version: 66.06
glider: 139
mission: 8
dive: 125
start: 8 8 110 20 5 41
data:
$ID,139
$MISSION,8
$DIVE,125
$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,-2152979.8
$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
$GPS1,195925,2105.702,-15744.195,43,1.1,43,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-71.7
$GPS2,200525,2105.685,-15744.214,34,1.7,45,9.8
$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,74.1,2251,-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,-59.33,0.000,2,0.000,0.000,424,1668,2637,0,0,0,0,0,0
$GC,80,-1.56,-58.4,3.0,-3.5,11,104,12.55,0.00,-4.88,0.000,6,0.137,0.000,2752,1668,2891,0,0,0,0,0,0
$GC,299,-1.50,-58.4,46.6,-17.6,46,304,0.10,2.40,0.00,0.000,4,0.120,0.023,2770,3104,2892,0,0,0,0,0,0
$GC,410,-1.63,-58.4,64.5,-14.8,54,415,0.12,2.40,0.00,0.000,6,0.064,0.034,2731,1686,2892,0,0,0,0,0,0
$GC,671,-1.60,-58.4,110.0,-16.3,74,676,0.10,2.42,0.00,0.000,4,0.115,0.046,2750,278,2893,0,0,0,0,0,0
$GC,711,-1.60,-58.4,116.5,-14.5,77,716,0.00,2.30,0.00,0.000,6,0.000,0.018,2750,1728,2893,0,0,0,0,0,0
$GC,977,-1.60,-58.4,150.9,-12.9,98,981,0.00,2.20,0.00,0.000,4,0.000,0.023,2750,3075,2895,0,0,0,0,0,0
$GC,1009,-1.70,-58.4,155.4,-12.3,100,1015,0.00,2.38,0.00,0.000,6,0.000,0.033,2750,1684,2895,0,0,0,0,0,0
$GC,1271,-1.76,-58.4,184.7,-11.1,121,1276,0.15,2.40,0.00,0.000,4,0.059,0.047,2705,285,2895,0,0,0,0,0,0
$GC,1341,-1.65,-58.4,195.1,-14.7,126,1346,0.17,2.22,0.00,0.000,6,0.097,0.019,2740,1698,2896,0,0,0,0,0,0
$GC,1615,-1.69,-58.4,227.8,-12.4,140,1619,0.00,2.25,0.00,0.000,4,0.000,0.025,2739,3071,2896,0,0,0,0,0,0
$GC,1743,-1.81,-58.4,243.3,-10.2,145,1749,0.15,2.35,0.00,0.000,6,0.058,0.035,2693,1681,2895,0,0,0,0,0,0
$GC,2061,-1.81,-58.4,279.6,-11.3,161,2065,0.00,2.28,0.00,0.000,4,0.000,0.026,2694,3067,2896,0,0,0,0,0,0
$GC,2236,-1.81,-58.4,299.3,-11.7,168,2240,0.00,2.35,0.00,0.000,6,0.000,0.035,2693,1681,2895,0,0,0,0,0,0
$GC,2548,-1.81,-58.4,336.0,-12.0,176,2552,0.00,2.35,0.00,0.000,4,0.000,0.028,2693,3071,2894,0,0,0,0,0,0
$GC,2637,-1.85,-58.4,347.0,-11.7,178,2641,0.00,2.35,0.00,0.000,6,0.000,0.038,2693,1683,2895,0,0,0,0,0,0
$GC,2965,-1.85,-58.4,384.5,-10.8,186,2969,0.00,2.33,0.00,0.000,4,0.000,0.030,2693,3068,2892,0,0,0,0,0,0
$GC,2988,-1.89,-58.4,387.2,-10.9,186,2993,0.00,2.35,0.00,0.000,6,0.000,0.038,2693,1684,2892,0,0,0,0,0,0
$GC,3334,-1.89,-58.4,426.1,-12.0,195,3338,0.00,2.33,0.00,0.000,4,0.000,0.031,2693,3064,2890,0,0,0,0,0,0
$GC,3465,-1.93,-58.4,440.9,-11.7,197,3470,0.00,2.35,0.00,0.000,6,0.000,0.041,2693,1688,2889,0,0,0,0,0,0
$STATE,3550,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3550,begin apogee
$GC,3557,-0.31,0.0,450.2,10.6,199,3611,1.62,0.00,49.40,0.839,6,0.084,0.000,3031,1826,2650,0,0,0,0,0,0
$STATE,3612,end apogee,CONTROL_FINISHED_OK
$STATE,3612,begin climb
$GC,3614,1.56,58.4,451.4,0.0,200,3674,1.77,2.42,50.53,0.821,4,0.029,0.036,3448,3207,2411,0,0,0,0,0,0
$GC,3809,1.36,126.8,449.7,1.7,204,3878,0.28,2.40,60.25,0.825,6,0.109,0.038,3396,1826,2133,0,0,0,0,0,0
$GC,4224,1.19,126.8,406.7,11.1,215,4226,0.20,0.00,0.00,0.000,6,0.110,0.000,3359,1826,2124,0,0,0,0,0,0
$GC,4550,1.10,126.8,376.6,8.9,223,4554,0.00,2.38,0.00,0.000,4,0.000,0.035,3359,3208,2120,0,0,0,0,0,0
$GC,4647,1.05,126.8,368.2,8.4,225,4652,0.15,2.40,0.00,0.000,6,0.120,0.040,3331,1830,2120,0,0,0,0,0,0
$GC,4967,1.05,126.8,342.4,8.2,233,4971,0.00,2.47,0.00,0.000,4,0.000,0.055,3332,414,2117,0,0,0,0,0,0
$GC,5015,0.93,126.8,337.8,9.5,234,5020,0.15,2.35,0.00,0.000,6,0.116,0.028,3304,1838,2114,0,0,0,0,0,0
$GC,5340,1.00,150.9,316.5,5.7,242,5365,0.00,2.58,19.52,0.756,4,0.000,0.054,3304,417,2033,0,0,0,0,0,0
$GC,5429,0.97,150.9,309.9,7.9,244,5433,0.00,2.33,0.00,0.000,6,0.000,0.028,3304,1834,2030,0,0,0,0,0,0
$GC,5760,1.05,164.7,286.6,6.7,256,5784,0.10,2.53,13.18,0.709,4,0.081,0.051,3333,415,1978,0,0,0,0,0,0
$GC,5790,1.01,164.7,284.0,8.3,257,5794,0.00,2.35,0.00,0.000,6,0.000,0.027,3334,1837,1976,0,0,0,0,0,0
$GC,6115,1.01,164.7,256.3,9.0,273,6119,0.00,2.47,0.00,0.000,4,0.000,0.051,3334,420,1974,0,0,0,0,0,0
$GC,6254,0.94,164.7,242.5,9.1,279,6259,0.15,2.33,0.00,0.000,6,0.109,0.026,3306,1839,1971,0,0,0,0,0,0
$GC,6589,1.06,186.4,219.5,5.9,295,6615,0.10,2.55,19.88,0.684,4,0.081,0.051,3335,422,1888,0,0,0,0,0,0
$GC,6677,1.00,186.4,211.2,11.1,299,6682,0.00,2.30,0.00,0.000,6,0.000,0.025,3336,1837,1884,0,0,0,0,0,0
$GC,7006,1.04,186.4,179.8,8.9,321,7011,0.00,2.47,0.00,0.000,4,0.000,0.048,3336,420,1884,0,0,0,0,0,0
$GC,7172,0.99,186.4,162.0,10.7,333,7176,0.00,2.28,0.00,0.000,6,0.000,0.023,3336,1847,1881,0,0,0,0,0,0
$GC,7434,1.04,186.4,140.5,8.9,353,7439,0.00,2.47,0.00,0.000,4,0.000,0.046,3335,418,1881,0,0,0,0,0,0
$GC,7448,1.04,186.4,138.8,8.8,354,7453,0.00,2.25,0.00,0.000,6,0.000,0.022,3336,1834,1881,0,0,0,0,0,0
$GC,7710,1.11,186.4,114.9,10.1,374,7714,0.00,2.45,0.00,0.000,4,0.000,0.046,3336,418,1881,0,0,0,0,0,0
$GC,7746,1.11,186.4,110.3,12.3,376,7753,0.00,2.28,0.00,0.000,6,0.000,0.021,3336,1832,1881,0,0,0,0,0,0
$GC,8009,1.21,202.5,89.0,6.4,397,8030,0.12,2.50,14.48,0.550,4,0.066,0.044,3375,421,1823,0,0,0,0,0,0
$GC,8292,1.15,202.5,61.0,9.4,417,8299,0.10,2.28,0.00,0.000,6,0.084,0.020,3351,1832,1820,0,0,0,0,0,0
$GC,8554,1.28,231.7,45.5,5.3,438,8586,0.12,2.30,26.48,0.532,4,0.064,0.025,3393,3205,1704,0,0,0,0,0,0
$GC,8666,1.33,231.7,36.2,9.9,446,8670,0.00,2.33,0.00,0.000,6,0.000,0.029,3393,1817,1704,0,0,0,0,0,0
$GC,8928,1.33,231.7,10.0,9.8,496,8934,0.00,2.30,0.00,0.000,4,0.000,0.023,3393,3202,1703,0,0,0,0,0,0
$GC,8992,1.39,231.7,3.9,9.3,510,8999,0.00,2.33,0.00,0.000,6,0.000,0.030,3392,1836,1703,0,0,0,0,0,0
$STATE,9004,end climb,SURFACE_DEPTH_REACHED
$STATE,9004,begin surface coast
$FINISH,0.6,1.023058
$STATE,9040,end surface coast,CONTROL_FINISHED_OK
$STATE,9040,begin surface
$SM_CCo,9063,101.05,0.499,0,0,977,410.14
$SM_GC,1.38,0.00,0.00,101.05,0.000,0.000,0.499,428,1671,977,-12.29,-0.54,410.14
$IRIDIUM_FIX,2057.14,-15743.60,021199,171726
$TT8_MAMPS,0.029146
$HUMID,51.77
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.30
$XPDR_PINGS,1
$24V_AH,23.5,11.583
$10V_AH,10.4,8.560
$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,31.050,104.475,253.700,101.050,0.000,30.370,29.395,152.929,4.750,0.000,45.398,1063.875,5783.670,412.842,1795.891,467.789,0.000,1192.487,0.000,1744.460,0.000,29.263,0.000
$DEVICE_MAMPS,136.526,55.991,839.098,499.317,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,350.152,333.545,772.366,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,28569,520
$CAP_FILE_SIZE,107900,0
$CFSIZE,260165632,206979072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080810,223937,2105.881,-15743.342,33,1.0,33,9.8