version: 66.06
glider: 139
mission: 8
dive: 103
start: 8 6 110 8 32 19
data:
$ID,139
$MISSION,8
$DIVE,103
$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,-2152431.8
$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
$GPS1,082654,2107.658,-15755.615,34,1.2,51,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-72.3
$GPS2,083202,2107.664,-15755.649,13,1.8,13,9.8
$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,89.1,22263,-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,-64.30,0.000,2,0.000,0.000,426,1672,2781,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.2,-3.6,12,110,12.57,2.42,-2.03,0.000,4,0.137,0.036,2753,3099,2893,0,0,0,0,0,0
$GC,139,-1.25,-58.4,18.8,-25.6,22,146,0.30,2.42,0.00,0.000,6,0.084,0.035,2825,1695,2894,0,0,0,0,0,0
$GC,341,-1.34,-58.4,45.1,-13.2,50,345,0.00,2.45,0.00,0.000,4,0.000,0.048,2825,278,2895,0,0,0,0,0,0
$GC,366,-1.34,-58.4,49.2,-16.6,52,371,0.00,2.30,0.00,0.000,6,0.000,0.018,2825,1731,2895,0,0,0,0,0,0
$GC,632,-1.50,-58.4,79.7,-10.3,73,637,0.22,2.50,0.00,0.000,4,0.045,0.044,2760,285,2896,0,0,0,0,0,0
$GC,678,-1.50,-58.4,86.4,-14.2,76,685,0.00,2.25,0.00,0.000,6,0.000,0.018,2761,1689,2896,0,0,0,0,0,0
$GC,939,-1.55,-58.4,118.6,-11.0,97,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1695,2897,0,0,0,0,0,0
$GC,1191,-1.61,-58.4,145.0,-9.1,117,1195,0.00,2.22,0.00,0.000,4,0.000,0.024,2761,3063,2898,0,0,0,0,0,0
$GC,1217,-1.72,-58.4,147.5,-9.7,119,1222,0.15,2.33,0.00,0.000,6,0.058,0.031,2713,1684,2898,0,0,0,0,0,0
$GC,1481,-1.68,-58.4,183.3,-14.3,140,1485,0.00,2.25,0.00,0.000,4,0.000,0.023,2713,3064,2899,0,0,0,0,0,0
$GC,1548,-1.73,-58.4,191.8,-12.5,145,1553,0.00,2.30,0.00,0.000,6,0.000,0.033,2713,1688,2898,0,0,0,0,0,0
$GC,1815,-1.73,-58.4,227.9,-12.9,160,1820,0.00,2.28,0.00,0.000,4,0.000,0.025,2713,3065,2898,0,0,0,0,0,0
$GC,1867,-1.78,-58.4,233.8,-11.4,162,1871,0.00,2.30,0.00,0.000,6,0.000,0.033,2713,1687,2899,0,0,0,0,0,0
$GC,2187,-1.78,-58.4,278.0,-13.3,178,2191,0.00,2.28,0.00,0.000,4,0.000,0.025,2713,3062,2899,0,0,0,0,0,0
$GC,2296,-1.84,-58.4,289.9,-8.7,182,2303,0.00,2.35,0.00,0.000,6,0.000,0.033,2713,1687,2898,0,0,0,0,0,0
$GC,2609,-1.84,-58.4,322.8,-10.8,193,2613,0.00,2.30,0.00,0.000,4,0.000,0.027,2713,3068,2898,0,0,0,0,0,0
$GC,2711,-1.92,-58.4,334.6,-12.3,195,2716,0.15,2.33,0.00,0.000,6,0.061,0.035,2670,1685,2898,0,0,0,0,0,0
$GC,3030,-1.87,-58.4,376.8,-13.1,203,3031,0.10,0.00,0.00,0.000,6,0.117,0.000,2689,1685,2897,0,0,0,0,0,0
$GC,3350,-1.87,-58.4,414.6,-11.5,211,3351,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1685,2895,0,0,0,0,0,0
$STATE,3674,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3674,begin apogee
$GC,3682,-0.31,0.0,450.9,10.8,219,3736,1.65,0.00,50.00,0.834,6,0.084,0.000,3032,1821,2650,0,0,0,0,0,0
$STATE,3736,end apogee,CONTROL_FINISHED_OK
$STATE,3736,begin climb
$GC,3739,1.56,58.4,452.2,0.0,220,3800,1.75,2.53,50.70,0.818,4,0.030,0.050,3452,418,2409,0,0,0,0,0,0
$GC,3860,1.22,125.0,451.6,1.9,222,3929,0.45,2.33,58.80,0.819,6,0.106,0.026,3366,1843,2139,0,0,0,0,0,0
$GC,4248,1.11,125.0,412.0,10.9,232,4253,0.12,2.33,0.00,0.000,4,0.120,0.036,3343,3205,2129,0,0,0,0,0,0
$GC,4314,1.07,125.0,405.4,9.6,233,4318,0.00,2.38,0.00,0.000,6,0.000,0.040,3343,1826,2129,0,0,0,0,0,0
$GC,4659,1.01,125.0,369.9,10.3,242,4661,0.12,0.00,0.00,0.000,6,0.119,0.000,3321,1826,2126,0,0,0,0,0,0
$GC,4985,1.01,125.0,340.4,8.5,250,4989,0.00,2.47,0.00,0.000,4,0.000,0.054,3320,421,2123,0,0,0,0,0,0
$GC,5019,0.92,136.7,338.0,6.8,250,5033,0.00,2.33,8.50,0.683,6,0.000,0.028,3321,1835,2092,0,0,0,0,0,0
$GC,5360,0.93,143.2,313.2,7.3,259,5372,0.00,2.55,6.88,0.640,4,0.000,0.054,3320,424,2066,0,0,0,0,0,0
$GC,5391,0.87,143.2,310.0,9.5,259,5396,0.15,2.30,0.00,0.000,6,0.117,0.028,3294,1820,2064,0,0,0,0,0,0
$GC,5711,0.98,162.8,287.8,6.1,271,5736,0.00,2.55,18.70,0.735,4,0.000,0.052,3293,428,1986,0,0,0,0,0,0
$GC,5809,0.98,162.8,280.6,8.2,275,5813,0.00,2.33,0.00,0.000,6,0.000,0.027,3293,1844,1982,0,0,0,0,0,0
$GC,6135,1.10,179.9,259.4,6.4,291,6157,0.20,0.00,16.23,0.702,6,0.054,0.000,3347,1850,1915,0,0,0,0,0,0
$GC,6470,1.10,179.9,226.2,11.9,307,6475,0.00,2.50,0.00,0.000,4,0.000,0.049,3346,421,1911,0,0,0,0,0,0
$GC,6544,1.01,179.9,215.2,13.7,310,6549,0.15,2.30,0.00,0.000,6,0.106,0.024,3318,1837,1909,0,0,0,0,0,0
$GC,6869,1.08,179.9,185.7,8.4,331,6873,0.00,2.47,0.00,0.000,4,0.000,0.048,3318,418,1909,0,0,0,0,0,0
$GC,6949,1.08,179.9,178.2,10.2,337,6953,0.00,2.28,0.00,0.000,6,0.000,0.023,3318,1831,1907,0,0,0,0,0,0
$GC,7219,1.17,182.1,154.5,7.7,358,7224,0.15,2.45,0.00,0.000,4,0.061,0.048,3361,421,1907,0,0,0,0,0,0
$GC,7344,1.07,182.1,141.7,10.4,367,7349,0.15,2.25,0.00,0.000,6,0.104,0.021,3332,1834,1907,0,0,0,0,0,0
$GC,7610,1.14,183.0,121.4,7.8,388,7614,0.00,2.42,0.00,0.000,4,0.000,0.046,3332,420,1907,0,0,0,0,0,0
$GC,7664,1.14,185.1,116.8,7.7,392,7676,0.00,2.25,4.45,0.426,6,0.000,0.021,3332,1841,1894,0,0,0,0,0,0
$GC,7931,1.22,185.1,95.9,9.0,413,7936,0.15,2.47,0.00,0.000,4,0.059,0.045,3377,412,1894,0,0,0,0,0,0
$GC,7960,1.10,185.1,92.2,11.7,415,7965,0.20,2.22,0.00,0.000,6,0.096,0.021,3337,1808,1894,0,0,0,0,0,0
$GC,8223,1.21,199.9,74.6,6.6,435,8245,0.12,2.40,14.75,0.538,4,0.065,0.025,3377,3215,1835,0,0,0,0,0,0
$GC,8269,1.25,209.6,71.4,7.0,438,8284,0.00,2.33,10.27,0.505,6,0.000,0.028,3377,1822,1795,0,0,0,0,0,0
$GC,8541,1.34,237.5,55.5,5.4,459,8572,0.00,2.47,24.95,0.535,4,0.000,0.044,3377,431,1680,0,0,0,0,0,0
$GC,8748,1.30,237.5,34.5,11.2,474,8752,0.00,2.22,0.00,0.000,6,0.000,0.018,3377,1852,1675,0,0,0,0,0,0
$GC,9012,1.34,237.5,6.6,11.2,528,9019,0.00,2.50,0.00,0.000,4,0.000,0.044,3376,422,1676,0,0,0,0,0,0
$STATE,9041,end climb,SURFACE_DEPTH_REACHED
$STATE,9041,begin surface coast
$FINISH,0.6,1.010001
$STATE,9068,end surface coast,CONTROL_FINISHED_OK
$STATE,9068,begin surface
$SM_CCo,9093,96.35,0.498,0,0,978,410.14
$SM_GC,1.14,0.00,0.00,96.35,0.000,0.000,0.498,424,1697,978,-12.31,0.20,410.14
$IRIDIUM_FIX,2059.45,-15758.18,311099,050552
$TT8_MAMPS,0.029146
$HUMID,51.41
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.4,9.808
$10V_AH,10.4,6.946
$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,31.525,99.100,264.225,96.350,0.000,28.788,34.237,126.463,4.500,0.000,13.580,1058.522,5981.847,408.363,1621.582,425.403,0.000,1126.402,0.000,1602.898,0.000,29.248,0.000
$DEVICE_MAMPS,137.293,57.525,834.496,497.783,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,363.495,348.706,812.557,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,28702,540
$CAP_FILE_SIZE,103317,0
$CFSIZE,260165632,208121856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060810,110640,2107.594,-15755.351,13,3.3,32,9.8