version: 66.06
glider: 139
mission: 8
dive: 451
start: 9 15 110 4 9 32
data:
$ID,139
$MISSION,8
$DIVE,451
$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,-2160446
$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
$GPS1,040350,2058.199,-15749.526,42,2.9,61,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-72.0
$GPS2,040914,2058.173,-15749.617,12,1.7,12,9.8
$SPEED_LIMITS,0.137,0.183
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$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,301.4,28574,-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,-64.72,0.000,2,0.000,0.000,429,1697,2757,0,0,0,0,0,0
$GC,85,-1.38,-77.9,3.5,-3.8,12,110,12.38,2.50,-3.62,0.000,4,0.132,0.061,2741,292,2951,0,0,0,0,0,0
$GC,262,-1.12,-77.9,49.3,-20.6,37,269,0.28,2.35,0.00,0.000,6,0.086,0.018,2802,1733,2953,0,0,0,0,0,0
$GC,524,-1.08,-77.9,89.8,-14.6,58,528,0.00,2.47,0.00,0.000,4,0.000,0.044,2802,287,2954,0,0,0,0,0,0
$GC,548,-0.99,-77.9,93.7,-13.9,60,553,0.15,2.28,0.00,0.000,6,0.094,0.018,2833,1716,2954,0,0,0,0,0,0
$GC,815,-1.07,-77.9,122.6,-12.1,81,819,0.00,2.45,0.00,0.000,4,0.000,0.045,2833,288,2955,0,0,0,0,0,0
$GC,869,-1.16,-77.9,128.3,-10.7,85,874,0.15,2.22,0.00,0.000,6,0.054,0.018,2783,1709,2955,0,0,0,0,0,0
$GC,1134,-1.16,-77.9,152.0,-9.0,106,1138,0.00,2.42,0.00,0.000,4,0.000,0.045,2783,294,2957,0,0,0,0,0,0
$GC,1200,-1.16,-77.9,159.9,-12.8,110,1208,0.00,2.25,0.00,0.000,6,0.000,0.018,2783,1698,2956,0,0,0,0,0,0
$GC,1461,-1.16,-77.9,190.4,-11.0,131,1465,0.00,2.22,0.00,0.000,4,0.000,0.022,2783,3071,2957,0,0,0,0,0,0
$GC,1531,-1.26,-77.9,197.9,-10.1,136,1535,0.00,2.33,0.00,0.000,6,0.000,0.031,2783,1687,2957,0,0,0,0,0,0
$GC,1802,-1.30,-77.9,224.3,-9.2,150,1806,0.00,2.25,0.00,0.000,4,0.000,0.023,2783,3069,2957,0,0,0,0,0,0
$GC,1918,-1.39,-77.9,232.5,-6.9,155,1923,0.17,2.30,0.00,0.000,6,0.051,0.032,2729,1700,2957,0,0,0,0,0,0
$GC,2251,-1.32,-77.9,267.9,-11.1,171,2253,0.15,0.00,0.00,0.000,6,0.096,0.000,2759,1700,2956,0,0,0,0,0,0
$GC,2558,-1.32,-77.9,296.6,-8.3,186,2562,0.00,2.42,0.00,0.000,4,0.000,0.048,2759,291,2956,0,0,0,0,0,0
$GC,2567,-1.32,-77.9,297.5,-8.3,186,2571,0.00,2.25,0.00,0.000,6,0.000,0.022,2759,1700,2956,0,0,0,0,0,0
$GC,2899,-1.32,-77.9,327.3,-10.2,195,2903,0.00,2.25,0.00,0.000,4,0.000,0.026,2759,3066,2954,0,0,0,0,0,0
$GC,2947,-1.41,-77.9,333.5,-13.4,196,2951,0.00,2.30,0.00,0.000,6,0.000,0.035,2759,1702,2954,0,0,0,0,0,0
$GC,3272,-1.44,-77.9,366.8,-9.0,204,3276,0.10,2.45,0.00,0.000,4,0.077,0.051,2726,298,2953,0,0,0,0,0,0
$GC,3317,-1.35,-77.9,371.3,-10.0,205,3322,0.12,2.25,0.00,0.000,6,0.101,0.023,2751,1685,2953,0,0,0,0,0,0
$GC,3646,-1.35,-77.9,405.0,-10.8,213,3650,0.00,2.33,0.00,0.000,4,0.000,0.031,2751,3081,2951,0,0,0,0,0,0
$GC,3765,-1.44,-77.9,418.4,-11.6,215,3769,0.00,2.35,0.00,0.000,6,0.000,0.040,2751,1702,2950,0,0,0,0,0,0
$STATE,4026,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4026,begin apogee
$GC,4032,-0.31,0.0,452.4,12.9,222,4101,1.08,0.00,65.00,0.827,6,0.073,0.000,2980,1702,2630,0,0,0,0,0,0
$STATE,4101,end apogee,CONTROL_FINISHED_OK
$STATE,4102,begin climb
$GC,4104,1.38,77.9,455.0,0.0,223,4184,1.60,2.40,67.10,0.813,4,0.034,0.031,3352,3085,2311,0,0,0,0,0,0
$GC,4199,1.33,195.2,458.5,-0.0,226,4311,0.00,2.42,102.90,0.811,6,0.000,0.038,3352,1697,1833,0,0,0,0,0,0
$GC,4648,1.18,195.2,396.4,16.7,237,4653,0.22,2.53,0.00,0.000,4,0.102,0.057,3309,290,1824,0,0,0,0,0,0
$GC,4672,1.01,195.2,392.2,15.6,237,4677,0.20,2.33,0.00,0.000,6,0.105,0.027,3271,1702,1821,0,0,0,0,0,0
$GC,5015,1.03,215.5,364.0,6.5,246,5039,0.00,2.55,16.83,0.742,4,0.000,0.057,3271,297,1750,0,0,0,0,0,0
$GC,5102,0.99,215.5,357.0,9.5,247,5107,0.00,2.35,0.00,0.000,6,0.000,0.027,3271,1705,1746,0,0,0,0,0,0
$GC,5434,1.04,215.5,324.6,10.3,256,5439,0.00,2.53,0.00,0.000,4,0.000,0.056,3271,291,1744,0,0,0,0,0,0
$GC,5495,1.04,215.5,317.7,11.6,257,5499,0.00,2.35,0.00,0.000,6,0.000,0.027,3271,1708,1741,0,0,0,0,0,0
$GC,5828,1.09,215.5,286.4,8.9,269,5832,0.00,2.53,0.00,0.000,4,0.000,0.055,3271,289,1741,0,0,0,0,0,0
$GC,5858,1.06,215.5,283.3,10.8,270,5862,0.00,2.33,0.00,0.000,6,0.000,0.026,3271,1705,1739,0,0,0,0,0,0
$GC,6183,1.13,217.5,254.9,7.8,286,6188,0.12,2.50,0.00,0.000,4,0.067,0.054,3308,293,1739,0,0,0,0,0,0
$GC,6300,1.05,217.5,243.1,10.3,291,6305,0.15,2.30,0.00,0.000,6,0.103,0.025,3279,1706,1738,0,0,0,0,0,0
$GC,6634,1.11,217.5,215.4,9.5,307,6638,0.00,2.47,0.00,0.000,4,0.000,0.052,3279,290,1737,0,0,0,0,0,0
$GC,6672,1.11,217.5,211.1,10.5,308,6679,0.00,2.33,0.00,0.000,6,0.000,0.024,3279,1699,1736,0,0,0,0,0,0
$GC,6993,1.18,217.5,183.9,8.3,330,6998,0.12,2.47,0.00,0.000,4,0.066,0.051,3317,294,1736,0,0,0,0,0,0
$GC,7028,1.07,217.5,180.1,11.3,332,7034,0.15,2.30,0.00,0.000,6,0.081,0.023,3283,1699,1735,0,0,0,0,0,0
$GC,7290,1.12,217.5,156.1,10.8,353,7294,0.00,2.28,0.00,0.000,4,0.000,0.025,3283,3082,1735,0,0,0,0,0,0
$GC,7316,1.21,217.5,153.1,10.8,355,7321,0.12,2.35,0.00,0.000,6,0.066,0.035,3323,1697,1734,0,0,0,0,0,0
$GC,7583,1.21,217.5,120.2,12.1,376,7588,0.00,2.40,0.00,0.000,4,0.000,0.049,3323,297,1735,0,0,0,0,0,0
$GC,7681,1.17,222.7,109.4,7.5,383,7691,0.00,2.25,4.97,0.435,6,0.000,0.021,3323,1713,1721,0,0,0,0,0,0
$GC,7947,1.22,222.7,89.7,8.0,404,7948,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,1713,1721,0,0,0,0,0,0
$GC,8199,1.29,222.7,69.7,8.9,424,8203,0.00,2.42,0.00,0.000,4,0.000,0.046,3323,296,1720,0,0,0,0,0,0
$GC,8306,1.29,222.7,59.5,9.2,432,8311,0.00,2.22,0.00,0.000,6,0.000,0.019,3323,1710,1720,0,0,0,0,0,0
$GC,8573,1.37,222.7,36.8,9.3,453,8578,0.10,2.47,0.00,0.000,4,0.073,0.046,3360,290,1720,0,0,0,0,0,0
$GC,8654,1.26,222.7,28.1,10.4,461,8661,0.15,2.22,0.00,0.000,6,0.070,0.018,3324,1687,1720,0,0,0,0,0,0
$GC,8858,1.37,247.4,14.6,6.2,507,8888,0.10,2.28,22.75,0.483,4,0.073,0.020,3362,3065,1620,0,0,0,0,0,0
$GC,8896,1.42,260.9,11.8,7.0,513,8915,0.00,2.35,12.85,0.453,6,0.000,0.030,3362,1697,1566,0,0,0,0,0,0
$STATE,8994,end climb,SURFACE_DEPTH_REACHED
$STATE,8994,begin surface coast
$FINISH,1.0,1.020349
$STATE,9023,end surface coast,CONTROL_FINISHED_OK
$STATE,9023,begin surface
$SM_CCo,9045,85.18,0.482,0,0,956,410.14
$SM_GC,1.71,0.00,0.00,85.18,0.000,0.000,0.482,425,1693,956,-12.07,-0.20,410.14
$IRIDIUM_FIX,2052.52,-15747.49,101299,010139
$TT8_MAMPS,0.029146
$HUMID,55.74
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.5,38.975
$10V_AH,10.2,32.582
$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,30.225,108.575,292.400,85.175,0.000,28.151,27.783,146.088,4.750,0.000,12.484,1061.149,5856.160,422.773,1637.551,475.704,0.000,1165.181,0.000,1624.629,0.000,33.771,0.000
$DEVICE_MAMPS,131.924,61.360,826.826,482.443,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,362.986,358.188,804.922,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,31786,540
$CAP_FILE_SIZE,105771,0
$CFSIZE,260165632,189943808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150910,064252,2057.781,-15751.353,11,2.1,30,9.8