version: 66.06
glider: 139
mission: 8
dive: 153
start: 8 11 110 23 41 19
data:
$ID,139
$MISSION,8
$DIVE,153
$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,-2153624.8
$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,1695
$C_ROLL_CLIMB,1790
$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,2630
$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
$GPS1,233524,2107.364,-15800.465,39,1.6,39,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-70.7
$GPS2,234102,2107.337,-15800.500,16,1.6,16,9.8
$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,85.5,30510,-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,-64.72,0.000,2,0.000,0.000,423,1727,2779,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.2,-3.2,12,105,12.57,2.38,-1.65,0.000,4,0.137,0.037,2751,3116,2872,0,0,0,0,0,0
$GC,196,-1.56,-58.4,29.6,-16.7,35,202,0.00,2.45,0.00,0.000,6,0.000,0.035,2750,1697,2874,0,0,0,0,0,0
$GC,393,-1.47,-58.4,67.4,-20.2,51,398,0.12,2.35,0.00,0.000,4,0.117,0.023,2774,3110,2874,0,0,0,0,0,0
$GC,440,-1.55,-58.4,75.4,-15.1,54,446,0.00,2.42,0.00,0.000,6,0.000,0.032,2774,1687,2874,0,0,0,0,0,0
$GC,700,-1.61,-58.4,108.2,-10.6,75,702,0.12,0.00,0.00,0.000,6,0.065,0.000,2736,1686,2876,0,0,0,0,0,0
$GC,953,-1.61,-58.4,139.0,-12.3,95,957,0.00,2.38,0.00,0.000,4,0.000,0.046,2735,292,2877,0,0,0,0,0,0
$GC,966,-1.57,-58.4,141.1,-12.7,96,971,0.12,2.28,0.00,0.000,6,0.109,0.019,2759,1731,2876,0,0,0,0,0,0
$GC,1228,-1.63,-58.4,174.2,-13.2,116,1232,0.00,2.20,0.00,0.000,4,0.000,0.023,2759,3075,2877,0,0,0,0,0,0
$GC,1267,-1.78,-58.4,179.1,-11.9,119,1272,0.20,2.33,0.00,0.000,6,0.049,0.033,2701,1691,2877,0,0,0,0,0,0
$GC,1544,-1.74,-58.4,217.6,-13.6,137,1548,0.00,2.25,0.00,0.000,4,0.000,0.023,2701,3072,2877,0,0,0,0,0,0
$GC,1582,-1.74,-58.4,223.0,-12.2,138,1589,0.00,2.35,0.00,0.000,6,0.000,0.034,2702,1693,2877,0,0,0,0,0,0
$GC,1898,-1.74,-58.4,261.1,-10.6,154,1902,0.00,2.30,0.00,0.000,4,0.000,0.025,2701,3079,2878,0,0,0,0,0,0
$GC,2116,-1.74,-58.4,281.0,-9.5,163,2120,0.00,2.33,0.00,0.000,6,0.000,0.033,2701,1689,2878,0,0,0,0,0,0
$GC,2454,-1.74,-58.4,319.3,-11.8,176,2458,0.00,2.30,0.00,0.000,4,0.000,0.028,2701,3078,2877,0,0,0,0,0,0
$GC,2591,-1.79,-58.4,334.3,-11.2,178,2596,0.00,2.33,0.00,0.000,6,0.000,0.037,2701,1696,2876,0,0,0,0,0,0
$GC,2923,-1.79,-58.4,369.8,-10.5,187,2924,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1695,2875,0,0,0,0,0,0
$GC,3249,-1.79,-58.4,407.7,-12.2,195,3253,0.00,2.50,0.00,0.000,4,0.000,0.056,2701,286,2873,0,0,0,0,0,0
$GC,3277,-1.72,-58.4,411.8,-13.6,195,3282,0.12,2.28,0.00,0.000,6,0.108,0.025,2726,1691,2873,0,0,0,0,0,0
$GC,3618,-1.79,-58.4,446.0,-10.2,204,3622,0.00,2.30,0.00,0.000,4,0.000,0.033,2726,3076,2870,0,0,0,0,0,0
$STATE,3653,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3653,begin apogee
$GC,3662,-0.31,0.0,450.1,11.0,204,3716,1.42,0.00,49.35,0.840,6,0.081,0.000,3027,1798,2630,0,0,0,0,0,0
$STATE,3716,end apogee,CONTROL_FINISHED_OK
$STATE,3717,begin climb
$GC,3719,1.56,58.4,451.2,0.0,206,3774,1.80,0.00,50.88,0.822,6,0.030,0.000,3450,1798,2391,0,0,0,0,0,0
$GC,4075,1.28,82.5,436.1,5.7,215,4099,0.35,0.00,20.95,0.798,6,0.107,0.000,3384,1797,2293,0,0,0,0,0,0
$GC,4399,1.11,82.5,410.5,8.3,223,4404,0.20,2.38,0.00,0.000,4,0.110,0.035,3346,3178,2287,0,0,0,0,0,0
$GC,4543,1.09,116.6,401.5,4.8,226,4580,0.00,2.40,30.52,0.812,6,0.000,0.038,3346,1785,2153,0,0,0,0,0,0
$GC,4908,1.03,116.6,372.8,8.8,235,4912,0.00,2.38,0.00,0.000,4,0.000,0.035,3346,3181,2146,0,0,0,0,0,0
$GC,4928,0.99,116.6,371.2,8.0,235,4933,0.15,2.40,0.00,0.000,6,0.117,0.039,3319,1788,2146,0,0,0,0,0,0
$GC,5273,1.02,139.0,348.0,5.9,244,5295,0.00,0.00,19.58,0.777,6,0.000,0.000,3319,1788,2063,0,0,0,0,0,0
$GC,5598,1.03,150.9,327.8,6.8,252,5615,0.00,2.55,11.65,0.727,4,0.000,0.054,3318,369,2013,0,0,0,0,0,0
$GC,5810,0.96,150.9,308.0,10.3,256,5814,0.00,2.35,0.00,0.000,6,0.000,0.027,3318,1780,2009,0,0,0,0,0,0
$GC,6135,0.97,161.2,285.5,7.0,269,6147,0.00,0.00,9.98,0.689,6,0.000,0.000,3319,1784,1972,0,0,0,0,0,0
$GC,6442,1.01,161.2,257.6,9.3,284,6443,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,1785,1970,0,0,0,0,0,0
$GC,6753,1.06,161.2,230.8,8.4,299,6754,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,1785,1968,0,0,0,0,0,0
$GC,7062,1.12,161.2,206.6,8.2,314,7067,0.10,2.38,0.00,0.000,4,0.081,0.031,3348,3201,1967,0,0,0,0,0,0
$GC,7123,1.12,161.2,201.2,8.6,316,7129,0.00,2.42,0.00,0.000,6,0.000,0.035,3348,1793,1967,0,0,0,0,0,0
$GC,7455,1.12,161.2,170.6,8.4,342,7459,0.00,2.45,0.00,0.000,4,0.000,0.048,3348,373,1966,0,0,0,0,0,0
$GC,7566,1.02,161.2,159.8,9.8,350,7571,0.12,2.33,0.00,0.000,6,0.112,0.022,3325,1820,1964,0,0,0,0,0,0
$GC,7828,1.12,184.3,146.0,5.8,370,7850,0.00,0.00,20.67,0.620,6,0.000,0.000,3325,1825,1878,0,0,0,0,0,0
$GC,8103,1.19,184.3,120.0,8.5,392,8108,0.15,2.53,0.00,0.000,4,0.060,0.047,3368,379,1876,0,0,0,0,0,0
$GC,8194,1.06,184.3,110.4,11.4,398,8201,0.15,2.30,0.00,0.000,6,0.084,0.021,3333,1772,1873,0,0,0,0,0,0
$GC,8456,1.14,184.3,85.8,8.9,419,8460,0.00,2.42,0.00,0.000,4,0.000,0.046,3333,372,1873,0,0,0,0,0,0
$GC,8579,1.14,184.3,70.3,12.2,428,8583,0.00,2.30,0.00,0.000,6,0.000,0.020,3333,1812,1873,0,0,0,0,0,0
$GC,8845,1.32,214.3,49.7,5.2,449,8877,0.22,2.30,26.70,0.540,4,0.046,0.025,3396,3185,1756,0,0,0,0,0,0
$GC,8920,1.36,222.1,45.2,7.2,454,8935,0.00,2.38,8.48,0.469,6,0.000,0.031,3396,1779,1723,0,0,0,0,0,0
$GC,9192,1.36,222.1,21.7,10.9,487,9199,0.00,2.42,0.00,0.000,4,0.000,0.046,3396,387,1721,0,0,0,0,0,0
$GC,9323,1.26,222.1,6.0,13.3,516,9330,0.08,2.28,0.00,0.000,6,0.093,0.018,3378,1785,1719,0,0,0,0,0,0
$STATE,9344,end climb,SURFACE_DEPTH_REACHED
$STATE,9344,begin surface coast
$FINISH,0.7,0.999332
$STATE,9371,end surface coast,CONTROL_FINISHED_OK
$STATE,9371,begin surface
$SM_CCo,9395,102.60,0.500,0,0,958,410.14
$SM_GC,1.46,0.00,0.00,102.60,0.000,0.000,0.500,427,1674,958,-12.30,-0.62,410.14
$IRIDIUM_FIX,2057.14,-15759.05,051199,202058
$TT8_MAMPS,0.029146
$HUMID,52.24
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.5,13.868
$10V_AH,10.4,10.608
$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,30.700,85.050,248.750,102.600,0.000,29.254,29.133,160.043,4.500,0.000,16.521,1033.734,6362.954,436.440,1550.656,450.947,0.000,1099.497,0.000,1533.154,0.000,29.248,0.000
$DEVICE_MAMPS,136.526,66.729,839.865,500.084,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,354.422,331.451,750.262,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,28679,526
$CAP_FILE_SIZE,97217,0
$CFSIZE,260165632,205553664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120810,022100,2107.276,-15800.151,40,1.0,45,9.8