version: 66.06
glider: 139
mission: 8
dive: 73
start: 8 3 110 1 1 51
data:
$ID,139
$MISSION,8
$DIVE,73
$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,60
$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,-2151798
$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,3100
$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,1850
$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,2690
$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
$GPS1,005206,2105.940,-15744.161,32,1.6,32,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-69.5
$GPS2,010132,2105.911,-15744.132,13,1.4,13,9.8
$SPEED_LIMITS,0.137,0.159
$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,85.1,2105,-23.8,-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,-1.56,-58.4,0.0,0.0,0,81,0.00,0.00,-64.35,0.000,2,0.000,0.000,426,1676,2874,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.9,-5.9,12,104,12.55,2.38,-0.95,0.000,4,0.136,0.050,2754,282,2930,0,0,0,0,0,0
$GC,120,-0.45,-58.4,19.0,-36.5,18,128,1.15,2.35,0.00,0.000,6,0.088,0.019,2998,1720,2932,0,0,0,0,0,0
$GC,332,-0.97,-58.4,31.0,-4.0,62,339,0.45,2.50,0.00,0.000,4,0.030,0.043,2868,276,2933,0,0,0,0,0,0
$GC,389,-1.16,-58.4,36.6,-11.7,66,393,0.00,2.28,0.00,0.000,6,0.000,0.018,2868,1708,2933,0,0,0,0,0,0
$GC,649,-1.39,-58.4,64.2,-10.5,86,654,0.28,2.47,0.00,0.000,4,0.039,0.044,2783,279,2934,0,0,0,0,0,0
$GC,682,-1.39,-58.4,69.4,-16.7,88,688,0.00,2.25,0.00,0.000,6,0.000,0.018,2783,1686,2934,0,0,0,0,0,0
$GC,942,-1.46,-58.4,107.8,-13.9,109,947,0.00,2.42,0.00,0.000,4,0.000,0.046,2783,285,2934,0,0,0,0,0,0
$GC,968,-1.46,-58.4,111.8,-15.2,111,972,0.00,2.22,0.00,0.000,6,0.000,0.018,2783,1696,2934,0,0,0,0,0,0
$GC,1233,-1.59,-58.4,142.3,-10.3,132,1238,0.12,2.45,0.00,0.000,4,0.064,0.046,2741,285,2935,0,0,0,0,0,0
$GC,1290,-1.55,-58.4,150.5,-15.3,136,1294,0.10,2.20,0.00,0.000,6,0.115,0.018,2761,1690,2935,0,0,0,0,0,0
$GC,1552,-1.63,-58.4,181.1,-11.9,156,1556,0.00,2.28,0.00,0.000,4,0.000,0.025,2761,3064,2935,0,0,0,0,0,0
$GC,1645,-1.77,-58.4,192.8,-11.9,163,1650,0.20,2.30,0.00,0.000,6,0.049,0.032,2701,1684,2935,0,0,0,0,0,0
$GC,1903,-1.77,-58.4,231.5,-13.1,177,1907,0.00,2.28,0.00,0.000,4,0.000,0.025,2701,3061,2935,0,0,0,0,0,0
$GC,1926,-1.77,-58.4,234.5,-11.2,178,1930,0.00,2.30,0.00,0.000,6,0.000,0.032,2701,1684,2935,0,0,0,0,0,0
$GC,2251,-1.77,-58.4,273.9,-12.1,194,2255,0.00,2.33,0.00,0.000,4,0.000,0.027,2701,3066,2935,0,0,0,0,0,0
$GC,2311,-1.83,-58.4,281.2,-11.3,196,2317,0.00,2.35,0.00,0.000,6,0.000,0.035,2701,1689,2935,0,0,0,0,0,0
$GC,2646,-1.83,-58.4,321.2,-12.2,209,2651,0.00,2.42,0.00,0.000,4,0.000,0.050,2701,286,2934,0,0,0,0,0,0
$GC,2657,-1.83,-58.4,322.6,-11.7,209,2661,0.00,2.25,0.00,0.000,6,0.000,0.023,2701,1690,2934,0,0,0,0,0,0
$GC,2970,-1.83,-58.4,355.8,-10.5,217,2974,0.00,2.28,0.00,0.000,4,0.000,0.031,2701,3057,2933,0,0,0,0,0,0
$GC,3013,-1.91,-58.4,360.5,-11.2,217,3018,0.00,2.33,0.00,0.000,6,0.000,0.038,2701,1687,2932,0,0,0,0,0,0
$GC,3345,-1.91,-58.4,401.7,-12.6,226,3350,0.00,2.45,0.00,0.000,4,0.000,0.055,2701,287,2930,0,0,0,0,0,0
$GC,3369,-1.87,-58.4,405.2,-14.0,226,3374,0.00,2.25,0.00,0.000,6,0.000,0.025,2701,1678,2930,0,0,0,0,0,0
$GC,3709,-1.87,-58.4,446.6,-11.8,235,3714,0.00,2.35,0.00,0.000,4,0.000,0.034,2701,3070,2928,0,0,0,0,0,0
$STATE,3740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3740,begin apogee
$GC,3749,-0.31,0.0,450.5,11.9,235,3802,1.55,0.00,49.15,0.844,6,0.084,0.000,3027,1849,2689,0,0,0,0,0,0
$STATE,3803,end apogee,CONTROL_FINISHED_OK
$STATE,3803,begin climb
$GC,3805,1.56,58.4,452.4,0.0,237,3860,1.80,0.00,50.75,0.827,6,0.031,0.000,3445,1849,2451,0,0,0,0,0,0
$GC,4165,1.39,159.8,458.9,-1.2,246,4265,0.22,2.55,88.75,0.850,4,0.116,0.056,3403,436,2036,0,0,0,0,0,0
$GC,4368,1.09,159.8,437.0,17.7,250,4374,0.32,2.35,0.00,0.000,6,0.109,0.028,3340,1840,2028,0,0,0,0,0,0
$GC,4710,1.04,159.8,394.8,11.8,259,4711,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,1845,2024,0,0,0,0,0,0
$GC,5035,0.99,159.8,361.2,9.9,267,5040,0.12,2.50,0.00,0.000,4,0.120,0.055,3317,436,2021,0,0,0,0,0,0
$GC,5088,0.90,159.8,355.8,10.0,268,5093,0.12,2.38,0.00,0.000,6,0.123,0.028,3295,1857,2019,0,0,0,0,0,0
$GC,5407,0.96,159.8,328.7,8.3,276,5411,0.00,2.50,0.00,0.000,4,0.000,0.054,3295,441,2018,0,0,0,0,0,0
$GC,5535,0.96,159.8,317.1,8.9,278,5539,0.00,2.33,0.00,0.000,6,0.000,0.028,3295,1857,2016,0,0,0,0,0,0
$GC,5848,1.04,163.4,293.6,7.6,287,5853,0.15,2.47,0.00,0.000,4,0.066,0.054,3336,441,2015,0,0,0,0,0,0
$GC,6083,0.94,163.4,268.5,11.2,297,6088,0.15,2.30,0.00,0.000,6,0.113,0.028,3308,1853,2013,0,0,0,0,0,0
$GC,6408,1.03,182.4,245.8,6.2,313,6427,0.00,0.00,16.80,0.709,6,0.000,0.000,3308,1857,1946,0,0,0,0,0,0
$GC,6735,1.10,182.4,221.1,8.0,329,6740,0.15,2.50,0.00,0.000,4,0.064,0.051,3349,441,1943,0,0,0,0,0,0
$GC,6834,1.00,182.4,211.5,9.6,333,6839,0.15,2.30,0.00,0.000,6,0.112,0.025,3321,1858,1940,0,0,0,0,0,0
$GC,7156,1.06,182.4,184.4,8.5,354,7160,0.00,2.28,0.00,0.000,4,0.000,0.031,3321,3224,1939,0,0,0,0,0,0
$GC,7284,1.15,182.4,174.3,8.0,363,7289,0.12,2.33,0.00,0.000,6,0.069,0.033,3358,1846,1939,0,0,0,0,0,0
$GC,7550,1.17,192.8,151.2,7.0,384,7566,0.00,2.45,10.12,0.585,4,0.000,0.046,3357,435,1903,0,0,0,0,0,0
$GC,7681,1.09,192.8,139.1,9.1,393,7686,0.10,2.28,0.00,0.000,6,0.120,0.022,3339,1852,1899,0,0,0,0,0,0
$GC,7943,1.18,221.1,124.6,5.3,413,7976,0.00,2.47,26.02,0.608,4,0.000,0.045,3339,442,1787,0,0,0,0,0,0
$GC,8120,1.18,221.1,106.4,10.0,426,8124,0.00,2.25,0.00,0.000,6,0.000,0.021,3339,1856,1782,0,0,0,0,0,0
$GC,8388,1.28,221.1,84.0,8.0,447,8393,0.17,2.47,0.00,0.000,4,0.054,0.044,3390,437,1782,0,0,0,0,0,0
$GC,8445,1.18,221.1,78.5,9.7,451,8450,0.17,2.28,0.00,0.000,6,0.101,0.021,3356,1857,1781,0,0,0,0,0,0
$GC,8707,1.26,221.1,55.8,8.1,471,8712,0.00,2.45,0.00,0.000,4,0.000,0.044,3356,437,1781,0,0,0,0,0,0
$GC,8972,1.26,221.1,31.1,9.0,490,8979,0.00,2.28,0.00,0.000,6,0.000,0.020,3356,1858,1781,0,0,0,0,0,0
$GC,9236,1.35,234.8,9.7,6.7,549,9255,0.15,2.45,12.52,0.476,4,0.056,0.040,3406,440,1731,0,0,0,0,0,0
$GC,9319,1.25,250.9,4.1,6.4,566,9334,0.12,2.28,8.57,0.441,2,0.085,0.019,3376,1861,1695,0,0,0,0,0,0
$STATE,9334,end climb,SURFACE_DEPTH_REACHED
$STATE,9335,begin surface coast
$FINISH,0.4,1.023091
$STATE,9370,end surface coast,CONTROL_FINISHED_OK
$STATE,9370,begin surface
$SM_CCo,9394,94.93,0.502,0,0,1017,410.14
$SM_GC,1.04,0.00,0.00,94.93,0.000,0.000,0.502,428,1677,1017,-12.29,-0.37,410.14
$IRIDIUM_FIX,2057.14,-15744.48,281099,010158
$TT8_MAMPS,0.028379
$HUMID,51.02
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.4,7.262
$10V_AH,10.4,4.756
$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,33.175,108.550,262.700,94.925,0.000,70.510,88.469,220.909,4.500,0.000,13.799,1133.567,6051.751,427.109,1806.572,638.208,0.000,1198.117,0.000,1791.110,0.000,30.959,0.000
$DEVICE_MAMPS,135.759,59.826,849.836,502.385,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,387.707,374.934,897.797,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,31813,576
$CAP_FILE_SIZE,112947,0
$CFSIZE,260165632,209633280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030810,034108,2105.530,-15743.484,30,1.5,30,9.8