version: 66.06
glider: 139
mission: 8
dive: 106
start: 8 6 110 16 51 37
data:
$ID,139
$MISSION,8
$DIVE,106
$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,-2152493.8
$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
$GPS1,164606,2106.955,-15753.992,28,1.5,28,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-74.1
$GPS2,165120,2106.913,-15754.011,11,2.0,11,9.8
$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,86.3,19274,-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,-64.25,0.000,2,0.000,0.000,430,1671,2789,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.4,-4.1,12,110,12.57,2.45,-1.85,0.000,4,0.138,0.054,2754,275,2892,0,0,0,0,0,0
$GC,119,-0.32,-58.4,16.1,-28.7,17,126,1.30,2.35,0.00,0.000,6,0.091,0.019,3027,1725,2893,0,0,0,0,0,0
$GC,321,-0.99,-58.4,27.8,-4.8,63,328,0.60,2.50,0.00,0.000,4,0.041,0.041,2879,276,2894,0,0,0,0,0,0
$GC,394,-1.19,-58.4,33.6,-8.8,72,399,0.17,2.22,0.00,0.000,6,0.051,0.018,2825,1696,2894,0,0,0,0,0,0
$GC,662,-1.29,-58.4,65.5,-12.0,93,666,0.00,2.42,0.00,0.000,4,0.000,0.046,2824,286,2895,0,0,0,0,0,0
$GC,688,-1.36,-58.4,68.8,-12.7,95,692,0.00,2.20,0.00,0.000,6,0.000,0.018,2824,1696,2895,0,0,0,0,0,0
$GC,953,-1.53,-58.4,97.0,-10.5,116,958,0.25,2.45,0.00,0.000,4,0.041,0.044,2747,281,2896,0,0,0,0,0,0
$GC,986,-1.47,-58.4,101.4,-14.3,118,993,0.12,2.22,0.00,0.000,6,0.081,0.018,2777,1678,2896,0,0,0,0,0,0
$GC,1248,-1.56,-58.4,132.2,-11.6,139,1252,0.00,2.25,0.00,0.000,4,0.000,0.023,2777,3057,2897,0,0,0,0,0,0
$GC,1336,-1.72,-58.4,142.3,-10.4,145,1342,0.22,2.28,0.00,0.000,6,0.044,0.032,2711,1687,2897,0,0,0,0,0,0
$GC,1596,-1.69,-58.4,175.6,-10.6,166,1601,0.10,2.25,0.00,0.000,4,0.117,0.024,2730,3057,2897,0,0,0,0,0,0
$GC,1622,-1.74,-58.4,178.5,-11.7,168,1626,0.00,2.28,0.00,0.000,6,0.000,0.031,2730,1690,2897,0,0,0,0,0,0
$GC,1894,-1.74,-58.4,211.3,-12.6,187,1895,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1690,2898,0,0,0,0,0,0
$GC,2202,-1.77,-58.4,249.0,-11.9,202,2206,0.00,2.42,0.00,0.000,4,0.000,0.048,2730,283,2898,0,0,0,0,0,0
$GC,2223,-1.77,-58.4,251.6,-12.3,203,2227,0.00,2.22,0.00,0.000,6,0.000,0.021,2730,1693,2898,0,0,0,0,0,0
$GC,2557,-1.83,-58.4,286.4,-10.0,219,2562,0.12,2.28,0.00,0.000,4,0.066,0.027,2690,3058,2898,0,0,0,0,0,0
$GC,2647,-1.83,-58.4,295.9,-10.4,223,2652,0.00,2.33,0.00,0.000,6,0.000,0.035,2689,1685,2897,0,0,0,0,0,0
$GC,2972,-1.83,-58.4,332.5,-11.1,232,2973,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1684,2896,0,0,0,0,0,0
$GC,3298,-1.83,-58.4,368.4,-11.2,240,3302,0.00,2.28,0.00,0.000,4,0.000,0.030,2689,3055,2895,0,0,0,0,0,0
$GC,3354,-1.87,-58.4,374.7,-10.6,241,3358,0.00,2.33,0.00,0.000,6,0.000,0.038,2689,1684,2895,0,0,0,0,0,0
$GC,3669,-1.87,-58.4,408.7,-10.9,249,3673,0.00,2.30,0.00,0.000,4,0.000,0.032,2689,3058,2892,0,0,0,0,0,0
$GC,3744,-1.91,-58.4,416.8,-10.2,250,3748,0.00,2.35,0.00,0.000,6,0.000,0.041,2690,1691,2892,0,0,0,0,0,0
$STATE,4077,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4077,begin apogee
$GC,4083,-0.31,0.0,450.1,9.6,259,4137,1.65,0.00,49.55,0.842,6,0.085,0.000,3032,1824,2650,0,0,0,0,0,0
$STATE,4138,end apogee,CONTROL_FINISHED_OK
$STATE,4138,begin climb
$GC,4141,1.56,58.4,451.0,0.0,260,4202,1.75,2.42,50.75,0.825,4,0.031,0.037,3445,3212,2410,0,0,0,0,0,0
$GC,4270,1.38,142.2,451.2,0.3,262,4354,0.22,2.42,73.95,0.832,6,0.116,0.038,3404,1823,2069,0,0,0,0,0,0
$GC,4686,1.19,142.2,411.4,10.8,273,4691,0.22,2.50,0.00,0.000,4,0.109,0.055,3361,424,2058,0,0,0,0,0,0
$GC,4716,0.98,142.2,408.0,11.2,273,4721,0.25,2.33,0.00,0.000,6,0.104,0.029,3314,1825,2056,0,0,0,0,0,0
$GC,5053,0.98,142.2,378.3,8.8,282,5057,0.00,2.50,0.00,0.000,4,0.000,0.056,3313,425,2054,0,0,0,0,0,0
$GC,5109,0.89,142.2,372.5,10.3,283,5113,0.00,2.33,0.00,0.000,6,0.000,0.029,3314,1833,2051,0,0,0,0,0,0
$GC,5423,0.89,142.2,345.6,8.6,291,5427,0.00,2.50,0.00,0.000,4,0.000,0.054,3313,425,2050,0,0,0,0,0,0
$GC,5479,0.82,142.2,339.9,9.5,292,5484,0.17,2.33,0.00,0.000,6,0.113,0.029,3281,1834,2048,0,0,0,0,0,0
$GC,5795,0.94,162.9,319.5,6.0,300,5816,0.10,2.53,16.05,0.753,4,0.081,0.053,3309,425,1983,0,0,0,0,0,0
$GC,5975,0.89,162.9,302.1,9.8,304,5979,0.00,2.33,0.00,0.000,6,0.000,0.028,3309,1834,1979,0,0,0,0,0,0
$GC,6315,0.96,174.2,276.6,6.9,319,6332,0.00,2.58,10.40,0.686,4,0.000,0.054,3309,421,1939,0,0,0,0,0,0
$GC,6356,0.92,174.2,273.1,8.4,320,6362,0.00,2.38,0.00,0.000,6,0.000,0.027,3309,1834,1937,0,0,0,0,0,0
$GC,6672,0.99,174.2,244.2,9.3,336,6676,0.00,2.47,0.00,0.000,4,0.000,0.051,3309,424,1936,0,0,0,0,0,0
$GC,6732,0.99,174.2,237.8,11.1,338,6739,0.00,2.33,0.00,0.000,6,0.000,0.026,3309,1824,1934,0,0,0,0,0,0
$GC,7049,1.07,174.2,210.0,8.3,354,7054,0.10,2.45,0.00,0.000,4,0.080,0.051,3339,421,1933,0,0,0,0,0,0
$GC,7162,1.00,174.2,196.9,13.2,360,7167,0.12,2.30,0.00,0.000,6,0.112,0.024,3317,1846,1932,0,0,0,0,0,0
$GC,7423,1.08,174.2,172.6,8.8,380,7427,0.00,2.47,0.00,0.000,4,0.000,0.048,3317,424,1932,0,0,0,0,0,0
$GC,7468,1.08,174.2,168.1,9.4,383,7473,0.00,2.30,0.00,0.000,6,0.000,0.024,3317,1845,1931,0,0,0,0,0,0
$GC,7729,1.18,192.5,152.0,6.2,404,7750,0.17,0.00,16.58,0.619,6,0.056,0.000,3366,1850,1864,0,0,0,0,0,0
$GC,8004,1.18,192.5,123.6,12.0,426,8008,0.00,2.47,0.00,0.000,4,0.000,0.047,3366,423,1863,0,0,0,0,0,0
$GC,8072,1.08,192.5,114.9,13.6,431,8077,0.15,2.25,0.00,0.000,6,0.104,0.021,3337,1827,1860,0,0,0,0,0,0
$GC,8343,1.15,192.5,87.1,8.6,452,8347,0.00,2.42,0.00,0.000,4,0.000,0.045,3337,412,1860,0,0,0,0,0,0
$GC,8414,1.15,192.5,80.3,9.5,457,8418,0.00,2.28,0.00,0.000,6,0.000,0.021,3337,1846,1860,0,0,0,0,0,0
$GC,8681,1.24,194.1,58.5,7.7,478,8686,0.15,2.47,0.00,0.000,4,0.059,0.044,3382,420,1859,0,0,0,0,0,0
$GC,8818,1.15,194.1,47.4,8.3,488,8823,0.15,2.22,0.00,0.000,6,0.104,0.020,3353,1832,1860,0,0,0,0,0,0
$GC,9086,1.30,232.1,37.7,4.5,509,9129,0.12,2.47,35.28,0.533,4,0.065,0.042,3393,420,1701,0,0,0,0,0,0
$GC,9379,1.22,232.1,7.2,13.6,561,9386,0.10,2.28,0.00,0.000,6,0.085,0.019,3369,1838,1696,0,0,0,0,0,0
$STATE,9421,end climb,SURFACE_DEPTH_REACHED
$STATE,9421,begin surface coast
$FINISH,0.7,1.009717
$STATE,9459,end surface coast,CONTROL_FINISHED_OK
$STATE,9459,begin surface
$SM_CCo,9482,101.25,0.502,0,0,977,410.14
$SM_GC,1.49,0.00,0.00,101.25,0.000,0.000,0.502,425,1670,977,-12.31,-0.57,410.14
$IRIDIUM_FIX,2059.45,-15756.04,311099,141448
$TT8_MAMPS,0.028379
$HUMID,52.12
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.4,10.047
$10V_AH,10.4,7.181
$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,33.575,109.125,252.550,101.250,0.000,30.617,34.600,132.456,4.500,0.000,11.611,1130.470,6132.668,416.477,1761.905,454.580,0.000,1182.202,0.000,1750.127,0.000,29.251,0.000
$DEVICE_MAMPS,138.060,55.991,842.166,502.385,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,389.241,378.079,902.382,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,31814,578
$CAP_FILE_SIZE,109824,0
$CFSIZE,260165632,207949824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060810,193234,2106.695,-15753.038,16,3.7,35,9.8