version: 66.06
glider: 139
mission: 8
dive: 406
start: 9 9 110 22 26 1
data:
$ID,139
$MISSION,8
$DIVE,406
$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,-2159469.5
$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
$GPS1,221525,2100.412,-15752.416,44,0.9,44,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-72.8
$GPS2,222544,2100.237,-15752.532,12,1.8,12,9.8
$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,48.3,19561,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.38,-77.9,0.0,0.0,0,87,0.00,0.00,-69.50,0.000,2,0.000,0.000,425,1701,2907,0,0,0,0,0,0
$GC,92,-1.38,-77.9,3.9,-4.3,13,111,12.45,2.35,-0.70,0.000,4,0.133,0.033,2743,3117,2948,0,0,0,0,0,0
$GC,233,-1.29,-77.9,36.1,-16.3,38,238,0.12,2.40,0.00,0.000,6,0.112,0.033,2767,1692,2950,0,0,0,0,0,0
$GC,500,-1.16,-77.9,77.1,-15.5,59,505,0.15,2.42,0.00,0.000,4,0.100,0.047,2796,290,2950,0,0,0,0,0,0
$GC,556,-1.06,-77.9,86.2,-15.1,63,561,0.10,2.33,0.00,0.000,6,0.112,0.018,2817,1739,2951,0,0,0,0,0,0
$GC,819,-1.09,-77.9,110.4,-8.5,83,823,0.00,2.47,0.00,0.000,4,0.000,0.044,2817,293,2952,0,0,0,0,0,0
$GC,899,-1.09,-77.9,118.7,-10.7,89,903,0.00,2.25,0.00,0.000,6,0.000,0.018,2817,1719,2953,0,0,0,0,0,0
$GC,1170,-1.16,-77.9,147.2,-11.9,110,1174,0.00,2.20,0.00,0.000,4,0.000,0.021,2817,3070,2953,0,0,0,0,0,0
$GC,1231,-1.31,-77.9,154.0,-9.6,114,1238,0.20,2.33,0.00,0.000,6,0.025,0.031,2749,1699,2953,0,0,0,0,0,0
$GC,1495,-1.26,-77.9,186.8,-11.7,135,1500,0.12,2.25,0.00,0.000,4,0.104,0.023,2775,3070,2953,0,0,0,0,0,0
$GC,1521,-1.26,-77.9,190.2,-11.1,137,1526,0.00,2.28,0.00,0.000,6,0.000,0.031,2774,1700,2953,0,0,0,0,0,0
$GC,1788,-1.26,-77.9,218.7,-10.8,153,1792,0.00,2.22,0.00,0.000,4,0.000,0.022,2775,3069,2953,0,0,0,0,0,0
$GC,1820,-1.35,-77.9,222.8,-10.9,154,1825,0.00,2.30,0.00,0.000,6,0.000,0.032,2774,1699,2953,0,0,0,0,0,0
$GC,2139,-1.38,-77.9,257.3,-10.5,169,2144,0.12,2.40,0.00,0.000,4,0.064,0.048,2734,297,2953,0,0,0,0,0,0
$GC,2183,-1.28,-77.9,262.6,-12.9,171,2188,0.17,2.22,0.00,0.000,6,0.092,0.020,2770,1692,2953,0,0,0,0,0,0
$GC,2518,-1.31,-77.9,292.5,-8.6,187,2519,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1696,2953,0,0,0,0,0,0
$GC,2821,-1.35,-77.9,321.9,-10.3,197,2825,0.00,2.40,0.00,0.000,4,0.000,0.050,2769,298,2951,0,0,0,0,0,0
$GC,2892,-1.35,-77.9,329.9,-10.2,198,2896,0.00,2.25,0.00,0.000,6,0.000,0.022,2769,1694,2951,0,0,0,0,0,0
$GC,3234,-1.40,-77.9,362.7,-9.9,207,3236,0.12,0.00,0.00,0.000,6,0.067,0.000,2732,1699,2950,0,0,0,0,0,0
$GC,3558,-1.40,-77.9,397.9,-10.6,215,3562,0.00,2.30,0.00,0.000,4,0.000,0.030,2733,3083,2948,0,0,0,0,0,0
$GC,3586,-1.40,-77.9,400.8,-10.3,215,3590,0.00,2.35,0.00,0.000,6,0.000,0.038,2732,1702,2947,0,0,0,0,0,0
$GC,3927,-1.40,-77.9,434.5,-10.2,224,3931,0.00,2.33,0.00,0.000,4,0.000,0.031,2732,3078,2946,0,0,0,0,0,0
$STATE,4081,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4081,begin apogee
$GC,4091,-0.31,0.0,450.1,9.3,227,4159,1.15,0.00,64.00,0.828,6,0.078,0.000,2978,1694,2630,0,0,0,0,0,0
$STATE,4159,end apogee,CONTROL_FINISHED_OK
$STATE,4160,begin climb
$GC,4162,1.38,77.9,452.3,0.0,229,4236,1.65,2.40,67.25,0.813,4,0.040,0.031,3351,3081,2311,0,0,0,0,0,0
$GC,4266,1.28,142.8,450.9,3.5,231,4334,0.12,2.40,57.80,0.805,6,0.120,0.038,3329,1694,2046,0,0,0,0,0,0
$GC,4648,1.16,142.8,416.0,9.3,241,4650,0.12,0.00,0.00,0.000,6,0.120,0.000,3307,1695,2036,0,0,0,0,0,0
$GC,4973,1.10,147.0,391.3,7.6,249,4978,0.00,2.35,0.00,0.000,4,0.000,0.032,3307,3080,2032,0,0,0,0,0,0
$GC,5058,1.12,163.4,385.2,6.8,250,5082,0.00,2.40,16.95,0.755,6,0.000,0.041,3307,1701,1963,0,0,0,0,0,0
$GC,5393,1.06,163.4,359.1,8.1,259,5398,0.12,2.35,0.00,0.000,4,0.116,0.031,3284,3080,1958,0,0,0,0,0,0
$GC,5470,1.11,172.2,353.0,7.3,260,5484,0.00,2.40,8.23,0.674,6,0.000,0.041,3284,1702,1928,0,0,0,0,0,0
$GC,5809,1.13,188.0,327.5,6.8,269,5829,0.00,2.53,15.27,0.733,4,0.000,0.058,3283,296,1862,0,0,0,0,0,0
$GC,5869,1.06,188.1,323.2,7.9,270,5873,0.00,2.33,0.00,0.000,6,0.000,0.027,3283,1698,1859,0,0,0,0,0,0
$GC,6182,1.07,199.7,300.7,7.1,278,6198,0.00,2.55,11.05,0.690,4,0.000,0.056,3284,296,1815,0,0,0,0,0,0
$GC,6315,1.03,199.7,286.9,10.3,282,6322,0.00,2.35,0.00,0.000,6,0.000,0.026,3284,1701,1812,0,0,0,0,0,0
$GC,6631,1.06,200.1,259.7,7.9,298,6635,0.00,2.33,0.00,0.000,4,0.000,0.028,3283,3089,1811,0,0,0,0,0,0
$GC,6655,1.15,207.2,257.8,7.4,299,6668,0.00,2.40,7.65,0.617,6,0.000,0.038,3284,1698,1785,0,0,0,0,0,0
$GC,6981,1.21,221.0,233.9,7.0,314,7005,0.12,2.55,13.55,0.660,4,0.067,0.054,3321,293,1727,0,0,0,0,0,0
$GC,7203,1.11,221.0,208.8,11.4,323,7208,0.15,2.30,0.00,0.000,6,0.103,0.023,3292,1713,1722,0,0,0,0,0,0
$GC,7531,1.16,221.0,176.9,11.1,345,7536,0.00,2.50,0.00,0.000,4,0.000,0.051,3291,291,1722,0,0,0,0,0,0
$GC,7661,1.16,221.0,161.3,11.6,354,7668,0.00,2.30,0.00,0.000,6,0.000,0.022,3292,1707,1720,0,0,0,0,0,0
$GC,7922,1.24,221.0,140.4,8.1,375,7927,0.12,2.45,0.00,0.000,4,0.065,0.048,3333,287,1720,0,0,0,0,0,0
$GC,7961,1.14,221.0,137.0,8.8,378,7966,0.17,2.25,0.00,0.000,6,0.095,0.021,3299,1712,1720,0,0,0,0,0,0
$GC,8230,1.23,221.0,113.6,9.6,399,8234,0.00,2.47,0.00,0.000,4,0.000,0.047,3298,289,1720,0,0,0,0,0,0
$GC,8298,1.23,221.0,105.9,10.6,404,8303,0.00,2.22,0.00,0.000,6,0.000,0.020,3298,1707,1720,0,0,0,0,0,0
$GC,8560,1.37,232.4,84.6,7.1,424,8576,0.22,2.53,10.50,0.506,4,0.045,0.044,3364,293,1680,0,0,0,0,0,0
$GC,8761,1.25,232.4,62.3,11.7,438,8766,0.20,2.20,0.00,0.000,6,0.089,0.019,3324,1701,1678,0,0,0,0,0,0
$GC,9024,1.31,232.4,37.9,9.2,458,9028,0.00,2.42,0.00,0.000,4,0.000,0.044,3323,289,1678,0,0,0,0,0,0
$GC,9069,1.31,232.4,32.8,11.2,461,9075,0.00,2.22,0.00,0.000,6,0.000,0.018,3323,1703,1678,0,0,0,0,0,0
$GC,9331,1.37,232.4,9.6,9.5,518,9338,0.10,2.47,0.00,0.000,4,0.073,0.045,3361,293,1678,0,0,0,0,0,0
$STATE,9385,end climb,SURFACE_DEPTH_REACHED
$STATE,9386,begin surface coast
$FINISH,0.9,1.023339
$STATE,9404,end surface coast,CONTROL_FINISHED_OK
$STATE,9407,begin surface
$SM_CCo,9432,96.72,0.482,0,0,958,410.14
$SM_GC,1.62,0.00,0.00,96.72,0.000,0.000,0.482,431,1694,958,-12.05,-0.17,410.14
$IRIDIUM_FIX,2050.21,-15923.94,041299,191926
$TT8_MAMPS,0.029146
$HUMID,54.29
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,35.000
$10V_AH,10.2,29.282
$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,30.375,108.400,272.250,96.725,0.000,58.111,108.690,270.191,4.500,0.000,12.229,1075.101,6257.433,441.914,1681.388,689.646,0.000,1183.601,0.000,1657.852,0.000,29.252,0.000
$DEVICE_MAMPS,133.458,57.525,828.360,482.443,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,359.397,337.008,764.673,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355880
$DATA_FILE_SIZE,28625,534
$CAP_FILE_SIZE,109215,0
$CFSIZE,260165632,192360448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100910,010543,2059.981,-15753.034,14,1.1,14,9.8