version: 66.06
glider: 139
mission: 8
dive: 405
start: 9 9 110 19 33 25
data:
$ID,139
$MISSION,8
$DIVE,405
$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,-2159456.5
$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
$GPS1,192528,2100.526,-15752.589,16,2.7,35,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-70.6
$GPS2,193306,2100.464,-15752.580,15,1.3,32,9.8
$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,49.5,19413,-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,-64.18,0.000,2,0.000,0.000,423,1711,2741,0,0,0,0,0,0
$GC,86,-1.38,-77.9,3.3,-3.4,12,111,12.48,2.38,-3.95,0.000,4,0.134,0.038,2742,3106,2950,0,0,0,0,0,0
$GC,192,-1.28,-77.9,28.3,-18.7,34,199,0.10,2.40,0.00,0.000,6,0.086,0.033,2766,1702,2951,0,0,0,0,0,0
$GC,398,-1.14,-77.9,65.6,-16.4,51,400,0.17,0.00,0.00,0.000,6,0.099,0.000,2801,1701,2952,0,0,0,0,0,0
$GC,649,-1.14,-77.9,98.8,-13.6,71,653,0.00,2.42,0.00,0.000,4,0.000,0.045,2801,293,2953,0,0,0,0,0,0
$GC,715,-1.11,-77.9,107.5,-12.1,76,720,0.00,2.33,0.00,0.000,6,0.000,0.018,2801,1737,2953,0,0,0,0,0,0
$GC,983,-1.14,-77.9,131.0,-8.8,97,987,0.00,2.20,0.00,0.000,4,0.000,0.022,2801,3096,2954,0,0,0,0,0,0
$GC,1024,-1.28,-77.9,135.1,-8.8,100,1029,0.12,2.33,0.00,0.000,6,0.061,0.031,2757,1696,2954,0,0,0,0,0,0
$GC,1283,-1.22,-77.9,162.8,-10.0,120,1288,0.12,2.42,0.00,0.000,4,0.099,0.047,2782,296,2955,0,0,0,0,0,0
$GC,1325,-1.22,-77.9,167.2,-10.7,123,1329,0.00,2.25,0.00,0.000,6,0.000,0.018,2782,1720,2955,0,0,0,0,0,0
$GC,1589,-1.22,-77.9,194.3,-10.8,144,1593,0.00,2.45,0.00,0.000,4,0.000,0.045,2782,295,2955,0,0,0,0,0,0
$GC,1602,-1.22,-77.9,196.1,-10.7,145,1606,0.00,2.22,0.00,0.000,6,0.000,0.020,2782,1714,2955,0,0,0,0,0,0
$GC,1875,-1.22,-77.9,224.1,-10.7,159,1876,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1718,2955,0,0,0,0,0,0
$GC,2182,-1.26,-77.9,254.9,-8.3,174,2187,0.00,2.45,0.00,0.000,4,0.000,0.047,2782,297,2955,0,0,0,0,0,0
$GC,2272,-1.26,-77.9,261.4,-5.6,178,2277,0.00,2.22,0.00,0.000,6,0.000,0.020,2783,1694,2955,0,0,0,0,0,0
$GC,2605,-1.31,-77.9,287.1,-9.0,194,2609,0.00,2.25,0.00,0.000,4,0.000,0.025,2783,3071,2955,0,0,0,0,0,0
$GC,2641,-1.42,-77.9,291.2,-10.1,195,2648,0.17,2.30,0.00,0.000,6,0.052,0.034,2730,1691,2954,0,0,0,0,0,0
$GC,2977,-1.37,-77.9,331.7,-12.1,206,2979,0.10,0.00,0.00,0.000,6,0.110,0.000,2750,1692,2953,0,0,0,0,0,0
$GC,3301,-1.37,-77.9,363.5,-9.7,214,3305,0.00,2.40,0.00,0.000,4,0.000,0.050,2749,295,2951,0,0,0,0,0,0
$GC,3339,-1.31,-77.9,367.5,-10.2,214,3345,0.00,2.22,0.00,0.000,6,0.000,0.023,2750,1689,2951,0,0,0,0,0,0
$GC,3671,-1.31,-77.9,395.9,-8.5,223,3672,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1693,2949,0,0,0,0,0,0
$GC,3996,-1.31,-77.9,426.0,-9.1,231,4001,0.00,2.33,0.00,0.000,4,0.000,0.031,2750,3085,2947,0,0,0,0,0,0
$GC,4100,-1.38,-77.9,435.9,-10.6,233,4104,0.00,2.38,0.00,0.000,6,0.000,0.041,2750,1705,2946,0,0,0,0,0,0
$STATE,4248,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4248,begin apogee
$GC,4254,-0.31,0.0,450.3,9.5,237,4322,1.08,0.00,64.40,0.833,6,0.074,0.000,2978,1704,2630,0,0,0,0,0,0
$STATE,4323,end apogee,CONTROL_FINISHED_OK
$STATE,4323,begin climb
$GC,4325,1.38,77.9,452.3,0.0,238,4405,1.62,2.38,67.05,0.818,4,0.041,0.031,3349,3079,2311,0,0,0,0,0,0
$GC,4540,1.28,125.3,452.7,4.7,242,4591,0.00,2.40,41.80,0.809,6,0.000,0.040,3349,1693,2118,0,0,0,0,0,0
$GC,4919,1.11,125.3,416.0,10.1,252,4921,0.28,0.00,0.00,0.000,6,0.103,0.000,3295,1693,2110,0,0,0,0,0,0
$GC,5241,1.06,125.3,381.7,11.8,260,5245,0.00,2.38,0.00,0.000,4,0.000,0.032,3296,3081,2107,0,0,0,0,0,0
$GC,5403,1.06,125.3,362.6,10.5,263,5408,0.00,2.40,0.00,0.000,6,0.000,0.041,3296,1699,2107,0,0,0,0,0,0
$GC,5744,1.02,129.5,334.3,7.6,272,5749,0.12,2.38,0.00,0.000,4,0.114,0.031,3272,3082,2103,0,0,0,0,0,0
$GC,5790,1.11,164.4,331.7,5.5,273,5832,0.00,2.40,33.20,0.772,6,0.000,0.041,3273,1697,1959,0,0,0,0,0,0
$GC,6159,1.17,185.8,309.0,6.4,282,6184,0.15,2.55,19.35,0.736,4,0.063,0.057,3312,297,1872,0,0,0,0,0,0
$GC,6241,1.03,185.8,300.8,12.5,283,6246,0.20,2.33,0.00,0.000,6,0.100,0.026,3274,1697,1868,0,0,0,0,0,0
$GC,6556,1.08,185.8,268.1,10.9,298,6561,0.00,2.47,0.00,0.000,4,0.000,0.054,3273,294,1866,0,0,0,0,0,0
$GC,6614,1.04,185.8,262.1,9.8,300,6618,0.00,2.33,0.00,0.000,6,0.000,0.026,3274,1708,1864,0,0,0,0,0,0
$GC,6934,1.13,207.5,239.0,6.4,316,6960,0.00,2.60,19.58,0.693,4,0.000,0.054,3274,293,1782,0,0,0,0,0,0
$GC,7080,1.13,207.5,226.5,9.7,322,7085,0.00,2.33,0.00,0.000,6,0.000,0.025,3274,1706,1778,0,0,0,0,0,0
$GC,7401,1.21,207.5,198.3,10.2,338,7406,0.17,2.53,0.00,0.000,4,0.056,0.051,3323,287,1777,0,0,0,0,0,0
$GC,7563,1.09,207.5,175.0,14.5,350,7568,0.17,2.30,0.00,0.000,6,0.099,0.023,3289,1712,1775,0,0,0,0,0,0
$GC,7830,1.15,207.5,146.2,9.8,371,7835,0.00,2.47,0.00,0.000,4,0.000,0.050,3288,289,1774,0,0,0,0,0,0
$GC,7982,1.16,216.4,133.1,7.3,382,7997,0.00,2.28,7.95,0.533,6,0.000,0.022,3289,1717,1746,0,0,0,0,0,0
$GC,8254,1.27,238.5,118.8,6.4,403,8281,0.15,2.30,20.58,0.581,4,0.058,0.024,3335,3065,1656,0,0,0,0,0,0
$GC,8323,1.32,238.5,111.3,11.2,408,8330,0.00,2.38,0.00,0.000,6,0.000,0.035,3335,1696,1656,0,0,0,0,0,0
$GC,8585,1.32,238.5,86.7,9.1,429,8589,0.00,2.40,0.00,0.000,4,0.000,0.047,3335,295,1655,0,0,0,0,0,0
$GC,8723,1.27,238.5,72.7,10.7,439,8727,0.00,2.22,0.00,0.000,6,0.000,0.019,3335,1712,1652,0,0,0,0,0,0
$GC,8986,1.31,238.5,50.1,8.2,459,8990,0.00,2.47,0.00,0.000,4,0.000,0.046,3335,288,1653,0,0,0,0,0,0
$GC,9092,1.26,238.5,39.5,10.5,467,9097,0.00,2.25,0.00,0.000,6,0.000,0.018,3335,1712,1652,0,0,0,0,0,0
$GC,9356,1.29,238.5,16.6,7.9,511,9363,0.00,2.47,0.00,0.000,4,0.000,0.046,3335,296,1652,0,0,0,0,0,0
$GC,9408,1.24,238.5,11.2,11.0,522,9415,0.00,2.22,0.00,0.000,6,0.000,0.018,3335,1696,1652,0,0,0,0,0,0
$STATE,9487,end climb,SURFACE_DEPTH_REACHED
$STATE,9487,begin surface coast
$FINISH,0.8,1.023321
$STATE,9522,end surface coast,CONTROL_FINISHED_OK
$STATE,9522,begin surface
$SM_CCo,9544,93.07,0.483,0,0,957,410.14
$SM_GC,1.71,0.00,0.00,93.07,0.000,0.000,0.483,425,1700,957,-12.07,0.00,410.14
$IRIDIUM_FIX,2054.83,-15751.76,041299,161620
$TT8_MAMPS,0.029146
$HUMID,54.76
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.5,34.903
$10V_AH,10.2,29.207
$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,29.675,99.175,273.900,93.075,0.000,29.338,40.799,246.963,4.500,0.000,32.146,1078.125,6294.805,423.108,1715.941,583.270,0.000,1175.300,0.000,1684.420,0.000,29.250,0.000
$DEVICE_MAMPS,134.225,56.758,832.962,483.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,368.502,351.587,795.040,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355832
$DATA_FILE_SIZE,31704,547
$CAP_FILE_SIZE,106178,0
$CFSIZE,260165632,192409600
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090910,221525,2100.412,-15752.416,44,0.9,44,9.8