version: 66.06
glider: 139
mission: 8
dive: 107
start: 8 6 110 19 38 5
data:
$ID,139
$MISSION,8
$DIVE,107
$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,-2152515
$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
$GPS1,193234,2106.695,-15753.038,16,3.7,35,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-72.8
$GPS2,193749,2106.667,-15753.093,15,1.1,20,9.8
$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,85.3,17651,-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,-58.4,0.0,0.0,0,87,0.00,0.00,-67.70,0.000,6,0.000,0.000,425,1670,2890,0,0,0,0,0,0
$GC,90,-1.56,-58.4,4.1,-5.3,13,107,12.62,2.38,0.00,0.000,4,0.138,0.038,2754,277,2892,0,0,0,0,0,0
$GC,120,-0.28,-58.4,17.5,-33.6,18,128,1.35,2.38,0.00,0.000,6,0.097,0.019,3033,1730,2893,0,0,0,0,0,0
$GC,323,-1.09,-58.4,30.9,-6.1,62,330,0.77,2.50,0.00,0.000,4,0.054,0.041,2857,278,2895,0,0,0,0,0,0
$GC,354,-1.33,-58.4,33.5,-8.6,64,359,0.20,2.25,0.00,0.000,6,0.048,0.018,2798,1704,2894,0,0,0,0,0,0
$GC,615,-1.44,-58.4,66.9,-13.1,84,616,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1709,2896,0,0,0,0,0,0
$GC,866,-1.56,-58.4,96.3,-10.8,104,871,0.17,2.47,0.00,0.000,4,0.051,0.046,2743,285,2896,0,0,0,0,0,0
$GC,899,-1.47,-58.4,101.2,-15.3,106,906,0.12,2.22,0.00,0.000,6,0.081,0.018,2773,1686,2897,0,0,0,0,0,0
$GC,1162,-1.54,-58.4,129.8,-11.0,127,1166,0.00,2.45,0.00,0.000,4,0.000,0.047,2773,284,2897,0,0,0,0,0,0
$GC,1189,-1.54,-58.4,133.4,-12.3,129,1193,0.00,2.20,0.00,0.000,6,0.000,0.019,2773,1691,2897,0,0,0,0,0,0
$GC,1452,-1.63,-58.4,160.7,-11.1,149,1457,0.12,2.42,0.00,0.000,4,0.065,0.046,2734,285,2897,0,0,0,0,0,0
$GC,1464,-1.69,-58.4,162.5,-11.4,150,1468,0.00,2.20,0.00,0.000,6,0.000,0.020,2734,1691,2898,0,0,0,0,0,0
$GC,1728,-1.69,-58.4,198.6,-13.2,171,1732,0.00,2.22,0.00,0.000,4,0.000,0.025,2735,3060,2898,0,0,0,0,0,0
$GC,1788,-1.78,-58.4,206.4,-12.5,174,1795,0.00,2.33,0.00,0.000,6,0.000,0.033,2734,1695,2898,0,0,0,0,0,0
$GC,2104,-1.81,-58.4,244.7,-11.7,190,2109,0.12,2.42,0.00,0.000,4,0.064,0.048,2693,284,2898,0,0,0,0,0,0
$GC,2127,-1.75,-58.4,247.8,-14.2,191,2132,0.12,2.20,0.00,0.000,6,0.111,0.020,2717,1681,2898,0,0,0,0,0,0
$GC,2461,-1.75,-58.4,291.4,-13.1,207,2462,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1686,2898,0,0,0,0,0,0
$GC,2783,-1.75,-58.4,331.8,-11.7,217,2787,0.00,2.28,0.00,0.000,4,0.000,0.028,2717,3061,2897,0,0,0,0,0,0
$GC,2915,-1.84,-58.4,345.6,-10.4,219,2919,0.00,2.33,0.00,0.000,6,0.000,0.037,2717,1682,2897,0,0,0,0,0,0
$GC,3247,-1.88,-58.4,383.5,-11.7,227,3252,0.12,2.33,0.00,0.000,4,0.068,0.031,2680,3058,2895,0,0,0,0,0,0
$GC,3304,-1.88,-58.4,391.1,-13.1,228,3308,0.00,2.33,0.00,0.000,6,0.000,0.038,2680,1686,2895,0,0,0,0,0,0
$GC,3617,-1.88,-58.4,429.2,-11.8,236,3621,0.00,2.33,0.00,0.000,4,0.000,0.033,2680,3058,2893,0,0,0,0,0,0
$GC,3679,-1.93,-58.4,436.4,-12.3,237,3683,0.00,2.35,0.00,0.000,6,0.000,0.041,2680,1687,2892,0,0,0,0,0,0
$STATE,3822,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3822,begin apogee
$GC,3829,-0.31,0.0,453.4,11.5,241,3883,1.67,0.00,49.97,0.835,6,0.085,0.000,3028,1822,2649,0,0,0,0,0,0
$STATE,3884,end apogee,CONTROL_FINISHED_OK
$STATE,3884,begin climb
$GC,3886,1.56,58.4,454.7,0.0,242,3944,1.77,2.42,50.30,0.824,4,0.031,0.036,3448,3212,2411,0,0,0,0,0,0
$GC,3981,1.39,152.3,455.6,-0.6,244,4073,0.25,2.40,82.78,0.825,6,0.113,0.037,3402,1822,2028,0,0,0,0,0,0
$GC,4387,1.21,152.3,409.9,13.8,254,4392,0.20,2.50,0.00,0.000,4,0.110,0.055,3364,420,2018,0,0,0,0,0,0
$GC,4425,1.00,152.3,404.2,14.3,254,4432,0.25,2.33,0.00,0.000,6,0.105,0.028,3317,1823,2015,0,0,0,0,0,0
$GC,4757,1.00,152.3,369.2,10.0,263,4761,0.00,2.47,0.00,0.000,4,0.000,0.054,3317,424,2014,0,0,0,0,0,0
$GC,4805,0.92,152.3,364.2,10.7,264,4810,0.00,2.35,0.00,0.000,6,0.000,0.028,3317,1840,2011,0,0,0,0,0,0
$GC,5128,0.92,154.8,337.7,7.7,272,5132,0.00,2.50,0.00,0.000,4,0.000,0.054,3317,424,2010,0,0,0,0,0,0
$GC,5208,0.85,154.8,329.8,10.6,273,5213,0.17,2.30,0.00,0.000,6,0.114,0.028,3284,1833,2008,0,0,0,0,0,0
$GC,5540,0.95,158.2,304.4,7.6,281,5545,0.10,2.50,0.00,0.000,4,0.081,0.053,3312,414,2007,0,0,0,0,0,0
$GC,5574,0.89,158.2,301.2,10.1,281,5579,0.00,2.33,0.00,0.000,6,0.000,0.028,3313,1839,2006,0,0,0,0,0,0
$GC,5891,0.93,158.2,273.3,9.8,295,5892,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,1844,2006,0,0,0,0,0,0
$GC,6200,0.99,161.4,248.5,7.6,310,6211,0.00,2.47,4.72,0.526,4,0.000,0.050,3313,424,1991,0,0,0,0,0,0
$GC,6235,0.95,161.8,245.6,7.9,311,6239,0.00,2.30,0.00,0.000,6,0.000,0.027,3313,1834,1990,0,0,0,0,0,0
$GC,6551,1.02,161.8,221.6,8.1,326,6555,0.00,2.45,0.00,0.000,4,0.000,0.050,3313,424,1990,0,0,0,0,0,0
$GC,6644,1.02,161.8,213.5,8.7,330,6648,0.00,2.28,0.00,0.000,6,0.000,0.025,3313,1834,1988,0,0,0,0,0,0
$GC,6973,1.11,174.1,191.1,6.8,350,6992,0.12,2.53,12.35,0.635,4,0.069,0.048,3349,426,1939,0,0,0,0,0,0
$GC,7008,1.04,174.1,188.1,9.7,352,7013,0.12,2.28,0.00,0.000,6,0.112,0.024,3327,1833,1938,0,0,0,0,0,0
$GC,7268,1.10,179.9,166.2,7.4,372,7283,0.00,2.50,6.62,0.539,4,0.000,0.047,3326,428,1915,0,0,0,0,0,0
$GC,7344,1.10,179.9,159.6,8.7,377,7348,0.00,2.25,0.00,0.000,6,0.000,0.023,3326,1832,1913,0,0,0,0,0,0
$GC,7606,1.21,215.8,144.0,4.7,397,7647,0.17,2.50,32.78,0.627,4,0.055,0.045,3376,414,1768,0,0,0,0,0,0
$GC,7674,1.07,215.8,138.2,11.7,402,7679,0.20,2.30,0.00,0.000,6,0.098,0.022,3337,1837,1766,0,0,0,0,0,0
$GC,7934,1.15,215.8,114.5,9.3,422,7938,0.00,2.45,0.00,0.000,4,0.000,0.047,3337,419,1765,0,0,0,0,0,0
$GC,8059,1.15,215.8,99.8,11.5,431,8063,0.00,2.25,0.00,0.000,6,0.000,0.021,3337,1827,1762,0,0,0,0,0,0
$GC,8322,1.25,215.8,73.5,10.5,451,8327,0.15,2.40,0.00,0.000,4,0.058,0.044,3382,423,1762,0,0,0,0,0,0
$GC,8442,1.18,215.8,57.9,12.7,460,8447,0.12,2.25,0.00,0.000,6,0.110,0.020,3358,1847,1762,0,0,0,0,0,0
$GC,8710,1.28,223.7,33.6,7.2,481,8720,0.00,0.00,7.53,0.452,6,0.000,0.000,3358,1852,1736,0,0,0,0,0,0
$GC,8974,1.38,229.9,13.6,7.3,534,8987,0.17,2.47,7.05,0.429,4,0.052,0.042,3410,414,1711,0,0,0,0,0,0
$STATE,9062,end climb,SURFACE_DEPTH_REACHED
$STATE,9063,begin surface coast
$FINISH,0.6,1.022798
$STATE,9085,end surface coast,CONTROL_FINISHED_OK
$STATE,9085,begin surface
$SM_CCo,9110,101.53,0.502,0,0,976,410.14
$SM_GC,1.23,0.00,0.00,101.53,0.000,0.000,0.502,430,1707,976,-12.28,0.48,410.14
$IRIDIUM_FIX,2059.45,-15750.89,311099,161651
$TT8_MAMPS,0.029146
$HUMID,52.12
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.4,10.128
$10V_AH,10.5,7.256
$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,34.025,108.575,254.100,101.525,0.000,30.848,31.449,126.895,4.500,0.000,20.609,1085.649,5930.839,411.960,1667.385,428.867,0.000,1140.107,0.000,1640.387,0.000,29.250,0.000
$DEVICE_MAMPS,138.060,58.292,835.263,502.385,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,375.623,364.017,862.943,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,31822,558
$CAP_FILE_SIZE,107605,0
$CFSIZE,260165632,207892480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060810,221255,2106.664,-15752.299,39,1.5,39,9.8