version: 66.06
glider: 139
mission: 8
dive: 121
start: 8 8 110 9 6 22
data:
$ID,139
$MISSION,8
$DIVE,121
$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,-2152840.5
$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
$GPS1,090028,2105.323,-15745.755,16,3.6,35,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-72.2
$GPS2,090606,2105.272,-15745.821,16,1.3,32,9.8
$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,68.9,5116,-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,-58.4,0.0,0.0,0,77,0.00,0.00,-59.35,0.000,2,0.000,0.000,427,1674,2640,0,0,0,0,0,0
$GC,80,-1.56,-58.4,3.1,-3.6,11,104,12.60,2.40,-4.78,0.000,4,0.137,0.035,2756,3109,2891,0,0,0,0,0,0
$GC,198,-1.61,-58.4,28.4,-16.3,36,205,0.00,2.45,0.00,0.000,6,0.000,0.035,2756,1691,2892,0,0,0,0,0,0
$GC,402,-1.58,-58.4,62.4,-16.4,53,403,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1690,2893,0,0,0,0,0,0
$GC,656,-1.58,-58.4,101.1,-14.8,73,660,0.00,2.35,0.00,0.000,4,0.000,0.023,2756,3101,2894,0,0,0,0,0,0
$GC,797,-1.68,-58.4,121.2,-13.1,83,802,0.10,2.40,0.00,0.000,6,0.075,0.034,2723,1683,2894,0,0,0,0,0,0
$GC,1060,-1.68,-58.4,158.8,-13.6,103,1064,0.00,2.40,0.00,0.000,4,0.000,0.047,2722,285,2895,0,0,0,0,0,0
$GC,1076,-1.63,-58.4,161.7,-14.4,104,1081,0.10,2.30,0.00,0.000,6,0.118,0.019,2741,1729,2895,0,0,0,0,0,0
$GC,1344,-1.66,-58.4,195.4,-11.8,125,1348,0.00,2.20,0.00,0.000,4,0.000,0.023,2741,3074,2896,0,0,0,0,0,0
$GC,1433,-1.76,-58.4,205.7,-10.9,131,1438,0.10,2.35,0.00,0.000,6,0.077,0.032,2707,1681,2896,0,0,0,0,0,0
$GC,1766,-1.76,-58.4,247.9,-11.9,147,1771,0.00,2.33,0.00,0.000,4,0.000,0.025,2708,3072,2896,0,0,0,0,0,0
$GC,1908,-1.81,-58.4,264.8,-11.2,153,1913,0.00,2.33,0.00,0.000,6,0.000,0.034,2707,1684,2896,0,0,0,0,0,0
$GC,2231,-1.81,-58.4,300.3,-11.3,169,2235,0.00,2.30,0.00,0.000,4,0.000,0.026,2707,3073,2896,0,0,0,0,0,0
$GC,2374,-1.88,-58.4,316.3,-11.0,172,2379,0.00,2.33,0.00,0.000,6,0.000,0.035,2707,1686,2896,0,0,0,0,0,0
$GC,2695,-1.88,-58.4,353.8,-12.3,180,2696,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,1686,2895,0,0,0,0,0,0
$GC,3019,-1.88,-58.4,393.1,-12.3,188,3023,0.00,2.45,0.00,0.000,4,0.000,0.054,2707,285,2893,0,0,0,0,0,0
$GC,3033,-1.88,-58.4,395.1,-11.6,188,3037,0.00,2.28,0.00,0.000,6,0.000,0.025,2707,1690,2893,0,0,0,0,0,0
$GC,3384,-1.88,-58.4,432.9,-10.6,197,3388,0.00,2.47,0.00,0.000,4,0.000,0.057,2707,287,2891,0,0,0,0,0,0
$GC,3403,-1.88,-58.4,435.2,-10.7,197,3407,0.00,2.30,0.00,0.000,6,0.000,0.025,2707,1694,2891,0,0,0,0,0,0
$STATE,3543,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3543,begin apogee
$GC,3551,-0.31,0.0,450.2,10.6,201,3604,1.55,0.00,49.50,0.838,6,0.081,0.000,3032,1841,2649,0,0,0,0,0,0
$STATE,3605,end apogee,CONTROL_FINISHED_OK
$STATE,3605,begin climb
$GC,3607,1.56,58.4,451.6,0.0,202,3665,1.75,2.38,50.33,0.821,4,0.031,0.035,3450,3208,2410,0,0,0,0,0,0
$GC,3932,1.33,110.2,446.9,3.2,209,3985,0.30,2.38,45.28,0.828,6,0.111,0.038,3394,1832,2200,0,0,0,0,0,0
$GC,4295,1.16,110.2,413.5,9.9,218,4300,0.20,2.38,0.00,0.000,4,0.113,0.035,3357,3210,2192,0,0,0,0,0,0
$GC,4565,1.09,114.1,393.2,7.5,223,4570,0.00,2.38,0.00,0.000,6,0.000,0.040,3357,1831,2191,0,0,0,0,0,0
$GC,4896,1.01,114.1,364.8,9.2,232,4901,0.20,2.35,0.00,0.000,4,0.109,0.035,3319,3212,2186,0,0,0,0,0,0
$GC,4930,1.01,114.1,362.0,8.3,232,4935,0.00,2.38,0.00,0.000,6,0.000,0.040,3319,1831,2186,0,0,0,0,0,0
$GC,5262,1.03,132.5,338.6,6.2,240,5287,0.00,2.58,17.80,0.765,4,0.000,0.055,3319,420,2110,0,0,0,0,0,0
$GC,5334,0.94,132.5,333.5,8.1,241,5338,0.00,2.33,0.00,0.000,6,0.000,0.028,3319,1825,2106,0,0,0,0,0,0
$GC,5679,0.96,145.6,310.3,6.7,250,5695,0.00,0.00,12.60,0.726,6,0.000,0.000,3319,1831,2056,0,0,0,0,0,0
$GC,6012,0.96,150.3,283.9,7.5,262,6024,0.00,2.50,5.32,0.578,4,0.000,0.052,3319,423,2036,0,0,0,0,0,0
$GC,6036,0.96,150.3,281.9,8.5,263,6040,0.00,2.35,0.00,0.000,6,0.000,0.028,3319,1841,2034,0,0,0,0,0,0
$GC,6368,1.01,160.6,254.8,7.0,279,6384,0.00,2.58,10.45,0.676,4,0.000,0.052,3319,420,1995,0,0,0,0,0,0
$GC,6475,0.97,160.6,246.0,8.4,283,6479,0.00,2.33,0.00,0.000,6,0.000,0.026,3319,1838,1992,0,0,0,0,0,0
$GC,6790,1.04,168.1,224.6,7.2,298,6803,0.00,2.35,7.88,0.616,4,0.000,0.032,3319,3216,1964,0,0,0,0,0,0
$GC,6811,1.10,168.1,223.0,8.2,299,6815,0.00,2.40,0.00,0.000,6,0.000,0.036,3319,1827,1964,0,0,0,0,0,0
$GC,7135,1.17,168.1,197.8,8.0,315,7140,0.15,2.47,0.00,0.000,4,0.063,0.050,3360,417,1963,0,0,0,0,0,0
$GC,7337,1.05,168.1,175.6,10.5,330,7342,0.15,2.30,0.00,0.000,6,0.108,0.023,3332,1835,1960,0,0,0,0,0,0
$GC,7605,1.11,178.3,154.9,7.0,351,7618,0.00,0.00,9.95,0.587,6,0.000,0.000,3332,1840,1923,0,0,0,0,0,0
$GC,7874,1.19,188.1,135.2,7.0,372,7891,0.12,2.53,10.20,0.568,4,0.068,0.047,3368,424,1883,0,0,0,0,0,0
$GC,7948,1.08,188.1,127.9,10.6,377,7956,0.12,2.28,0.00,0.000,6,0.087,0.021,3339,1835,1880,0,0,0,0,0,0
$GC,8210,1.16,193.1,108.7,7.4,398,8225,0.00,2.50,5.80,0.473,4,0.000,0.044,3339,423,1861,0,0,0,0,0,0
$GC,8350,1.16,193.1,94.9,9.1,408,8354,0.00,2.25,0.00,0.000,6,0.000,0.021,3339,1841,1860,0,0,0,0,0,0
$GC,8617,1.27,210.6,76.9,6.3,429,8641,0.17,2.33,16.83,0.547,4,0.054,0.025,3390,3205,1790,0,0,0,0,0,0
$GC,8649,1.28,212.5,74.3,7.7,431,8653,0.00,2.35,0.00,0.000,6,0.000,0.029,3390,1826,1791,0,0,0,0,0,0
$GC,8915,1.28,212.5,48.3,10.5,452,8919,0.00,2.38,0.00,0.000,4,0.000,0.044,3389,427,1791,0,0,0,0,0,0
$GC,8930,1.22,212.5,46.5,10.9,453,8935,0.12,2.25,0.00,0.000,6,0.111,0.020,3366,1838,1789,0,0,0,0,0,0
$GC,9193,1.31,219.8,25.7,7.2,481,9211,0.00,2.47,9.35,0.466,4,0.000,0.044,3366,431,1753,0,0,0,0,0,0
$GC,9416,1.27,219.8,4.4,10.6,531,9422,0.00,2.25,0.00,0.000,6,0.000,0.019,3366,1852,1750,0,0,0,0,0,0
$STATE,9427,end climb,SURFACE_DEPTH_REACHED
$STATE,9427,begin surface coast
$FINISH,0.6,1.009826
$STATE,9454,end surface coast,CONTROL_FINISHED_OK
$STATE,9454,begin surface
$SM_CCo,9477,107.60,0.501,0,0,978,410.14
$SM_GC,1.35,0.00,0.00,107.60,0.000,0.000,0.501,428,1686,978,-12.29,-0.11,410.14
$IRIDIUM_FIX,2057.14,-15746.61,021199,060618
$TT8_MAMPS,0.029146
$HUMID,51.33
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.5,11.260
$10V_AH,10.4,8.266
$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,30.375,100.050,251.275,107.600,0.000,28.213,28.591,143.173,4.500,0.000,32.120,1087.817,6209.565,411.374,1772.584,440.348,0.000,1188.472,0.000,1729.513,0.000,29.253,0.000
$DEVICE_MAMPS,137.293,62.127,838.331,500.851,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,363.435,344.026,787.748,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,28712,539
$CAP_FILE_SIZE,106964,0
$CFSIZE,260165632,207179776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080810,114722,2104.974,-15745.965,16,3.8,35,9.8