version: 66.06
glider: 139
mission: 8
dive: 105
start: 8 6 110 14 3 24
data:
$ID,139
$MISSION,8
$DIVE,105
$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,-2152481.5
$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
$GPS1,135804,2107.207,-15754.969,19,3.8,38,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-74.4
$GPS2,140307,2107.186,-15755.011,11,1.4,11,9.8
$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,87.1,21048,-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,-64.47,0.000,2,0.000,0.000,427,1672,2780,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.1,-3.6,12,110,12.57,2.42,-2.03,0.000,4,0.137,0.054,2753,288,2891,0,0,0,0,0,0
$GC,131,-0.81,-58.4,18.7,-33.8,20,138,0.75,2.35,0.00,0.000,6,0.085,0.018,2919,1725,2893,0,0,0,0,0,0
$GC,335,-1.13,-58.4,38.7,-8.2,51,340,0.28,2.53,0.00,0.000,4,0.038,0.044,2834,276,2893,0,0,0,0,0,0
$GC,382,-1.20,-58.4,44.6,-15.0,54,389,0.00,2.30,0.00,0.000,6,0.000,0.018,2834,1710,2893,0,0,0,0,0,0
$GC,642,-1.32,-58.4,76.7,-10.8,75,646,0.00,2.45,0.00,0.000,4,0.000,0.045,2834,285,2894,0,0,0,0,0,0
$GC,696,-1.46,-58.4,82.2,-11.3,79,701,0.22,2.22,0.00,0.000,6,0.044,0.018,2768,1697,2895,0,0,0,0,0,0
$GC,961,-1.51,-58.4,119.0,-13.4,100,966,0.00,2.25,0.00,0.000,4,0.000,0.023,2768,3061,2895,0,0,0,0,0,0
$GC,1069,-1.63,-58.4,133.2,-12.3,107,1076,0.10,2.30,0.00,0.000,6,0.073,0.030,2733,1686,2896,0,0,0,0,0,0
$GC,1329,-1.63,-58.4,171.2,-14.9,128,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1685,2897,0,0,0,0,0,0
$GC,1585,-1.63,-58.4,206.4,-13.0,147,1589,0.00,2.25,0.00,0.000,4,0.000,0.024,2733,3060,2897,0,0,0,0,0,0
$GC,1673,-1.72,-58.4,216.8,-11.0,150,1680,0.00,2.33,0.00,0.000,6,0.000,0.032,2733,1690,2897,0,0,0,0,0,0
$GC,1990,-1.77,-58.4,251.5,-11.4,166,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1690,2897,0,0,0,0,0,0
$GC,2300,-1.81,-58.4,283.9,-9.1,181,2304,0.12,2.28,0.00,0.000,4,0.066,0.026,2693,3060,2896,0,0,0,0,0,0
$GC,2319,-1.85,-58.4,286.2,-10.9,181,2324,0.00,2.30,0.00,0.000,6,0.000,0.035,2693,1689,2896,0,0,0,0,0,0
$GC,2653,-1.85,-58.4,324.3,-11.7,193,2657,0.00,2.28,0.00,0.000,4,0.000,0.028,2693,3056,2896,0,0,0,0,0,0
$GC,2821,-1.90,-58.4,342.8,-11.3,196,2825,0.00,2.30,0.00,0.000,6,0.000,0.036,2693,1689,2895,0,0,0,0,0,0
$GC,3157,-1.90,-58.4,386.3,-13.6,205,3158,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1689,2894,0,0,0,0,0,0
$GC,3482,-1.90,-58.4,423.3,-10.5,213,3487,0.00,2.30,0.00,0.000,4,0.000,0.033,2693,3051,2891,0,0,0,0,0,0
$GC,3568,-1.96,-58.4,432.5,-11.3,214,3574,0.00,2.35,0.00,0.000,6,0.000,0.041,2693,1687,2891,0,0,0,0,0,0
$STATE,3734,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3734,begin apogee
$GC,3741,-0.31,0.0,454.1,12.9,219,3794,1.62,0.00,49.50,0.838,6,0.083,0.000,3033,1805,2649,0,0,0,0,0,0
$STATE,3795,end apogee,CONTROL_FINISHED_OK
$STATE,3795,begin climb
$GC,3798,1.56,58.4,455.9,0.0,220,3858,1.75,2.47,50.70,0.821,4,0.028,0.051,3453,421,2408,0,0,0,0,0,0
$GC,4125,1.22,132.5,453.7,1.2,227,4202,0.45,2.35,64.95,0.835,6,0.108,0.027,3366,1845,2109,0,0,0,0,0,0
$GC,4525,1.10,132.5,416.2,11.6,237,4530,0.15,2.50,0.00,0.000,4,0.112,0.054,3338,422,2100,0,0,0,0,0,0
$GC,4546,0.96,132.5,413.6,12.1,237,4551,0.15,2.30,0.00,0.000,6,0.114,0.028,3311,1815,2097,0,0,0,0,0,0
$GC,4892,0.96,136.2,382.8,7.6,246,4896,0.00,2.47,0.00,0.000,4,0.000,0.055,3311,421,2095,0,0,0,0,0,0
$GC,4935,0.88,136.2,379.6,8.1,247,4939,0.00,2.35,0.00,0.000,6,0.000,0.028,3311,1845,2094,0,0,0,0,0,0
$GC,5263,0.89,143.7,357.0,7.2,255,5278,0.00,2.55,8.32,0.696,4,0.000,0.054,3311,414,2063,0,0,0,0,0,0
$GC,5380,0.83,143.7,347.4,8.2,257,5385,0.15,2.35,0.00,0.000,6,0.118,0.028,3283,1835,2060,0,0,0,0,0,0
$GC,5723,0.94,157.9,325.5,6.6,266,5743,0.00,2.58,13.57,0.738,4,0.000,0.053,3283,428,2006,0,0,0,0,0,0
$GC,5828,0.94,157.9,316.1,9.8,268,5833,0.00,2.35,0.00,0.000,6,0.000,0.028,3283,1840,2002,0,0,0,0,0,0
$GC,6146,1.04,157.9,286.8,8.2,279,6151,0.20,2.33,0.00,0.000,4,0.054,0.033,3337,3216,2001,0,0,0,0,0,0
$GC,6184,1.04,157.9,283.4,8.7,280,6191,0.00,2.42,0.00,0.000,6,0.000,0.038,3337,1828,2001,0,0,0,0,0,0
$GC,6500,1.04,158.1,261.7,7.9,296,6504,0.00,2.42,0.00,0.000,4,0.000,0.052,3336,422,2000,0,0,0,0,0,0
$GC,6522,0.97,158.1,259.8,9.6,297,6526,0.12,2.33,0.00,0.000,6,0.114,0.027,3314,1833,1998,0,0,0,0,0,0
$GC,6855,1.05,180.8,236.2,5.9,313,6883,0.00,2.55,20.73,0.706,4,0.000,0.051,3314,414,1912,0,0,0,0,0,0
$GC,6979,1.05,180.8,227.0,8.2,318,6983,0.00,2.33,0.00,0.000,6,0.000,0.025,3314,1840,1908,0,0,0,0,0,0
$GC,7298,1.13,180.8,199.0,10.3,333,7303,0.15,2.50,0.00,0.000,4,0.061,0.050,3357,421,1907,0,0,0,0,0,0
$GC,7449,1.03,180.8,180.1,11.0,344,7454,0.17,2.28,0.00,0.000,6,0.101,0.023,3323,1831,1905,0,0,0,0,0,0
$GC,7710,1.09,180.8,157.7,8.2,364,7715,0.00,2.45,0.00,0.000,4,0.000,0.048,3322,418,1905,0,0,0,0,0,0
$GC,7824,1.09,180.8,147.1,9.1,372,7831,0.00,2.30,0.00,0.000,6,0.000,0.023,3323,1826,1904,0,0,0,0,0,0
$GC,8088,1.17,181.2,126.9,7.9,393,8092,0.15,2.42,0.00,0.000,4,0.060,0.047,3367,421,1904,0,0,0,0,0,0
$GC,8223,1.08,181.2,113.5,8.8,403,8228,0.17,2.28,0.00,0.000,6,0.098,0.021,3333,1838,1904,0,0,0,0,0,0
$GC,8490,1.18,187.5,93.6,7.3,424,8506,0.10,2.50,6.07,0.472,4,0.075,0.044,3366,420,1885,0,0,0,0,0,0
$GC,8559,1.12,187.5,86.8,10.8,428,8566,0.08,2.28,0.00,0.000,6,0.084,0.021,3348,1825,1884,0,0,0,0,0,0
$GC,8821,1.26,222.7,69.7,4.7,449,8864,0.12,2.47,32.30,0.559,4,0.065,0.042,3387,414,1741,0,0,0,0,0,0
$GC,9057,1.20,222.7,49.0,10.4,466,9061,0.12,2.25,0.00,0.000,6,0.107,0.020,3362,1832,1737,0,0,0,0,0,0
$GC,9321,1.27,222.7,25.4,8.5,494,9327,0.00,2.45,0.00,0.000,4,0.000,0.043,3361,425,1736,0,0,0,0,0,0
$GC,9505,1.27,222.7,6.8,11.1,536,9511,0.00,2.25,0.00,0.000,6,0.000,0.018,3362,1833,1735,0,0,0,0,0,0
$STATE,9537,end climb,SURFACE_DEPTH_REACHED
$STATE,9538,begin surface coast
$FINISH,0.7,1.023153
$STATE,9566,end surface coast,CONTROL_FINISHED_OK
$STATE,9566,begin surface
$SM_CCo,9590,106.32,0.501,0,0,976,410.14
$SM_GC,1.16,0.00,0.00,106.32,0.000,0.000,0.501,431,1670,976,-12.28,-0.54,410.14
$IRIDIUM_FIX,2101.76,-15756.04,311099,111109
$TT8_MAMPS,0.029146
$HUMID,51.45
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.4,9.967
$10V_AH,10.4,7.103
$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,32.275,104.675,246.150,106.325,0.000,28.534,33.345,126.186,4.500,0.000,11.349,1104.670,6236.471,423.378,1804.269,427.897,0.000,1223.344,0.000,1782.431,0.000,29.266,0.000
$DEVICE_MAMPS,136.526,61.360,837.564,500.851,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,369.211,347.649,819.623,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,31789,549
$CAP_FILE_SIZE,109956,0
$CFSIZE,260165632,208007168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060810,164606,2106.955,-15753.992,28,1.5,28,9.8