version: 66.06
glider: 139
mission: 8
dive: 374
start: 9 6 110 7 1 55
data:
$ID,139
$MISSION,8
$DIVE,374
$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,-2158780
$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
$GPS1,065636,2056.319,-15752.038,16,1.4,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-72.9
$GPS2,070138,2056.236,-15752.085,17,1.3,17,9.8
$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,32.0,23781,-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,-64.50,0.000,2,0.000,0.000,427,1707,2775,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.7,-4.2,12,110,12.62,2.50,-1.77,0.000,4,0.138,0.053,2754,289,2872,0,0,0,0,0,0
$GC,157,-1.39,-58.4,24.1,-22.2,26,164,0.17,2.35,0.00,0.000,6,0.087,0.018,2793,1728,2874,0,0,0,0,0,0
$GC,365,-1.39,-58.4,59.8,-17.0,46,369,0.00,2.47,0.00,0.000,4,0.000,0.046,2792,290,2875,0,0,0,0,0,0
$GC,384,-1.35,-58.4,63.6,-18.4,47,390,0.00,2.30,0.00,0.000,6,0.000,0.018,2793,1726,2874,0,0,0,0,0,0
$GC,644,-1.41,-58.4,105.8,-15.1,68,648,0.00,2.45,0.00,0.000,4,0.000,0.045,2792,295,2875,0,0,0,0,0,0
$GC,667,-1.41,-58.4,109.8,-16.6,70,672,0.00,2.22,0.00,0.000,6,0.000,0.018,2792,1713,2875,0,0,0,0,0,0
$GC,939,-1.53,-58.4,141.5,-10.4,91,944,0.12,2.47,0.00,0.000,4,0.063,0.045,2749,292,2876,0,0,0,0,0,0
$GC,993,-1.53,-58.4,148.9,-13.6,95,997,0.00,2.20,0.00,0.000,6,0.000,0.018,2750,1697,2877,0,0,0,0,0,0
$GC,1259,-1.57,-58.4,178.3,-10.8,116,1263,0.00,2.22,0.00,0.000,4,0.000,0.021,2750,3068,2877,0,0,0,0,0,0
$GC,1319,-1.67,-58.4,185.2,-11.9,120,1323,0.00,2.30,0.00,0.000,6,0.000,0.031,2750,1687,2877,0,0,0,0,0,0
$GC,1591,-1.72,-58.4,215.2,-11.6,137,1595,0.12,2.28,0.00,0.000,4,0.065,0.023,2708,3069,2878,0,0,0,0,0,0
$GC,1606,-1.77,-58.4,217.4,-11.8,137,1611,0.00,2.28,0.00,0.000,6,0.000,0.031,2708,1698,2877,0,0,0,0,0,0
$GC,1924,-1.77,-58.4,257.5,-12.8,153,1928,0.00,2.28,0.00,0.000,4,0.000,0.024,2708,3070,2878,0,0,0,0,0,0
$GC,1975,-1.81,-58.4,264.7,-13.0,155,1980,0.00,2.33,0.00,0.000,6,0.000,0.033,2709,1692,2877,0,0,0,0,0,0
$GC,2315,-1.81,-58.4,306.5,-11.8,171,2319,0.00,2.28,0.00,0.000,4,0.000,0.025,2708,3071,2877,0,0,0,0,0,0
$GC,2335,-1.81,-58.4,308.6,-11.1,171,2339,0.00,2.33,0.00,0.000,6,0.000,0.035,2708,1695,2877,0,0,0,0,0,0
$GC,2679,-1.81,-58.4,345.0,-10.1,180,2683,0.00,2.28,0.00,0.000,4,0.000,0.027,2708,3066,2876,0,0,0,0,0,0
$GC,2833,-1.86,-58.4,361.4,-10.5,183,2838,0.00,2.33,0.00,0.000,6,0.000,0.038,2708,1694,2875,0,0,0,0,0,0
$GC,3184,-1.86,-58.4,397.6,-10.1,192,3188,0.00,2.42,0.00,0.000,4,0.000,0.054,2708,295,2873,0,0,0,0,0,0
$GC,3227,-1.81,-58.4,402.6,-11.9,193,3232,0.00,2.25,0.00,0.000,6,0.000,0.025,2708,1679,2872,0,0,0,0,0,0
$GC,3555,-1.81,-58.4,438.6,-10.3,201,3559,0.00,2.35,0.00,0.000,4,0.000,0.032,2708,3085,2870,0,0,0,0,0,0
$STATE,3675,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3675,begin apogee
$GC,3685,-0.31,0.0,450.2,9.6,203,3738,1.52,0.00,49.17,0.829,6,0.083,0.000,3029,1698,2630,0,0,0,0,0,0
$STATE,3739,end apogee,CONTROL_FINISHED_OK
$STATE,3739,begin climb
$GC,3741,1.56,58.4,451.7,0.0,204,3801,1.75,2.40,50.90,0.815,4,0.031,0.031,3448,3084,2390,0,0,0,0,0,0
$GC,4069,1.34,96.4,442.7,4.5,212,4109,0.28,2.40,32.92,0.806,6,0.107,0.038,3395,1693,2236,0,0,0,0,0,0
$GC,4434,1.16,96.4,408.0,10.1,221,4439,0.22,2.40,0.00,0.000,4,0.103,0.031,3351,3085,2228,0,0,0,0,0,0
$GC,4685,1.16,145.3,392.7,3.5,226,4733,0.00,2.40,43.05,0.804,6,0.000,0.041,3351,1701,2036,0,0,0,0,0,0
$GC,5074,1.10,145.3,362.8,8.0,236,5078,0.00,2.47,0.00,0.000,4,0.000,0.058,3351,298,2028,0,0,0,0,0,0
$GC,5145,0.92,145.3,355.2,11.5,237,5150,0.25,2.33,0.00,0.000,6,0.104,0.028,3304,1703,2025,0,0,0,0,0,0
$GC,5486,0.97,145.3,323.5,9.4,246,5491,0.00,2.33,0.00,0.000,4,0.000,0.031,3304,3089,2024,0,0,0,0,0,0
$GC,5501,1.03,145.3,322.2,9.0,246,5505,0.00,2.40,0.00,0.000,6,0.000,0.038,3304,1700,2024,0,0,0,0,0,0
$GC,5833,1.10,145.3,295.9,7.9,255,5838,0.15,2.50,0.00,0.000,4,0.064,0.057,3345,296,2023,0,0,0,0,0,0
$GC,5848,1.10,147.2,294.3,7.7,255,5854,0.00,2.30,0.00,0.000,6,0.000,0.026,3345,1703,2021,0,0,0,0,0,0
$GC,6165,1.10,147.2,266.5,9.3,271,6169,0.00,2.47,0.00,0.000,4,0.000,0.054,3345,290,2021,0,0,0,0,0,0
$GC,6180,1.04,147.2,264.8,9.5,271,6186,0.00,2.33,0.00,0.000,6,0.000,0.025,3345,1707,2019,0,0,0,0,0,0
$GC,6497,1.04,147.2,232.7,9.7,287,6501,0.00,2.28,0.00,0.000,4,0.000,0.029,3345,3078,2019,0,0,0,0,0,0
$GC,6628,1.04,147.2,222.1,7.9,292,6635,0.00,2.40,0.00,0.000,6,0.000,0.038,3345,1696,2018,0,0,0,0,0,0
$GC,6944,1.07,176.0,200.0,5.3,308,6974,0.00,2.53,24.85,0.672,4,0.000,0.051,3345,292,1912,0,0,0,0,0,0
$GC,7108,0.99,176.0,185.5,10.9,320,7113,0.15,2.30,0.00,0.000,6,0.106,0.023,3317,1710,1907,0,0,0,0,0,0
$GC,7376,1.07,176.0,163.1,8.7,341,7380,0.00,2.28,0.00,0.000,4,0.000,0.025,3318,3079,1906,0,0,0,0,0,0
$GC,7442,1.20,176.0,157.6,7.9,346,7447,0.20,2.35,0.00,0.000,6,0.051,0.033,3372,1697,1906,0,0,0,0,0,0
$GC,7709,1.20,176.0,134.3,9.0,367,7713,0.00,2.40,0.00,0.000,4,0.000,0.048,3372,298,1906,0,0,0,0,0,0
$GC,7850,1.10,176.0,118.6,11.6,377,7855,0.15,2.25,0.00,0.000,6,0.103,0.021,3342,1711,1904,0,0,0,0,0,0
$GC,8112,1.25,225.6,103.5,3.4,397,8166,0.12,2.55,42.90,0.582,4,0.064,0.046,3382,298,1709,0,0,0,0,0,0
$GC,8188,1.16,225.6,99.2,8.0,402,8193,0.15,2.25,0.00,0.000,6,0.101,0.020,3353,1710,1707,0,0,0,0,0,0
$GC,8449,1.25,225.6,80.9,8.1,422,8453,0.00,2.45,0.00,0.000,4,0.000,0.045,3353,297,1706,0,0,0,0,0,0
$GC,8523,1.25,225.6,73.8,8.6,427,8529,0.00,2.25,0.00,0.000,6,0.000,0.019,3353,1705,1703,0,0,0,0,0,0
$GC,8783,1.33,225.6,51.8,9.3,448,8787,0.17,2.42,0.00,0.000,4,0.051,0.044,3405,296,1703,0,0,0,0,0,0
$GC,8810,1.25,225.6,48.5,13.3,450,8815,0.17,2.20,0.00,0.000,6,0.100,0.018,3372,1699,1703,0,0,0,0,0,0
$GC,9075,1.29,225.6,17.8,11.5,486,9082,0.00,2.45,0.00,0.000,4,0.000,0.045,3371,298,1703,0,0,0,0,0,0
$GC,9094,1.29,225.6,15.3,12.1,489,9100,0.00,2.25,0.00,0.000,6,0.000,0.018,3371,1714,1703,0,0,0,0,0,0
$STATE,9216,end climb,SURFACE_DEPTH_REACHED
$STATE,9216,begin surface coast
$FINISH,0.9,1.000297
$STATE,9247,end surface coast,CONTROL_FINISHED_OK
$STATE,9247,begin surface
$SM_CCo,9271,100.68,0.482,0,0,957,410.14
$SM_GC,1.57,0.00,0.00,100.68,0.000,0.000,0.482,427,1715,957,-12.30,0.45,410.14
$IRIDIUM_FIX,2047.91,-15750.49,011299,040419
$TT8_MAMPS,0.029146
$HUMID,54.68
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,440.1,67.4
$24V_AH,23.5,32.318
$10V_AH,10.3,26.957
$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,30.975,117.625,243.800,100.675,0.000,22.263,28.743,125.279,5.000,0.000,17.445,1064.713,6040.014,422.606,1715.692,428.893,0.000,1190.892,0.000,1681.934,0.000,32.286,0.000
$DEVICE_MAMPS,138.060,57.525,829.127,481.676,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,352.259,333.135,745.256,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,28675,524
$CAP_FILE_SIZE,108137,0
$CFSIZE,260165632,193998848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060910,093903,2056.277,-15751.966,18,1.7,18,9.8