version: 66.06
glider: 139
mission: 8
dive: 409
start: 9 10 110 6 58 13
data:
$ID,139
$MISSION,8
$DIVE,409
$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,80
$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,-2159535.5
$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,3050
$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
$GPS1,064800,2059.260,-15754.244,44,1.2,49,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-72.6
$GPS2,065756,2059.152,-15754.361,15,1.2,15,9.8
$SPEED_LIMITS,0.137,0.183
$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,48.2,23306,-20.5,-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,17,-1.38,-77.9,0.0,0.0,0,83,0.00,0.00,-64.18,0.000,2,0.000,0.000,425,1706,2720,0,0,0,0,0,0
$GC,87,-1.38,-77.9,3.2,-3.3,12,111,12.43,2.38,-4.45,0.000,4,0.133,0.035,2741,3129,2949,0,0,0,0,0,0
$GC,207,-1.28,-77.9,31.2,-17.8,37,214,0.10,2.45,0.00,0.000,6,0.086,0.034,2764,1699,2951,0,0,0,0,0,0
$GC,467,-1.20,-77.9,81.2,-16.7,58,472,0.12,2.33,0.00,0.000,4,0.107,0.022,2789,3112,2952,0,0,0,0,0,0
$GC,529,-1.24,-77.9,89.7,-12.0,62,535,0.00,2.40,0.00,0.000,6,0.000,0.029,2788,1690,2952,0,0,0,0,0,0
$GC,788,-1.24,-77.9,125.7,-15.2,83,792,0.00,2.40,0.00,0.000,4,0.000,0.045,2788,293,2953,0,0,0,0,0,0
$GC,835,-1.20,-77.9,133.5,-15.4,86,842,0.00,2.33,0.00,0.000,6,0.000,0.018,2789,1730,2954,0,0,0,0,0,0
$GC,1095,-1.20,-77.9,161.3,-8.9,107,1099,0.00,2.45,0.00,0.000,4,0.000,0.044,2788,294,2954,0,0,0,0,0,0
$GC,1149,-1.20,-77.9,167.0,-11.4,111,1153,0.00,2.25,0.00,0.000,6,0.000,0.019,2789,1711,2954,0,0,0,0,0,0
$GC,1412,-1.23,-77.9,192.5,-10.1,131,1416,0.00,2.20,0.00,0.000,4,0.000,0.023,2789,3074,2954,0,0,0,0,0,0
$GC,1458,-1.33,-77.9,197.6,-9.8,134,1465,0.10,2.33,0.00,0.000,6,0.033,0.033,2746,1707,2954,0,0,0,0,0,0
$GC,1719,-1.30,-77.9,229.9,-12.7,148,1723,0.00,2.40,0.00,0.000,4,0.000,0.045,2746,294,2954,0,0,0,0,0,0
$GC,1747,-1.19,-77.9,234.1,-14.1,149,1752,0.20,2.22,0.00,0.000,6,0.089,0.019,2788,1707,2954,0,0,0,0,0,0
$GC,2072,-1.24,-77.9,263.8,-8.7,165,2076,0.00,2.42,0.00,0.000,4,0.000,0.048,2788,294,2954,0,0,0,0,0,0
$GC,2118,-1.24,-77.9,269.2,-10.9,167,2122,0.00,2.25,0.00,0.000,6,0.000,0.021,2788,1701,2954,0,0,0,0,0,0
$GC,2444,-1.32,-77.9,298.7,-8.0,183,2449,0.12,2.28,0.00,0.000,4,0.065,0.027,2747,3080,2953,0,0,0,0,0,0
$GC,2479,-1.38,-77.9,302.0,-10.0,184,2483,0.00,2.33,0.00,0.000,6,0.000,0.035,2747,1696,2952,0,0,0,0,0,0
$GC,2810,-1.38,-77.9,335.6,-10.5,192,2814,0.00,2.28,0.00,0.000,4,0.000,0.027,2747,3074,2951,0,0,0,0,0,0
$GC,2885,-1.43,-77.9,343.4,-9.8,193,2889,0.00,2.33,0.00,0.000,6,0.000,0.037,2747,1697,2951,0,0,0,0,0,0
$GC,3221,-1.43,-77.9,381.4,-11.6,202,3225,0.00,2.30,0.00,0.000,4,0.000,0.028,2747,3081,2949,0,0,0,0,0,0
$GC,3287,-1.48,-77.9,388.8,-11.2,203,3291,0.00,2.33,0.00,0.000,6,0.000,0.037,2747,1699,2949,0,0,0,0,0,0
$GC,3633,-1.48,-77.9,419.1,-7.5,212,3634,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1698,2946,0,0,0,0,0,0
$GC,3957,-1.48,-77.9,439.2,-6.4,220,3961,0.00,2.45,0.00,0.000,4,0.000,0.057,2747,293,2945,0,0,0,0,0,0
$GC,3977,-1.45,-77.9,440.6,-7.2,220,3981,0.00,2.28,0.00,0.000,6,0.000,0.025,2747,1690,2944,0,0,0,0,0,0
$STATE,4121,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4121,begin apogee
$GC,4127,-0.31,0.0,452.2,7.9,224,4194,1.10,0.00,64.15,0.836,6,0.075,0.000,2981,1694,2630,0,0,0,0,0,0
$STATE,4195,end apogee,CONTROL_FINISHED_OK
$STATE,4195,begin climb
$GC,4198,1.38,77.9,453.0,0.0,225,4277,1.62,2.53,67.00,0.820,4,0.040,0.053,3351,293,2310,0,0,0,0,0,0
$GC,4284,1.25,159.8,451.5,2.4,227,4365,0.15,2.38,72.15,0.812,6,0.110,0.025,3323,1713,1978,0,0,0,0,0,0
$GC,4690,1.15,159.8,415.0,9.5,236,4695,0.12,2.55,0.00,0.000,4,0.117,0.056,3301,289,1968,0,0,0,0,0,0
$GC,4705,1.02,159.8,413.3,9.6,236,4710,0.15,2.33,0.00,0.000,6,0.114,0.027,3273,1697,1966,0,0,0,0,0,0
$GC,5055,1.02,159.8,383.7,9.1,245,5059,0.00,2.50,0.00,0.000,4,0.000,0.058,3273,291,1963,0,0,0,0,0,0
$GC,5117,0.96,159.8,376.7,11.9,246,5121,0.00,2.33,0.00,0.000,6,0.000,0.027,3273,1701,1961,0,0,0,0,0,0
$GC,5466,0.96,159.8,342.8,9.7,255,5467,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1707,1960,0,0,0,0,0,0
$GC,5793,1.03,191.1,321.7,5.8,263,5825,0.00,2.60,25.50,0.755,4,0.000,0.056,3273,298,1849,0,0,0,0,0,0
$GC,5845,0.97,191.1,317.9,8.1,264,5849,0.00,2.35,0.00,0.000,6,0.000,0.027,3273,1703,1847,0,0,0,0,0,0
$GC,6167,1.02,191.1,282.8,11.7,275,6171,0.00,2.50,0.00,0.000,4,0.000,0.054,3273,295,1844,0,0,0,0,0,0
$GC,6205,0.99,191.1,278.4,11.5,276,6212,0.00,2.35,0.00,0.000,6,0.000,0.027,3273,1705,1842,0,0,0,0,0,0
$GC,6521,1.05,198.7,254.8,7.4,292,6534,0.00,2.55,6.93,0.600,4,0.000,0.054,3273,300,1819,0,0,0,0,0,0
$GC,6599,1.01,198.7,247.1,11.3,295,6603,0.00,2.30,0.00,0.000,6,0.000,0.025,3272,1705,1816,0,0,0,0,0,0
$GC,6925,1.11,231.7,223.0,5.7,311,6962,0.00,2.58,30.12,0.689,4,0.000,0.052,3273,303,1684,0,0,0,0,0,0
$GC,7086,1.11,231.7,207.4,11.7,318,7090,0.00,2.28,0.00,0.000,6,0.000,0.024,3273,1709,1678,0,0,0,0,0,0
$GC,7414,1.19,231.7,180.0,8.2,341,7419,0.15,2.50,0.00,0.000,4,0.060,0.052,3316,292,1678,0,0,0,0,0,0
$GC,7551,1.10,231.7,161.7,13.2,351,7556,0.15,2.28,0.00,0.000,6,0.100,0.022,3287,1705,1676,0,0,0,0,0,0
$GC,7818,1.17,231.7,130.4,11.6,372,7822,0.00,2.47,0.00,0.000,4,0.000,0.050,3287,294,1676,0,0,0,0,0,0
$GC,7959,1.17,231.7,114.9,9.6,382,7965,0.00,2.30,0.00,0.000,6,0.000,0.021,3287,1704,1674,0,0,0,0,0,0
$GC,8222,1.31,254.7,97.1,6.3,403,8250,0.20,2.55,19.80,0.558,4,0.050,0.049,3345,291,1590,0,0,0,0,0,0
$GC,8362,1.22,254.7,79.6,13.1,413,8367,0.15,2.25,0.00,0.000,6,0.097,0.020,3316,1715,1586,0,0,0,0,0,0
$GC,8631,1.29,254.7,54.3,8.9,434,8635,0.00,2.47,0.00,0.000,4,0.000,0.046,3316,293,1586,0,0,0,0,0,0
$GC,8767,1.29,254.7,39.7,10.8,444,8771,0.00,2.25,0.00,0.000,6,0.000,0.019,3316,1698,1585,0,0,0,0,0,0
$GC,9029,1.38,259.8,16.4,7.5,488,9043,0.15,2.50,5.30,0.381,4,0.056,0.047,3364,291,1570,0,0,0,0,0,0
$GC,9060,1.38,259.8,13.3,9.2,493,9066,0.00,2.28,0.00,0.000,6,0.000,0.018,3365,1718,1569,0,0,0,0,0,0
$STATE,9139,end climb,SURFACE_DEPTH_REACHED
$STATE,9139,begin surface coast
$FINISH,1.0,1.023423
$STATE,9169,end surface coast,CONTROL_FINISHED_OK
$STATE,9169,begin surface
$SM_CCo,9192,82.00,0.487,0,0,957,410.14
$SM_GC,1.59,0.00,0.00,82.00,0.000,0.000,0.487,428,1719,957,-12.06,0.54,410.14
$IRIDIUM_FIX,2050.21,-15754.77,051299,060640
$TT8_MAMPS,0.029146
$HUMID,56.26
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.5,35.272
$10V_AH,10.2,29.501
$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,29.625,109.300,290.950,82.000,0.000,56.606,63.814,277.797,4.500,0.000,15.913,1025.981,6167.825,423.507,1590.067,662.099,0.000,1152.897,0.000,1566.137,0.000,29.255,0.000
$DEVICE_MAMPS,133.458,57.525,836.030,487.045,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,348.347,331.137,742.744,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355832
$DATA_FILE_SIZE,28644,517
$CAP_FILE_SIZE,107505,0
$CFSIZE,260165632,192200704
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100910,093338,2059.180,-15754.206,12,1.8,12,9.8