version: 66.06
glider: 139
mission: 8
dive: 95
start: 8 5 110 10 55 56
data:
$ID,139
$MISSION,8
$DIVE,95
$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,-2152265.8
$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,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
$GPS1,104406,2106.606,-15759.947,36,1.0,40,9.8
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-73.6
$GPS2,105539,2106.666,-15800.015,17,1.0,17,9.8
$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,301.3,4699,-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,-58.4,0.0,0.0,0,82,0.00,0.00,-64.38,0.000,2,0.000,0.000,428,1698,2828,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.3,-4.3,12,110,12.60,2.50,-1.65,0.000,4,0.138,0.055,2753,282,2923,0,0,0,0,0,0
$GC,262,-1.43,-58.4,50.8,-20.7,36,269,0.15,2.33,0.00,0.000,6,0.092,0.018,2786,1714,2924,0,0,0,0,0,0
$GC,524,-1.49,-58.4,87.9,-13.0,57,529,0.00,2.45,0.00,0.000,4,0.000,0.046,2786,285,2924,0,0,0,0,0,0
$GC,543,-1.49,-58.4,90.8,-12.0,58,550,0.00,2.28,0.00,0.000,6,0.000,0.018,2786,1710,2925,0,0,0,0,0,0
$GC,805,-1.58,-58.4,122.8,-11.7,79,810,0.15,2.47,0.00,0.000,4,0.058,0.045,2741,285,2925,0,0,0,0,0,0
$GC,859,-1.53,-58.4,131.1,-16.2,83,864,0.12,2.20,0.00,0.000,6,0.108,0.018,2766,1685,2926,0,0,0,0,0,0
$GC,1128,-1.60,-58.4,163.3,-11.1,104,1132,0.00,2.22,0.00,0.000,4,0.000,0.024,2766,3061,2926,0,0,0,0,0,0
$GC,1161,-1.73,-58.4,167.1,-11.0,106,1168,0.15,2.33,0.00,0.000,6,0.032,0.032,2714,1692,2926,0,0,0,0,0,0
$GC,1436,-1.73,-58.4,206.5,-14.6,127,1440,0.00,2.25,0.00,0.000,4,0.000,0.024,2714,3064,2926,0,0,0,0,0,0
$GC,1532,-1.78,-58.4,219.6,-14.4,131,1537,0.00,2.33,0.00,0.000,6,0.000,0.033,2714,1685,2926,0,0,0,0,0,0
$GC,1869,-1.78,-58.4,266.4,-13.1,147,1873,0.00,2.25,0.00,0.000,4,0.000,0.025,2714,3059,2926,0,0,0,0,0,0
$GC,2009,-1.85,-58.4,282.9,-11.6,153,2013,0.00,2.33,0.00,0.000,6,0.000,0.034,2714,1684,2926,0,0,0,0,0,0
$GC,2356,-1.88,-58.4,325.3,-11.5,165,2361,0.12,2.30,0.00,0.000,4,0.067,0.028,2675,3058,2925,0,0,0,0,0,0
$GC,2527,-1.88,-58.4,344.3,-10.4,168,2531,0.00,2.33,0.00,0.000,6,0.000,0.036,2675,1685,2925,0,0,0,0,0,0
$GC,2865,-1.84,-58.4,381.3,-11.4,177,2870,0.12,2.33,0.00,0.000,4,0.111,0.031,2698,3055,2923,0,0,0,0,0,0
$GC,2941,-1.90,-58.4,389.6,-9.8,178,2945,0.00,2.35,0.00,0.000,6,0.000,0.039,2698,1685,2923,0,0,0,0,0,0
$GC,3277,-1.90,-58.4,427.1,-11.9,187,3281,0.00,2.47,0.00,0.000,4,0.000,0.057,2698,276,2920,0,0,0,0,0,0
$GC,3338,-1.85,-58.4,434.9,-12.3,188,3342,0.00,2.30,0.00,0.000,6,0.000,0.025,2698,1678,2920,0,0,0,0,0,0
$STATE,3482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3482,begin apogee
$GC,3488,-0.31,0.0,452.3,11.7,192,3542,1.60,0.00,49.33,0.835,6,0.084,0.000,3031,1853,2680,0,0,0,0,0,0
$STATE,3542,end apogee,CONTROL_FINISHED_OK
$STATE,3543,begin climb
$GC,3545,1.56,58.4,454.0,0.0,193,3600,1.75,0.00,50.33,0.820,6,0.030,0.000,3447,1853,2441,0,0,0,0,0,0
$GC,3915,1.39,167.3,463.6,-1.9,202,4020,0.22,2.42,95.22,0.845,4,0.114,0.038,3406,3219,1996,0,0,0,0,0,0
$GC,4285,1.26,167.3,417.4,15.3,210,4290,0.17,2.42,0.00,0.000,6,0.117,0.041,3373,1838,1990,0,0,0,0,0,0
$GC,4600,1.14,167.3,370.2,14.5,218,4604,0.12,2.38,0.00,0.000,4,0.119,0.036,3351,3221,1985,0,0,0,0,0,0
$GC,4730,1.14,167.3,351.7,13.2,220,4736,0.00,2.40,0.00,0.000,6,0.000,0.041,3351,1837,1985,0,0,0,0,0,0
$GC,5061,1.09,167.3,310.0,11.9,229,5065,0.00,2.47,0.00,0.000,4,0.000,0.054,3351,431,1982,0,0,0,0,0,0
$GC,5098,0.94,167.3,305.1,12.3,229,5105,0.22,2.35,0.00,0.000,6,0.107,0.028,3308,1845,1978,0,0,0,0,0,0
$GC,5415,1.02,179.7,280.5,6.8,243,5431,0.00,2.55,8.70,0.663,4,0.000,0.053,3308,421,1946,0,0,0,0,0,0
$GC,5491,1.02,179.7,274.0,8.7,246,5495,0.00,2.35,0.00,0.000,6,0.000,0.027,3308,1845,1943,0,0,0,0,0,0
$GC,5812,1.09,179.7,246.8,8.3,262,5817,0.12,2.50,0.00,0.000,4,0.070,0.051,3344,428,1942,0,0,0,0,0,0
$GC,5916,1.01,179.7,236.6,9.8,266,5921,0.12,2.33,0.00,0.000,6,0.114,0.026,3321,1845,1940,0,0,0,0,0,0
$GC,6236,1.09,192.2,211.8,6.8,281,6253,0.00,2.55,11.65,0.646,4,0.000,0.050,3320,431,1896,0,0,0,0,0,0
$GC,6268,1.09,197.8,209.0,7.4,282,6282,0.00,2.35,6.47,0.561,6,0.000,0.025,3320,1850,1873,0,0,0,0,0,0
$GC,6607,1.17,197.8,178.7,10.1,306,6612,0.15,2.47,0.00,0.000,4,0.062,0.048,3363,425,1871,0,0,0,0,0,0
$GC,6697,1.07,197.8,166.2,14.7,312,6704,0.12,2.30,0.00,0.000,6,0.086,0.023,3334,1833,1868,0,0,0,0,0,0
$GC,6959,1.13,197.8,140.5,8.4,333,6964,0.00,2.42,0.00,0.000,4,0.000,0.046,3334,422,1868,0,0,0,0,0,0
$GC,7006,1.13,197.8,135.1,10.8,336,7012,0.00,2.33,0.00,0.000,6,0.000,0.022,3335,1855,1868,0,0,0,0,0,0
$GC,7267,1.21,197.8,110.7,8.4,357,7272,0.12,2.47,0.00,0.000,4,0.067,0.045,3371,428,1868,0,0,0,0,0,0
$GC,7395,1.14,203.7,99.2,7.4,366,7409,0.10,2.28,6.00,0.472,6,0.087,0.021,3349,1842,1849,0,0,0,0,0,0
$GC,7670,1.21,205.3,78.8,7.8,388,7674,0.00,2.42,0.00,0.000,4,0.000,0.044,3349,421,1848,0,0,0,0,0,0
$GC,7684,1.25,205.5,77.5,7.9,389,7689,0.10,2.28,0.00,0.000,6,0.078,0.021,3380,1848,1848,0,0,0,0,0,0
$GC,7946,1.25,207.6,55.4,7.7,409,7961,0.00,2.22,5.43,0.426,4,0.000,0.023,3380,3210,1832,0,0,0,0,0,0
$GC,7972,1.31,212.5,53.2,7.5,410,7984,0.00,2.35,6.07,0.439,6,0.000,0.030,3380,1831,1813,0,0,0,0,0,0
$GC,8248,1.38,243.9,36.8,5.1,432,8283,0.00,2.42,28.35,0.524,4,0.000,0.041,3380,434,1684,0,0,0,0,0,0
$GC,8373,1.34,243.9,25.5,12.0,445,8379,0.00,2.28,0.00,0.000,6,0.000,0.018,3380,1848,1679,0,0,0,0,0,0
$GC,8575,1.39,243.9,6.7,8.3,491,8583,0.10,2.47,0.00,0.000,4,0.076,0.044,3412,436,1679,0,0,0,0,0,0
$STATE,8605,end climb,SURFACE_DEPTH_REACHED
$STATE,8605,begin surface coast
$FINISH,1.7,1.023125
$STATE,8615,end surface coast,CONTROL_FINISHED_OK
$STATE,8615,begin surface
$SM_CCo,8640,96.07,0.498,0,0,1007,410.14
$SM_GC,1.26,0.00,0.00,96.07,0.000,0.000,0.498,429,1703,1007,-12.29,0.37,410.14
$IRIDIUM_FIX,2059.45,-15806.34,301099,111155
$TT8_MAMPS,0.028379
$HUMID,51.02
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.4,9.155
$10V_AH,10.4,6.350
$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,31.300,104.050,267.550,96.075,0.000,76.516,139.856,225.190,4.500,0.000,17.479,1015.972,5639.893,423.097,1657.285,692.534,0.000,1177.917,0.000,1631.897,0.000,29.264,0.000
$DEVICE_MAMPS,138.060,56.758,845.234,497.783,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,335.212,321.884,739.931,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,28707,499
$CAP_FILE_SIZE,108601,0
$CFSIZE,260165632,208543744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050810,132246,2107.241,-15800.734,15,2.5,34,9.8