version: 66.06
glider: 139
mission: 8
dive: 415
start: 9 10 110 23 45 35
data:
$ID,139
$MISSION,8
$DIVE,415
$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,-2159662.2
$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
$GPS1,233856,2057.673,-15754.222,10,2.0,10,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-73.8
$GPS2,234519,2057.564,-15754.315,14,2.0,31,9.8
$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,42.4,24925,-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,15,-1.38,-77.9,0.0,0.0,0,82,0.00,0.00,-64.18,0.000,2,0.000,0.000,425,1707,2728,0,0,0,0,0,0
$GC,85,-1.38,-77.9,3.1,-3.0,12,109,12.43,0.00,-4.32,0.000,6,0.133,0.000,2743,1707,2949,0,0,0,0,0,0
$GC,306,-1.17,-77.9,51.1,-20.6,46,311,0.25,2.35,0.00,0.000,4,0.097,0.021,2796,3119,2951,0,0,0,0,0,0
$GC,362,-1.21,-77.9,61.1,-14.8,50,366,0.00,2.38,0.00,0.000,6,0.000,0.033,2796,1697,2952,0,0,0,0,0,0
$GC,623,-1.16,-77.9,109.4,-17.8,70,627,0.00,2.40,0.00,0.000,4,0.000,0.045,2795,292,2953,0,0,0,0,0,0
$GC,656,-1.06,-77.9,116.2,-19.2,72,664,0.08,2.33,0.00,0.000,6,0.087,0.018,2815,1733,2952,0,0,0,0,0,0
$GC,919,-1.11,-77.9,151.0,-10.5,93,923,0.00,2.47,0.00,0.000,4,0.000,0.045,2815,289,2953,0,0,0,0,0,0
$GC,978,-1.11,-77.9,157.2,-8.7,97,984,0.00,2.22,0.00,0.000,6,0.000,0.018,2815,1713,2954,0,0,0,0,0,0
$GC,1240,-1.18,-77.9,177.5,-8.9,118,1241,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1718,2954,0,0,0,0,0,0
$GC,1507,-1.26,-77.9,204.4,-10.1,138,1512,0.17,2.47,0.00,0.000,4,0.051,0.046,2761,292,2955,0,0,0,0,0,0
$GC,1523,-1.26,-77.9,206.2,-9.7,138,1530,0.00,2.25,0.00,0.000,6,0.000,0.019,2762,1697,2954,0,0,0,0,0,0
$GC,1838,-1.26,-77.9,239.5,-11.0,154,1843,0.00,2.40,0.00,0.000,4,0.000,0.047,2761,295,2955,0,0,0,0,0,0
$GC,1853,-1.23,-77.9,241.3,-11.4,154,1857,0.00,2.22,0.00,0.000,6,0.000,0.020,2762,1705,2954,0,0,0,0,0,0
$GC,2174,-1.23,-77.9,275.0,-10.7,170,2176,0.10,0.00,0.00,0.000,6,0.110,0.000,2782,1710,2955,0,0,0,0,0,0
$GC,2482,-1.29,-77.9,304.6,-8.3,184,2483,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1710,2954,0,0,0,0,0,0
$GC,2807,-1.35,-77.9,329.0,-7.4,192,2812,0.12,2.25,0.00,0.000,4,0.066,0.028,2743,3062,2953,0,0,0,0,0,0
$GC,2851,-1.40,-77.9,333.0,-9.3,192,2856,0.00,2.33,0.00,0.000,6,0.000,0.036,2743,1694,2953,0,0,0,0,0,0
$GC,3183,-1.40,-77.9,370.8,-11.8,201,3184,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1693,2951,0,0,0,0,0,0
$GC,3509,-1.40,-77.9,404.1,-9.6,209,3513,0.00,2.30,0.00,0.000,4,0.000,0.029,2743,3062,2949,0,0,0,0,0,0
$GC,3552,-1.46,-77.9,408.4,-8.9,210,3557,0.00,2.33,0.00,0.000,6,0.000,0.039,2743,1695,2949,0,0,0,0,0,0
$GC,3880,-1.46,-77.9,443.9,-11.7,218,3885,0.00,2.45,0.00,0.000,4,0.000,0.056,2743,289,2947,0,0,0,0,0,0
$GC,3901,-1.42,-77.9,446.6,-13.2,218,3905,0.00,2.28,0.00,0.000,6,0.000,0.025,2743,1678,2947,0,0,0,0,0,0
$STATE,3958,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3958,begin apogee
$GC,3964,-0.31,0.0,454.3,12.7,220,4032,1.12,0.00,64.60,0.828,6,0.074,0.000,2982,1683,2630,0,0,0,0,0,0
$STATE,4033,end apogee,CONTROL_FINISHED_OK
$STATE,4033,begin climb
$GC,4036,1.38,77.9,456.7,0.0,221,4108,1.62,0.00,67.40,0.815,6,0.041,0.000,3353,1683,2312,0,0,0,0,0,0
$GC,4406,1.27,143.4,451.7,3.5,230,4472,0.12,2.47,57.42,0.818,4,0.114,0.031,3329,3082,2045,0,0,0,0,0,0
$GC,4495,1.17,143.4,446.3,8.1,232,4500,0.12,2.42,0.00,0.000,6,0.116,0.041,3307,1700,2044,0,0,0,0,0,0
$GC,4824,1.11,149.6,419.9,7.5,240,4837,0.00,2.55,5.57,0.604,4,0.000,0.057,3306,300,2019,0,0,0,0,0,0
$GC,4871,0.95,149.6,415.1,11.0,241,4876,0.25,2.35,0.00,0.000,6,0.100,0.026,3258,1704,2017,0,0,0,0,0,0
$GC,5202,1.00,149.6,388.2,8.0,249,5206,0.00,2.53,0.00,0.000,4,0.000,0.057,3258,294,2015,0,0,0,0,0,0
$GC,5249,0.97,156.2,384.1,7.4,250,5261,0.00,2.35,6.53,0.643,6,0.000,0.027,3258,1708,1992,0,0,0,0,0,0
$GC,5579,1.08,191.3,365.5,5.5,258,5621,0.12,2.58,32.85,0.789,4,0.071,0.055,3293,290,1848,0,0,0,0,0,0
$GC,5675,0.97,191.3,357.0,10.9,260,5679,0.15,2.38,0.00,0.000,6,0.106,0.027,3265,1707,1845,0,0,0,0,0,0
$GC,6000,1.03,193.6,331.5,7.7,268,6004,0.00,2.33,0.00,0.000,4,0.000,0.030,3265,3091,1842,0,0,0,0,0,0
$GC,6014,1.11,199.9,330.3,7.5,268,6028,0.12,2.42,8.00,0.659,6,0.068,0.039,3301,1691,1814,0,0,0,0,0,0
$GC,6365,1.11,199.9,296.5,9.5,277,6369,0.00,2.45,0.00,0.000,4,0.000,0.054,3300,290,1811,0,0,0,0,0,0
$GC,6444,1.01,199.9,286.4,11.4,280,6449,0.15,2.33,0.00,0.000,6,0.107,0.025,3272,1711,1809,0,0,0,0,0,0
$GC,6762,1.08,199.9,258.1,9.4,295,6766,0.00,2.53,0.00,0.000,4,0.000,0.054,3272,289,1808,0,0,0,0,0,0
$GC,6956,1.08,199.9,230.7,11.4,303,6961,0.00,2.30,0.00,0.000,6,0.000,0.025,3271,1706,1806,0,0,0,0,0,0
$GC,7273,1.20,220.0,203.7,6.5,318,7298,0.17,2.53,17.83,0.656,4,0.055,0.051,3321,294,1732,0,0,0,0,0,0
$GC,7323,1.09,220.0,200.0,8.8,320,7328,0.17,2.30,0.00,0.000,6,0.097,0.024,3287,1706,1729,0,0,0,0,0,0
$GC,7649,1.16,220.0,175.5,11.1,345,7653,0.00,2.25,0.00,0.000,4,0.000,0.024,3287,3080,1728,0,0,0,0,0,0
$GC,7691,1.29,220.0,170.0,12.0,348,7696,0.20,2.35,0.00,0.000,6,0.050,0.035,3344,1689,1728,0,0,0,0,0,0
$GC,7953,1.25,220.0,139.7,9.0,368,7957,0.00,2.40,0.00,0.000,4,0.000,0.048,3344,296,1728,0,0,0,0,0,0
$GC,7965,1.20,220.0,138.5,8.2,369,7970,0.17,2.25,0.00,0.000,6,0.094,0.021,3309,1712,1727,0,0,0,0,0,0
$GC,8233,1.30,255.0,122.9,5.5,390,8275,0.10,2.53,30.88,0.588,4,0.074,0.046,3343,296,1588,0,0,0,0,0,0
$GC,8318,1.22,255.0,114.3,12.3,396,8323,0.15,2.25,0.00,0.000,6,0.095,0.020,3314,1705,1585,0,0,0,0,0,0
$GC,8586,1.30,255.0,90.2,9.2,417,8591,0.00,2.47,0.00,0.000,4,0.000,0.047,3313,290,1585,0,0,0,0,0,0
$GC,8667,1.30,255.0,81.8,9.6,423,8671,0.00,2.25,0.00,0.000,6,0.000,0.019,3313,1711,1583,0,0,0,0,0,0
$GC,8939,1.40,255.0,58.6,8.7,444,8943,0.17,2.45,0.00,0.000,4,0.051,0.045,3368,296,1583,0,0,0,0,0,0
$GC,9061,1.27,255.0,43.4,14.1,453,9066,0.20,2.22,0.00,0.000,6,0.087,0.018,3327,1711,1583,0,0,0,0,0,0
$GC,9325,1.32,255.0,17.4,10.0,493,9331,0.00,2.47,0.00,0.000,4,0.000,0.047,3327,296,1583,0,0,0,0,0,0
$GC,9394,1.32,255.0,9.1,12.5,508,9400,0.00,2.22,0.00,0.000,6,0.000,0.018,3328,1698,1583,0,0,0,0,0,0
$STATE,9447,end climb,SURFACE_DEPTH_REACHED
$STATE,9447,begin surface coast
$FINISH,0.8,0.999260
$STATE,9474,end surface coast,CONTROL_FINISHED_OK
$STATE,9474,begin surface
$SM_CCo,9498,85.30,0.479,0,0,958,410.14
$SM_GC,1.57,0.00,0.00,85.30,0.000,0.000,0.479,426,1700,958,-12.07,0.00,410.14
$IRIDIUM_FIX,2050.21,-15754.77,051299,202051
$TT8_MAMPS,0.029146
$HUMID,55.07
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.5,35.799
$10V_AH,10.3,29.936
$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,30.675,104.350,291.075,85.300,0.000,23.831,27.204,189.530,4.500,0.000,31.621,1050.075,6402.477,440.647,1576.898,491.109,0.000,1149.268,0.000,1537.729,0.000,29.261,0.000
$DEVICE_MAMPS,132.691,56.758,828.360,479.375,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,354.177,326.748,740.279,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355832
$DATA_FILE_SIZE,28672,526
$CAP_FILE_SIZE,106055,0
$CFSIZE,260165632,191881216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110910,022637,2057.140,-15754.480,40,1.0,40,9.8