version: 66.06
glider: 139
mission: 8
dive: 100
start: 8 6 110 0 17 24
data:
$ID,139
$MISSION,8
$DIVE,100
$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,-2152365.2
$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,2650
$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
$GPS1,000837,2107.949,-15758.471,60,1.5,60,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-70.3
$GPS2,001707,2107.937,-15758.539,12,1.4,17,9.8
$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,88.5,27275,-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,-64.57,0.000,2,0.000,0.000,430,1684,2803,0,0,0,0,0,0
$GC,86,-1.56,-58.4,3.5,-4.4,12,105,12.57,2.47,-1.58,0.000,4,0.138,0.054,2753,279,2890,0,0,0,0,0,0
$GC,134,-0.97,-58.4,20.4,-33.2,21,142,0.60,2.35,0.00,0.000,6,0.090,0.018,2886,1722,2892,0,0,0,0,0,0
$GC,338,-1.20,-58.4,42.5,-9.9,47,343,0.20,2.50,0.00,0.000,4,0.045,0.045,2819,278,2892,0,0,0,0,0,0
$GC,379,-1.20,-58.4,48.2,-15.4,50,383,0.00,2.28,0.00,0.000,6,0.000,0.018,2818,1706,2893,0,0,0,0,0,0
$GC,645,-1.34,-58.4,83.7,-10.5,71,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1711,2893,0,0,0,0,0,0
$GC,897,-1.49,-58.4,110.7,-10.2,91,902,0.20,2.45,0.00,0.000,4,0.046,0.044,2756,281,2894,0,0,0,0,0,0
$GC,936,-1.45,-58.4,116.0,-13.6,94,941,0.12,2.22,0.00,0.000,6,0.107,0.018,2781,1696,2894,0,0,0,0,0,0
$GC,1202,-1.55,-58.4,149.2,-12.2,115,1206,0.00,2.45,0.00,0.000,4,0.000,0.046,2781,279,2895,0,0,0,0,0,0
$GC,1244,-1.59,-58.4,155.3,-13.8,118,1249,0.12,2.20,0.00,0.000,6,0.066,0.018,2742,1686,2895,0,0,0,0,0,0
$GC,1502,-1.59,-58.4,187.0,-11.5,138,1506,0.00,2.25,0.00,0.000,4,0.000,0.024,2742,3061,2895,0,0,0,0,0,0
$GC,1584,-1.69,-58.4,196.1,-10.2,144,1588,0.00,2.30,0.00,0.000,6,0.000,0.035,2742,1686,2895,0,0,0,0,0,0
$GC,1856,-1.73,-58.4,226.5,-10.4,158,1857,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1686,2895,0,0,0,0,0,0
$GC,2166,-1.79,-58.4,259.2,-11.2,173,2171,0.15,2.28,0.00,0.000,4,0.060,0.025,2697,3055,2895,0,0,0,0,0,0
$GC,2271,-1.82,-58.4,273.0,-13.3,177,2275,0.00,2.30,0.00,0.000,6,0.000,0.034,2697,1684,2895,0,0,0,0,0,0
$GC,2610,-1.82,-58.4,316.3,-11.8,191,2614,0.00,2.28,0.00,0.000,4,0.000,0.027,2697,3055,2894,0,0,0,0,0,0
$GC,2689,-1.82,-58.4,325.7,-11.0,192,2693,0.00,2.30,0.00,0.000,6,0.000,0.035,2697,1684,2894,0,0,0,0,0,0
$GC,3020,-1.82,-58.4,366.3,-11.9,200,3024,0.00,2.30,0.00,0.000,4,0.000,0.029,2697,3059,2893,0,0,0,0,0,0
$GC,3118,-1.87,-58.4,376.6,-9.9,202,3122,0.00,2.30,0.00,0.000,6,0.000,0.038,2697,1691,2893,0,0,0,0,0,0
$GC,3438,-1.87,-58.4,410.7,-11.1,210,3442,0.00,2.30,0.00,0.000,4,0.000,0.031,2697,3054,2891,0,0,0,0,0,0
$GC,3456,-1.90,-58.4,413.1,-11.3,210,3460,0.00,2.33,0.00,0.000,6,0.000,0.040,2697,1688,2891,0,0,0,0,0,0
$GC,3803,-1.90,-58.4,447.9,-9.9,219,3807,0.00,2.28,0.00,0.000,4,0.000,0.032,2697,3052,2888,0,0,0,0,0,0
$STATE,3819,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3819,begin apogee
$GC,3827,-0.31,0.0,450.4,11.3,219,3880,1.55,0.00,48.90,0.833,6,0.081,0.000,3026,1822,2650,0,0,0,0,0,0
$STATE,3881,end apogee,CONTROL_FINISHED_OK
$STATE,3881,begin climb
$GC,3884,1.56,58.4,451.7,0.0,220,3939,1.77,0.00,50.58,0.818,6,0.030,0.000,3451,1823,2411,0,0,0,0,0,0
$GC,4254,1.34,130.6,446.1,1.4,229,4326,0.28,2.42,63.20,0.833,4,0.110,0.038,3395,3194,2117,0,0,0,0,0,0
$GC,4415,1.20,130.6,432.4,11.8,232,4420,0.17,2.38,0.00,0.000,6,0.117,0.041,3363,1828,2114,0,0,0,0,0,0
$GC,4757,1.09,130.6,395.1,10.7,241,4762,0.12,2.50,0.00,0.000,4,0.119,0.057,3340,416,2107,0,0,0,0,0,0
$GC,4777,0.94,130.6,392.6,11.8,241,4782,0.17,2.30,0.00,0.000,6,0.113,0.028,3308,1805,2105,0,0,0,0,0,0
$GC,5123,0.96,140.4,363.7,7.0,250,5132,0.00,0.00,7.65,0.681,6,0.000,0.000,3308,1810,2077,0,0,0,0,0,0
$GC,5448,0.99,140.4,337.6,8.2,258,5452,0.00,2.45,0.00,0.000,4,0.000,0.054,3308,420,2074,0,0,0,0,0,0
$GC,5482,0.93,140.4,334.9,8.1,258,5486,0.00,2.33,0.00,0.000,6,0.000,0.028,3308,1845,2072,0,0,0,0,0,0
$GC,5813,0.97,140.4,308.0,8.6,266,5817,0.00,2.50,0.00,0.000,4,0.000,0.052,3308,416,2071,0,0,0,0,0,0
$GC,5947,0.94,149.5,298.0,7.1,268,5961,0.00,2.33,8.27,0.671,6,0.000,0.028,3308,1837,2040,0,0,0,0,0,0
$GC,6285,1.02,167.8,274.5,6.2,285,6310,0.00,2.42,17.85,0.729,4,0.000,0.032,3308,3212,1965,0,0,0,0,0,0
$GC,6334,1.13,184.3,271.0,6.4,287,6359,0.17,2.40,16.50,0.711,6,0.058,0.037,3354,1819,1898,0,0,0,0,0,0
$GC,6683,1.13,184.3,231.2,11.9,304,6688,0.00,2.45,0.00,0.000,4,0.000,0.051,3354,418,1893,0,0,0,0,0,0
$GC,6735,1.02,184.3,224.8,12.3,306,6740,0.15,2.30,0.00,0.000,6,0.110,0.025,3326,1821,1890,0,0,0,0,0,0
$GC,7059,1.08,184.3,192.5,8.8,324,7063,0.00,2.45,0.00,0.000,4,0.000,0.048,3326,421,1889,0,0,0,0,0,0
$GC,7155,1.08,184.3,183.1,10.3,331,7159,0.00,2.30,0.00,0.000,6,0.000,0.024,3325,1847,1887,0,0,0,0,0,0
$GC,7420,1.15,184.3,161.6,8.0,352,7425,0.10,2.45,0.00,0.000,4,0.079,0.048,3358,422,1887,0,0,0,0,0,0
$GC,7440,1.10,184.3,159.5,9.8,353,7446,0.00,2.28,0.00,0.000,6,0.000,0.023,3358,1827,1886,0,0,0,0,0,0
$GC,7699,1.11,190.4,138.3,7.3,374,7714,0.00,2.45,4.97,0.468,4,0.000,0.046,3358,419,1872,0,0,0,0,0,0
$GC,7883,1.03,190.4,120.1,9.7,387,7888,0.17,2.28,0.00,0.000,6,0.103,0.021,3324,1850,1871,0,0,0,0,0,0
$GC,8145,1.15,197.2,100.7,7.3,407,8160,0.12,2.47,7.62,0.508,4,0.066,0.045,3364,421,1846,0,0,0,0,0,0
$GC,8354,1.09,197.2,80.9,9.6,422,8359,0.12,2.25,0.00,0.000,6,0.108,0.020,3340,1841,1842,0,0,0,0,0,0
$GC,8622,1.28,251.4,64.9,3.0,443,8676,0.17,2.50,47.67,0.560,4,0.052,0.044,3392,420,1624,0,0,0,0,0,0
$GC,8685,1.30,266.8,62.0,6.5,448,8710,0.00,2.30,14.38,0.513,6,0.000,0.020,3392,1849,1561,0,0,0,0,0,0
$GC,8963,1.30,266.8,34.2,11.5,470,8968,0.00,2.45,0.00,0.000,4,0.000,0.044,3392,418,1557,0,0,0,0,0,0
$GC,9085,1.22,266.8,16.2,16.0,492,9093,0.10,2.28,0.00,0.000,6,0.084,0.018,3369,1817,1555,0,0,0,0,0,0
$STATE,9182,end climb,SURFACE_DEPTH_REACHED
$STATE,9184,begin surface coast
$FINISH,0.5,1.004391
$STATE,9207,end surface coast,CONTROL_FINISHED_OK
$STATE,9207,begin surface
$SM_CCo,9230,79.25,0.499,0,0,977,410.14
$SM_GC,1.39,0.00,0.00,79.25,0.000,0.000,0.499,424,1679,977,-12.31,-0.28,410.14
$IRIDIUM_FIX,2059.45,-15759.05,311099,000008
$TT8_MAMPS,0.029146
$HUMID,52.52
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.5,9.566
$10V_AH,10.5,6.715
$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,31.750,103.725,287.600,79.250,0.000,49.175,64.565,197.503,4.500,0.000,17.274,1035.623,6202.661,412.842,1605.668,562.870,0.000,1137.365,0.000,1578.574,0.000,29.261,0.000
$DEVICE_MAMPS,138.060,65.195,832.962,498.550,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,349.371,327.863,752.816,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,28675,519
$CAP_FILE_SIZE,107116,0
$CFSIZE,260165632,208285696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060810,025346,2107.840,-15757.331,14,2.8,33,9.8