version: 66.06
glider: 139
mission: 8
dive: 55
start: 8 1 110 1 43 44
data:
$ID,139
$MISSION,8
$DIVE,55
$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,-2151330.2
$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,3090
$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,1690
$C_ROLL_CLIMB,1900
$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,2680
$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
$GPS1,013430,2104.971,-15751.746,47,1.2,47,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-68.2
$GPS2,014325,2104.915,-15751.843,14,1.2,19,9.8
$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,74.0,15510,-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,-77.9,0.0,0.0,0,87,0.00,0.00,-69.93,0.000,3,0.000,0.000,430,1711,2998,0,0,0,0,0,0
$GC,91,-1.38,-77.9,4.1,-5.9,13,109,12.80,2.45,0.00,0.000,4,0.140,0.037,2782,279,3001,0,0,0,0,0,0
$GC,139,-0.70,-77.9,24.0,-39.7,22,146,0.68,2.35,0.00,0.000,6,0.083,0.019,2933,1719,3002,0,0,0,0,0,0
$GC,349,-0.98,-77.9,43.2,-7.2,44,354,0.25,2.47,0.00,0.000,4,0.039,0.044,2852,285,3003,0,0,0,0,0,0
$GC,409,-1.03,-77.9,50.6,-12.4,48,416,0.00,2.28,0.00,0.000,6,0.000,0.018,2852,1704,3003,0,0,0,0,0,0
$GC,670,-1.13,-77.9,81.4,-10.9,69,674,0.00,2.45,0.00,0.000,4,0.000,0.047,2852,279,3004,0,0,0,0,0,0
$GC,723,-1.23,-77.9,87.1,-9.9,73,728,0.15,2.22,0.00,0.000,6,0.055,0.018,2802,1693,3004,0,0,0,0,0,0
$GC,989,-1.27,-77.9,117.5,-11.7,94,993,0.00,2.42,0.00,0.000,4,0.000,0.047,2802,282,3005,0,0,0,0,0,0
$GC,1021,-1.27,-77.9,122.1,-13.8,96,1025,0.00,2.22,0.00,0.000,6,0.000,0.018,2802,1693,3005,0,0,0,0,0,0
$GC,1282,-1.33,-77.9,151.9,-11.2,116,1286,0.00,2.45,0.00,0.000,4,0.000,0.046,2801,278,3005,0,0,0,0,0,0
$GC,1310,-1.33,-77.9,155.8,-13.4,118,1314,0.00,2.22,0.00,0.000,6,0.000,0.019,2802,1692,3005,0,0,0,0,0,0
$GC,1571,-1.41,-77.9,184.9,-10.5,138,1575,0.00,2.45,0.00,0.000,4,0.000,0.047,2802,276,3006,0,0,0,0,0,0
$GC,1589,-1.45,-77.9,187.3,-10.9,139,1596,0.12,2.22,0.00,0.000,6,0.064,0.020,2759,1703,3006,0,0,0,0,0,0
$GC,1861,-1.45,-77.9,219.7,-10.8,156,1868,0.00,2.42,0.00,0.000,4,0.000,0.048,2758,285,3005,0,0,0,0,0,0
$GC,1884,-1.41,-77.9,222.3,-11.6,156,1890,0.08,2.22,0.00,0.000,6,0.079,0.021,2779,1678,3006,0,0,0,0,0,0
$GC,2201,-1.45,-77.9,252.7,-9.4,172,2205,0.00,2.28,0.00,0.000,4,0.000,0.028,2779,3055,3006,0,0,0,0,0,0
$GC,2285,-1.57,-77.9,260.7,-8.2,175,2291,0.15,2.33,0.00,0.000,6,0.055,0.035,2731,1684,3006,0,0,0,0,0,0
$GC,2602,-1.54,-77.9,296.1,-10.8,191,2607,0.12,2.42,0.00,0.000,4,0.102,0.051,2756,286,3004,0,0,0,0,0,0
$GC,2702,-1.54,-77.9,307.2,-11.3,194,2706,0.00,2.22,0.00,0.000,6,0.000,0.022,2756,1681,3004,0,0,0,0,0,0
$GC,3020,-1.57,-77.9,339.5,-9.8,202,3025,0.00,2.40,0.00,0.000,4,0.000,0.052,2756,286,3003,0,0,0,0,0,0
$GC,3044,-1.57,-77.9,342.1,-11.2,202,3048,0.00,2.28,0.00,0.000,6,0.000,0.024,2756,1687,3003,0,0,0,0,0,0
$GC,3390,-1.61,-77.9,377.9,-10.1,211,3391,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1692,3001,0,0,0,0,0,0
$GC,3714,-1.65,-77.9,409.5,-9.5,219,3719,0.12,2.47,0.00,0.000,4,0.069,0.057,2718,287,2999,0,0,0,0,0,0
$GC,3743,-1.57,-77.9,413.3,-13.3,219,3748,0.15,2.28,0.00,0.000,6,0.098,0.025,2748,1684,2999,0,0,0,0,0,0
$GC,4080,-1.60,-77.9,448.1,-9.7,228,4085,0.00,2.47,0.00,0.000,4,0.000,0.059,2748,289,2996,0,0,0,0,0,0
$STATE,4097,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4097,begin apogee
$GC,4105,-0.31,0.0,450.3,10.3,228,4175,1.25,0.00,65.22,0.848,6,0.077,0.000,3017,1895,2680,0,0,0,0,0,0
$STATE,4175,end apogee,CONTROL_FINISHED_OK
$STATE,4176,begin climb
$GC,4179,1.38,77.9,452.2,0.0,230,4258,1.60,2.47,67.68,0.832,4,0.030,0.039,3397,3291,2361,0,0,0,0,0,0
$GC,4352,1.17,145.3,453.5,3.3,233,4420,0.28,2.40,59.78,0.831,6,0.110,0.038,3345,1900,2087,0,0,0,0,0,0
$GC,4766,1.01,145.3,412.2,10.9,244,4771,0.17,2.50,0.00,0.000,4,0.110,0.056,3312,495,2077,0,0,0,0,0,0
$GC,4819,0.83,145.3,406.4,9.9,245,4824,0.20,2.38,0.00,0.000,6,0.107,0.029,3274,1902,2073,0,0,0,0,0,0
$GC,5138,0.84,154.5,380.8,7.3,253,5150,0.00,2.58,6.68,0.663,4,0.000,0.055,3273,497,2050,0,0,0,0,0,0
$GC,5299,0.79,176.6,370.0,6.4,256,5327,0.00,2.38,21.25,0.790,6,0.000,0.030,3273,1917,1960,0,0,0,0,0,0
$GC,5653,0.82,202.2,349.7,6.2,265,5682,0.00,2.60,23.77,0.785,4,0.000,0.055,3273,495,1855,0,0,0,0,0,0
$GC,5832,0.78,202.2,329.8,11.6,269,5836,0.00,2.38,0.00,0.000,6,0.000,0.028,3274,1906,1849,0,0,0,0,0,0
$GC,6160,0.82,202.2,299.5,8.7,277,6164,0.00,2.50,0.00,0.000,4,0.000,0.054,3273,492,1848,0,0,0,0,0,0
$GC,6360,0.79,202.2,276.9,11.8,285,6366,0.00,2.35,0.00,0.000,6,0.000,0.027,3273,1906,1844,0,0,0,0,0,0
$GC,6677,0.85,202.2,247.7,9.8,301,6681,0.00,2.50,0.00,0.000,4,0.000,0.051,3273,490,1844,0,0,0,0,0,0
$GC,6722,0.85,202.2,242.9,10.2,303,6727,0.00,2.35,0.00,0.000,6,0.000,0.027,3273,1902,1842,0,0,0,0,0,0
$GC,7054,0.95,226.4,220.5,6.3,319,7083,0.10,2.53,20.65,0.693,4,0.077,0.051,3304,489,1756,0,0,0,0,0,0
$GC,7179,0.88,226.4,208.3,10.5,324,7184,0.12,2.35,0.00,0.000,6,0.107,0.025,3280,1905,1752,0,0,0,0,0,0
$GC,7505,0.94,226.4,176.1,10.5,346,7509,0.00,2.45,0.00,0.000,4,0.000,0.049,3280,494,1751,0,0,0,0,0,0
$GC,7666,0.94,226.4,159.3,9.7,358,7671,0.00,2.30,0.00,0.000,6,0.000,0.023,3280,1913,1749,0,0,0,0,0,0
$GC,7933,1.02,226.4,137.1,8.6,379,7938,0.15,2.47,0.00,0.000,4,0.059,0.048,3327,491,1749,0,0,0,0,0,0
$GC,8096,0.93,226.4,119.1,10.2,391,8101,0.17,2.30,0.00,0.000,6,0.097,0.022,3292,1909,1749,0,0,0,0,0,0
$GC,8363,1.02,226.4,96.3,9.8,412,8368,0.00,2.42,0.00,0.000,4,0.000,0.045,3292,492,1748,0,0,0,0,0,0
$GC,8552,1.09,226.4,77.9,8.2,426,8557,0.15,2.28,0.00,0.000,6,0.055,0.021,3341,1911,1748,0,0,0,0,0,0
$GC,8826,1.11,247.4,59.2,6.5,447,8855,0.00,2.47,18.55,0.541,4,0.000,0.043,3343,490,1670,0,0,0,0,0,0
$GC,9008,1.06,247.4,42.0,9.5,460,9013,0.12,2.25,0.00,0.000,6,0.102,0.020,3318,1898,1667,0,0,0,0,0,0
$GC,9273,1.12,247.4,18.3,8.0,500,9279,0.00,2.42,0.00,0.000,4,0.000,0.039,3318,492,1666,0,0,0,0,0,0
$STATE,9450,end climb,SURFACE_DEPTH_REACHED
$STATE,9451,begin surface coast
$FINISH,0.3,1.008474
$STATE,9498,end surface coast,CONTROL_FINISHED_OK
$STATE,9498,begin surface
$SM_CCo,9523,87.03,0.501,0,0,1007,410.14
$SM_GC,0.98,0.00,0.00,87.03,0.000,0.000,0.501,429,1714,1007,-12.25,0.68,410.14
$IRIDIUM_FIX,2054.83,-15749.62,261099,010102
$TT8_MAMPS,0.029146
$HUMID,51.18
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.4,5.697
$10V_AH,10.4,3.442
$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,31.300,114.300,283.575,87.025,0.000,47.721,67.954,228.307,4.500,0.000,19.474,1118.504,6139.040,423.629,1858.006,606.514,0.000,1244.915,0.000,1831.695,0.000,29.276,0.000
$DEVICE_MAMPS,139.594,59.059,847.535,500.851,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,371.744,354.704,829.884,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,31877,552
$CAP_FILE_SIZE,115671,0
$CFSIZE,260165632,210542592
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,010810,042526,2104.615,-15751.817,34,6.4,53,9.8