version: 66.06
glider: 139
mission: 8
dive: 161
start: 8 12 110 21 6 10
data:
$ID,139
$MISSION,8
$DIVE,161
$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,-2153840.5
$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,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
$GPS1,210016,2106.884,-15757.893,11,2.5,30,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-71.8
$GPS2,210554,2106.838,-15757.945,34,1.0,51,9.8
$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,84.4,26035,-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,-64.80,0.000,2,0.000,0.000,422,1681,2793,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.5,-4.3,12,105,12.57,2.45,-1.40,0.000,4,0.136,0.035,2755,3116,2870,0,0,0,0,0,0
$GC,196,-1.59,-58.4,29.3,-17.1,35,203,0.00,2.45,0.00,0.000,6,0.000,0.035,2754,1696,2872,0,0,0,0,0,0
$GC,393,-1.53,-58.4,64.5,-17.3,51,394,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1696,2873,0,0,0,0,0,0
$GC,646,-1.50,-58.4,112.1,-18.9,71,651,0.00,2.42,0.00,0.000,4,0.000,0.047,2754,290,2874,0,0,0,0,0,0
$GC,666,-1.43,-58.4,116.5,-19.0,72,673,0.12,2.33,0.00,0.000,6,0.091,0.018,2783,1730,2874,0,0,0,0,0,0
$GC,929,-1.54,-58.4,148.6,-9.2,93,933,0.00,2.22,0.00,0.000,4,0.000,0.022,2783,3080,2875,0,0,0,0,0,0
$GC,997,-1.72,-58.4,155.3,-9.4,98,1002,0.25,2.30,0.00,0.000,6,0.041,0.031,2713,1692,2875,0,0,0,0,0,0
$GC,1256,-1.72,-58.4,189.7,-14.1,118,1260,0.00,2.28,0.00,0.000,4,0.000,0.022,2712,3085,2876,0,0,0,0,0,0
$GC,1336,-1.72,-58.4,199.7,-12.5,124,1341,0.00,2.33,0.00,0.000,6,0.000,0.032,2713,1692,2876,0,0,0,0,0,0
$GC,1600,-1.72,-58.4,232.5,-11.7,137,1601,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1691,2876,0,0,0,0,0,0
$GC,1911,-1.72,-58.4,265.2,-9.9,152,1915,0.00,2.28,0.00,0.000,4,0.000,0.025,2712,3077,2877,0,0,0,0,0,0
$GC,2058,-1.79,-58.4,279.2,-8.7,158,2062,0.00,2.33,0.00,0.000,6,0.000,0.035,2712,1694,2877,0,0,0,0,0,0
$GC,2377,-1.79,-58.4,308.7,-9.4,172,2381,0.00,2.30,0.00,0.000,4,0.000,0.027,2712,3075,2876,0,0,0,0,0,0
$GC,2442,-1.87,-58.4,315.0,-9.5,173,2446,0.00,2.35,0.00,0.000,6,0.000,0.037,2712,1692,2875,0,0,0,0,0,0
$GC,2792,-1.87,-58.4,351.6,-10.7,182,2796,0.00,2.33,0.00,0.000,4,0.000,0.029,2712,3075,2874,0,0,0,0,0,0
$GC,2835,-1.94,-58.4,356.3,-10.9,183,2840,0.17,2.35,0.00,0.000,6,0.056,0.039,2663,1693,2873,0,0,0,0,0,0
$GC,3167,-1.88,-58.4,404.8,-15.7,191,3172,0.12,2.33,0.00,0.000,4,0.110,0.031,2687,3075,2871,0,0,0,0,0,0
$GC,3219,-1.91,-58.4,412.8,-13.4,192,3223,0.00,2.38,0.00,0.000,6,0.000,0.041,2687,1697,2871,0,0,0,0,0,0
$GC,3537,-1.91,-58.4,449.8,-10.4,200,3541,0.00,2.12,0.00,0.000,3,0.000,0.031,2687,2959,2868,0,0,0,0,0,0
$STATE,3542,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3542,begin apogee
$GC,3551,-0.31,0.0,450.2,10.0,200,3604,1.62,0.00,48.75,0.840,6,0.085,0.000,3028,1772,2630,0,0,0,0,0,0
$STATE,3605,end apogee,CONTROL_FINISHED_OK
$STATE,3605,begin climb
$GC,3607,1.56,58.4,450.8,0.0,201,3666,1.77,2.55,50.33,0.821,4,0.030,0.051,3450,355,2390,0,0,0,0,0,0
$GC,3932,1.14,66.0,432.3,7.2,208,3945,0.52,2.35,6.62,0.656,6,0.106,0.027,3349,1749,2360,0,0,0,0,0,0
$GC,4258,1.09,117.5,418.3,3.3,216,4311,0.00,2.58,46.00,0.826,4,0.000,0.054,3348,358,2149,0,0,0,0,0,0
$GC,4358,0.90,117.5,411.8,9.4,218,4363,0.28,2.38,0.00,0.000,6,0.107,0.028,3297,1774,2144,0,0,0,0,0,0
$GC,4673,0.90,123.1,388.2,7.4,226,4684,0.00,2.53,4.88,0.581,4,0.000,0.054,3297,356,2126,0,0,0,0,0,0
$GC,4699,0.86,123.1,385.8,9.1,226,4703,0.00,2.38,0.00,0.000,6,0.000,0.028,3297,1774,2125,0,0,0,0,0,0
$GC,5041,0.91,123.1,355.6,8.6,235,5045,0.00,2.50,0.00,0.000,4,0.000,0.055,3297,356,2124,0,0,0,0,0,0
$GC,5078,0.86,123.1,351.6,10.2,235,5084,0.00,2.35,0.00,0.000,6,0.000,0.028,3297,1771,2121,0,0,0,0,0,0
$GC,5410,0.93,136.7,327.3,6.7,244,5424,0.00,0.00,12.75,0.738,6,0.000,0.000,3297,1776,2072,0,0,0,0,0,0
$GC,5735,0.99,136.7,302.0,8.0,252,5740,0.00,2.50,0.00,0.000,4,0.000,0.054,3297,359,2069,0,0,0,0,0,0
$GC,5786,0.99,136.7,297.3,9.0,253,5791,0.00,2.38,0.00,0.000,6,0.000,0.028,3297,1775,2066,0,0,0,0,0,0
$GC,6109,1.07,150.5,274.2,6.7,269,6132,0.15,2.38,13.02,0.715,4,0.065,0.031,3338,3176,2015,0,0,0,0,0,0
$GC,6137,1.07,151.5,272.0,7.8,270,6142,0.00,2.45,0.00,0.000,6,0.000,0.038,3338,1761,2015,0,0,0,0,0,0
$GC,6462,1.07,155.0,246.6,7.6,286,6474,0.00,2.47,5.20,0.558,4,0.000,0.053,3337,355,1997,0,0,0,0,0,0
$GC,6694,0.99,155.0,222.1,9.5,296,6699,0.12,2.35,0.00,0.000,6,0.117,0.026,3316,1772,1994,0,0,0,0,0,0
$GC,7019,1.06,157.3,197.9,7.7,312,7023,0.00,2.47,0.00,0.000,4,0.000,0.050,3315,358,1993,0,0,0,0,0,0
$GC,7033,1.06,157.3,196.2,8.4,313,7037,0.00,2.35,0.00,0.000,6,0.000,0.025,3315,1778,1992,0,0,0,0,0,0
$GC,7296,1.13,162.2,174.4,7.5,333,7310,0.12,2.53,7.15,0.575,4,0.069,0.049,3351,351,1968,0,0,0,0,0,0
$GC,7363,1.03,164.5,168.9,7.7,337,7369,0.12,2.35,0.00,0.000,6,0.111,0.023,3328,1769,1967,0,0,0,0,0,0
$GC,7625,1.10,179.4,152.3,6.6,358,7647,0.00,2.40,16.67,0.627,4,0.000,0.027,3328,3166,1898,0,0,0,0,0,0
$GC,7685,1.20,179.4,147.5,8.3,362,7690,0.15,2.42,0.00,0.000,6,0.060,0.035,3370,1758,1897,0,0,0,0,0,0
$GC,7946,1.20,179.4,121.3,10.5,382,7949,0.00,2.40,0.00,0.000,4,0.000,0.046,3370,355,1896,0,0,0,0,0,0
$GC,8105,1.12,182.7,106.5,7.6,393,8114,0.15,2.30,3.75,0.378,6,0.103,0.021,3341,1796,1885,0,0,0,0,0,0
$GC,8382,1.24,209.1,90.8,5.5,415,8412,0.12,2.53,24.92,0.574,4,0.066,0.045,3379,355,1777,0,0,0,0,0,0
$GC,8616,1.19,209.1,68.4,10.1,432,8620,0.00,2.28,0.00,0.000,6,0.000,0.020,3380,1772,1772,0,0,0,0,0,0
$GC,8876,1.22,209.1,45.1,9.0,452,8880,0.00,2.42,0.00,0.000,4,0.000,0.044,3379,353,1772,0,0,0,0,0,0
$GC,8930,1.16,209.1,39.3,11.6,456,8935,0.12,2.28,0.00,0.000,6,0.107,0.019,3355,1777,1771,0,0,0,0,0,0
$GC,9194,1.26,213.7,18.1,7.5,500,9207,0.00,2.47,4.72,0.375,4,0.000,0.044,3355,362,1758,0,0,0,0,0,0
$STATE,9340,end climb,SURFACE_DEPTH_REACHED
$STATE,9340,begin surface coast
$FINISH,0.7,1.023216
$STATE,9367,end surface coast,CONTROL_FINISHED_OK
$STATE,9367,begin surface
$SM_CCo,9392,108.12,0.498,0,0,957,410.14
$SM_GC,1.43,0.00,0.00,108.12,0.000,0.000,0.498,430,1727,957,-12.28,0.90,410.14
$IRIDIUM_FIX,2101.76,-15800.33,061199,181816
$TT8_MAMPS,0.029146
$HUMID,51.96
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.50
$XPDR_PINGS,1
$24V_AH,23.5,14.522
$10V_AH,10.4,11.190
$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,30.975,109.100,244.775,108.125,0.000,27.143,31.717,123.869,4.750,0.000,51.731,1091.855,6131.605,405.793,1779.797,427.337,0.000,1178.279,0.000,1717.710,0.000,29.261,0.000
$DEVICE_MAMPS,135.759,55.224,839.865,497.783,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,363.203,345.995,785.240,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,28630,539
$CAP_FILE_SIZE,108673,0
$CFSIZE,260165632,205135872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,120810,234600,2106.610,-15757.144,52,1.0,52,9.8