version: 66.06
glider: 139
mission: 8
dive: 413
start: 9 10 110 17 53 14
data:
$ID,139
$MISSION,8
$DIVE,413
$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,-2159615.2
$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
$GPS1,174701,2058.437,-15754.509,8,2.0,13,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-72.7
$GPS2,175258,2058.378,-15754.583,13,2.1,32,9.8
$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,45.9,24410,-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,-77.9,0.0,0.0,0,83,0.00,0.00,-64.07,0.000,2,0.000,0.000,426,1704,2731,0,0,0,0,0,0
$GC,86,-1.38,-77.9,3.3,-3.3,12,110,12.38,0.00,-4.28,0.000,6,0.132,0.000,2742,1705,2950,0,0,0,0,0,0
$GC,303,-1.17,-77.9,51.6,-20.6,45,304,0.25,0.00,0.00,0.000,6,0.094,0.000,2791,1705,2952,0,0,0,0,0,0
$GC,555,-1.11,-77.9,91.7,-14.3,65,559,0.00,2.33,0.00,0.000,4,0.000,0.022,2792,3112,2953,0,0,0,0,0,0
$GC,582,-1.11,-77.9,95.3,-13.9,67,586,0.00,2.38,0.00,0.000,6,0.000,0.032,2792,1689,2953,0,0,0,0,0,0
$GC,848,-1.11,-77.9,130.2,-12.4,88,852,0.00,2.38,0.00,0.000,4,0.000,0.046,2792,295,2954,0,0,0,0,0,0
$GC,890,-1.05,-77.9,135.7,-13.2,91,895,0.15,2.30,0.00,0.000,6,0.098,0.018,2823,1735,2954,0,0,0,0,0,0
$GC,1154,-1.15,-77.9,160.2,-9.8,111,1159,0.10,2.47,0.00,0.000,4,0.074,0.045,2784,297,2955,0,0,0,0,0,0
$GC,1203,-1.15,-77.9,166.7,-13.3,114,1210,0.00,2.28,0.00,0.000,6,0.000,0.018,2785,1713,2955,0,0,0,0,0,0
$GC,1463,-1.15,-77.9,196.3,-10.4,135,1464,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1717,2955,0,0,0,0,0,0
$GC,1727,-1.15,-77.9,222.3,-8.8,149,1728,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1718,2956,0,0,0,0,0,0
$GC,2037,-1.20,-77.9,247.2,-8.5,164,2042,0.00,2.45,0.00,0.000,4,0.000,0.048,2784,297,2956,0,0,0,0,0,0
$GC,2088,-1.20,-77.9,252.2,-9.0,166,2092,0.00,2.25,0.00,0.000,6,0.000,0.020,2784,1703,2955,0,0,0,0,0,0
$GC,2413,-1.25,-77.9,282.7,-9.9,182,2417,0.00,2.42,0.00,0.000,4,0.000,0.049,2784,294,2955,0,0,0,0,0,0
$GC,2436,-1.25,-77.9,285.8,-11.1,183,2440,0.00,2.22,0.00,0.000,6,0.000,0.021,2785,1702,2955,0,0,0,0,0,0
$GC,2779,-1.29,-77.9,325.2,-12.7,195,2783,0.00,2.25,0.00,0.000,4,0.000,0.026,2785,3074,2953,0,0,0,0,0,0
$GC,2917,-1.41,-77.9,342.2,-9.7,198,2922,0.20,2.33,0.00,0.000,6,0.050,0.036,2727,1693,2953,0,0,0,0,0,0
$GC,3244,-1.36,-77.9,372.9,-9.2,206,3249,0.12,2.45,0.00,0.000,4,0.104,0.051,2752,293,2952,0,0,0,0,0,0
$GC,3259,-1.30,-77.9,374.9,-9.9,206,3263,0.00,2.25,0.00,0.000,6,0.000,0.023,2751,1699,2952,0,0,0,0,0,0
$GC,3608,-1.30,-77.9,404.7,-8.9,215,3612,0.00,2.47,0.00,0.000,4,0.000,0.054,2752,290,2950,0,0,0,0,0,0
$GC,3634,-1.25,-77.9,407.2,-10.5,215,3639,0.12,2.28,0.00,0.000,6,0.103,0.024,2776,1689,2950,0,0,0,0,0,0
$GC,3976,-1.32,-77.9,441.1,-10.9,224,3981,0.00,2.35,0.00,0.000,4,0.000,0.031,2776,3087,2948,0,0,0,0,0,0
$GC,4009,-1.46,-77.9,444.8,-11.2,224,4014,0.20,2.38,0.00,0.000,6,0.052,0.040,2721,1693,2948,0,0,0,0,0,0
$STATE,4094,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4094,begin apogee
$GC,4101,-0.31,0.0,454.6,11.3,226,4170,1.23,0.00,65.03,0.831,6,0.075,0.000,2981,1693,2630,0,0,0,0,0,0
$STATE,4170,end apogee,CONTROL_FINISHED_OK
$STATE,4171,begin climb
$GC,4173,1.38,77.9,457.1,0.0,227,4253,1.62,2.40,67.05,0.816,4,0.038,0.030,3354,3081,2311,0,0,0,0,0,0
$GC,4352,1.25,116.5,454.8,5.3,231,4395,0.17,2.40,34.67,0.801,6,0.110,0.041,3321,1700,2153,0,0,0,0,0,0
$GC,4721,1.14,116.5,418.9,10.4,240,4726,0.12,2.40,0.00,0.000,4,0.118,0.033,3299,3084,2144,0,0,0,0,0,0
$GC,4768,1.14,116.5,413.4,10.6,241,4772,0.00,2.40,0.00,0.000,6,0.000,0.041,3299,1695,2144,0,0,0,0,0,0
$GC,5091,1.09,116.5,383.3,9.0,249,5095,0.00,2.50,0.00,0.000,4,0.000,0.056,3299,288,2140,0,0,0,0,0,0
$GC,5185,0.95,116.5,374.6,8.8,251,5190,0.20,2.35,0.00,0.000,6,0.104,0.027,3260,1703,2136,0,0,0,0,0,0
$GC,5509,1.02,143.1,354.1,6.1,259,5538,0.00,2.60,21.83,0.772,4,0.000,0.056,3260,296,2044,0,0,0,0,0,0
$GC,5616,0.99,143.1,345.4,9.4,261,5620,0.00,2.35,0.00,0.000,6,0.000,0.027,3260,1704,2040,0,0,0,0,0,0
$GC,5929,1.04,143.1,319.7,8.1,269,5933,0.00,2.30,0.00,0.000,4,0.000,0.031,3260,3084,2039,0,0,0,0,0,0
$GC,5977,1.14,145.0,316.1,7.8,270,5983,0.17,2.40,0.00,0.000,6,0.058,0.038,3307,1697,2038,0,0,0,0,0,0
$GC,6305,1.14,173.9,294.5,5.9,280,6338,0.00,2.45,27.50,0.744,4,0.000,0.030,3308,3085,1920,0,0,0,0,0,0
$GC,6383,1.14,179.7,289.4,7.5,283,6397,0.00,2.42,6.90,0.609,6,0.000,0.039,3307,1695,1896,0,0,0,0,0,0
$GC,6708,1.14,179.7,264.0,8.3,299,6709,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,1694,1892,0,0,0,0,0,0
$GC,7017,1.14,179.7,228.8,12.2,314,7021,0.00,2.45,0.00,0.000,4,0.000,0.052,3307,296,1890,0,0,0,0,0,0
$GC,7156,1.05,179.7,210.7,12.4,320,7161,0.15,2.33,0.00,0.000,6,0.102,0.023,3278,1714,1887,0,0,0,0,0,0
$GC,7489,1.16,217.4,186.5,5.3,342,7531,0.10,2.60,32.83,0.658,4,0.077,0.051,3310,293,1742,0,0,0,0,0,0
$GC,7628,1.09,217.4,175.7,9.3,352,7633,0.12,2.33,0.00,0.000,6,0.105,0.022,3286,1713,1737,0,0,0,0,0,0
$GC,7900,1.16,217.4,152.9,8.9,373,7905,0.00,2.47,0.00,0.000,4,0.000,0.048,3285,290,1737,0,0,0,0,0,0
$GC,7982,1.16,217.4,143.6,11.8,379,7986,0.00,2.30,0.00,0.000,6,0.000,0.021,3286,1712,1735,0,0,0,0,0,0
$GC,8248,1.25,217.4,116.6,9.9,400,8253,0.15,2.47,0.00,0.000,4,0.058,0.048,3332,293,1735,0,0,0,0,0,0
$GC,8317,1.16,217.4,108.7,10.2,405,8322,0.15,2.28,0.00,0.000,6,0.097,0.021,3302,1712,1734,0,0,0,0,0,0
$GC,8589,1.28,258.8,91.7,5.1,426,8632,0.12,2.47,35.50,0.567,4,0.064,0.047,3343,289,1573,0,0,0,0,0,0
$GC,8732,1.19,258.8,76.1,12.9,436,8737,0.17,2.25,0.00,0.000,6,0.091,0.019,3308,1705,1569,0,0,0,0,0,0
$GC,8999,1.27,263.1,52.7,7.6,457,9008,0.00,2.22,4.20,0.359,4,0.000,0.021,3308,3068,1557,0,0,0,0,0,0
$GC,9060,1.49,298.1,49.2,5.5,460,9098,0.25,2.35,31.25,0.522,6,0.026,0.032,3386,1698,1412,0,0,0,0,0,0
$GC,9356,1.41,298.1,12.0,14.9,502,9364,0.15,2.47,0.00,0.000,4,0.095,0.049,3354,299,1410,0,0,0,0,0,0
$STATE,9411,end climb,SURFACE_DEPTH_REACHED
$STATE,9411,begin surface coast
$FINISH,0.9,1.023393
$STATE,9429,end surface coast,CONTROL_FINISHED_OK
$STATE,9431,begin surface
$SM_CCo,9456,61.50,0.485,0,0,958,410.14
$SM_GC,1.58,0.00,0.00,61.50,0.000,0.000,0.485,425,1709,958,-12.07,0.25,410.14
$IRIDIUM_FIX,2050.21,-15815.34,051299,151519
$TT8_MAMPS,0.029146
$HUMID,56.45
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.5,35.622
$10V_AH,10.2,29.784
$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,31.000,104.450,326.750,61.500,0.000,25.503,26.776,163.190,4.500,0.000,33.288,1044.656,6284.203,419.206,1645.188,480.164,0.000,1176.777,0.000,1606.681,0.000,30.941,0.000
$DEVICE_MAMPS,131.924,55.991,830.661,484.744,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,348.967,331.523,717.545,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355832
$DATA_FILE_SIZE,28625,518
$CAP_FILE_SIZE,107377,0
$CFSIZE,260165632,191987712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100910,203307,2058.065,-15754.464,35,1.1,35,9.8