236.3,10.2,299,6738,0.00,2.33,0.00,0.000,6,0.000,0.025,3315,1708,1993,0,0,0,0,0,0
$GC,7056,1.02,155.4,211.6,8.8,315,7060,0.00,2.50,0.00,0.000,4,0.000,0.051,3315,288,1993,0,0,0,0,0,0
$GC,7079,1.02,155.4,209.6,8.0,316,7083,0.00,2.33,0.00,0.000,6,0.000,0.024,3315,1711,1992,0,0,0,0,0,0
$GC,7410,1.11,165.2,184.9,7.0,338,7427,0.12,2.30,9.85,0.601,4,0.069,0.025,3352,3082,1955,0,0,0,0,0,0
$GC,7527,1.15,165.2,174.5,9.4,346,7531,0.00,2.35,0.00,0.000,6,0.000,0.034,3352,1692,1955,0,0,0,0,0,0
$GC,7791,1.15,165.2,152.9,7.9,367,7795,0.00,2.40,0.00,0.000,4,0.000,0.048,3352,296,1954,0,0,0,0,0,0
$GC,7819,1.07,165.2,150.6,8.3,369,7823,0.00,2.28,0.00,0.000,6,0.000,0.021,3352,1713,1953,0,0,0,0,0,0
$GC,8080,1.07,167.3,132.0,7.7,389,8084,0.00,2.22,0.00,0.000,4,0.000,0.025,3352,3078,1952,0,0,0,0,0,0
$GC,8154,1.13,168.2,126.0,7.8,394,8164,0.00,2.35,4.00,0.393,6,0.000,0.031,3352,1697,1943,0,0,0,0,0,0
$GC,8431,1.21,192.8,108.6,5.7,416,8456,0.00,0.00,23.23,0.570,6,0.000,0.000,3353,1697,1843,0,0,0,0,0,0
$GC,8706,1.27,192.8,89.4,9.3,438,8711,0.10,2.42,0.00,0.000,4,0.075,0.046,3385,292,1841,0,0,0,0,0,0
$GC,8795,1.18,192.8,79.0,11.3,444,8802,0.10,2.28,0.00,0.000,6,0.084,0.019,3361,1707,1839,0,0,0,0,0,0
$GC,9058,1.27,208.6,60.3,6.5,465,9079,0.00,2.47,14.82,0.504,4,0.000,0.043,3360,297,1778,0,0,0,0,0,0
$GC,9129,1.27,208.6,54.2,9.6,470,9133,0.00,2.25,0.00,0.000,6,0.000,0.018,3360,1711,1774,0,0,0,0,0,0
$GC,9389,1.34,208.6,31.2,9.7,490,9394,0.12,2.47,0.00,0.000,4,0.064,0.044,3401,292,1774,0,0,0,0,0,0
$GC,9409,1.29,208.6,29.3,8.7,491,9416,0.00,2.25,0.00,0.000,6,0.000,0.018,3401,1703,1774,0,0,0,0,0,0
$STATE,9654,end climb,SURFACE_DEPTH_REACHED
$STATE,9654,begin surface coast
$FINISH,0.9,1.006695
$STATE,9681,end surface coast,CONTROL_FINISHED_OK
$STATE,9684,begin surface
$SM_CCo,9706,183.23,0.479,0,0,449,534.75
$SM_GC,1.48,0.00,0.00,183.23,0.000,0.000,0.479,430,1706,449,-12.28,0.25,534.75
$IRIDIUM_FIX,2047.91,-15750.49,301199,060613
$TT8_MAMPS,0.029146
$HUMID,53.11
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,31.569
$10V_AH,10.2,26.297
$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,30.825,112.550,238.675,183.225,0.000,141.510,400.422,0.000,4.500,0.000,21.267,1108.714,6679.114,498.559,1719.149,801.040,0.000,1265.982,0.000,1688.412,0.000,29.250,0.000
$DEVICE_MAMPS,134.992,55.991,825.292,478.608,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,373.016,354.638,807.136,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355680
$DATA_FILE_SIZE,31813,554
$CAP_FILE_SIZE,110072,0
$CFSIZE,260165632,194367488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050910,092635,2057.123,-15752.566,10,2.5,29,9.8