version: 66.06
glider: 139
mission: 8
dive: 111
start: 8 7 110 6 6 25
data:
$ID,139
$MISSION,8
$DIVE,111
$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,-2152597
$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
$GPS1,060107,2105.861,-15750.072,38,1.1,38,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-71.5
$GPS2,060608,2105.809,-15750.107,15,1.1,15,9.8
$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,80.2,12423,-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,-64.43,0.000,2,0.000,0.000,428,1666,2807,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.7,-4.7,12,105,12.57,2.45,-1.48,0.000,4,0.137,0.054,2752,275,2892,0,0,0,0,0,0
$GC,143,-1.28,-58.4,23.4,-30.0,23,150,0.30,2.35,0.00,0.000,6,0.089,0.019,2817,1718,2894,0,0,0,0,0,0
$GC,343,-1.39,-58.4,53.2,-12.4,43,347,0.00,2.50,0.00,0.000,4,0.000,0.045,2816,282,2895,0,0,0,0,0,0
$GC,403,-1.45,-58.4,61.2,-12.9,47,410,0.12,2.28,0.00,0.000,6,0.031,0.018,2769,1703,2895,0,0,0,0,0,0
$GC,663,-1.51,-58.4,93.2,-10.1,68,667,0.00,2.20,0.00,0.000,4,0.000,0.022,2769,3065,2896,0,0,0,0,0,0
$GC,687,-1.61,-58.4,95.8,-10.2,70,691,0.00,2.33,0.00,0.000,6,0.000,0.032,2769,1688,2896,0,0,0,0,0,0
$GC,954,-1.67,-58.4,124.6,-11.7,91,956,0.15,0.00,0.00,0.000,6,0.059,0.000,2724,1687,2897,0,0,0,0,0,0
$GC,1203,-1.67,-58.4,162.7,-15.0,111,1207,0.00,2.25,0.00,0.000,4,0.000,0.023,2724,3058,2898,0,0,0,0,0,0
$GC,1316,-1.72,-58.4,177.6,-12.4,119,1320,0.00,2.28,0.00,0.000,6,0.000,0.031,2724,1689,2898,0,0,0,0,0,0
$GC,1590,-1.72,-58.4,215.5,-13.9,137,1594,0.00,2.42,0.00,0.000,4,0.000,0.047,2723,279,2899,0,0,0,0,0,0
$GC,1614,-1.65,-58.4,219.2,-14.5,138,1619,0.00,2.25,0.00,0.000,6,0.000,0.020,2724,1692,2899,0,0,0,0,0,0
$GC,1939,-1.65,-58.4,257.6,-11.6,154,1940,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1698,2899,0,0,0,0,0,0
$GC,2251,-1.69,-58.4,293.7,-11.4,169,2255,0.00,2.25,0.00,0.000,4,0.000,0.027,2724,3066,2898,0,0,0,0,0,0
$GC,2449,-1.79,-58.4,313.7,-10.7,175,2453,0.00,2.35,0.00,0.000,6,0.000,0.036,2723,1684,2898,0,0,0,0,0,0
$GC,2799,-1.84,-58.4,349.8,-10.0,184,2804,0.12,2.33,0.00,0.000,4,0.066,0.030,2685,3058,2897,0,0,0,0,0,0
$GC,2871,-1.84,-58.4,357.2,-10.7,185,2875,0.00,2.33,0.00,0.000,6,0.000,0.037,2685,1682,2896,0,0,0,0,0,0
$GC,3212,-1.84,-58.4,396.9,-12.6,194,3213,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1682,2895,0,0,0,0,0,0
$GC,3536,-1.84,-58.4,436.1,-12.0,202,3540,0.00,2.45,0.00,0.000,4,0.000,0.058,2685,279,2892,0,0,0,0,0,0
$GC,3559,-1.77,-58.4,439.3,-13.0,202,3564,0.15,2.25,0.00,0.000,6,0.107,0.026,2714,1672,2892,0,0,0,0,0,0
$STATE,3695,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3695,begin apogee
$GC,3702,-0.31,0.0,453.8,10.4,206,3756,1.50,0.00,49.67,0.844,6,0.080,0.000,3030,1850,2649,0,0,0,0,0,0
$STATE,3756,end apogee,CONTROL_FINISHED_OK
$STATE,3756,begin climb
$GC,3759,1.56,58.4,455.2,0.0,207,3817,1.80,0.00,51.22,0.825,6,0.028,0.000,3456,1850,2410,0,0,0,0,0,0
$GC,4144,1.32,116.9,450.1,2.6,217,4198,0.35,0.00,51.53,0.838,6,0.105,0.000,3388,1850,2173,0,0,0,0,0,0
$GC,4508,1.16,116.9,415.2,10.4,226,4513,0.17,2.55,0.00,0.000,4,0.112,0.056,3355,417,2164,0,0,0,0,0,0
$GC,4523,0.97,116.9,413.4,10.3,226,4528,0.22,2.33,0.00,0.000,6,0.105,0.028,3312,1817,2162,0,0,0,0,0,0
$GC,4875,0.99,130.8,387.9,6.6,235,4888,0.00,0.00,11.73,0.752,6,0.000,0.000,3312,1822,2116,0,0,0,0,0,0
$GC,5198,0.99,130.8,360.6,9.0,243,5203,0.00,2.47,0.00,0.000,4,0.000,0.055,3312,426,2113,0,0,0,0,0,0
$GC,5348,0.91,130.8,344.5,11.1,246,5352,0.00,2.33,0.00,0.000,6,0.000,0.029,3312,1838,2108,0,0,0,0,0,0
$GC,5661,0.94,148.0,321.5,6.3,254,5682,0.00,2.58,15.68,0.755,4,0.000,0.055,3312,419,2046,0,0,0,0,0,0
$GC,5737,0.88,148.0,316.2,8.6,255,5741,0.00,2.33,0.00,0.000,6,0.000,0.028,3312,1831,2042,0,0,0,0,0,0
$GC,6059,0.94,166.9,294.8,6.2,265,6083,0.00,2.58,17.83,0.746,4,0.000,0.053,3312,430,1968,0,0,0,0,0,0
$GC,6172,0.94,166.9,285.4,8.7,270,6176,0.00,2.35,0.00,0.000,6,0.000,0.028,3312,1844,1964,0,0,0,0,0,0
$GC,6502,1.00,166.9,261.2,8.2,286,6503,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,1850,1963,0,0,0,0,0,0
$GC,6812,1.07,166.9,234.7,8.9,301,6816,0.00,2.50,0.00,0.000,4,0.000,0.051,3312,422,1963,0,0,0,0,0,0
$GC,7018,1.07,166.9,215.5,9.0,310,7022,0.00,2.30,0.00,0.000,6,0.000,0.025,3312,1839,1959,0,0,0,0,0,0
$GC,7339,1.17,187.3,194.7,6.1,328,7367,0.17,2.53,18.23,0.662,4,0.057,0.048,3361,423,1884,0,0,0,0,0,0
$GC,7438,1.05,187.3,183.7,13.1,335,7443,0.17,2.30,0.00,0.000,6,0.101,0.023,3327,1827,1881,0,0,0,0,0,0
$GC,7704,1.11,187.3,153.6,11.8,356,7709,0.00,2.45,0.00,0.000,4,0.000,0.048,3327,414,1881,0,0,0,0,0,0
$GC,7791,1.11,187.3,143.3,10.5,362,7798,0.00,2.33,0.00,0.000,6,0.000,0.023,3328,1843,1880,0,0,0,0,0,0
$GC,8052,1.19,187.3,121.0,8.8,383,8057,0.12,2.47,0.00,0.000,4,0.066,0.048,3367,417,1879,0,0,0,0,0,0
$GC,8317,1.09,187.3,87.9,13.1,402,8324,0.12,2.30,0.00,0.000,6,0.082,0.021,3338,1837,1879,0,0,0,0,0,0
$GC,8579,1.20,208.2,69.4,6.0,423,8609,0.10,2.35,18.83,0.551,4,0.076,0.026,3373,3205,1800,0,0,0,0,0,0
$GC,8662,1.27,220.0,63.3,6.8,428,8685,0.00,2.35,11.95,0.517,6,0.000,0.031,3373,1831,1751,0,0,0,0,0,0
$GC,8937,1.35,243.3,42.9,5.8,450,8966,0.00,2.50,20.62,0.525,4,0.000,0.045,3373,420,1656,0,0,0,0,0,0
$GC,9132,1.31,243.3,22.1,12.2,473,9139,0.00,2.28,0.00,0.000,6,0.000,0.019,3373,1823,1653,0,0,0,0,0,0
$STATE,9310,end climb,SURFACE_DEPTH_REACHED
$STATE,9311,begin surface coast
$FINISH,0.5,1.010457
$STATE,9337,end surface coast,CONTROL_FINISHED_OK
$STATE,9338,begin surface
$SM_CCo,9361,95.50,0.505,0,0,977,410.14
$SM_GC,1.20,0.00,0.00,95.50,0.000,0.000,0.505,431,1678,977,-12.28,-0.34,410.14
$IRIDIUM_FIX,2057.14,-15753.90,011199,030306
$TT8_MAMPS,0.029146
$HUMID,52.79
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.4,10.452
$10V_AH,10.4,7.541
$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,30.775,85.875,267.275,95.500,0.000,29.818,26.865,127.852,4.500,0.000,16.086,1033.350,6261.426,446.788,1611.672,404.750,0.000,1144.229,0.000,1590.803,0.000,29.247,0.000
$DEVICE_MAMPS,137.293,65.962,844.467,505.453,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,350.351,326.974,747.400,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,28659,520
$CAP_FILE_SIZE,98793,0
$CFSIZE,260165632,207704064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070810,084455,2105.598,-15749.768,10,1.6,15,9.8