version: 66.06
glider: 139
mission: 8
dive: 411
start: 9 10 110 12 27 13
data:
$ID,139
$MISSION,8
$DIVE,411
$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,-2159565
$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
$GPS1,122036,2059.057,-15754.085,30,1.0,30,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-73.1
$GPS2,122656,2058.997,-15754.175,15,1.1,15,9.8
$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,47.2,23188,-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,16,-1.38,-77.9,0.0,0.0,0,88,0.00,0.00,-69.47,0.000,2,0.000,0.000,427,1691,2902,0,0,0,0,0,0
$GC,91,-1.38,-77.9,3.8,-4.4,13,110,12.40,2.38,-0.80,0.000,4,0.133,0.034,2742,3115,2949,0,0,0,0,0,0
$GC,179,-1.30,-77.9,29.2,-20.8,31,186,0.10,2.45,0.00,0.000,6,0.084,0.035,2765,1696,2950,0,0,0,0,0,0
$GC,376,-1.14,-77.9,63.6,-17.5,47,378,0.17,0.00,0.00,0.000,6,0.101,0.000,2799,1696,2951,0,0,0,0,0,0
$GC,630,-1.10,-77.9,98.5,-13.9,67,634,0.00,2.33,0.00,0.000,4,0.000,0.021,2799,3115,2952,0,0,0,0,0,0
$GC,657,-1.14,-77.9,102.1,-12.5,69,661,0.00,2.40,0.00,0.000,6,0.000,0.032,2799,1693,2952,0,0,0,0,0,0
$GC,924,-1.14,-77.9,145.9,-15.8,90,928,0.00,2.38,0.00,0.000,4,0.000,0.044,2799,296,2953,0,0,0,0,0,0
$GC,956,-1.10,-77.9,151.4,-15.0,92,963,0.00,2.33,0.00,0.000,6,0.000,0.018,2799,1735,2953,0,0,0,0,0,0
$GC,1219,-1.14,-77.9,176.0,-6.8,113,1221,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,1737,2953,0,0,0,0,0,0
$GC,1469,-1.19,-77.9,194.5,-7.6,133,1473,0.00,2.22,0.00,0.000,4,0.000,0.023,2799,3090,2954,0,0,0,0,0,0
$GC,1496,-1.29,-77.9,196.9,-8.9,135,1501,0.12,2.33,0.00,0.000,6,0.062,0.033,2756,1691,2954,0,0,0,0,0,0
$GC,1772,-1.25,-77.9,229.6,-13.2,149,1776,0.10,2.42,0.00,0.000,4,0.110,0.047,2776,292,2954,0,0,0,0,0,0
$GC,1792,-1.19,-77.9,233.0,-13.6,150,1796,0.00,2.28,0.00,0.000,6,0.000,0.020,2776,1720,2954,0,0,0,0,0,0
$GC,2127,-1.19,-77.9,270.4,-10.1,166,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1721,2954,0,0,0,0,0,0
$GC,2437,-1.24,-77.9,299.8,-8.3,181,2444,0.00,2.45,0.00,0.000,4,0.000,0.045,2776,290,2954,0,0,0,0,0,0
$GC,2472,-1.24,-77.9,303.4,-10.3,182,2476,0.00,2.25,0.00,0.000,6,0.000,0.021,2776,1704,2954,0,0,0,0,0,0
$GC,2812,-1.30,-77.9,343.6,-12.9,191,2816,0.00,2.25,0.00,0.000,4,0.000,0.027,2776,3067,2953,0,0,0,0,0,0
$GC,2881,-1.40,-77.9,352.6,-11.8,192,2886,0.15,2.30,0.00,0.000,6,0.058,0.035,2731,1695,2953,0,0,0,0,0,0
$GC,3225,-1.36,-77.9,392.9,-11.0,201,3230,0.10,2.30,0.00,0.000,4,0.113,0.028,2751,3071,2951,0,0,0,0,0,0
$GC,3334,-1.43,-77.9,403.9,-8.2,203,3339,0.00,2.33,0.00,0.000,6,0.000,0.038,2751,1699,2951,0,0,0,0,0,0
$GC,3685,-1.43,-77.9,432.6,-7.5,212,3686,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1698,2948,0,0,0,0,0,0
$STATE,3925,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3925,begin apogee
$GC,3931,-0.31,0.0,450.2,7.0,218,3999,1.08,0.00,64.65,0.820,6,0.072,0.000,2980,1698,2630,0,0,0,0,0,0
$STATE,4000,end apogee,CONTROL_FINISHED_OK
$STATE,4000,begin climb
$GC,4003,1.38,77.9,450.6,0.0,219,4080,1.62,2.58,66.53,0.804,4,0.039,0.054,3353,297,2312,0,0,0,0,0,0
$GC,4092,1.19,118.6,446.6,5.1,221,4135,0.22,2.30,36.53,0.783,6,0.101,0.025,3310,1700,2146,0,0,0,0,0,0
$GC,4459,1.11,118.6,409.8,9.7,230,4464,0.00,2.33,0.00,0.000,4,0.000,0.032,3310,3075,2136,0,0,0,0,0,0
$GC,4515,1.06,118.6,404.9,9.1,231,4520,0.15,2.40,0.00,0.000,6,0.110,0.040,3282,1691,2136,0,0,0,0,0,0
$GC,4831,1.08,135.8,382.5,6.7,239,4851,0.00,2.55,14.12,0.735,4,0.000,0.054,3282,297,2075,0,0,0,0,0,0
$GC,4871,0.98,139.8,379.4,7.6,239,4882,0.00,2.30,4.85,0.550,6,0.000,0.026,3282,1693,2060,0,0,0,0,0,0
$GC,5206,0.99,150.3,355.5,7.2,248,5222,0.00,2.42,10.43,0.701,4,0.000,0.031,3282,3078,2017,0,0,0,0,0,0
$GC,5247,1.06,177.6,352.7,6.1,248,5280,0.00,2.40,26.10,0.759,6,0.000,0.039,3282,1700,1905,0,0,0,0,0,0
$GC,5623,1.07,185.5,324.9,7.4,258,5632,0.00,0.00,7.55,0.640,6,0.000,0.000,3282,1699,1873,0,0,0,0,0,0
$GC,5947,1.10,185.5,296.6,9.2,266,5951,0.00,2.33,0.00,0.000,4,0.000,0.029,3282,3079,1869,0,0,0,0,0,0
$GC,5998,1.18,185.5,292.1,8.6,268,6003,0.10,2.38,0.00,0.000,6,0.078,0.039,3312,1695,1869,0,0,0,0,0,0
$GC,6320,1.18,185.5,262.2,9.7,284,6324,0.00,2.47,0.00,0.000,4,0.000,0.054,3312,289,1867,0,0,0,0,0,0
$GC,6542,1.08,185.5,240.6,9.2,293,6548,0.12,2.30,0.00,0.000,6,0.107,0.024,3288,1703,1864,0,0,0,0,0,0
$GC,6860,1.12,190.6,218.4,7.5,309,6871,0.00,2.47,4.57,0.479,4,0.000,0.050,3287,293,1850,0,0,0,0,0,0
$GC,6941,1.08,190.6,210.8,9.3,312,6945,0.00,2.28,0.00,0.000,6,0.000,0.022,3287,1705,1849,0,0,0,0,0,0
$GC,7273,1.13,190.6,179.8,13.0,333,7277,0.00,2.45,0.00,0.000,4,0.000,0.049,3287,293,1849,0,0,0,0,0,0
$GC,7325,1.13,190.6,171.8,14.8,337,7330,0.00,2.25,0.00,0.000,6,0.000,0.021,3287,1702,1848,0,0,0,0,0,0
$GC,7592,1.22,209.0,145.1,6.6,358,7616,0.12,2.33,17.58,0.593,4,0.066,0.024,3327,3071,1777,0,0,0,0,0,0
$GC,7628,1.24,226.2,142.6,6.7,361,7649,0.00,2.35,16.33,0.580,6,0.000,0.033,3327,1690,1708,0,0,0,0,0,0
$GC,7903,1.24,226.2,124.6,7.9,382,7907,0.00,2.42,0.00,0.000,4,0.000,0.047,3327,294,1705,0,0,0,0,0,0
$GC,7935,1.17,226.2,121.4,10.0,384,7942,0.08,2.30,0.00,0.000,6,0.083,0.020,3308,1711,1703,0,0,0,0,0,0
$GC,8198,1.26,226.2,96.0,9.2,405,8202,0.00,2.47,0.00,0.000,4,0.000,0.046,3308,290,1703,0,0,0,0,0,0
$GC,8254,1.26,226.2,90.0,10.0,409,8258,0.00,2.22,0.00,0.000,6,0.000,0.019,3308,1701,1701,0,0,0,0,0,0
$GC,8517,1.39,252.6,72.6,6.1,429,8547,0.20,2.47,23.35,0.529,4,0.048,0.044,3368,296,1599,0,0,0,0,0,0
$GC,8564,1.30,252.6,68.7,9.5,432,8569,0.17,2.25,0.00,0.000,6,0.092,0.019,3333,1717,1596,0,0,0,0,0,0
$GC,8833,1.34,253.4,47.7,7.8,453,8837,0.00,2.50,0.00,0.000,4,0.000,0.049,3333,290,1596,0,0,0,0,0,0
$GC,8860,1.25,253.4,44.4,10.7,455,8864,0.00,2.20,0.00,0.000,6,0.000,0.019,3333,1706,1595,0,0,0,0,0,0
$GC,9123,1.29,253.4,20.2,9.1,491,9130,0.00,2.45,0.00,0.000,4,0.000,0.041,3333,295,1595,0,0,0,0,0,0
$GC,9188,1.23,253.4,13.2,10.9,505,9195,0.00,2.22,0.00,0.000,6,0.000,0.018,3333,1704,1594,0,0,0,0,0,0
$STATE,9292,end climb,SURFACE_DEPTH_REACHED
$STATE,9292,begin surface coast
$FINISH,1.0,1.001548
$STATE,9325,end surface coast,CONTROL_FINISHED_OK
$STATE,9325,begin surface
$SM_CCo,9348,83.38,0.477,0,0,958,410.14
$SM_GC,1.51,0.00,0.00,83.38,0.000,0.000,0.477,427,1710,958,-12.07,0.28,410.14
$IRIDIUM_FIX,2052.52,-15802.06,051299,090930
$TT8_MAMPS,0.029146
$HUMID,54.60
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.5,35.449
$10V_AH,10.2,29.644
$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,29.475,103.775,292.575,83.375,0.000,31.009,26.786,198.409,4.500,0.000,15.954,1046.916,6271.895,428.796,1552.328,508.875,0.000,1129.529,0.000,1532.326,0.000,29.266,0.000
$DEVICE_MAMPS,132.691,54.457,819.923,477.074,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,360.465,347.561,779.736,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355832
$DATA_FILE_SIZE,28653,536
$CAP_FILE_SIZE,104734,0
$CFSIZE,260165632,192098304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100910,150534,2058.825,-15754.248,11,2.8,30,9.8