version: 66.06
glider: 139
mission: 8
dive: 382
start: 9 7 110 5 2 1
data:
$ID,139
$MISSION,8
$DIVE,382
$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,-2158974.5
$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,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
$GPS1,045220,2056.056,-15750.125,15,1.7,15,9.8
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-70.9
$GPS2,050144,2055.917,-15750.150,15,1.7,15,9.8
$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,24.5,22184,-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,-64.35,0.000,2,0.000,0.000,428,1711,2744,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.2,-3.3,12,104,12.45,0.00,-2.38,0.000,6,0.133,0.000,2754,1711,2872,0,0,0,0,0,0
$GC,296,-1.47,-58.4,49.7,-19.1,44,301,0.12,2.33,0.00,0.000,4,0.115,0.021,2777,3117,2874,0,0,0,0,0,0
$GC,315,-1.47,-58.4,53.7,-18.2,45,322,0.00,2.42,0.00,0.000,6,0.000,0.032,2777,1697,2874,0,0,0,0,0,0
$GC,575,-1.47,-58.4,92.8,-14.0,66,579,0.00,2.40,0.00,0.000,4,0.000,0.044,2777,294,2875,0,0,0,0,0,0
$GC,631,-1.43,-58.4,101.2,-13.5,70,636,0.00,2.30,0.00,0.000,6,0.000,0.018,2777,1737,2875,0,0,0,0,0,0
$GC,893,-1.50,-58.4,132.1,-11.4,90,897,0.00,2.17,0.00,0.000,4,0.000,0.021,2777,3081,2876,0,0,0,0,0,0
$GC,912,-1.59,-58.4,134.5,-10.6,91,918,0.12,2.30,0.00,0.000,6,0.064,0.030,2737,1690,2876,0,0,0,0,0,0
$GC,1172,-1.59,-58.4,165.3,-12.0,112,1176,0.00,2.38,0.00,0.000,4,0.000,0.045,2736,293,2877,0,0,0,0,0,0
$GC,1228,-1.53,-58.4,173.0,-13.8,116,1233,0.15,2.22,0.00,0.000,6,0.099,0.018,2767,1710,2877,0,0,0,0,0,0
$GC,1489,-1.62,-58.4,201.3,-10.3,136,1493,0.00,2.22,0.00,0.000,4,0.000,0.023,2767,3070,2877,0,0,0,0,0,0
$GC,1546,-1.76,-58.4,207.3,-10.3,138,1551,0.22,2.30,0.00,0.000,6,0.046,0.031,2703,1700,2877,0,0,0,0,0,0
$GC,1864,-1.73,-58.4,249.9,-14.3,153,1868,0.00,2.30,0.00,0.000,4,0.000,0.025,2703,3072,2877,0,0,0,0,0,0
$GC,1893,-1.73,-58.4,254.3,-12.7,154,1897,0.00,2.30,0.00,0.000,6,0.000,0.033,2702,1695,2877,0,0,0,0,0,0
$GC,2213,-1.73,-58.4,293.2,-12.5,170,2217,0.00,2.30,0.00,0.000,4,0.000,0.025,2703,3074,2877,0,0,0,0,0,0
$GC,2297,-1.77,-58.4,302.8,-11.7,173,2302,0.00,2.30,0.00,0.000,6,0.000,0.035,2703,1701,2877,0,0,0,0,0,0
$GC,2628,-1.77,-58.4,339.4,-10.7,182,2629,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,1701,2875,0,0,0,0,0,0
$GC,2954,-1.77,-58.4,373.7,-11.1,190,2958,0.00,2.30,0.00,0.000,4,0.000,0.029,2703,3068,2873,0,0,0,0,0,0
$GC,3059,-1.82,-58.4,384.7,-10.2,192,3063,0.00,2.33,0.00,0.000,6,0.000,0.038,2703,1698,2872,0,0,0,0,0,0
$GC,3375,-1.82,-58.4,421.4,-11.6,200,3379,0.00,2.28,0.00,0.000,4,0.000,0.030,2703,3065,2870,0,0,0,0,0,0
$GC,3393,-1.82,-58.4,423.9,-11.4,200,3397,0.00,2.33,0.00,0.000,6,0.000,0.040,2703,1698,2870,0,0,0,0,0,0
$STATE,3654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3654,begin apogee
$GC,3661,-0.31,0.0,451.4,10.1,207,3714,1.55,0.00,49.00,0.829,6,0.081,0.000,3028,1698,2630,0,0,0,0,0,0
$STATE,3715,end apogee,CONTROL_FINISHED_OK
$STATE,3715,begin climb
$GC,3718,1.56,58.4,452.3,0.0,208,3776,1.77,2.40,50.25,0.814,4,0.031,0.031,3446,3072,2390,0,0,0,0,0,0
$GC,3980,1.35,106.3,446.1,3.6,213,4032,0.25,2.38,41.95,0.812,6,0.108,0.038,3399,1690,2195,0,0,0,0,0,0
$GC,4356,1.17,106.3,410.0,10.9,223,4361,0.22,2.47,0.00,0.000,4,0.107,0.054,3356,290,2187,0,0,0,0,0,0
$GC,4418,0.98,106.3,402.7,12.3,224,4423,0.22,2.30,0.00,0.000,6,0.103,0.027,3314,1678,2184,0,0,0,0,0,0
$GC,4769,0.99,114.9,376.2,7.1,233,4782,0.00,2.42,6.30,0.634,4,0.000,0.032,3314,3078,2161,0,0,0,0,0,0
$GC,4825,1.04,127.1,372.5,6.8,234,4844,0.00,2.38,12.75,0.736,6,0.000,0.039,3314,1699,2111,0,0,0,0,0,0
$GC,5186,1.06,146.2,349.0,6.2,243,5210,0.00,2.45,17.80,0.755,4,0.000,0.031,3314,3085,2033,0,0,0,0,0,0
$GC,5221,1.10,154.5,346.4,7.1,243,5238,0.12,2.42,9.30,0.681,6,0.071,0.040,3348,1701,1998,0,0,0,0,0,0
$GC,5564,1.06,154.5,311.7,10.0,252,5568,0.00,2.50,0.00,0.000,4,0.000,0.055,3348,294,1994,0,0,0,0,0,0
$GC,5601,0.91,154.5,306.9,12.1,252,5608,0.25,2.33,0.00,0.000,6,0.102,0.028,3300,1704,1992,0,0,0,0,0,0
$GC,5916,0.98,154.5,281.1,8.8,266,5920,0.00,2.50,0.00,0.000,4,0.000,0.054,3300,297,1991,0,0,0,0,0,0
$GC,5954,0.98,154.5,277.2,10.2,267,5959,0.00,2.30,0.00,0.000,6,0.000,0.026,3300,1711,1989,0,0,0,0,0,0
$GC,6271,1.06,156.1,249.8,7.8,283,6276,0.12,2.53,0.00,0.000,4,0.069,0.053,3336,294,1988,0,0,0,0,0,0
$GC,6310,0.97,156.1,245.9,9.7,284,6318,0.10,2.33,0.00,0.000,6,0.089,0.026,3313,1695,1987,0,0,0,0,0,0
$GC,6626,1.02,156.1,219.0,8.5,300,6630,0.00,2.45,0.00,0.000,4,0.000,0.051,3313,298,1987,0,0,0,0,0,0
$GC,6705,1.02,156.1,210.5,10.9,303,6710,0.00,2.28,0.00,0.000,6,0.000,0.025,3313,1703,1986,0,0,0,0,0,0
$GC,7028,1.11,176.4,186.9,6.1,324,7056,0.12,2.50,18.52,0.656,4,0.068,0.048,3350,296,1909,0,0,0,0,0,0
$GC,7062,1.07,176.4,184.2,8.0,326,7067,0.00,2.33,0.00,0.000,6,0.000,0.024,3351,1708,1907,0,0,0,0,0,0
$GC,7322,1.07,176.4,161.2,9.7,346,7326,0.00,2.47,0.00,0.000,4,0.000,0.049,3350,291,1906,0,0,0,0,0,0
$GC,7363,0.98,176.4,156.1,12.6,349,7368,0.17,2.28,0.00,0.000,6,0.100,0.023,3317,1708,1904,0,0,0,0,0,0
$GC,7626,1.08,181.1,130.8,7.5,369,7639,0.00,2.28,4.70,0.449,4,0.000,0.024,3317,3083,1890,0,0,0,0,0,0
$GC,7686,1.22,185.9,126.2,7.5,373,7698,0.22,2.35,5.90,0.489,6,0.048,0.034,3378,1699,1872,0,0,0,0,0,0
$GC,7948,1.22,185.9,106.2,8.3,394,7952,0.00,2.30,0.00,0.000,4,0.000,0.025,3378,3082,1871,0,0,0,0,0,0
$GC,8165,1.28,185.9,90.1,8.0,410,8169,0.00,2.35,0.00,0.000,6,0.000,0.031,3378,1691,1871,0,0,0,0,0,0
$GC,8429,1.31,215.7,71.8,5.2,431,8464,0.00,2.42,27.30,0.548,4,0.000,0.044,3378,300,1749,0,0,0,0,0,0
$GC,8554,1.26,215.7,62.9,8.8,440,8558,0.00,2.22,0.00,0.000,6,0.000,0.019,3378,1712,1745,0,0,0,0,0,0
$GC,8818,1.26,216.3,40.7,7.8,461,8822,0.00,2.42,0.00,0.000,4,0.000,0.044,3378,299,1745,0,0,0,0,0,0
$GC,8851,1.20,216.3,37.4,9.4,463,8858,0.00,2.25,0.00,0.000,6,0.000,0.018,3378,1705,1745,0,0,0,0,0,0
$GC,9113,1.20,216.3,12.5,10.9,512,9119,0.00,2.22,0.00,0.000,4,0.000,0.021,3378,3062,1745,0,0,0,0,0,0
$GC,9137,1.24,216.3,9.9,11.0,516,9144,0.00,2.30,0.00,0.000,6,0.000,0.028,3378,1698,1745,0,0,0,0,0,0
$STATE,9224,end climb,SURFACE_DEPTH_REACHED
$STATE,9224,begin surface coast
$FINISH,0.9,1.023329
$STATE,9279,end surface coast,CONTROL_FINISHED_OK
$STATE,9279,begin surface
$SM_CCo,9302,103.90,0.482,0,0,957,410.14
$SM_GC,1.57,0.00,0.00,103.90,0.000,0.000,0.482,427,1694,957,-12.30,-0.14,410.14
$IRIDIUM_FIX,2045.60,-15750.49,021299,050556
$TT8_MAMPS,0.029146
$HUMID,53.78
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.5,32.988
$10V_AH,10.3,27.548
$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,30.875,112.600,243.775,103.900,0.000,50.752,63.551,254.109,4.500,0.000,15.742,1082.462,6145.207,419.403,1683.908,639.360,0.000,1169.363,0.000,1661.250,0.000,29.248,0.000
$DEVICE_MAMPS,132.691,55.224,829.127,481.676,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,368.751,354.795,815.246,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,31715,548
$CAP_FILE_SIZE,111979,0
$CFSIZE,260165632,193576960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070910,074006,2056.342,-15749.521,40,1.1,40,9.8