version: 66.06
glider: 139
mission: 8
dive: 525
start: 9 24 110 15 7 4
data:
$ID,139
$MISSION,8
$DIVE,525
$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,120
$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,-2162033.5
$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
$GPS1,150107,2102.216,-15752.834,32,0.9,32,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-73.2
$GPS2,150644,2102.173,-15752.917,13,1.7,13,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,D_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,58.9,18545,-16.6,-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,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.38,0.000,2,0.000,0.000,426,1699,2751,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.5,-3.7,12,109,12.62,0.00,-6.53,0.000,6,0.132,0.000,2787,1700,3109,0,0,0,0,0,0
$GC,310,-0.97,-116.8,51.4,-19.1,45,312,0.25,0.00,0.00,0.000,6,0.087,0.000,2840,1700,3111,0,0,0,0,0,0
$GC,563,-0.91,-116.8,88.3,-13.0,65,567,0.00,2.42,0.00,0.000,4,0.000,0.047,2839,295,3112,0,0,0,0,0,0
$GC,623,-0.85,-116.8,96.2,-12.2,69,629,0.12,2.30,0.00,0.000,6,0.094,0.018,2866,1741,3112,0,0,0,0,0,0
$GC,884,-0.93,-116.8,122.1,-8.7,90,888,0.00,2.47,0.00,0.000,4,0.000,0.045,2866,295,3113,0,0,0,0,0,0
$GC,979,-0.98,-116.8,130.6,-8.5,97,984,0.15,2.25,0.00,0.000,6,0.053,0.018,2815,1724,3114,0,0,0,0,0,0
$GC,1245,-0.98,-116.8,157.6,-10.2,118,1249,0.00,2.20,0.00,0.000,4,0.000,0.022,2815,3077,3114,0,0,0,0,0,0
$GC,1271,-1.02,-116.8,160.2,-10.4,119,1277,0.00,2.30,0.00,0.000,6,0.000,0.031,2815,1694,3115,0,0,0,0,0,0
$GC,1529,-1.02,-116.8,189.1,-11.1,140,1533,0.00,2.40,0.00,0.000,4,0.000,0.045,2815,294,3115,0,0,0,0,0,0
$GC,1599,-0.98,-116.8,197.3,-11.4,145,1603,0.00,2.22,0.00,0.000,6,0.000,0.019,2815,1702,3114,0,0,0,0,0,0
$GC,1862,-0.98,-116.8,224.1,-9.6,159,1867,0.00,2.40,0.00,0.000,4,0.000,0.047,2815,299,3114,0,0,0,0,0,0
$GC,1909,-0.95,-116.8,229.2,-10.5,161,1913,0.12,2.22,0.00,0.000,6,0.091,0.020,2843,1701,3114,0,0,0,0,0,0
$GC,2244,-1.01,-116.8,256.0,-7.6,177,2248,0.00,2.40,0.00,0.000,4,0.000,0.047,2843,299,3114,0,0,0,0,0,0
$GC,2310,-1.07,-116.8,261.8,-8.0,180,2314,0.12,2.20,0.00,0.000,6,0.061,0.020,2798,1700,3114,0,0,0,0,0,0
$GC,2642,-1.07,-116.8,293.1,-10.1,196,2644,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1704,3114,0,0,0,0,0,0
$GC,2967,-1.07,-116.8,327.2,-10.3,206,2971,0.00,2.42,0.00,0.000,4,0.000,0.049,2798,293,3112,0,0,0,0,0,0
$GC,3025,-1.03,-116.8,333.6,-11.0,207,3029,0.12,2.22,0.00,0.000,6,0.092,0.021,2825,1694,3112,0,0,0,0,0,0
$GC,3342,-1.10,-116.8,363.5,-9.2,215,3346,0.00,2.45,0.00,0.000,4,0.000,0.051,2825,300,3111,0,0,0,0,0,0
$GC,3431,-1.14,-116.8,372.6,-9.8,216,3437,0.12,2.22,0.00,0.000,6,0.064,0.022,2784,1699,3111,0,0,0,0,0,0
$GC,3762,-1.14,-116.8,405.2,-9.4,225,3766,0.00,2.42,0.00,0.000,4,0.000,0.053,2783,300,3109,0,0,0,0,0,0
$GC,3805,-1.08,-116.8,409.7,-10.5,226,3810,0.15,2.25,0.00,0.000,6,0.088,0.024,2816,1701,3109,0,0,0,0,0,0
$GC,4137,-1.14,-116.8,435.7,-7.7,234,4141,0.00,2.47,0.00,0.000,4,0.000,0.055,2816,294,3106,0,0,0,0,0,0
$GC,4198,-1.17,-116.8,441.2,-9.6,235,4202,0.00,2.28,0.00,0.000,6,0.000,0.025,2816,1701,3107,0,0,0,0,0,0
$STATE,4346,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4346,begin apogee
$GC,4353,-0.31,0.0,453.3,8.0,239,4453,0.75,0.00,96.53,0.822,6,0.062,0.000,2979,1705,2630,0,0,0,0,0,0
$STATE,4454,end apogee,CONTROL_FINISHED_OK
$STATE,4454,begin climb
$GC,4457,1.18,116.8,456.0,0.0,241,4569,1.42,2.42,100.80,0.806,4,0.038,0.032,3310,3080,2153,0,0,0,0,0,0
$GC,4636,1.01,135.8,453.3,7.0,245,4661,0.20,2.40,17.52,0.749,6,0.098,0.040,3272,1703,2075,0,0,0,0,0,0
$GC,5005,0.90,135.8,426.3,7.9,254,5010,0.12,2.47,0.00,0.000,4,0.110,0.057,3248,296,2067,0,0,0,0,0,0
$GC,5039,0.76,135.8,423.1,8.7,254,5044,0.17,2.33,0.00,0.000,6,0.104,0.026,3214,1698,2064,0,0,0,0,0,0
$GC,5370,0.83,168.5,402.3,6.4,262,5404,0.00,2.55,28.05,0.784,4,0.000,0.056,3214,293,1942,0,0,0,0,0,0
$GC,5450,0.80,174.1,396.7,7.6,263,5462,0.00,2.35,6.05,0.611,6,0.000,0.027,3214,1707,1920,0,0,0,0,0,0
$GC,5792,0.91,220.1,375.5,5.8,272,5842,0.15,2.62,41.83,0.784,4,0.063,0.057,3255,293,1731,0,0,0,0,0,0
$GC,5940,0.79,220.1,361.4,10.6,275,5945,0.17,2.33,0.00,0.000,6,0.103,0.027,3222,1700,1726,0,0,0,0,0,0
$GC,6256,0.84,220.1,335.6,8.3,283,6260,0.00,2.50,0.00,0.000,4,0.000,0.057,3221,292,1723,0,0,0,0,0,0
$GC,6378,0.84,220.1,322.5,11.4,285,6382,0.00,2.30,0.00,0.000,6,0.000,0.027,3222,1701,1720,0,0,0,0,0,0
$GC,6695,0.92,228.7,296.3,7.5,294,6708,0.12,2.53,6.93,0.611,4,0.069,0.055,3259,293,1697,0,0,0,0,0,0
$GC,6770,0.83,228.7,289.4,9.5,297,6775,0.15,2.33,0.00,0.000,6,0.104,0.027,3230,1705,1694,0,0,0,0,0,0
$GC,7100,0.88,230.8,264.9,7.8,313,7105,0.00,2.50,0.00,0.000,4,0.000,0.054,3230,295,1694,0,0,0,0,0,0
$GC,7201,0.88,230.8,256.1,8.1,317,7205,0.00,2.28,0.00,0.000,6,0.000,0.025,3230,1702,1692,0,0,0,0,0,0
$GC,7518,0.98,254.8,234.5,6.8,332,7549,0.15,2.58,23.60,0.673,4,0.060,0.054,3274,301,1591,0,0,0,0,0,0
$GC,7627,0.87,254.8,222.2,12.1,336,7635,0.15,2.33,0.00,0.000,6,0.077,0.024,3240,1705,1587,0,0,0,0,0,0
$GC,7954,0.91,254.8,193.9,8.8,354,7958,0.00,2.50,0.00,0.000,4,0.000,0.052,3240,290,1586,0,0,0,0,0,0
$GC,8089,0.91,254.8,179.5,11.4,364,8093,0.00,2.28,0.00,0.000,6,0.000,0.023,3239,1707,1584,0,0,0,0,0,0
$GC,8357,0.97,254.8,156.0,8.0,385,8362,0.10,2.50,0.00,0.000,4,0.076,0.051,3274,294,1583,0,0,0,0,0,0
$GC,8468,0.90,254.8,144.6,10.6,393,8473,0.15,2.28,0.00,0.000,6,0.096,0.022,3243,1699,1582,0,0,0,0,0,0
$GC,8735,0.97,254.8,123.6,8.1,414,8739,0.00,2.47,0.00,0.000,4,0.000,0.049,3244,289,1582,0,0,0,0,0,0
$GC,8845,0.97,254.8,113.0,10.2,422,8849,0.00,2.25,0.00,0.000,6,0.000,0.021,3243,1711,1582,0,0,0,0,0,0
$GC,9107,1.13,289.0,93.2,6.4,442,9147,0.22,2.53,29.58,0.555,4,0.044,0.047,3310,294,1449,0,0,0,0,0,0
$GC,9276,1.06,289.0,77.4,11.0,454,9280,0.15,2.25,0.00,0.000,6,0.091,0.020,3279,1706,1445,0,0,0,0,0,0
$GC,9543,1.14,303.9,58.6,7.2,475,9561,0.00,2.50,13.18,0.486,4,0.000,0.048,3279,295,1391,0,0,0,0,0,0
$GC,9646,1.14,303.9,49.1,9.8,482,9653,0.00,2.28,0.00,0.000,6,0.000,0.020,3279,1705,1387,0,0,0,0,0,0
$GC,9908,1.25,326.2,28.6,6.9,505,9938,0.20,2.53,19.95,0.482,4,0.046,0.048,3341,298,1299,0,0,0,0,0,0
$GC,10054,1.10,326.2,12.5,13.0,536,10061,0.20,2.25,0.00,0.000,6,0.065,0.019,3285,1702,1295,0,0,0,0,0,0
$STATE,10175,end climb,SURFACE_DEPTH_REACHED
$STATE,10175,begin surface coast
$FINISH,1.0,1.023164
$STATE,10228,end surface coast,CONTROL_FINISHED_OK
$STATE,10228,begin surface
$SM_CCo,10250,48.55,0.472,0,0,957,410.14
$SM_GC,1.54,0.00,0.00,48.55,0.000,0.000,0.472,429,1708,957,-12.06,0.23,410.14
$IRIDIUM_FIX,2052.52,-15752.63,191299,121211
$TT8_MAMPS,0.028379
$HUMID,56.65
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.4,46.557
$10V_AH,10.1,38.635
$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,30.600,113.950,384.000,48.550,0.000,29.067,29.667,152.779,4.500,0.000,13.362,1155.296,6645.143,459.988,1869.518,503.040,0.000,1316.991,0.000,1843.192,0.000,29.252,0.000
$DEVICE_MAMPS,131.924,56.758,822.224,471.705,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,386.582,371.205,829.913,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,31804,575
$CAP_FILE_SIZE,118337,0
$CFSIZE,260165632,185524224
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240910,175932,2102.273,-15752.980,11,2.0,11,9.8