version: 66.06
glider: 139
mission: 8
dive: 101
start: 8 6 110 2 59 20
data:
$ID,139
$MISSION,8
$DIVE,101
$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,-2152402.2
$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
$GPS1,025346,2107.840,-15757.331,14,2.8,33,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-72.8
$GPS2,025904,2107.836,-15757.330,16,2.9,35,9.8
$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,88.8,25182,-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,-64.55,0.000,2,0.000,0.000,424,1680,2780,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.1,-3.5,12,110,12.57,2.42,-2.03,0.000,4,0.137,0.038,2753,3103,2892,0,0,0,0,0,0
$GC,118,-0.31,-58.4,15.1,-27.4,17,126,1.27,2.42,0.00,0.000,6,0.080,0.033,3028,1691,2893,0,0,0,0,0,0
$GC,320,-1.05,-58.4,25.3,-5.9,63,328,0.68,2.42,0.00,0.000,4,0.042,0.042,2866,279,2894,0,0,0,0,0,0
$GC,382,-1.21,-58.4,30.4,-9.4,76,387,0.15,2.33,0.00,0.000,6,0.056,0.018,2818,1726,2894,0,0,0,0,0,0
$GC,644,-1.30,-58.4,67.8,-15.8,96,648,0.00,2.50,0.00,0.000,4,0.000,0.049,2818,286,2895,0,0,0,0,0,0
$GC,677,-1.34,-58.4,73.9,-16.1,98,683,0.00,2.28,0.00,0.000,6,0.000,0.018,2819,1707,2895,0,0,0,0,0,0
$GC,937,-1.51,-58.4,101.6,-9.7,119,939,0.20,0.00,0.00,0.000,6,0.047,0.000,2758,1713,2897,0,0,0,0,0,0
$GC,1190,-1.56,-58.4,133.0,-12.5,139,1194,0.00,2.47,0.00,0.000,4,0.000,0.046,2757,277,2897,0,0,0,0,0,0
$GC,1243,-1.56,-58.4,140.8,-14.7,143,1247,0.00,2.25,0.00,0.000,6,0.000,0.018,2758,1691,2897,0,0,0,0,0,0
$GC,1508,-1.63,-58.4,172.4,-11.5,164,1512,0.00,2.25,0.00,0.000,4,0.000,0.025,2758,3066,2897,0,0,0,0,0,0
$GC,1598,-1.77,-58.4,182.7,-10.3,170,1605,0.17,2.35,0.00,0.000,6,0.030,0.033,2699,1686,2898,0,0,0,0,0,0
$GC,1869,-1.74,-58.4,216.2,-12.4,188,1874,0.10,2.28,0.00,0.000,4,0.120,0.025,2717,3066,2898,0,0,0,0,0,0
$GC,1903,-1.80,-58.4,220.5,-11.3,189,1907,0.00,2.30,0.00,0.000,6,0.000,0.034,2717,1691,2898,0,0,0,0,0,0
$GC,2218,-1.80,-58.4,256.0,-10.9,204,2222,0.00,2.25,0.00,0.000,4,0.000,0.026,2717,3063,2898,0,0,0,0,0,0
$GC,2265,-1.88,-58.4,261.6,-12.0,206,2270,0.12,2.30,0.00,0.000,6,0.066,0.034,2678,1690,2898,0,0,0,0,0,0
$GC,2595,-1.84,-58.4,301.8,-13.9,222,2599,0.10,2.30,0.00,0.000,4,0.117,0.027,2697,3065,2898,0,0,0,0,0,0
$GC,2640,-1.88,-58.4,308.0,-11.9,223,2644,0.00,2.35,0.00,0.000,6,0.000,0.035,2697,1681,2898,0,0,0,0,0,0
$GC,2967,-1.88,-58.4,346.1,-12.0,231,2971,0.00,2.30,0.00,0.000,4,0.000,0.028,2697,3062,2896,0,0,0,0,0,0
$GC,3024,-1.93,-58.4,352.3,-10.3,232,3028,0.00,2.33,0.00,0.000,6,0.000,0.036,2698,1685,2896,0,0,0,0,0,0
$GC,3342,-1.93,-58.4,384.6,-10.3,240,3346,0.00,2.33,0.00,0.000,4,0.000,0.031,2697,3067,2894,0,0,0,0,0,0
$GC,3465,-2.01,-58.4,399.1,-12.5,242,3470,0.15,2.35,0.00,0.000,6,0.063,0.039,2654,1691,2893,0,0,0,0,0,0
$GC,3801,-1.93,-58.4,447.8,-14.4,251,3806,0.12,2.33,0.00,0.000,4,0.113,0.033,2678,3060,2891,0,0,0,0,0,0
$STATE,3818,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3818,begin apogee
$GC,3827,-0.31,0.0,450.6,13.4,251,3881,1.67,0.00,49.65,0.835,6,0.087,0.000,3027,1833,2650,0,0,0,0,0,0
$STATE,3882,end apogee,CONTROL_FINISHED_OK
$STATE,3882,begin climb
$GC,3885,1.56,58.4,452.5,0.0,252,3940,1.77,0.00,50.95,0.819,6,0.029,0.000,3453,1833,2411,0,0,0,0,0,0
$GC,4255,1.32,121.0,450.4,2.3,261,4316,0.30,2.40,54.88,0.832,4,0.110,0.036,3393,3203,2155,0,0,0,0,0,0
$GC,4453,1.19,121.0,435.1,9.7,265,4458,0.17,2.40,0.00,0.000,6,0.117,0.040,3360,1821,2153,0,0,0,0,0,0
$GC,4804,1.09,121.0,403.0,8.7,274,4809,0.12,2.45,0.00,0.000,4,0.121,0.055,3337,422,2146,0,0,0,0,0,0
$GC,4843,0.94,121.0,399.2,9.5,274,4849,0.17,2.30,0.00,0.000,6,0.111,0.028,3305,1813,2143,0,0,0,0,0,0
$GC,5175,0.95,134.3,375.2,6.7,283,5191,0.00,2.47,10.93,0.736,4,0.000,0.038,3305,3219,2102,0,0,0,0,0,0
$GC,5243,1.01,134.3,370.1,8.5,284,5247,0.00,2.42,0.00,0.000,6,0.000,0.039,3305,1822,2102,0,0,0,0,0,0
$GC,5589,1.05,134.3,340.6,9.0,293,5591,0.10,0.00,0.00,0.000,6,0.082,0.000,3333,1822,2098,0,0,0,0,0,0
$GC,5913,1.07,148.0,317.8,6.7,301,5932,0.00,2.50,12.98,0.735,4,0.000,0.054,3333,415,2045,0,0,0,0,0,0
$GC,6072,0.95,148.0,302.3,9.7,304,6077,0.12,2.38,0.00,0.000,6,0.117,0.028,3310,1845,2040,0,0,0,0,0,0
$GC,6406,1.02,174.5,281.3,5.5,319,6437,0.00,2.58,24.50,0.749,4,0.000,0.052,3310,422,1937,0,0,0,0,0,0
$GC,6504,0.99,174.5,272.1,11.9,323,6508,0.00,2.33,0.00,0.000,6,0.000,0.027,3310,1831,1933,0,0,0,0,0,0
$GC,6831,1.05,174.5,239.9,9.6,339,6836,0.00,2.47,0.00,0.000,4,0.000,0.051,3310,414,1932,0,0,0,0,0,0
$GC,6944,1.05,174.5,228.1,10.8,344,6948,0.00,2.33,0.00,0.000,6,0.000,0.026,3310,1843,1929,0,0,0,0,0,0
$GC,7273,1.16,196.3,203.7,5.9,360,7300,0.17,2.58,19.45,0.679,4,0.058,0.050,3357,428,1849,0,0,0,0,0,0
$GC,7374,1.05,196.3,192.0,13.7,366,7379,0.15,2.30,0.00,0.000,6,0.107,0.025,3329,1828,1845,0,0,0,0,0,0
$GC,7634,1.10,196.3,165.7,9.9,386,7638,0.00,2.45,0.00,0.000,4,0.000,0.048,3329,417,1844,0,0,0,0,0,0
$GC,7729,1.10,196.3,154.1,13.3,393,7733,0.00,2.30,0.00,0.000,6,0.000,0.024,3329,1840,1842,0,0,0,0,0,0
$GC,7994,1.17,196.3,127.2,8.7,414,7999,0.10,2.50,0.00,0.000,4,0.078,0.048,3361,411,1842,0,0,0,0,0,0
$GC,8009,1.17,196.3,125.6,9.3,415,8013,0.00,2.30,0.00,0.000,6,0.000,0.022,3361,1835,1842,0,0,0,0,0,0
$GC,8270,1.17,196.3,102.2,10.3,435,8274,0.00,2.45,0.00,0.000,4,0.000,0.046,3361,420,1842,0,0,0,0,0,0
$GC,8441,1.10,196.3,80.7,12.9,447,8447,0.00,2.25,0.00,0.000,6,0.000,0.021,3361,1838,1840,0,0,0,0,0,0
$GC,8703,1.16,204.3,58.3,7.2,468,8718,0.00,2.50,7.18,0.478,4,0.000,0.044,3361,420,1817,0,0,0,0,0,0
$GC,8736,1.16,204.3,55.3,8.4,470,8740,0.00,2.25,0.00,0.000,6,0.000,0.021,3361,1828,1816,0,0,0,0,0,0
$GC,9003,1.28,225.8,41.0,6.0,491,9031,0.00,2.50,20.38,0.529,4,0.000,0.044,3361,423,1728,0,0,0,0,0,0
$GC,9065,1.28,225.8,36.0,8.3,495,9069,0.00,2.25,0.00,0.000,6,0.000,0.020,3361,1843,1726,0,0,0,0,0,0
$GC,9326,1.36,225.8,12.4,9.5,543,9334,0.15,2.50,0.00,0.000,4,0.058,0.043,3406,417,1726,0,0,0,0,0,0
$STATE,9415,end climb,SURFACE_DEPTH_REACHED
$STATE,9416,begin surface coast
$FINISH,0.6,1.023271
$STATE,9449,end surface coast,CONTROL_FINISHED_OK
$STATE,9449,begin surface
$SM_CCo,9474,107.05,0.506,0,0,978,410.14
$SM_GC,1.13,0.00,0.00,107.05,0.000,0.000,0.506,429,1697,978,-12.29,0.23,410.14
$IRIDIUM_FIX,2059.45,-15801.19,311099,000056
$TT8_MAMPS,0.029146
$HUMID,52.40
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,21.90
$XPDR_PINGS,1
$24V_AH,23.5,9.647
$10V_AH,10.4,6.793
$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,33.375,113.450,250.875,107.050,0.000,30.044,27.137,121.113,4.750,0.000,36.291,1125.467,6126.256,420.240,1799.953,426.536,0.000,1197.568,0.000,1758.475,0.000,29.256,0.000
$DEVICE_MAMPS,136.526,55.224,835.263,506.220,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,384.123,369.871,887.557,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,31812,570
$CAP_FILE_SIZE,110796,0
$CFSIZE,260165632,208228352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060810,054013,2107.634,-15756.250,31,1.4,33,9.8