version: 66.06
glider: 139
mission: 8
dive: 98
start: 8 5 110 18 48 54
data:
$ID,139
$MISSION,8
$DIVE,98
$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,-2152334
$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,1830
$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,2660
$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
$GPS1,184336,2107.957,-15800.188,38,0.9,43,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-71.8
$GPS2,184837,2107.964,-15800.187,14,2.0,14,9.8
$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,87.8,30102,-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,-64.45,0.000,2,0.000,0.000,427,1715,2809,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.2,-3.7,12,110,12.62,2.55,-1.62,0.000,4,0.139,0.055,2754,278,2902,0,0,0,0,0,0
$GC,122,-0.48,-58.4,17.5,-32.6,18,130,1.12,2.35,0.00,0.000,6,0.092,0.019,2992,1732,2903,0,0,0,0,0,0
$GC,324,-0.98,-58.4,31.1,-4.1,60,331,0.45,2.50,0.00,0.000,4,0.031,0.043,2863,284,2904,0,0,0,0,0,0
$GC,380,-1.13,-58.4,36.4,-11.7,64,384,0.00,2.25,0.00,0.000,6,0.000,0.018,2863,1703,2904,0,0,0,0,0,0
$GC,645,-1.36,-58.4,69.0,-12.5,85,650,0.25,2.45,0.00,0.000,4,0.041,0.045,2785,285,2905,0,0,0,0,0,0
$GC,701,-1.39,-58.4,78.4,-16.6,89,705,0.00,2.22,0.00,0.000,6,0.000,0.018,2785,1692,2904,0,0,0,0,0,0
$GC,963,-1.49,-58.4,112.3,-12.1,109,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1698,2906,0,0,0,0,0,0
$GC,1214,-1.61,-58.4,139.9,-10.5,129,1222,0.17,2.40,0.00,0.000,4,0.052,0.046,2732,289,2907,0,0,0,0,0,0
$GC,1233,-1.66,-58.4,142.4,-11.6,130,1237,0.00,2.22,0.00,0.000,6,0.000,0.019,2732,1693,2907,0,0,0,0,0,0
$GC,1500,-1.66,-58.4,173.9,-11.3,151,1504,0.00,2.22,0.00,0.000,4,0.000,0.024,2733,3068,2908,0,0,0,0,0,0
$GC,1525,-1.72,-58.4,177.0,-10.9,153,1530,0.00,2.30,0.00,0.000,6,0.000,0.032,2733,1688,2908,0,0,0,0,0,0
$GC,1789,-1.76,-58.4,209.1,-13.0,172,1793,0.00,2.28,0.00,0.000,4,0.000,0.025,2733,3066,2908,0,0,0,0,0,0
$GC,1857,-1.84,-58.4,217.3,-12.1,175,1862,0.15,2.30,0.00,0.000,6,0.059,0.031,2688,1684,2908,0,0,0,0,0,0
$GC,2188,-1.84,-58.4,269.4,-15.8,191,2192,0.00,2.28,0.00,0.000,4,0.000,0.027,2688,3056,2908,0,0,0,0,0,0
$GC,2244,-1.84,-58.4,276.9,-13.0,193,2248,0.00,2.28,0.00,0.000,6,0.000,0.033,2687,1689,2908,0,0,0,0,0,0
$GC,2562,-1.84,-58.4,316.0,-11.9,206,2566,0.00,2.28,0.00,0.000,4,0.000,0.027,2688,3058,2908,0,0,0,0,0,0
$GC,2651,-1.84,-58.4,325.8,-11.4,208,2656,0.00,2.30,0.00,0.000,6,0.000,0.035,2688,1688,2907,0,0,0,0,0,0
$GC,2981,-1.84,-58.4,361.9,-11.0,216,2985,0.00,2.30,0.00,0.000,4,0.000,0.029,2688,3061,2906,0,0,0,0,0,0
$GC,3032,-1.88,-58.4,367.8,-11.2,217,3036,0.00,2.33,0.00,0.000,6,0.000,0.036,2687,1692,2905,0,0,0,0,0,0
$GC,3350,-1.88,-58.4,406.5,-12.6,225,3354,0.00,2.28,0.00,0.000,4,0.000,0.032,2687,3054,2904,0,0,0,0,0,0
$GC,3396,-1.93,-58.4,412.6,-12.9,226,3401,0.00,2.33,0.00,0.000,6,0.000,0.040,2687,1685,2904,0,0,0,0,0,0
$GC,3720,-1.93,-58.4,449.4,-11.1,234,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1684,2901,0,0,0,0,0,0
$STATE,3757,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3757,begin apogee
$GC,3764,-0.31,0.0,454.2,11.3,235,3817,1.65,0.00,49.80,0.841,6,0.084,0.000,3031,1818,2660,0,0,0,0,0,0
$STATE,3818,end apogee,CONTROL_FINISHED_OK
$STATE,3818,begin climb
$GC,3821,1.56,58.4,455.5,0.0,236,3881,1.75,2.42,50.75,0.825,4,0.031,0.036,3446,3208,2421,0,0,0,0,0,0
$GC,3909,1.37,134.2,455.1,1.1,238,3986,0.25,2.40,67.18,0.827,6,0.112,0.037,3399,1821,2111,0,0,0,0,0,0
$GC,4322,1.18,134.2,410.5,11.9,248,4327,0.22,2.50,0.00,0.000,4,0.111,0.054,3357,418,2101,0,0,0,0,0,0
$GC,4379,0.98,134.2,403.7,12.2,249,4384,0.22,2.33,0.00,0.000,6,0.107,0.029,3314,1823,2098,0,0,0,0,0,0
$GC,4694,0.98,134.2,375.2,8.7,257,4698,0.00,2.50,0.00,0.000,4,0.000,0.054,3315,418,2096,0,0,0,0,0,0
$GC,4773,0.89,134.2,366.9,10.5,258,4777,0.00,2.33,0.00,0.000,6,0.000,0.029,3314,1831,2093,0,0,0,0,0,0
$GC,5104,0.89,137.2,341.1,7.6,266,5108,0.00,2.35,0.00,0.000,4,0.000,0.036,3315,3216,2092,0,0,0,0,0,0
$GC,5176,0.95,150.9,336.3,6.7,267,5195,0.00,2.40,12.45,0.736,6,0.000,0.038,3315,1825,2044,0,0,0,0,0,0
$GC,5520,0.95,152.1,309.6,7.8,276,5524,0.00,2.47,0.00,0.000,4,0.000,0.054,3314,422,2040,0,0,0,0,0,0
$GC,5553,0.88,152.1,306.9,8.2,276,5558,0.12,2.35,0.00,0.000,6,0.123,0.028,3292,1840,2038,0,0,0,0,0,0
$GC,5867,0.96,152.5,283.3,7.9,288,5871,0.00,2.33,0.00,0.000,4,0.000,0.035,3293,3214,2037,0,0,0,0,0,0
$GC,5989,1.08,162.3,274.4,7.0,293,6008,0.20,2.40,10.73,0.690,6,0.056,0.038,3345,1821,1997,0,0,0,0,0,0
$GC,6320,1.08,162.3,247.3,8.3,309,6324,0.00,2.45,0.00,0.000,4,0.000,0.052,3345,422,1994,0,0,0,0,0,0
$GC,6446,0.98,162.3,234.7,9.6,314,6451,0.15,2.33,0.00,0.000,6,0.110,0.026,3316,1843,1991,0,0,0,0,0,0
$GC,6766,1.04,166.9,210.8,7.5,329,6773,0.00,0.00,4.60,0.495,6,0.000,0.000,3316,1849,1979,0,0,0,0,0,0
$GC,7086,1.13,183.3,188.4,6.4,350,7108,0.12,2.55,16.40,0.650,4,0.071,0.048,3353,427,1911,0,0,0,0,0,0
$GC,7227,1.04,183.3,174.7,10.8,360,7232,0.15,2.28,0.00,0.000,6,0.107,0.023,3325,1840,1907,0,0,0,0,0,0
$GC,7488,1.10,183.3,150.5,9.5,380,7492,0.00,2.47,0.00,0.000,4,0.000,0.047,3325,418,1907,0,0,0,0,0,0
$GC,7544,1.10,183.3,143.8,11.2,384,7548,0.00,2.28,0.00,0.000,6,0.000,0.022,3325,1842,1906,0,0,0,0,0,0
$GC,7806,1.20,193.0,123.0,7.0,404,7822,0.15,2.47,9.18,0.548,4,0.060,0.044,3369,417,1872,0,0,0,0,0,0
$GC,7833,1.14,193.0,120.3,9.1,406,7838,0.10,2.30,0.00,0.000,6,0.120,0.021,3350,1836,1871,0,0,0,0,0,0
$GC,8095,1.19,205.7,100.4,6.7,426,8112,0.00,2.50,12.73,0.548,4,0.000,0.044,3350,420,1821,0,0,0,0,0,0
$GC,8206,1.19,205.7,91.0,10.6,434,8210,0.00,2.28,0.00,0.000,6,0.000,0.021,3350,1834,1817,0,0,0,0,0,0
$GC,8478,1.26,205.7,68.7,8.2,455,8480,0.10,0.00,0.00,0.000,6,0.076,0.000,3383,1840,1817,0,0,0,0,0,0
$GC,8728,1.32,218.3,50.5,6.8,475,8742,0.00,0.00,12.20,0.507,6,0.000,0.000,3383,1840,1770,0,0,0,0,0,0
$GC,8994,1.35,218.3,28.0,9.4,498,9001,0.00,2.45,0.00,0.000,4,0.000,0.043,3383,424,1769,0,0,0,0,0,0
$GC,9092,1.30,218.3,17.6,10.6,520,9099,0.00,2.28,0.00,0.000,6,0.000,0.019,3384,1835,1767,0,0,0,0,0,0
$STATE,9250,end climb,SURFACE_DEPTH_REACHED
$STATE,9250,begin surface coast
$FINISH,0.5,1.023194
$STATE,9282,end surface coast,CONTROL_FINISHED_OK
$STATE,9282,begin surface
$SM_CCo,9305,109.30,0.500,0,0,987,410.14
$SM_GC,1.24,0.00,0.00,109.30,0.000,0.000,0.500,427,1672,987,-12.30,-0.51,410.14
$IRIDIUM_FIX,2101.76,-15803.33,301099,161647
$TT8_MAMPS,0.029146
$HUMID,51.92
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.4,9.397
$10V_AH,10.5,6.573
$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,32.625,104.225,246.000,109.300,0.000,27.647,28.309,126.167,4.500,0.000,14.230,1106.586,6063.251,417.235,1705.406,422.155,0.000,1155.461,0.000,1683.465,0.000,29.258,0.000
$DEVICE_MAMPS,138.827,58.292,840.632,500.084,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,379.493,364.366,869.997,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,31748,563
$CAP_FILE_SIZE,107531,0
$CFSIZE,260165632,208388096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050810,212706,2108.087,-15759.361,35,1.1,39,9.8