version: 66.06
glider: 139
mission: 8
dive: 97
start: 8 5 110 16 3 18
data:
$ID,139
$MISSION,8
$DIVE,97
$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,-2152319
$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
$GPS1,155807,2107.861,-15801.214,34,1.1,34,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-70.2
$GPS2,160301,2107.858,-15801.221,11,1.5,16,9.8
$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,87.0,31850,-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,-64.35,0.000,2,0.000,0.000,431,1705,2814,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.3,-3.6,12,110,12.62,2.40,-1.90,0.000,4,0.140,0.037,2753,3106,2923,0,0,0,0,0,0
$GC,118,-0.36,-58.4,16.0,-28.7,17,126,1.23,2.45,0.00,0.000,6,0.082,0.035,3016,1689,2923,0,0,0,0,0,0
$GC,320,-0.92,-58.4,27.7,-3.8,63,327,0.50,2.42,0.00,0.000,4,0.029,0.042,2880,277,2924,0,0,0,0,0,0
$GC,395,-1.13,-58.4,34.9,-11.1,72,400,0.12,2.33,0.00,0.000,6,0.063,0.018,2837,1732,2924,0,0,0,0,0,0
$GC,657,-1.29,-58.4,68.4,-13.8,92,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1733,2925,0,0,0,0,0,0
$GC,907,-1.48,-58.4,97.4,-9.1,112,912,0.25,2.50,0.00,0.000,4,0.041,0.043,2761,285,2926,0,0,0,0,0,0
$GC,933,-1.48,-58.4,100.5,-12.6,114,937,0.00,2.22,0.00,0.000,6,0.000,0.018,2761,1706,2926,0,0,0,0,0,0
$GC,1200,-1.55,-58.4,135.0,-12.2,135,1201,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1712,2927,0,0,0,0,0,0
$GC,1451,-1.63,-58.4,166.5,-11.8,155,1455,0.00,2.17,0.00,0.000,4,0.000,0.024,2761,3055,2927,0,0,0,0,0,0
$GC,1493,-1.77,-58.4,171.6,-10.6,158,1498,0.22,2.30,0.00,0.000,6,0.046,0.032,2698,1687,2927,0,0,0,0,0,0
$GC,1754,-1.73,-58.4,209.4,-13.8,176,1756,0.12,0.00,0.00,0.000,6,0.110,0.000,2722,1687,2928,0,0,0,0,0,0
$GC,2062,-1.73,-58.4,246.7,-11.6,191,2066,0.00,2.25,0.00,0.000,4,0.000,0.025,2722,3054,2928,0,0,0,0,0,0
$GC,2132,-1.85,-58.4,255.1,-11.1,194,2137,0.12,2.30,0.00,0.000,6,0.067,0.034,2684,1691,2928,0,0,0,0,0,0
$GC,2465,-1.82,-58.4,299.6,-14.0,210,2467,0.10,0.00,0.00,0.000,6,0.117,0.000,2703,1690,2928,0,0,0,0,0,0
$GC,2769,-1.82,-58.4,336.7,-11.1,218,2773,0.00,2.28,0.00,0.000,4,0.000,0.028,2703,3053,2927,0,0,0,0,0,0
$GC,2829,-1.88,-58.4,342.1,-8.5,219,2833,0.00,2.30,0.00,0.000,6,0.000,0.036,2702,1687,2927,0,0,0,0,0,0
$GC,3180,-1.88,-58.4,373.5,-9.5,228,3181,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,1687,2925,0,0,0,0,0,0
$GC,3505,-1.91,-58.4,406.7,-10.4,236,3509,0.00,2.45,0.00,0.000,4,0.000,0.056,2702,282,2922,0,0,0,0,0,0
$GC,3542,-1.91,-58.4,411.1,-11.2,236,3548,0.00,2.28,0.00,0.000,6,0.000,0.025,2703,1672,2922,0,0,0,0,0,0
$GC,3874,-1.95,-58.4,448.9,-11.7,245,3879,0.12,2.40,0.00,0.000,4,0.071,0.035,2668,3078,2920,0,0,0,0,0,0
$STATE,3882,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3882,begin apogee
$GC,3890,-0.31,0.0,450.4,11.8,245,3944,1.73,0.00,49.50,0.848,6,0.090,0.000,3027,1842,2680,0,0,0,0,0,0
$STATE,3945,end apogee,CONTROL_FINISHED_OK
$STATE,3945,begin climb
$GC,3949,1.56,58.4,452.3,0.0,246,4004,1.80,0.00,50.85,0.831,6,0.030,0.000,3451,1842,2441,0,0,0,0,0,0
$GC,4326,1.38,165.1,460.7,-1.7,256,4431,0.25,2.47,93.93,0.857,4,0.117,0.038,3401,3218,2005,0,0,0,0,0,0
$GC,4437,1.19,165.1,455.3,10.6,258,4442,0.20,2.42,0.00,0.000,6,0.114,0.041,3364,1840,2004,0,0,0,0,0,0
$GC,4779,1.09,165.1,410.7,12.6,267,4784,0.15,2.50,0.00,0.000,4,0.120,0.057,3336,422,1996,0,0,0,0,0,0
$GC,4799,0.94,165.1,407.8,14.4,267,4804,0.15,2.35,0.00,0.000,6,0.115,0.029,3309,1842,1993,0,0,0,0,0,0
$GC,5145,0.94,165.1,372.2,10.1,276,5149,0.00,2.50,0.00,0.000,4,0.000,0.056,3309,431,1991,0,0,0,0,0,0
$GC,5259,0.88,165.1,359.0,11.5,278,5263,0.00,2.33,0.00,0.000,6,0.000,0.029,3309,1841,1988,0,0,0,0,0,0
$GC,5609,0.91,165.1,325.6,9.5,287,5613,0.00,2.53,0.00,0.000,4,0.000,0.056,3309,422,1987,0,0,0,0,0,0
$GC,5795,0.86,165.1,307.7,10.3,291,5800,0.12,2.35,0.00,0.000,6,0.125,0.028,3286,1849,1985,0,0,0,0,0,0
$GC,6124,0.96,170.1,282.6,7.4,304,6129,0.10,2.50,0.00,0.000,4,0.082,0.054,3315,431,1984,0,0,0,0,0,0
$GC,6219,0.91,170.1,272.8,10.9,308,6223,0.00,2.30,0.00,0.000,6,0.000,0.028,3315,1844,1982,0,0,0,0,0,0
$GC,6544,0.97,181.0,247.5,6.9,324,6561,0.00,2.50,10.90,0.684,4,0.000,0.051,3314,430,1941,0,0,0,0,0,0
$GC,6684,0.97,183.4,236.7,7.7,330,6689,0.00,2.30,0.00,0.000,6,0.000,0.026,3315,1846,1937,0,0,0,0,0,0
$GC,7010,1.05,188.1,211.7,7.5,346,7022,0.00,2.33,7.20,0.597,4,0.000,0.031,3315,3224,1913,0,0,0,0,0,0
$GC,7100,1.16,188.1,204.0,8.7,349,7106,0.17,2.38,0.00,0.000,6,0.058,0.035,3362,1835,1913,0,0,0,0,0,0
$GC,7426,1.16,188.1,170.6,10.5,374,7430,0.00,2.42,0.00,0.000,4,0.000,0.048,3362,432,1912,0,0,0,0,0,0
$GC,7498,1.04,188.1,162.2,11.8,379,7503,0.17,2.28,0.00,0.000,6,0.103,0.023,3328,1853,1910,0,0,0,0,0,0
$GC,7764,1.11,188.1,137.2,9.6,400,7768,0.00,2.47,0.00,0.000,4,0.000,0.045,3328,425,1909,0,0,0,0,0,0
$GC,7806,1.11,188.1,132.9,10.4,403,7811,0.00,2.28,0.00,0.000,6,0.000,0.022,3328,1854,1909,0,0,0,0,0,0
$GC,8068,1.19,188.1,111.4,7.9,423,8073,0.15,2.47,0.00,0.000,4,0.061,0.045,3372,431,1909,0,0,0,0,0,0
$GC,8179,1.10,188.1,101.0,9.6,431,8184,0.17,2.28,0.00,0.000,6,0.101,0.021,3337,1854,1909,0,0,0,0,0,0
$GC,8445,1.20,203.8,83.7,6.5,452,8468,0.10,2.53,14.90,0.550,4,0.077,0.043,3370,428,1849,0,0,0,0,0,0
$GC,8484,1.16,203.8,80.7,7.9,454,8491,0.00,2.30,0.00,0.000,6,0.000,0.021,3370,1842,1847,0,0,0,0,0,0
$GC,8745,1.24,217.1,60.7,6.7,475,8763,0.00,2.45,13.18,0.521,4,0.000,0.043,3369,427,1793,0,0,0,0,0,0
$GC,8787,1.26,240.4,58.3,5.8,478,8814,0.00,2.28,21.58,0.538,6,0.000,0.020,3370,1859,1698,0,0,0,0,0,0
$GC,9079,1.33,240.4,34.8,9.8,501,9083,0.00,2.47,0.00,0.000,4,0.000,0.043,3370,424,1695,0,0,0,0,0,0
$GC,9132,1.33,240.4,29.5,10.6,505,9140,0.00,2.25,0.00,0.000,6,0.000,0.019,3370,1828,1692,0,0,0,0,0,0
$GC,9335,1.39,240.4,10.3,9.7,551,9343,0.15,2.42,0.00,0.000,4,0.058,0.043,3414,434,1693,0,0,0,0,0,0
$STATE,9390,end climb,SURFACE_DEPTH_REACHED
$STATE,9390,begin surface coast
$FINISH,0.5,1.010824
$STATE,9415,end surface coast,CONTROL_FINISHED_OK
$STATE,9415,begin surface
$SM_CCo,9440,96.03,0.503,0,0,1008,410.14
$SM_GC,1.13,0.00,0.00,96.03,0.000,0.000,0.503,426,1714,1008,-12.30,0.68,410.14
$IRIDIUM_FIX,2059.45,-15801.19,301099,131320
$TT8_MAMPS,0.028379
$HUMID,51.41
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.4,9.318
$10V_AH,10.4,6.497
$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,33.675,103.875,262.025,96.025,0.000,29.878,31.382,115.254,4.500,0.000,16.319,1109.792,6177.754,417.115,1693.636,432.061,0.000,1154.117,0.000,1679.567,0.000,29.251,0.000
$DEVICE_MAMPS,139.594,56.758,856.739,503.152,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,382.487,366.283,872.741,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,31751,568
$CAP_FILE_SIZE,106556,0
$CFSIZE,260165632,208441344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050810,184336,2107.957,-15800.188,38,0.9,43,9.8