version: 66.06
glider: 139
mission: 8
dive: 158
start: 8 12 110 12 51 38
data:
$ID,139
$MISSION,8
$DIVE,158
$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,-2153736.8
$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,1770
$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
$GPS1,124558,2107.298,-15758.104,12,2.3,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-74.1
$GPS2,125122,2107.290,-15758.180,14,2.2,33,9.8
$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,86.1,26512,-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,-58.4,0.0,0.0,0,81,0.00,0.00,-64.15,0.000,2,0.000,0.000,426,1669,2752,0,0,0,0,0,0
$GC,84,-1.56,-58.4,3.3,-3.6,12,109,12.57,2.45,-2.20,0.000,4,0.137,0.036,2754,3108,2871,0,0,0,0,0,0
$GC,174,-1.56,-58.4,24.8,-17.4,30,180,0.00,2.42,0.00,0.000,6,0.000,0.035,2754,1699,2872,0,0,0,0,0,0
$GC,382,-1.50,-58.4,62.1,-17.2,50,383,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1698,2874,0,0,0,0,0,0
$GC,634,-1.50,-58.4,100.1,-14.6,70,638,0.00,2.33,0.00,0.000,4,0.000,0.023,2754,3113,2875,0,0,0,0,0,0
$GC,675,-1.58,-58.4,105.7,-13.8,73,679,0.00,2.40,0.00,0.000,6,0.000,0.035,2754,1695,2875,0,0,0,0,0,0
$GC,940,-1.61,-58.4,137.6,-12.7,94,943,0.00,2.35,0.00,0.000,4,0.000,0.024,2754,3113,2876,0,0,0,0,0,0
$GC,986,-1.72,-58.4,143.7,-12.2,97,991,0.12,2.38,0.00,0.000,6,0.066,0.033,2714,1689,2876,0,0,0,0,0,0
$GC,1248,-1.68,-58.4,181.1,-14.0,117,1252,0.00,2.35,0.00,0.000,4,0.000,0.024,2714,3108,2876,0,0,0,0,0,0
$GC,1295,-1.72,-58.4,188.0,-12.5,120,1299,0.00,2.35,0.00,0.000,6,0.000,0.031,2714,1695,2877,0,0,0,0,0,0
$GC,1567,-1.72,-58.4,222.5,-12.9,136,1571,0.00,2.38,0.00,0.000,4,0.000,0.025,2714,3109,2878,0,0,0,0,0,0
$GC,1642,-1.79,-58.4,232.3,-12.8,139,1646,0.00,2.38,0.00,0.000,6,0.000,0.032,2714,1688,2877,0,0,0,0,0,0
$GC,1963,-1.79,-58.4,273.2,-12.9,155,1967,0.00,2.38,0.00,0.000,4,0.000,0.027,2714,3111,2878,0,0,0,0,0,0
$GC,2115,-1.85,-58.4,289.9,-10.0,161,2120,0.00,2.38,0.00,0.000,6,0.000,0.034,2714,1695,2878,0,0,0,0,0,0
$GC,2427,-1.85,-58.4,317.8,-8.8,172,2431,0.00,2.45,0.00,0.000,4,0.000,0.051,2714,286,2877,0,0,0,0,0,0
$GC,2455,-1.80,-58.4,320.6,-9.7,172,2459,0.00,2.33,0.00,0.000,6,0.000,0.023,2714,1724,2876,0,0,0,0,0,0
$GC,2791,-1.80,-58.4,352.5,-10.1,181,2796,0.00,2.28,0.00,0.000,4,0.000,0.030,2714,3086,2875,0,0,0,0,0,0
$GC,2875,-1.89,-58.4,361.2,-9.9,182,2881,0.12,2.38,0.00,0.000,6,0.070,0.038,2678,1695,2875,0,0,0,0,0,0
$GC,3207,-1.84,-58.4,396.7,-10.6,191,3212,0.10,2.35,0.00,0.000,4,0.120,0.031,2696,3088,2872,0,0,0,0,0,0
$GC,3324,-1.89,-58.4,408.3,-8.6,193,3328,0.00,2.38,0.00,0.000,6,0.000,0.040,2696,1696,2871,0,0,0,0,0,0
$GC,3665,-1.89,-58.4,439.4,-9.4,202,3666,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,1695,2869,0,0,0,0,0,0
$STATE,3824,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3824,begin apogee
$GC,3830,-0.31,0.0,452.0,7.7,206,3884,1.60,0.00,49.28,0.851,6,0.084,0.000,3029,1786,2630,0,0,0,0,0,0
$STATE,3884,end apogee,CONTROL_FINISHED_OK
$STATE,3885,begin climb
$GC,3887,1.56,58.4,452.1,0.0,207,3946,1.80,0.00,51.30,0.833,6,0.031,0.000,3454,1786,2390,0,0,0,0,0,0
$GC,4273,1.30,100.2,435.8,4.1,217,4316,0.32,2.38,36.65,0.831,4,0.108,0.034,3388,3151,2220,0,0,0,0,0,0
$GC,4405,1.16,100.2,426.1,9.1,219,4411,0.17,2.42,0.00,0.000,6,0.121,0.041,3356,1771,2218,0,0,0,0,0,0
$GC,4737,1.06,106.7,400.8,7.3,228,4746,0.12,0.00,5.85,0.641,6,0.123,0.000,3334,1771,2194,0,0,0,0,0,0
$GC,5061,1.02,118.8,377.9,6.8,236,5078,0.00,2.40,11.82,0.758,4,0.000,0.036,3334,3149,2145,0,0,0,0,0,0
$GC,5190,1.03,127.1,369.8,7.1,238,5205,0.00,2.42,9.05,0.717,6,0.000,0.039,3334,1762,2111,0,0,0,0,0,0
$GC,5531,1.00,132.0,344.5,7.5,247,5543,0.00,2.50,5.32,0.606,4,0.000,0.054,3334,351,2090,0,0,0,0,0,0
$GC,5578,0.87,132.0,340.3,9.0,248,5583,0.22,2.38,0.00,0.000,6,0.114,0.028,3292,1756,2089,0,0,0,0,0,0
$GC,5909,0.95,147.7,318.0,6.5,256,5929,0.00,2.47,15.05,0.755,4,0.000,0.035,3292,3182,2027,0,0,0,0,0,0
$GC,5968,1.08,173.0,314.4,5.6,257,5999,0.17,2.47,24.27,0.771,6,0.060,0.040,3338,1770,1924,0,0,0,0,0,0
$GC,6306,1.08,173.0,283.8,10.7,269,6311,0.00,2.50,0.00,0.000,4,0.000,0.056,3338,357,1919,0,0,0,0,0,0
$GC,6340,0.97,173.0,279.8,11.6,270,6345,0.12,2.38,0.00,0.000,6,0.115,0.028,3315,1769,1916,0,0,0,0,0,0
$GC,6657,1.02,173.0,246.5,11.8,285,6661,0.00,2.53,0.00,0.000,4,0.000,0.057,3314,351,1916,0,0,0,0,0,0
$GC,6764,1.02,173.0,233.4,11.9,289,6770,0.00,2.38,0.00,0.000,6,0.000,0.026,3314,1776,1913,0,0,0,0,0,0
$GC,7081,1.09,173.0,205.4,8.2,305,7082,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,1781,1913,0,0,0,0,0,0
$GC,7402,1.16,173.0,176.0,10.4,328,7407,0.17,2.47,0.00,0.000,4,0.058,0.050,3362,352,1912,0,0,0,0,0,0
$GC,7442,1.03,173.0,171.3,12.5,331,7447,0.20,2.33,0.00,0.000,6,0.100,0.024,3323,1780,1911,0,0,0,0,0,0
$GC,7709,1.09,173.0,144.7,9.0,352,7713,0.00,2.47,0.00,0.000,4,0.000,0.049,3323,356,1911,0,0,0,0,0,0
$GC,7844,1.11,183.7,132.8,6.9,362,7859,0.00,2.30,8.38,0.561,6,0.000,0.022,3324,1779,1881,0,0,0,0,0,0
$GC,8115,1.22,204.2,115.8,6.0,383,8143,0.17,2.55,19.70,0.598,4,0.055,0.048,3373,356,1796,0,0,0,0,0,0
$GC,8242,1.09,204.2,101.6,14.0,392,8247,0.17,2.33,0.00,0.000,6,0.100,0.021,3338,1771,1793,0,0,0,0,0,0
$GC,8510,1.16,204.2,77.4,8.8,413,8514,0.00,2.33,0.00,0.000,4,0.000,0.025,3338,3180,1792,0,0,0,0,0,0
$GC,8610,1.28,204.2,67.2,11.0,420,8617,0.15,2.42,0.00,0.000,6,0.033,0.031,3388,1765,1792,0,0,0,0,0,0
$GC,8872,1.28,204.2,37.9,8.1,441,8877,0.00,2.42,0.00,0.000,4,0.000,0.045,3388,352,1792,0,0,0,0,0,0
$GC,8980,1.21,204.2,28.5,9.0,451,8987,0.10,2.33,0.00,0.000,6,0.084,0.019,3364,1776,1792,0,0,0,0,0,0
$GC,9183,1.27,204.2,12.9,8.4,497,9189,0.00,2.45,0.00,0.000,4,0.000,0.044,3364,365,1792,0,0,0,0,0,0
$GC,9198,1.31,204.2,11.4,9.0,499,9204,0.00,2.30,0.00,0.000,6,0.000,0.019,3364,1780,1791,0,0,0,0,0,0
$STATE,9281,end climb,SURFACE_DEPTH_REACHED
$STATE,9281,begin surface coast
$FINISH,0.8,1.023265
$STATE,9309,end surface coast,CONTROL_FINISHED_OK
$STATE,9310,begin surface
$SM_CCo,9333,115.47,0.507,0,0,958,410.14
$SM_GC,1.35,0.00,0.00,115.47,0.000,0.000,0.507,428,1682,958,-12.29,-0.37,410.14
$IRIDIUM_FIX,2057.14,-15744.48,061199,101049
$TT8_MAMPS,0.029146
$HUMID,52.87
$INTERNAL_PRESSURE,9.23518
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.5,14.286
$10V_AH,10.4,10.961
$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,31.025,100.850,236.675,115.475,0.000,27.293,29.730,127.801,4.500,0.000,35.021,1040.302,6241.428,441.707,1626.246,422.394,0.000,1145.099,0.000,1585.800,0.000,29.245,0.000
$DEVICE_MAMPS,136.526,74.399,851.370,506.987,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,352.992,325.437,752.471,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,28551,524
$CAP_FILE_SIZE,103102,0
$CFSIZE,260165632,205303808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120810,153024,2107.198,-15758.398,39,1.2,39,9.8