version: 66.06
glider: 139
mission: 8
dive: 102
start: 8 6 110 5 45 37
data:
$ID,139
$MISSION,8
$DIVE,102
$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,-2152417.5
$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
$GPS1,054013,2107.634,-15756.250,31,1.4,33,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-72.4
$GPS2,054520,2107.626,-15756.246,14,1.4,14,9.8
$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,88.5,23273,-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,-64.43,0.000,2,0.000,0.000,429,1698,2775,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.1,-3.6,12,110,12.57,2.50,-2.10,0.000,4,0.138,0.056,2752,283,2892,0,0,0,0,0,0
$GC,118,-0.35,-58.4,15.7,-28.2,17,126,1.27,2.35,0.00,0.000,6,0.092,0.019,3020,1724,2893,0,0,0,0,0,0
$GC,320,-0.91,-58.4,25.1,-2.6,63,327,0.50,2.50,0.00,0.000,4,0.031,0.042,2882,280,2893,0,0,0,0,0,0
$GC,393,-1.10,-58.4,31.1,-10.1,78,397,0.10,2.28,0.00,0.000,6,0.072,0.018,2845,1707,2894,0,0,0,0,0,0
$GC,654,-1.31,-58.4,60.8,-10.4,98,659,0.15,2.50,0.00,0.000,4,0.054,0.046,2795,276,2895,0,0,0,0,0,0
$GC,674,-1.41,-58.4,63.7,-12.1,99,681,0.00,2.25,0.00,0.000,6,0.000,0.018,2795,1680,2895,0,0,0,0,0,0
$GC,933,-1.53,-58.4,91.9,-11.4,120,938,0.12,2.25,0.00,0.000,4,0.064,0.023,2754,3061,2896,0,0,0,0,0,0
$GC,967,-1.61,-58.4,96.2,-14.2,122,973,0.00,2.33,0.00,0.000,6,0.000,0.031,2754,1689,2896,0,0,0,0,0,0
$GC,1228,-1.66,-58.4,128.2,-11.3,143,1232,0.00,2.42,0.00,0.000,4,0.000,0.046,2753,279,2897,0,0,0,0,0,0
$GC,1270,-1.66,-58.4,134.6,-14.4,146,1274,0.00,2.25,0.00,0.000,6,0.000,0.018,2754,1697,2897,0,0,0,0,0,0
$GC,1531,-1.71,-58.4,165.3,-11.6,166,1533,0.12,0.00,0.00,0.000,6,0.066,0.000,2713,1703,2897,0,0,0,0,0,0
$GC,1780,-1.71,-58.4,197.5,-12.3,186,1781,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1703,2897,0,0,0,0,0,0
$GC,2035,-1.71,-58.4,230.2,-13.2,199,2036,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1703,2898,0,0,0,0,0,0
$GC,2342,-1.71,-58.4,265.1,-9.9,214,2346,0.00,2.22,0.00,0.000,4,0.000,0.027,2713,3058,2898,0,0,0,0,0,0
$GC,2402,-1.79,-58.4,270.9,-9.2,216,2409,0.00,2.35,0.00,0.000,6,0.000,0.035,2713,1688,2898,0,0,0,0,0,0
$GC,2717,-1.79,-58.4,306.7,-12.0,231,2721,0.00,2.42,0.00,0.000,4,0.000,0.051,2713,276,2897,0,0,0,0,0,0
$GC,2731,-1.79,-58.4,308.6,-12.2,231,2735,0.00,2.25,0.00,0.000,6,0.000,0.023,2713,1688,2897,0,0,0,0,0,0
$GC,3081,-1.83,-58.4,348.3,-11.8,240,3083,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1693,2896,0,0,0,0,0,0
$GC,3408,-1.86,-58.4,384.7,-11.7,248,3412,0.00,2.45,0.00,0.000,4,0.000,0.055,2712,286,2894,0,0,0,0,0,0
$GC,3454,-1.86,-58.4,391.2,-13.0,249,3458,0.00,2.25,0.00,0.000,6,0.000,0.025,2713,1677,2893,0,0,0,0,0,0
$GC,3778,-1.91,-58.4,428.9,-11.5,257,3783,0.12,2.35,0.00,0.000,4,0.071,0.035,2678,3071,2891,0,0,0,0,0,0
$GC,3887,-1.91,-58.4,443.8,-14.3,259,3891,0.00,2.35,0.00,0.000,6,0.000,0.041,2678,1694,2890,0,0,0,0,0,0
$STATE,3949,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3949,begin apogee
$GC,3957,-0.31,0.0,453.0,14.1,261,4010,1.70,0.00,49.42,0.845,6,0.084,0.000,3031,1845,2650,0,0,0,0,0,0
$STATE,4011,end apogee,CONTROL_FINISHED_OK
$STATE,4011,begin climb
$GC,4014,1.56,58.4,455.4,0.0,262,4072,1.77,0.00,51.70,0.828,6,0.030,0.000,3450,1845,2410,0,0,0,0,0,0
$GC,4398,1.36,138.9,457.0,0.6,272,4478,0.25,2.42,70.93,0.846,4,0.111,0.038,3400,3213,2082,0,0,0,0,0,0
$GC,4723,1.21,138.9,423.6,13.5,279,4728,0.17,2.42,0.00,0.000,6,0.119,0.041,3368,1829,2077,0,0,0,0,0,0
$GC,5042,1.09,138.9,387.8,10.6,287,5047,0.15,2.53,0.00,0.000,4,0.116,0.057,3340,414,2072,0,0,0,0,0,0
$GC,5082,0.95,138.9,383.0,12.2,287,5088,0.17,2.35,0.00,0.000,6,0.113,0.028,3308,1826,2069,0,0,0,0,0,0
$GC,5412,0.95,138.9,348.6,10.1,296,5417,0.00,2.50,0.00,0.000,4,0.000,0.055,3308,416,2068,0,0,0,0,0,0
$GC,5464,0.87,138.9,342.4,12.7,297,5468,0.00,2.35,0.00,0.000,6,0.000,0.028,3308,1834,2066,0,0,0,0,0,0
$GC,5783,0.91,138.9,309.8,9.1,305,5788,0.00,2.50,0.00,0.000,4,0.000,0.054,3307,421,2065,0,0,0,0,0,0
$GC,5937,0.86,138.9,295.7,9.1,308,5944,0.00,2.35,0.00,0.000,6,0.000,0.028,3307,1824,2062,0,0,0,0,0,0
$GC,6253,0.94,171.0,274.1,5.0,324,6287,0.00,2.55,26.48,0.749,4,0.000,0.052,3307,415,1951,0,0,0,0,0,0
$GC,6322,0.90,171.0,269.6,8.6,327,6327,0.00,2.38,0.00,0.000,6,0.000,0.028,3308,1843,1947,0,0,0,0,0,0
$GC,6654,0.97,171.0,242.4,8.0,343,6658,0.00,2.53,0.00,0.000,4,0.000,0.052,3307,414,1945,0,0,0,0,0,0
$GC,6721,0.97,171.0,235.4,10.7,346,6725,0.00,2.33,0.00,0.000,6,0.000,0.027,3308,1837,1943,0,0,0,0,0,0
$GC,7052,1.07,183.4,210.3,6.8,362,7068,0.12,2.53,10.82,0.647,4,0.070,0.051,3343,421,1902,0,0,0,0,0,0
$GC,7101,0.99,183.4,205.5,10.5,364,7106,0.15,2.33,0.00,0.000,6,0.107,0.025,3315,1834,1900,0,0,0,0,0,0
$GC,7432,1.07,183.4,177.3,10.0,388,7436,0.00,2.47,0.00,0.000,4,0.000,0.048,3315,419,1898,0,0,0,0,0,0
$GC,7561,1.07,183.4,162.0,12.1,397,7566,0.00,2.30,0.00,0.000,6,0.000,0.023,3315,1838,1897,0,0,0,0,0,0
$GC,7820,1.16,183.4,140.1,8.0,418,7825,0.17,2.50,0.00,0.000,4,0.056,0.048,3364,412,1896,0,0,0,0,0,0
$GC,7955,1.06,183.4,127.3,8.5,428,7960,0.17,2.28,0.00,0.000,6,0.101,0.022,3329,1836,1895,0,0,0,0,0,0
$GC,8222,1.15,183.4,106.0,8.0,449,8226,0.00,2.45,0.00,0.000,4,0.000,0.045,3329,420,1895,0,0,0,0,0,0
$GC,8324,1.15,183.4,96.6,8.5,456,8331,0.00,2.30,0.00,0.000,6,0.000,0.021,3329,1840,1895,0,0,0,0,0,0
$GC,8586,1.26,203.5,77.4,6.1,477,8615,0.20,2.30,18.55,0.555,4,0.050,0.024,3386,3212,1819,0,0,0,0,0,0
$GC,8626,1.27,206.8,74.3,7.6,479,8636,0.00,2.38,4.57,0.402,6,0.000,0.031,3386,1831,1807,0,0,0,0,0,0
$GC,8903,1.32,222.4,50.4,6.5,501,8924,0.00,2.50,14.90,0.520,4,0.000,0.044,3386,414,1741,0,0,0,0,0,0
$GC,9029,1.26,222.4,39.5,10.5,510,9033,0.00,2.25,0.00,0.000,6,0.000,0.019,3386,1834,1738,0,0,0,0,0,0
$GC,9293,1.34,255.2,21.1,4.9,554,9328,0.00,2.47,28.65,0.512,4,0.000,0.041,3386,421,1608,0,0,0,0,0,0
$GC,9369,1.29,255.2,14.5,11.2,569,9376,0.00,2.28,0.00,0.000,6,0.000,0.019,3386,1834,1605,0,0,0,0,0,0
$STATE,9452,end climb,SURFACE_DEPTH_REACHED
$STATE,9452,begin surface coast
$FINISH,0.5,1.002403
$STATE,9478,end surface coast,CONTROL_FINISHED_OK
$STATE,9478,begin surface
$SM_CCo,9501,86.18,0.501,0,0,977,410.14
$SM_GC,1.11,0.00,0.00,86.18,0.000,0.000,0.501,426,1671,977,-12.31,-0.54,410.14
$IRIDIUM_FIX,2101.76,-15756.04,311099,030323
$TT8_MAMPS,0.029146
$HUMID,52.16
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.4,9.728
$10V_AH,10.4,6.873
$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,32.775,105.250,276.025,86.175,0.000,22.616,35.224,130.932,4.500,0.000,14.562,1148.153,6076.243,430.822,1810.201,426.970,0.000,1212.010,0.000,1788.655,0.000,29.243,0.000
$DEVICE_MAMPS,138.060,56.758,846.001,500.851,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,398.730,385.888,932.460,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,31738,593
$CAP_FILE_SIZE,109315,0
$CFSIZE,260165632,208175104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060810,082654,2107.658,-15755.615,34,1.2,51,9.8