version: 66.06
glider: 139
mission: 8
dive: 90
start: 8 4 110 21 47 19
data:
$ID,139
$MISSION,8
$DIVE,90
$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,-2152182.5
$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,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,1840
$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
$GPS1,214206,2103.234,-15756.075,12,1.5,28,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-73.1
$GPS2,214702,2103.242,-15756.098,13,1.5,13,9.8
$SPEED_LIMITS,0.137,0.159
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$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,302.7,13969,-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,-58.4,0.0,0.0,0,76,0.00,0.00,-59.33,0.000,2,0.000,0.000,424,1661,2690,0,0,0,0,0,0
$GC,80,-1.56,-58.4,3.3,-4.1,11,104,12.65,2.42,-4.30,0.000,4,0.140,0.035,2753,3109,2920,0,0,0,0,0,0
$GC,357,-1.59,-58.4,59.7,-19.0,48,361,0.00,2.38,0.00,0.000,6,0.000,0.034,2753,1689,2922,0,0,0,0,0,0
$GC,616,-1.59,-58.4,105.2,-16.8,68,620,0.00,2.33,0.00,0.000,4,0.000,0.022,2753,3109,2922,0,0,0,0,0,0
$GC,727,-1.68,-58.4,120.6,-12.9,76,731,0.00,2.40,0.00,0.000,6,0.000,0.031,2753,1682,2923,0,0,0,0,0,0
$GC,988,-1.74,-58.4,155.5,-12.2,96,993,0.15,2.40,0.00,0.000,4,0.060,0.046,2708,281,2924,0,0,0,0,0,0
$GC,1007,-1.69,-58.4,158.4,-12.4,97,1014,0.10,2.30,0.00,0.000,6,0.119,0.018,2728,1723,2924,0,0,0,0,0,0
$GC,1268,-1.69,-58.4,192.8,-13.9,118,1272,0.00,2.17,0.00,0.000,4,0.000,0.023,2728,3072,2925,0,0,0,0,0,0
$GC,1394,-1.75,-58.4,209.8,-12.4,125,1398,0.00,2.33,0.00,0.000,6,0.000,0.033,2728,1688,2925,0,0,0,0,0,0
$GC,1711,-1.79,-58.4,248.0,-10.3,140,1716,0.00,2.40,0.00,0.000,4,0.000,0.048,2727,282,2925,0,0,0,0,0,0
$GC,1739,-1.74,-58.4,251.5,-12.3,141,1743,0.00,2.25,0.00,0.000,6,0.000,0.020,2728,1698,2926,0,0,0,0,0,0
$GC,2063,-1.78,-58.4,287.4,-11.8,157,2067,0.00,2.22,0.00,0.000,4,0.000,0.027,2728,3061,2926,0,0,0,0,0,0
$GC,2274,-1.89,-58.4,309.8,-9.8,164,2279,0.17,2.33,0.00,0.000,6,0.055,0.035,2679,1681,2925,0,0,0,0,0,0
$GC,2611,-1.85,-58.4,352.0,-12.8,173,2615,0.00,2.30,0.00,0.000,4,0.000,0.029,2679,3066,2924,0,0,0,0,0,0
$GC,2728,-1.85,-58.4,366.1,-12.4,175,2733,0.00,2.35,0.00,0.000,6,0.000,0.038,2678,1692,2923,0,0,0,0,0,0
$GC,3071,-1.81,-58.4,410.4,-13.8,184,3076,0.12,2.33,0.00,0.000,4,0.110,0.031,2702,3059,2921,0,0,0,0,0,0
$GC,3220,-1.89,-58.4,425.9,-9.9,187,3224,0.00,2.38,0.00,0.000,6,0.000,0.041,2702,1684,2919,0,0,0,0,0,0
$STATE,3490,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3490,begin apogee
$GC,3498,-0.31,0.0,453.4,9.9,194,3551,1.58,0.00,49.58,0.841,6,0.083,0.000,3031,1834,2680,0,0,0,0,0,0
$STATE,3552,end apogee,CONTROL_FINISHED_OK
$STATE,3552,begin climb
$GC,3555,1.56,58.4,454.8,0.0,195,3615,1.75,2.53,50.65,0.825,4,0.030,0.051,3447,423,2439,0,0,0,0,0,0
$GC,3883,1.23,134.4,456.2,1.1,202,3959,0.43,2.33,66.57,0.843,6,0.110,0.028,3367,1841,2131,0,0,0,0,0,0
$GC,4282,1.11,134.4,417.4,11.0,212,4287,0.12,2.50,0.00,0.000,4,0.120,0.055,3343,431,2122,0,0,0,0,0,0
$GC,4436,0.95,134.4,401.1,9.6,215,4441,0.20,2.35,0.00,0.000,6,0.112,0.029,3307,1836,2117,0,0,0,0,0,0
$GC,4786,0.95,134.4,370.9,9.6,224,4790,0.00,2.50,0.00,0.000,4,0.000,0.055,3307,426,2116,0,0,0,0,0,0
$GC,4871,0.88,134.4,362.3,10.4,225,4876,0.00,2.35,0.00,0.000,6,0.000,0.030,3307,1839,2113,0,0,0,0,0,0
$GC,5202,0.88,136.6,335.2,7.7,234,5203,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,1844,2112,0,0,0,0,0,0
$GC,5527,0.94,160.1,314.7,5.8,242,5555,0.00,2.55,20.60,0.772,4,0.000,0.054,3307,425,2026,0,0,0,0,0,0
$GC,5620,0.89,160.1,308.1,8.7,244,5624,0.00,2.38,0.00,0.000,6,0.000,0.028,3307,1847,2021,0,0,0,0,0,0
$GC,5953,0.95,160.1,281.7,8.1,257,5957,0.00,2.50,0.00,0.000,4,0.000,0.052,3307,431,2020,0,0,0,0,0,0
$GC,5990,0.91,160.1,277.8,8.9,258,5997,0.00,2.35,0.00,0.000,6,0.000,0.028,3307,1840,2018,0,0,0,0,0,0
$GC,6306,0.98,166.2,253.1,7.4,274,6313,0.00,0.00,5.40,0.568,6,0.000,0.000,3307,1843,2002,0,0,0,0,0,0
$GC,6618,1.09,188.2,235.0,5.9,289,6647,0.12,2.50,21.65,0.711,4,0.071,0.049,3342,429,1911,0,0,0,0,0,0
$GC,6756,1.00,188.2,222.4,11.7,295,6761,0.12,2.33,0.00,0.000,6,0.115,0.025,3320,1841,1906,0,0,0,0,0,0
$GC,7078,1.07,188.2,193.4,10.1,312,7082,0.00,2.45,0.00,0.000,4,0.000,0.048,3319,431,1905,0,0,0,0,0,0
$GC,7129,1.07,188.2,187.2,11.6,316,7133,0.00,2.33,0.00,0.000,6,0.000,0.024,3319,1857,1904,0,0,0,0,0,0
$GC,7396,1.17,195.7,165.5,7.2,337,7410,0.15,2.55,6.65,0.545,4,0.061,0.048,3363,429,1882,0,0,0,0,0,0
$GC,7546,1.07,195.7,149.2,11.1,347,7552,0.15,2.30,0.00,0.000,6,0.109,0.022,3335,1850,1880,0,0,0,0,0,0
$GC,7806,1.14,195.7,126.0,8.1,368,7810,0.00,2.45,0.00,0.000,4,0.000,0.045,3334,429,1880,0,0,0,0,0,0
$GC,7944,1.14,195.7,113.9,9.4,378,7949,0.00,2.28,0.00,0.000,6,0.000,0.021,3335,1848,1879,0,0,0,0,0,0
$GC,8205,1.28,226.0,95.7,5.2,398,8239,0.20,2.35,27.80,0.583,4,0.050,0.027,3392,3216,1758,0,0,0,0,0,0
$GC,8309,1.28,226.0,84.8,13.6,405,8315,0.00,2.35,0.00,0.000,6,0.000,0.031,3391,1831,1757,0,0,0,0,0,0
$GC,8568,1.28,226.0,59.1,8.1,426,8573,0.00,2.38,0.00,0.000,4,0.000,0.043,3391,429,1756,0,0,0,0,0,0
$GC,8583,1.28,226.0,57.7,8.5,427,8587,0.00,2.25,0.00,0.000,6,0.000,0.020,3392,1855,1755,0,0,0,0,0,0
$GC,8843,1.28,226.0,37.6,8.5,447,8847,0.00,2.45,0.00,0.000,4,0.000,0.043,3391,432,1755,0,0,0,0,0,0
$GC,8854,1.28,226.0,36.6,8.6,448,8859,0.00,2.25,0.00,0.000,6,0.000,0.019,3391,1857,1755,0,0,0,0,0,0
$GC,9119,1.29,239.7,15.5,6.7,496,9137,0.00,2.22,13.23,0.480,4,0.000,0.023,3391,3204,1701,0,0,0,0,0,0
$GC,9158,1.29,239.7,12.2,8.3,503,9164,0.00,2.33,0.00,0.000,6,0.000,0.030,3391,1844,1701,0,0,0,0,0,0
$STATE,9236,end climb,SURFACE_DEPTH_REACHED
$STATE,9236,begin surface coast
$FINISH,0.4,1.023146
$STATE,9266,end surface coast,CONTROL_FINISHED_OK
$STATE,9266,begin surface
$SM_CCo,9289,99.00,0.499,0,0,1008,410.14
$SM_GC,1.18,0.00,0.00,99.00,0.000,0.000,0.499,430,1661,1008,-12.29,-0.79,410.14
$IRIDIUM_FIX,2054.83,-15756.91,291099,191901
$TT8_MAMPS,0.029146
$HUMID,51.10
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.4,8.724
$10V_AH,10.4,5.986
$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,30.775,99.800,262.125,99.000,0.000,27.358,27.422,130.129,4.500,0.000,14.001,1077.781,5973.389,411.565,1801.057,422.927,0.000,1201.837,0.000,1776.410,0.000,29.246,0.000
$DEVICE_MAMPS,139.594,55.224,842.933,498.550,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,354.781,333.558,772.735,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,28668,527
$CAP_FILE_SIZE,106722,0
$CFSIZE,260165632,208797696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050810,002507,2103.823,-15756.732,41,1.9,41,9.8