version: 66.06
glider: 139
mission: 8
dive: 120
start: 8 8 110 6 23 31
data:
$ID,139
$MISSION,8
$DIVE,120
$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,-2152807.8
$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
$GPS1,061737,2105.290,-15746.236,31,1.0,31,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-70.4
$GPS2,062314,2105.284,-15746.227,15,1.3,15,9.8
$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,70.5,5801,-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,-64.55,0.000,2,0.000,0.000,431,1672,2814,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.7,-4.3,12,105,12.52,2.38,-1.35,0.000,4,0.137,0.035,2751,3101,2891,0,0,0,0,0,0
$GC,206,-1.60,-58.4,34.2,-18.1,34,213,0.00,2.42,0.00,0.000,6,0.000,0.038,2750,1698,2892,0,0,0,0,0,0
$GC,466,-1.60,-58.4,76.0,-14.5,55,469,0.00,2.33,0.00,0.000,4,0.000,0.023,2751,3102,2894,0,0,0,0,0,0
$GC,572,-1.64,-58.4,89.4,-12.3,62,578,0.00,2.40,0.00,0.000,6,0.000,0.031,2751,1687,2894,0,0,0,0,0,0
$GC,831,-1.64,-58.4,122.7,-12.3,83,835,0.00,2.40,0.00,0.000,4,0.000,0.048,2750,286,2895,0,0,0,0,0,0
$GC,943,-1.64,-58.4,137.0,-11.4,91,948,0.00,2.28,0.00,0.000,6,0.000,0.018,2750,1722,2895,0,0,0,0,0,0
$GC,1208,-1.69,-58.4,168.6,-11.9,112,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1724,2896,0,0,0,0,0,0
$GC,1461,-1.75,-58.4,201.2,-13.5,132,1466,0.15,2.22,0.00,0.000,4,0.061,0.025,2706,3080,2896,0,0,0,0,0,0
$GC,1493,-1.75,-58.4,206.4,-13.9,133,1498,0.00,2.33,0.00,0.000,6,0.000,0.032,2706,1685,2896,0,0,0,0,0,0
$GC,1809,-1.75,-58.4,250.0,-12.0,148,1814,0.00,2.28,0.00,0.000,4,0.000,0.025,2706,3074,2897,0,0,0,0,0,0
$GC,1925,-1.80,-58.4,264.0,-11.7,153,1929,0.00,2.33,0.00,0.000,6,0.000,0.033,2706,1684,2897,0,0,0,0,0,0
$GC,2275,-1.80,-58.4,306.8,-12.0,169,2279,0.00,2.28,0.00,0.000,4,0.000,0.027,2706,3071,2896,0,0,0,0,0,0
$GC,2372,-1.85,-58.4,318.6,-11.9,171,2376,0.00,2.35,0.00,0.000,6,0.000,0.036,2706,1689,2896,0,0,0,0,0,0
$GC,2691,-1.85,-58.4,357.9,-13.0,179,2695,0.00,2.45,0.00,0.000,4,0.000,0.052,2706,282,2895,0,0,0,0,0,0
$GC,2709,-1.85,-58.4,360.8,-14.0,179,2714,0.00,2.25,0.00,0.000,6,0.000,0.024,2706,1688,2894,0,0,0,0,0,0
$GC,3054,-1.85,-58.4,398.1,-9.7,188,3058,0.00,2.30,0.00,0.000,4,0.000,0.032,2706,3074,2893,0,0,0,0,0,0
$GC,3079,-1.90,-58.4,400.3,-9.3,188,3084,0.00,2.35,0.00,0.000,6,0.000,0.040,2706,1693,2893,0,0,0,0,0,0
$GC,3419,-1.90,-58.4,434.8,-10.6,197,3424,0.00,2.47,0.00,0.000,4,0.000,0.058,2706,275,2890,0,0,0,0,0,0
$GC,3438,-1.90,-58.4,437.0,-11.5,197,3442,0.00,2.30,0.00,0.000,6,0.000,0.026,2706,1685,2890,0,0,0,0,0,0
$STATE,3577,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3577,begin apogee
$GC,3584,-0.31,0.0,452.4,10.9,201,3638,1.55,0.00,49.42,0.843,6,0.081,0.000,3031,1845,2650,0,0,0,0,0,0
$STATE,3639,end apogee,CONTROL_FINISHED_OK
$STATE,3639,begin climb
$GC,3641,1.56,58.4,453.5,0.0,202,3700,1.75,2.38,50.62,0.827,4,0.030,0.036,3449,3210,2410,0,0,0,0,0,0
$GC,3967,1.34,116.6,446.0,2.7,209,4024,0.30,2.38,50.97,0.834,6,0.110,0.038,3393,1829,2174,0,0,0,0,0,0
$GC,4370,1.17,116.6,410.6,9.5,219,4375,0.20,2.47,0.00,0.000,4,0.114,0.054,3355,424,2165,0,0,0,0,0,0
$GC,4428,0.98,116.6,405.0,10.0,220,4433,0.22,2.30,0.00,0.000,6,0.110,0.028,3313,1824,2161,0,0,0,0,0,0
$GC,4742,0.99,125.1,381.8,7.1,228,4754,0.00,2.55,6.20,0.650,4,0.000,0.055,3313,421,2140,0,0,0,0,0,0
$GC,4760,1.00,134.1,380.4,7.1,228,4777,0.00,2.35,10.20,0.731,6,0.000,0.028,3313,1837,2102,0,0,0,0,0,0
$GC,5114,1.00,134.6,352.4,7.8,237,5118,0.00,2.50,0.00,0.000,4,0.000,0.054,3313,423,2098,0,0,0,0,0,0
$GC,5146,0.91,134.6,349.3,9.0,237,5151,0.00,2.33,0.00,0.000,6,0.000,0.029,3313,1826,2096,0,0,0,0,0,0
$GC,5478,0.93,147.5,324.8,6.7,245,5497,0.00,2.53,12.38,0.741,4,0.000,0.053,3313,424,2046,0,0,0,0,0,0
$GC,5669,0.87,147.5,307.3,9.3,249,5674,0.12,2.35,0.00,0.000,6,0.122,0.028,3291,1842,2043,0,0,0,0,0,0
$GC,5994,0.96,151.8,281.2,7.5,262,6003,0.00,2.33,4.35,0.525,4,0.000,0.031,3291,3213,2030,0,0,0,0,0,0
$GC,6027,1.10,159.8,278.5,7.2,263,6044,0.22,2.38,9.25,0.681,6,0.053,0.038,3349,1828,1998,0,0,0,0,0,0
$GC,6369,1.10,166.3,248.8,7.3,280,6382,0.00,2.53,7.15,0.624,4,0.000,0.053,3348,424,1971,0,0,0,0,0,0
$GC,6401,1.00,166.3,246.3,8.7,281,6405,0.15,2.33,0.00,0.000,6,0.110,0.026,3321,1832,1969,0,0,0,0,0,0
$GC,6726,1.06,170.2,221.1,7.5,297,6732,0.00,0.00,4.45,0.498,6,0.000,0.000,3320,1837,1956,0,0,0,0,0,0
$GC,7037,1.13,176.4,197.1,7.3,313,7052,0.12,2.50,7.32,0.588,4,0.070,0.050,3356,423,1929,0,0,0,0,0,0
$GC,7145,1.03,176.4,186.1,10.1,320,7153,0.12,2.33,0.00,0.000,6,0.088,0.024,3328,1842,1927,0,0,0,0,0,0
$GC,7407,1.08,176.4,167.2,7.9,341,7411,0.00,2.47,0.00,0.000,4,0.000,0.048,3327,419,1926,0,0,0,0,0,0
$GC,7529,1.08,176.4,154.8,10.7,350,7533,0.00,2.28,0.00,0.000,6,0.000,0.023,3328,1827,1926,0,0,0,0,0,0
$GC,7795,1.15,176.4,129.6,9.5,371,7800,0.10,2.45,0.00,0.000,4,0.078,0.048,3360,415,1926,0,0,0,0,0,0
$GC,7998,1.07,179.6,109.6,7.6,386,8007,0.12,2.25,3.65,0.375,6,0.113,0.021,3335,1840,1917,0,0,0,0,0,0
$GC,8269,1.19,216.6,96.3,4.6,407,8310,0.10,2.50,34.17,0.588,4,0.077,0.044,3368,413,1766,0,0,0,0,0,0
$GC,8410,1.14,216.6,80.2,13.3,417,8415,0.00,2.28,0.00,0.000,6,0.000,0.021,3368,1828,1761,0,0,0,0,0,0
$GC,8671,1.18,216.6,53.9,9.9,437,8675,0.00,2.42,0.00,0.000,4,0.000,0.044,3368,414,1761,0,0,0,0,0,0
$GC,8699,1.13,216.6,51.0,9.9,439,8704,0.12,2.25,0.00,0.000,6,0.110,0.020,3344,1837,1760,0,0,0,0,0,0
$GC,8963,1.29,243.8,29.5,5.4,459,8993,0.15,2.47,23.60,0.519,4,0.057,0.041,3391,420,1655,0,0,0,0,0,0
$GC,9164,1.20,243.8,7.6,14.3,503,9171,0.10,2.28,0.00,0.000,6,0.088,0.019,3367,1830,1650,0,0,0,0,0,0
$STATE,9197,end climb,SURFACE_DEPTH_REACHED
$STATE,9197,begin surface coast
$FINISH,0.6,1.003051
$STATE,9220,end surface coast,CONTROL_FINISHED_OK
$STATE,9220,begin surface
$SM_CCo,9243,98.78,0.505,0,0,978,410.14
$SM_GC,1.31,0.00,0.00,98.78,0.000,0.000,0.505,428,1673,978,-12.30,-0.48,410.14
$IRIDIUM_FIX,2059.45,-15748.75,021199,030302
$TT8_MAMPS,0.029146
$HUMID,53.03
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.5,11.180
$10V_AH,10.4,8.192
$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,30.750,104.700,273.750,98.775,0.000,24.450,35.235,158.319,4.500,0.000,15.252,1052.742,6065.836,416.346,1683.129,459.332,0.000,1178.062,0.000,1661.767,0.000,29.256,0.000
$DEVICE_MAMPS,136.526,59.826,842.933,505.453,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,347.089,328.666,735.247,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,28592,515
$CAP_FILE_SIZE,107524,0
$CFSIZE,260165632,207241216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080810,090028,2105.323,-15745.755,16,3.6,35,9.8