version: 66.06
glider: 139
mission: 8
dive: 410
start: 9 10 110 9 40 2
data:
$ID,139
$MISSION,8
$DIVE,410
$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,-2159548.2
$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
$GPS1,093338,2059.180,-15754.206,12,1.8,12,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-72.8
$GPS2,093944,2059.082,-15754.271,11,1.8,11,9.8
$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,47.8,23244,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.38,-77.9,0.0,0.0,0,82,0.00,0.00,-64.07,0.000,2,0.000,0.000,428,1719,2743,0,0,0,0,0,0
$GC,85,-1.38,-77.9,3.4,-3.8,12,110,12.40,2.35,-3.95,0.000,4,0.133,0.038,2740,3108,2950,0,0,0,0,0,0
$GC,204,-1.29,-77.9,29.6,-17.1,37,211,0.10,2.42,0.00,0.000,6,0.087,0.035,2764,1700,2951,0,0,0,0,0,0
$GC,401,-1.15,-77.9,61.6,-16.4,53,406,0.17,2.35,0.00,0.000,4,0.104,0.021,2798,3119,2952,0,0,0,0,0,0
$GC,430,-1.15,-77.9,66.0,-13.7,55,434,0.00,2.38,0.00,0.000,6,0.000,0.031,2798,1697,2953,0,0,0,0,0,0
$GC,690,-1.15,-77.9,101.9,-14.1,75,694,0.00,2.42,0.00,0.000,4,0.000,0.046,2798,289,2953,0,0,0,0,0,0
$GC,764,-1.15,-77.9,113.7,-15.1,80,770,0.00,2.33,0.00,0.000,6,0.000,0.018,2798,1731,2954,0,0,0,0,0,0
$GC,1025,-1.18,-77.9,143.4,-9.7,101,1029,0.00,2.22,0.00,0.000,4,0.000,0.022,2798,3089,2955,0,0,0,0,0,0
$GC,1051,-1.25,-77.9,146.1,-9.7,103,1055,0.00,2.33,0.00,0.000,6,0.000,0.031,2798,1693,2955,0,0,0,0,0,0
$GC,1317,-1.29,-77.9,173.9,-11.3,124,1322,0.12,2.40,0.00,0.000,4,0.064,0.047,2757,294,2955,0,0,0,0,0,0
$GC,1346,-1.19,-77.9,178.4,-15.4,126,1351,0.15,2.22,0.00,0.000,6,0.097,0.018,2788,1711,2955,0,0,0,0,0,0
$GC,1607,-1.24,-77.9,207.6,-11.0,144,1611,0.00,2.42,0.00,0.000,4,0.000,0.046,2787,297,2956,0,0,0,0,0,0
$GC,1651,-1.24,-77.9,212.9,-11.9,146,1655,0.00,2.22,0.00,0.000,6,0.000,0.019,2788,1701,2956,0,0,0,0,0,0
$GC,1983,-1.29,-77.9,243.5,-9.7,162,1984,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1706,2956,0,0,0,0,0,0
$GC,2292,-1.36,-77.9,271.6,-10.3,177,2297,0.15,2.42,0.00,0.000,4,0.058,0.048,2742,296,2956,0,0,0,0,0,0
$GC,2338,-1.29,-77.9,277.5,-13.5,179,2343,0.12,2.25,0.00,0.000,6,0.100,0.021,2767,1696,2956,0,0,0,0,0,0
$GC,2690,-1.33,-77.9,311.7,-9.1,193,2695,0.00,2.28,0.00,0.000,4,0.000,0.027,2767,3082,2955,0,0,0,0,0,0
$GC,2757,-1.43,-77.9,317.8,-8.8,194,2762,0.12,2.33,0.00,0.000,6,0.066,0.035,2728,1698,2955,0,0,0,0,0,0
$GC,3104,-1.39,-77.9,349.9,-9.2,203,3108,0.00,2.33,0.00,0.000,4,0.000,0.028,2728,3084,2953,0,0,0,0,0,0
$GC,3160,-1.39,-77.9,355.9,-10.1,204,3164,0.00,2.35,0.00,0.000,6,0.000,0.038,2728,1701,2953,0,0,0,0,0,0
$GC,3474,-1.35,-77.9,394.2,-12.5,212,3479,0.12,2.35,0.00,0.000,4,0.104,0.030,2753,3082,2951,0,0,0,0,0,0
$GC,3531,-1.42,-77.9,401.1,-11.4,213,3536,0.00,2.35,0.00,0.000,6,0.000,0.038,2753,1699,2951,0,0,0,0,0,0
$GC,3846,-1.42,-77.9,437.3,-10.8,221,3847,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1699,2949,0,0,0,0,0,0
$STATE,4005,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4005,begin apogee
$GC,4011,-0.31,0.0,453.9,10.3,225,4079,1.08,0.00,64.60,0.838,6,0.074,0.000,2981,1699,2629,0,0,0,0,0,0
$STATE,4080,end apogee,CONTROL_FINISHED_OK
$STATE,4080,begin climb
$GC,4082,1.38,77.9,455.5,0.0,226,4154,1.62,0.00,67.57,0.821,6,0.041,0.000,3353,1699,2312,0,0,0,0,0,0
$GC,4455,1.22,101.2,438.8,6.3,236,4483,0.17,2.38,20.48,0.785,4,0.106,0.031,3318,3074,2216,0,0,0,0,0,0
$GC,4519,1.14,108.1,434.4,7.4,237,4531,0.00,2.40,7.43,0.667,6,0.000,0.039,3318,1700,2188,0,0,0,0,0,0
$GC,4874,1.06,132.1,409.0,6.3,246,4902,0.17,2.60,21.73,0.788,4,0.108,0.058,3283,293,2091,0,0,0,0,0,0
$GC,4909,1.05,168.7,407.0,5.4,246,4949,0.00,2.35,34.15,0.797,6,0.000,0.028,3284,1702,1940,0,0,0,0,0,0
$GC,5288,1.05,168.7,374.1,9.2,256,5292,0.00,2.35,0.00,0.000,4,0.000,0.032,3284,3078,1933,0,0,0,0,0,0
$GC,5307,1.05,168.7,372.1,8.9,256,5311,0.00,2.40,0.00,0.000,6,0.000,0.041,3284,1700,1933,0,0,0,0,0,0
$GC,5651,1.05,168.7,339.7,9.7,265,5656,0.00,2.50,0.00,0.000,4,0.000,0.057,3284,294,1930,0,0,0,0,0,0
$GC,5708,0.97,168.7,333.6,11.2,266,5713,0.12,2.30,0.00,0.000,6,0.116,0.028,3261,1696,1927,0,0,0,0,0,0
$GC,6024,1.05,187.7,310.8,6.6,274,6044,0.00,2.55,15.62,0.733,4,0.000,0.058,3260,290,1864,0,0,0,0,0,0
$GC,6088,1.06,198.2,306.6,7.2,275,6104,0.00,2.35,10.75,0.692,6,0.000,0.027,3261,1714,1821,0,0,0,0,0,0
$GC,6423,1.14,211.2,283.6,7.0,289,6445,0.17,2.58,12.80,0.697,4,0.058,0.055,3307,296,1767,0,0,0,0,0,0
$GC,6566,1.04,211.2,265.4,12.3,295,6571,0.15,2.33,0.00,0.000,6,0.106,0.026,3279,1697,1763,0,0,0,0,0,0
$GC,6900,1.09,211.2,233.5,9.3,311,6904,0.00,2.50,0.00,0.000,4,0.000,0.055,3279,291,1762,0,0,0,0,0,0
$GC,7045,1.09,211.2,218.9,9.5,317,7049,0.00,2.30,0.00,0.000,6,0.000,0.025,3279,1708,1760,0,0,0,0,0,0
$GC,7366,1.16,211.2,192.0,9.2,335,7371,0.10,2.50,0.00,0.000,4,0.077,0.051,3310,287,1759,0,0,0,0,0,0
$GC,7572,1.09,211.2,168.7,11.3,350,7577,0.12,2.30,0.00,0.000,6,0.108,0.022,3286,1714,1757,0,0,0,0,0,0
$GC,7833,1.16,211.2,145.9,9.5,370,7838,0.00,2.47,0.00,0.000,4,0.000,0.048,3286,294,1756,0,0,0,0,0,0
$GC,7884,1.16,211.2,140.1,10.8,374,7889,0.00,2.25,0.00,0.000,6,0.000,0.021,3286,1710,1757,0,0,0,0,0,0
$GC,8152,1.34,264.7,120.4,4.3,395,8206,0.22,2.53,45.30,0.600,4,0.047,0.047,3351,289,1550,0,0,0,0,0,0
$GC,8240,1.22,264.7,113.3,11.9,402,8245,0.17,2.28,0.00,0.000,6,0.093,0.021,3317,1711,1547,0,0,0,0,0,0
$GC,8509,1.28,264.7,91.5,8.1,423,8513,0.00,2.45,0.00,0.000,4,0.000,0.047,3316,294,1545,0,0,0,0,0,0
$GC,8601,1.28,264.7,82.4,9.5,430,8605,0.00,2.25,0.00,0.000,6,0.000,0.019,3316,1703,1544,0,0,0,0,0,0
$GC,8869,1.37,268.4,61.8,7.6,451,8878,0.12,2.47,3.72,0.335,4,0.063,0.044,3359,293,1535,0,0,0,0,0,0
$GC,8929,1.27,268.4,54.4,12.5,454,8936,0.12,2.25,0.00,0.000,6,0.074,0.019,3328,1705,1533,0,0,0,0,0,0
$GC,9192,1.32,268.4,31.3,10.4,475,9196,0.00,2.42,0.00,0.000,4,0.000,0.046,3328,293,1533,0,0,0,0,0,0
$GC,9258,1.32,268.4,22.8,12.5,489,9265,0.00,2.22,0.00,0.000,6,0.000,0.018,3329,1684,1533,0,0,0,0,0,0
$STATE,9436,end climb,SURFACE_DEPTH_REACHED
$STATE,9436,begin surface coast
$FINISH,1.0,1.023383
$STATE,9467,end surface coast,CONTROL_FINISHED_OK
$STATE,9468,begin surface
$SM_CCo,9490,74.85,0.481,0,0,957,410.14
$SM_GC,1.48,0.00,0.00,74.85,0.000,0.000,0.481,427,1690,957,-12.07,-0.28,410.14
$IRIDIUM_FIX,2052.52,-15756.91,051299,070758
$TT8_MAMPS,0.029146
$HUMID,55.74
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.40
$XPDR_PINGS,1
$24V_AH,23.5,35.362
$10V_AH,10.3,29.573
$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,30.275,109.000,304.150,74.850,0.000,29.343,38.126,174.663,5.250,0.000,11.942,1073.759,6286.801,444.836,1614.911,510.255,0.000,1167.066,0.000,1596.453,0.000,34.811,0.000
$DEVICE_MAMPS,133.458,57.525,838.331,480.909,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,362.051,348.511,770.028,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355856
$DATA_FILE_SIZE,28647,537
$CAP_FILE_SIZE,107082,0
$CFSIZE,260165632,192147456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100910,122036,2059.057,-15754.085,30,1.0,30,9.8