version: 66.06
glider: 139
mission: 8
dive: 408
start: 9 10 110 4 5 18
data:
$ID,139
$MISSION,8
$DIVE,408
$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,-2159518.8
$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
$GPS1,035900,2059.516,-15753.876,36,1.9,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-73.0
$GPS2,040501,2059.485,-15753.995,15,1.1,15,9.8
$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,48.7,22444,-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,16,-1.38,-77.9,0.0,0.0,0,82,0.00,0.00,-64.10,0.000,2,0.000,0.000,424,1687,2736,0,0,0,0,0,0
$GC,85,-1.38,-77.9,3.3,-3.5,12,109,12.45,0.00,-4.15,0.000,6,0.134,0.000,2741,1687,2950,0,0,0,0,0,0
$GC,310,-1.17,-77.9,53.9,-19.9,45,315,0.25,2.38,0.00,0.000,4,0.099,0.020,2794,3116,2952,0,0,0,0,0,0
$GC,378,-1.20,-77.9,64.0,-13.2,50,382,0.00,2.38,0.00,0.000,6,0.000,0.031,2794,1697,2952,0,0,0,0,0,0
$GC,643,-1.16,-77.9,99.6,-12.2,71,650,0.00,2.42,0.00,0.000,4,0.000,0.047,2794,292,2953,0,0,0,0,0,0
$GC,717,-1.12,-77.9,111.0,-14.9,76,721,0.00,2.33,0.00,0.000,6,0.000,0.018,2794,1739,2953,0,0,0,0,0,0
$GC,986,-1.15,-77.9,143.2,-10.4,97,990,0.00,2.47,0.00,0.000,4,0.000,0.044,2794,290,2954,0,0,0,0,0,0
$GC,1024,-1.15,-77.9,147.6,-10.1,100,1028,0.00,2.25,0.00,0.000,6,0.000,0.018,2794,1725,2955,0,0,0,0,0,0
$GC,1291,-1.19,-77.9,172.1,-9.2,121,1295,0.00,2.20,0.00,0.000,4,0.000,0.021,2794,3074,2955,0,0,0,0,0,0
$GC,1310,-1.27,-77.9,174.3,-9.3,122,1317,0.00,2.33,0.00,0.000,6,0.000,0.031,2794,1701,2955,0,0,0,0,0,0
$GC,1571,-1.31,-77.9,199.8,-10.8,143,1579,0.12,2.25,0.00,0.000,4,0.064,0.023,2753,3071,2956,0,0,0,0,0,0
$GC,1639,-1.31,-77.9,208.7,-12.6,146,1646,0.00,2.33,0.00,0.000,6,0.000,0.032,2753,1703,2955,0,0,0,0,0,0
$GC,1955,-1.27,-77.9,246.1,-10.5,162,1959,0.00,2.22,0.00,0.000,4,0.000,0.024,2753,3066,2955,0,0,0,0,0,0
$GC,2085,-1.33,-77.9,258.6,-8.7,167,2091,0.00,2.30,0.00,0.000,6,0.000,0.033,2753,1698,2955,0,0,0,0,0,0
$GC,2402,-1.33,-77.9,289.7,-9.9,183,2403,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1696,2955,0,0,0,0,0,0
$GC,2709,-1.33,-77.9,319.4,-9.2,193,2714,0.00,2.42,0.00,0.000,4,0.000,0.049,2753,293,2954,0,0,0,0,0,0
$GC,2752,-1.28,-77.9,323.9,-10.5,193,2757,0.00,2.25,0.00,0.000,6,0.000,0.021,2753,1701,2953,0,0,0,0,0,0
$GC,3083,-1.28,-77.9,354.1,-9.5,202,3087,0.00,2.25,0.00,0.000,4,0.000,0.028,2753,3070,2953,0,0,0,0,0,0
$GC,3135,-1.35,-77.9,358.7,-8.9,203,3139,0.00,2.30,0.00,0.000,6,0.000,0.036,2753,1701,2952,0,0,0,0,0,0
$GC,3454,-1.35,-77.9,385.4,-8.2,211,3455,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,1701,2950,0,0,0,0,0,0
$GC,3779,-1.35,-77.9,412.2,-8.7,219,3783,0.00,2.30,0.00,0.000,4,0.000,0.030,2753,3071,2948,0,0,0,0,0,0
$GC,3839,-1.43,-77.9,418.2,-9.0,220,3843,0.00,2.33,0.00,0.000,6,0.000,0.038,2753,1698,2948,0,0,0,0,0,0
$STATE,4149,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4149,begin apogee
$GC,4155,-0.31,0.0,450.9,11.3,228,4223,1.08,0.00,64.38,0.829,6,0.073,0.000,2983,1696,2630,0,0,0,0,0,0
$STATE,4224,end apogee,CONTROL_FINISHED_OK
$STATE,4224,begin climb
$GC,4228,1.38,77.9,453.3,0.0,229,4299,1.60,0.00,66.93,0.813,6,0.039,0.000,3350,1696,2311,0,0,0,0,0,0
$GC,4597,1.23,108.9,440.5,5.8,238,4630,0.15,2.40,26.95,0.792,4,0.107,0.031,3321,3071,2186,0,0,0,0,0,0
$GC,4765,1.14,108.9,424.5,10.7,241,4770,0.12,2.40,0.00,0.000,6,0.119,0.040,3299,1696,2184,0,0,0,0,0,0
$GC,5103,1.09,108.9,391.4,8.9,250,5107,0.00,2.33,0.00,0.000,4,0.000,0.032,3299,3070,2178,0,0,0,0,0,0
$GC,5316,1.18,184.9,379.1,2.7,254,5389,0.00,2.38,66.93,0.802,6,0.000,0.039,3299,1698,1876,0,0,0,0,0,0
$GC,5701,1.14,184.9,349.2,8.8,264,5702,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,1698,1867,0,0,0,0,0,0
$GC,6026,1.14,184.9,315.3,11.5,272,6030,0.00,2.50,0.00,0.000,4,0.000,0.057,3299,291,1865,0,0,0,0,0,0
$GC,6164,1.03,184.9,296.8,14.5,275,6169,0.12,2.28,0.00,0.000,6,0.116,0.026,3276,1690,1861,0,0,0,0,0,0
$GC,6498,1.09,187.9,269.0,7.7,291,6499,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1694,1861,0,0,0,0,0,0
$GC,6805,1.15,190.4,245.4,7.7,306,6810,0.10,2.47,0.00,0.000,4,0.079,0.053,3306,296,1860,0,0,0,0,0,0
$GC,6884,1.07,190.4,237.0,10.0,309,6889,0.12,2.28,0.00,0.000,6,0.109,0.025,3282,1707,1857,0,0,0,0,0,0
$GC,7203,1.13,204.2,212.5,7.0,324,7226,0.00,2.58,15.15,0.650,4,0.000,0.051,3282,291,1796,0,0,0,0,0,0
$GC,7291,1.13,204.2,205.0,9.2,327,7296,0.00,2.30,0.00,0.000,6,0.000,0.023,3282,1699,1793,0,0,0,0,0,0
$GC,7615,1.18,204.2,177.3,9.8,351,7617,0.10,0.00,0.00,0.000,6,0.077,0.000,3313,1705,1793,0,0,0,0,0,0
$GC,7865,1.18,204.2,148.7,11.0,371,7869,0.00,2.45,0.00,0.000,4,0.000,0.048,3313,294,1793,0,0,0,0,0,0
$GC,7880,1.14,204.2,147.1,10.4,372,7885,0.00,2.28,0.00,0.000,6,0.000,0.022,3313,1717,1791,0,0,0,0,0,0
$GC,8139,1.16,224.8,127.7,6.5,392,8166,0.00,2.53,18.80,0.588,4,0.000,0.048,3313,294,1711,0,0,0,0,0,0
$GC,8266,1.10,224.8,116.4,10.3,401,8271,0.12,2.25,0.00,0.000,6,0.103,0.021,3289,1701,1709,0,0,0,0,0,0
$GC,8532,1.24,264.5,102.5,5.2,422,8574,0.12,2.50,34.53,0.573,4,0.064,0.046,3329,294,1551,0,0,0,0,0,0
$GC,8692,1.17,264.5,82.4,14.9,433,8699,0.12,2.28,0.00,0.000,6,0.104,0.020,3305,1713,1546,0,0,0,0,0,0
$GC,8955,1.26,264.5,61.1,7.9,454,8960,0.00,2.45,0.00,0.000,4,0.000,0.046,3305,294,1546,0,0,0,0,0,0
$GC,9029,1.31,264.5,53.9,8.9,459,9036,0.10,2.25,0.00,0.000,6,0.036,0.020,3346,1700,1545,0,0,0,0,0,0
$GC,9291,1.31,264.5,28.4,10.8,482,9298,0.00,2.47,0.00,0.000,4,0.000,0.047,3346,292,1545,0,0,0,0,0,0
$GC,9327,1.26,264.5,23.7,12.2,489,9334,0.08,2.25,0.00,0.000,6,0.078,0.019,3326,1703,1545,0,0,0,0,0,0
$GC,9530,1.32,264.5,4.5,8.7,535,9536,0.00,2.47,0.00,0.000,4,0.000,0.045,3326,290,1544,0,0,0,0,0,0
$STATE,9543,end climb,SURFACE_DEPTH_REACHED
$STATE,9543,begin surface coast
$FINISH,1.0,1.023297
$STATE,9569,end surface coast,CONTROL_FINISHED_OK
$STATE,9569,begin surface
$SM_CCo,9593,79.95,0.484,0,0,957,410.14
$SM_GC,1.69,0.00,0.00,79.95,0.000,0.000,0.484,426,1706,957,-12.07,0.17,410.14
$IRIDIUM_FIX,2054.83,-15754.77,051299,010122
$TT8_MAMPS,0.029146
$HUMID,55.59
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.00
$XPDR_PINGS,1
$24V_AH,23.5,35.175
$10V_AH,10.2,29.428
$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,29.200,94.025,293.650,79.950,0.000,24.774,30.906,180.074,4.750,0.000,15.360,1061.764,6377.565,435.332,1673.929,483.475,0.000,1177.685,0.000,1648.728,0.000,29.276,0.000
$DEVICE_MAMPS,134.225,56.758,829.127,483.977,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,364.599,346.881,774.880,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355832
$DATA_FILE_SIZE,31735,542
$CAP_FILE_SIZE,102434,0
$CFSIZE,260165632,192249856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100910,064800,2059.260,-15754.244,44,1.2,49,9.8