version: 66.06
glider: 139
mission: 8
dive: 373
start: 9 6 110 4 28 1
data:
$ID,139
$MISSION,8
$DIVE,373
$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,-2158761.8
$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
$GPS1,042237,2056.377,-15752.397,41,0.9,41,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-72.0
$GPS2,042744,2056.299,-15752.439,16,2.0,16,9.8
$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,33.2,24107,-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,-64.53,0.000,2,0.000,0.000,430,1689,2737,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.2,-2.9,12,110,12.45,2.42,-2.58,0.000,4,0.133,0.039,2752,3108,2872,0,0,0,0,0,0
$GC,187,-1.56,-58.4,26.3,-16.7,33,193,0.00,2.42,0.00,0.000,6,0.000,0.034,2752,1699,2873,0,0,0,0,0,0
$GC,386,-1.49,-58.4,59.9,-15.8,51,391,0.10,2.42,0.00,0.000,4,0.119,0.047,2770,293,2875,0,0,0,0,0,0
$GC,402,-1.41,-58.4,62.7,-16.3,52,407,0.10,2.33,0.00,0.000,6,0.118,0.018,2789,1744,2875,0,0,0,0,0,0
$GC,663,-1.46,-58.4,99.4,-14.8,72,667,0.00,2.45,0.00,0.000,4,0.000,0.044,2789,299,2876,0,0,0,0,0,0
$GC,679,-1.46,-58.4,102.1,-15.5,73,683,0.00,2.22,0.00,0.000,6,0.000,0.018,2789,1717,2876,0,0,0,0,0,0
$GC,945,-1.56,-58.4,137.6,-11.5,94,950,0.12,2.45,0.00,0.000,4,0.064,0.044,2747,293,2877,0,0,0,0,0,0
$GC,960,-1.60,-58.4,139.7,-11.0,95,965,0.00,2.20,0.00,0.000,6,0.000,0.018,2747,1710,2876,0,0,0,0,0,0
$GC,1226,-1.60,-58.4,168.9,-11.9,116,1231,0.00,2.42,0.00,0.000,4,0.000,0.045,2747,293,2877,0,0,0,0,0,0
$GC,1281,-1.60,-58.4,176.1,-12.2,120,1285,0.00,2.20,0.00,0.000,6,0.000,0.018,2747,1693,2878,0,0,0,0,0,0
$GC,1549,-1.64,-58.4,206.1,-12.2,139,1553,0.00,2.28,0.00,0.000,4,0.000,0.024,2747,3078,2877,0,0,0,0,0,0
$GC,1604,-1.75,-58.4,213.5,-11.3,141,1609,0.12,2.30,0.00,0.000,6,0.064,0.031,2705,1695,2878,0,0,0,0,0,0
$GC,1923,-1.72,-58.4,254.2,-11.7,156,1927,0.00,2.28,0.00,0.000,4,0.000,0.024,2705,3069,2878,0,0,0,0,0,0
$GC,1982,-1.72,-58.4,261.4,-11.4,158,1989,0.00,2.33,0.00,0.000,6,0.000,0.035,2705,1707,2878,0,0,0,0,0,0
$GC,2297,-1.72,-58.4,295.3,-10.5,174,2301,0.00,2.28,0.00,0.000,4,0.000,0.025,2705,3073,2877,0,0,0,0,0,0
$GC,2354,-1.77,-58.4,301.5,-10.9,176,2358,0.00,2.33,0.00,0.000,6,0.000,0.035,2705,1698,2878,0,0,0,0,0,0
$GC,2689,-1.77,-58.4,337.0,-10.2,185,2693,0.00,2.28,0.00,0.000,4,0.000,0.028,2705,3070,2876,0,0,0,0,0,0
$GC,2788,-1.83,-58.4,347.2,-10.8,187,2793,0.00,2.30,0.00,0.000,6,0.000,0.036,2705,1703,2876,0,0,0,0,0,0
$GC,3109,-1.83,-58.4,380.6,-10.5,195,3113,0.00,2.30,0.00,0.000,4,0.000,0.028,2705,3072,2875,0,0,0,0,0,0
$GC,3137,-1.88,-58.4,384.5,-12.5,195,3141,0.00,2.35,0.00,0.000,6,0.000,0.038,2705,1699,2874,0,0,0,0,0,0
$GC,3474,-1.88,-58.4,424.2,-11.6,204,3478,0.00,2.28,0.00,0.000,4,0.000,0.029,2705,3066,2871,0,0,0,0,0,0
$GC,3511,-1.93,-58.4,428.2,-10.3,204,3516,0.12,2.35,0.00,0.000,6,0.068,0.040,2668,1697,2871,0,0,0,0,0,0
$STATE,3719,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3719,begin apogee
$GC,3725,-0.31,0.0,453.5,12.4,209,3779,1.75,0.00,49.30,0.831,6,0.084,0.000,3031,1697,2630,0,0,0,0,0,0
$STATE,3779,end apogee,CONTROL_FINISHED_OK
$STATE,3780,begin climb
$GC,3783,1.56,58.4,455.3,0.0,210,3844,1.75,2.50,50.60,0.815,4,0.029,0.051,3450,294,2389,0,0,0,0,0,0
$GC,3860,1.29,159.9,456.3,-1.2,211,3961,0.35,2.30,88.95,0.818,6,0.108,0.025,3385,1699,1978,0,0,0,0,0,0
$GC,4284,1.15,159.9,411.7,11.7,222,4289,0.17,2.53,0.00,0.000,4,0.106,0.057,3351,296,1969,0,0,0,0,0,0
$GC,4338,0.98,159.9,404.9,12.9,223,4343,0.20,2.30,0.00,0.000,6,0.107,0.027,3314,1692,1965,0,0,0,0,0,0
$GC,4657,0.98,159.9,372.0,10.6,231,4661,0.00,2.47,0.00,0.000,4,0.000,0.055,3314,294,1963,0,0,0,0,0,0
$GC,4732,0.90,159.9,361.5,14.6,232,4736,0.00,2.33,0.00,0.000,6,0.000,0.027,3314,1705,1960,0,0,0,0,0,0
$GC,5068,0.90,159.9,319.0,12.7,241,5069,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1710,1959,0,0,0,0,0,0
$GC,5377,0.94,159.9,285.4,10.4,251,5381,0.00,2.50,0.00,0.000,4,0.000,0.054,3314,295,1958,0,0,0,0,0,0
$GC,5392,0.94,159.9,283.5,10.6,251,5398,0.00,2.35,0.00,0.000,6,0.000,0.027,3314,1710,1956,0,0,0,0,0,0
$GC,5710,1.01,167.3,257.8,7.2,267,5714,0.00,2.50,0.00,0.000,4,0.000,0.053,3313,294,1956,0,0,0,0,0,0
$GC,5755,1.01,167.3,253.8,8.6,269,5760,0.00,2.33,0.00,0.000,6,0.000,0.026,3314,1707,1954,0,0,0,0,0,0
$GC,6083,1.08,167.3,225.6,8.8,285,6087,0.00,2.28,0.00,0.000,4,0.000,0.028,3314,3079,1953,0,0,0,0,0,0
$GC,6127,1.18,167.3,221.8,9.2,287,6132,0.20,2.38,0.00,0.000,6,0.053,0.036,3367,1691,1953,0,0,0,0,0,0
$GC,6458,1.15,167.3,188.2,9.6,306,6463,0.00,2.42,0.00,0.000,4,0.000,0.049,3368,296,1952,0,0,0,0,0,0
$GC,6646,1.02,167.3,170.8,10.7,320,6651,0.22,2.30,0.00,0.000,6,0.096,0.022,3323,1713,1950,0,0,0,0,0,0
$GC,6915,1.10,177.9,153.2,6.9,341,6932,0.00,2.30,12.12,0.591,4,0.000,0.025,3323,3077,1904,0,0,0,0,0,0
$GC,7037,1.23,184.0,145.0,7.4,350,7053,0.20,2.33,7.32,0.525,6,0.051,0.033,3378,1697,1878,0,0,0,0,0,0
$GC,7305,1.23,184.0,119.9,9.9,371,7309,0.00,2.40,0.00,0.000,4,0.000,0.047,3378,297,1876,0,0,0,0,0,0
$GC,7572,1.14,184.0,93.2,8.9,390,7579,0.12,2.28,0.00,0.000,6,0.080,0.020,3349,1712,1873,0,0,0,0,0,0
$GC,7836,1.24,192.1,73.4,7.2,411,7851,0.00,2.50,7.90,0.476,4,0.000,0.045,3348,299,1846,0,0,0,0,0,0
$GC,7862,1.30,200.3,71.2,7.2,412,7877,0.10,2.25,8.85,0.482,6,0.035,0.019,3388,1709,1812,0,0,0,0,0,0
$GC,8131,1.31,204.4,49.5,7.5,433,8146,0.00,2.45,5.15,0.385,4,0.000,0.042,3388,296,1795,0,0,0,0,0,0
$GC,8190,1.21,204.4,44.4,8.9,437,8195,0.12,2.20,0.00,0.000,6,0.104,0.018,3364,1706,1794,0,0,0,0,0,0
$GC,8454,1.27,204.4,22.3,9.6,469,8461,0.00,2.45,0.00,0.000,4,0.000,0.044,3363,303,1793,0,0,0,0,0,0
$GC,8506,1.21,204.4,16.9,10.4,480,8513,0.00,2.22,0.00,0.000,6,0.000,0.018,3364,1704,1793,0,0,0,0,0,0
$STATE,8673,end climb,SURFACE_DEPTH_REACHED
$STATE,8673,begin surface coast
$FINISH,1.0,1.023350
$STATE,8704,end surface coast,CONTROL_FINISHED_OK
$STATE,8704,begin surface
$SM_CCo,8727,117.78,0.484,0,0,957,410.14
$SM_GC,1.66,0.00,0.00,117.78,0.000,0.000,0.484,427,1709,957,-12.30,0.25,410.14
$IRIDIUM_FIX,2050.21,-15752.63,011299,010149
$TT8_MAMPS,0.029146
$HUMID,54.17
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,32.242
$10V_AH,10.2,26.885
$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,30.900,108.025,230.200,117.775,0.000,29.651,29.738,122.944,4.500,0.000,17.055,1033.080,5659.277,418.544,1608.194,431.000,0.000,1132.386,0.000,1584.703,0.000,29.268,0.000
$DEVICE_MAMPS,133.458,56.758,831.428,483.977,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,353.272,344.410,799.868,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355712
$DATA_FILE_SIZE,28679,525
$CAP_FILE_SIZE,102281,0
$CFSIZE,260165632,194056192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060910,065636,2056.319,-15752.038,16,1.4,32,9.8