version: 66.06
glider: 139
mission: 8
dive: 455
start: 9 15 110 15 12 5
data:
$ID,139
$MISSION,8
$DIVE,455
$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,-2160550.2
$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
$GPS1,150255,2056.874,-15754.835,11,1.7,11,9.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-68.9
$GPS2,151149,2056.780,-15754.875,15,1.5,32,9.8
$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,320.1,24741,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.38,-77.9,0.0,0.0,0,84,0.00,0.00,-64.28,0.000,2,0.000,0.000,429,1716,2755,0,0,0,0,0,0
$GC,87,-1.38,-77.9,3.5,-3.6,12,112,12.40,2.38,-3.60,0.000,4,0.133,0.036,2743,3113,2950,0,0,0,0,0,0
$GC,326,-1.32,-77.9,52.3,-15.3,45,330,0.00,2.40,0.00,0.000,6,0.000,0.032,2743,1693,2952,0,0,0,0,0,0
$GC,587,-1.18,-77.9,98.1,-16.9,65,592,0.25,2.40,0.00,0.000,4,0.091,0.044,2797,292,2953,0,0,0,0,0,0
$GC,661,-1.12,-77.9,108.3,-12.9,70,668,0.00,2.33,0.00,0.000,6,0.000,0.018,2797,1736,2953,0,0,0,0,0,0
$GC,922,-1.12,-77.9,136.8,-10.1,91,926,0.00,2.17,0.00,0.000,4,0.000,0.021,2797,3080,2954,0,0,0,0,0,0
$GC,1043,-1.19,-77.9,147.8,-9.2,100,1047,0.00,2.33,0.00,0.000,6,0.000,0.031,2797,1691,2954,0,0,0,0,0,0
$GC,1315,-1.24,-77.9,174.9,-10.4,121,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1691,2955,0,0,0,0,0,0
$GC,1580,-1.29,-77.9,204.9,-10.6,141,1581,0.12,0.00,0.00,0.000,6,0.063,0.000,2755,1691,2955,0,0,0,0,0,0
$GC,1888,-1.29,-77.9,242.5,-12.0,156,1892,0.00,2.40,0.00,0.000,4,0.000,0.047,2755,294,2955,0,0,0,0,0,0
$GC,1940,-1.22,-77.9,249.0,-13.3,158,1944,0.15,2.25,0.00,0.000,6,0.095,0.019,2785,1707,2955,0,0,0,0,0,0
$GC,2264,-1.28,-77.9,278.1,-7.9,174,2265,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1711,2955,0,0,0,0,0,0
$GC,2590,-1.34,-77.9,305.5,-8.9,189,2595,0.12,2.47,0.00,0.000,4,0.064,0.049,2744,296,2954,0,0,0,0,0,0
$GC,2635,-1.28,-77.9,310.4,-12.1,190,2640,0.12,2.22,0.00,0.000,6,0.100,0.021,2769,1693,2954,0,0,0,0,0,0
$GC,2965,-1.32,-77.9,339.9,-9.0,198,2970,0.00,2.42,0.00,0.000,4,0.000,0.051,2769,299,2953,0,0,0,0,0,0
$GC,2994,-1.28,-77.9,343.0,-10.8,198,2998,0.00,2.28,0.00,0.000,6,0.000,0.022,2769,1706,2953,0,0,0,0,0,0
$GC,3336,-1.32,-77.9,370.0,-7.9,207,3340,0.00,2.28,0.00,0.000,4,0.000,0.028,2769,3077,2951,0,0,0,0,0,0
$GC,3355,-1.38,-77.9,371.8,-8.0,207,3359,0.00,2.35,0.00,0.000,6,0.000,0.037,2769,1700,2951,0,0,0,0,0,0
$GC,3707,-1.44,-77.9,400.5,-7.5,216,3712,0.15,2.47,0.00,0.000,4,0.059,0.054,2725,290,2949,0,0,0,0,0,0
$GC,3759,-1.33,-77.9,405.8,-10.0,217,3764,0.17,2.30,0.00,0.000,6,0.094,0.024,2760,1702,2949,0,0,0,0,0,0
$GC,4081,-1.37,-77.9,429.5,-7.3,225,4082,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1706,2946,0,0,0,0,0,0
$STATE,4359,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4360,begin apogee
$GC,4365,-0.31,0.0,452.1,8.4,232,4433,1.02,0.00,64.22,0.829,6,0.071,0.000,2980,1707,2630,0,0,0,0,0,0
$STATE,4434,end apogee,CONTROL_FINISHED_OK
$STATE,4434,begin climb
$GC,4437,1.38,77.9,453.2,0.0,233,4516,1.62,2.40,67.00,0.811,4,0.038,0.031,3352,3080,2311,0,0,0,0,0,0
$GC,4642,1.26,120.6,446.9,5.0,237,4687,0.15,2.40,38.00,0.798,6,0.114,0.040,3325,1701,2137,0,0,0,0,0,0
$GC,5028,1.15,120.6,417.5,8.2,247,5033,0.12,2.50,0.00,0.000,4,0.117,0.058,3302,298,2127,0,0,0,0,0,0
$GC,5044,1.01,120.6,416.1,8.5,247,5048,0.17,2.33,0.00,0.000,6,0.108,0.026,3269,1700,2126,0,0,0,0,0,0
$GC,5395,1.04,146.4,394.0,6.1,256,5423,0.00,2.60,21.67,0.779,4,0.000,0.057,3269,300,2033,0,0,0,0,0,0
$GC,5533,0.99,153.2,383.5,7.4,259,5545,0.00,2.33,7.18,0.654,6,0.000,0.026,3269,1706,2005,0,0,0,0,0,0
$GC,5867,1.04,160.2,360.1,7.4,267,5876,0.00,0.00,7.43,0.660,6,0.000,0.000,3269,1706,1976,0,0,0,0,0,0
$GC,6189,1.10,173.1,335.9,7.0,275,6209,0.00,2.53,12.60,0.720,4,0.000,0.055,3269,298,1924,0,0,0,0,0,0
$GC,6235,1.05,173.1,332.5,8.3,276,6240,0.00,2.33,0.00,0.000,6,0.000,0.027,3269,1703,1921,0,0,0,0,0,0
$GC,6563,1.13,200.6,311.3,6.0,284,6597,0.12,2.60,25.30,0.747,4,0.067,0.055,3306,299,1812,0,0,0,0,0,0
$GC,6658,1.02,200.6,301.1,12.4,286,6663,0.17,2.33,0.00,0.000,6,0.100,0.026,3272,1702,1808,0,0,0,0,0,0
$GC,6990,1.11,222.2,278.5,6.4,301,7014,0.00,2.58,19.67,0.709,4,0.000,0.055,3271,296,1724,0,0,0,0,0,0
$GC,7058,1.11,222.2,272.5,10.2,304,7063,0.00,2.33,0.00,0.000,6,0.000,0.025,3271,1704,1720,0,0,0,0,0,0
$GC,7388,1.18,222.2,237.1,11.9,320,7393,0.15,2.50,0.00,0.000,4,0.059,0.054,3316,297,1719,0,0,0,0,0,0
$GC,7413,1.10,222.2,233.2,16.0,321,7418,0.12,2.30,0.00,0.000,6,0.106,0.025,3292,1711,1717,0,0,0,0,0,0
$GC,7737,1.14,222.2,193.7,11.4,338,7741,0.00,2.50,0.00,0.000,4,0.000,0.051,3292,289,1717,0,0,0,0,0,0
$GC,7780,1.11,222.2,188.2,12.6,341,7784,0.00,2.33,0.00,0.000,6,0.000,0.024,3292,1711,1716,0,0,0,0,0,0
$GC,8042,1.16,222.2,162.9,9.3,361,8046,0.00,2.47,0.00,0.000,4,0.000,0.051,3292,293,1716,0,0,0,0,0,0
$GC,8095,1.16,222.2,156.3,12.3,365,8099,0.00,2.28,0.00,0.000,6,0.000,0.022,3292,1701,1714,0,0,0,0,0,0
$GC,8366,1.23,222.2,129.7,9.9,386,8371,0.10,2.45,0.00,0.000,4,0.074,0.048,3328,293,1714,0,0,0,0,0,0
$GC,8395,1.13,222.2,126.3,11.9,388,8400,0.15,2.25,0.00,0.000,6,0.099,0.021,3299,1705,1714,0,0,0,0,0,0
$GC,8657,1.21,232.5,106.0,7.2,408,8672,0.00,2.50,9.05,0.514,4,0.000,0.048,3299,288,1681,0,0,0,0,0,0
$GC,8704,1.21,232.5,101.3,10.5,411,8708,0.00,2.30,0.00,0.000,6,0.000,0.021,3299,1714,1678,0,0,0,0,0,0
$GC,8975,1.35,249.7,81.4,6.7,432,8997,0.20,2.55,15.88,0.530,4,0.046,0.048,3361,293,1612,0,0,0,0,0,0
$GC,9183,1.25,249.7,55.9,12.2,447,9188,0.20,2.25,0.00,0.000,6,0.087,0.019,3320,1702,1609,0,0,0,0,0,0
$GC,9450,1.32,249.7,31.5,9.2,468,9454,0.00,2.42,0.00,0.000,4,0.000,0.045,3320,293,1608,0,0,0,0,0,0
$GC,9493,1.32,249.7,26.7,10.8,474,9499,0.00,2.28,0.00,0.000,6,0.000,0.019,3320,1713,1608,0,0,0,0,0,0
$GC,9696,1.40,249.7,9.2,8.9,520,9703,0.15,2.50,0.00,0.000,4,0.054,0.046,3371,296,1607,0,0,0,0,0,0
$GC,9741,1.29,249.7,3.9,12.5,529,9749,0.17,2.22,0.00,0.000,6,0.069,0.018,3330,1708,1608,0,0,0,0,0,0
$STATE,9755,end climb,SURFACE_DEPTH_REACHED
$STATE,9755,begin surface coast
$FINISH,0.9,1.015287
$STATE,9778,end surface coast,CONTROL_FINISHED_OK
$STATE,9778,begin surface
$SM_CCo,9800,90.70,0.484,0,0,958,410.14
$SM_GC,1.74,0.00,0.00,90.70,0.000,0.000,0.484,427,1710,958,-12.07,0.28,410.14
$IRIDIUM_FIX,2047.91,-15752.63,101299,151535
$TT8_MAMPS,0.029146
$HUMID,55.71
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.5,39.324
$10V_AH,10.3,32.874
$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,30.550,104.775,288.000,90.700,0.000,53.156,108.400,167.799,4.500,0.000,32.428,1082.638,6645.331,424.541,1666.764,602.018,0.000,1177.201,0.000,1630.196,0.000,29.263,0.000
$DEVICE_MAMPS,133.458,57.525,829.127,483.977,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,361.573,338.790,742.751,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,28659,536
$CAP_FILE_SIZE,110652,0
$CFSIZE,260165632,189726720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150910,175807,2056.668,-15755.914,31,1.0,31,9.8