version: 66.06
glider: 139
mission: 8
dive: 171
start: 8 14 110 0 42 43
data:
$ID,139
$MISSION,8
$DIVE,171
$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,-2154028.2
$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
$GPS1,003706,2105.985,-15755.176,31,1.2,31,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-72.0
$GPS2,004226,2105.955,-15755.213,14,1.5,14,9.8
$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,80.9,21245,-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,-58.4,0.0,0.0,0,87,0.00,0.00,-67.72,0.000,6,0.000,0.000,426,1725,2870,0,0,0,0,0,0
$GC,90,-1.56,-58.4,4.1,-4.9,13,109,12.57,2.47,0.00,0.000,4,0.137,0.037,2752,278,2872,0,0,0,0,0,0
$GC,219,-1.42,-58.4,40.4,-19.4,33,224,0.20,2.33,0.00,0.000,6,0.104,0.018,2790,1739,2873,0,0,0,0,0,0
$GC,486,-1.47,-58.4,77.1,-10.4,54,490,0.00,2.50,0.00,0.000,4,0.000,0.046,2790,284,2874,0,0,0,0,0,0
$GC,532,-1.47,-58.4,83.4,-13.7,57,538,0.00,2.22,0.00,0.000,6,0.000,0.018,2790,1705,2874,0,0,0,0,0,0
$GC,791,-1.58,-58.4,117.1,-11.4,78,796,0.15,2.22,0.00,0.000,4,0.057,0.022,2743,3072,2876,0,0,0,0,0,0
$GC,832,-1.68,-58.4,121.9,-12.4,81,836,0.00,2.33,0.00,0.000,6,0.000,0.032,2743,1683,2876,0,0,0,0,0,0
$GC,1094,-1.68,-58.4,153.5,-12.1,102,1095,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1683,2876,0,0,0,0,0,0
$GC,1348,-1.72,-58.4,183.1,-11.8,122,1352,0.00,2.25,0.00,0.000,4,0.000,0.022,2743,3065,2876,0,0,0,0,0,0
$GC,1427,-1.83,-58.4,192.6,-11.7,128,1432,0.20,2.30,0.00,0.000,6,0.050,0.032,2686,1686,2877,0,0,0,0,0,0
$GC,1699,-1.77,-58.4,226.9,-12.7,143,1704,0.15,2.30,0.00,0.000,4,0.103,0.024,2716,3069,2877,0,0,0,0,0,0
$GC,1755,-1.82,-58.4,234.0,-11.8,145,1760,0.00,2.30,0.00,0.000,6,0.000,0.032,2716,1691,2877,0,0,0,0,0,0
$GC,2071,-1.82,-58.4,271.6,-11.5,160,2075,0.00,2.25,0.00,0.000,4,0.000,0.025,2716,3062,2877,0,0,0,0,0,0
$GC,2150,-1.88,-58.4,281.0,-11.5,163,2155,0.12,2.30,0.00,0.000,6,0.067,0.035,2678,1689,2877,0,0,0,0,0,0
$GC,2485,-1.83,-58.4,317.9,-10.9,175,2490,0.12,2.42,0.00,0.000,4,0.108,0.050,2702,288,2876,0,0,0,0,0,0
$GC,2538,-1.75,-58.4,324.6,-12.8,176,2543,0.00,2.25,0.00,0.000,6,0.000,0.022,2701,1683,2876,0,0,0,0,0,0
$GC,2856,-1.75,-58.4,359.6,-10.6,184,2861,0.00,2.35,0.00,0.000,4,0.000,0.030,2701,3080,2875,0,0,0,0,0,0
$GC,2962,-1.80,-58.4,370.9,-10.7,186,2966,0.00,2.33,0.00,0.000,6,0.000,0.037,2702,1697,2874,0,0,0,0,0,0
$GC,3280,-1.80,-58.4,406.6,-10.8,194,3284,0.00,2.30,0.00,0.000,4,0.000,0.030,2701,3077,2873,0,0,0,0,0,0
$GC,3313,-1.87,-58.4,409.8,-9.6,194,3318,0.00,2.35,0.00,0.000,6,0.000,0.040,2702,1691,2872,0,0,0,0,0,0
$GC,3645,-1.87,-58.4,441.8,-9.3,202,3646,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,1691,2870,0,0,0,0,0,0
$STATE,3764,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3764,begin apogee
$GC,3770,-0.31,0.0,453.8,9.7,205,3823,1.58,0.00,48.90,0.845,6,0.083,0.000,3030,1761,2630,0,0,0,0,0,0
$STATE,3824,end apogee,CONTROL_FINISHED_OK
$STATE,3824,begin climb
$GC,3827,1.56,58.4,454.6,0.0,206,3886,1.77,2.42,50.45,0.827,4,0.030,0.034,3453,3164,2390,0,0,0,0,0,0
$GC,3986,1.32,100.3,450.3,4.1,209,4031,0.32,2.42,36.92,0.819,6,0.111,0.038,3391,1774,2220,0,0,0,0,0,0
$GC,4372,1.15,100.3,415.5,9.7,219,4377,0.20,2.53,0.00,0.000,4,0.109,0.054,3354,351,2211,0,0,0,0,0,0
$GC,4425,0.95,100.3,410.5,9.3,220,4430,0.22,2.38,0.00,0.000,6,0.109,0.027,3311,1762,2209,0,0,0,0,0,0
$GC,4744,0.96,110.3,386.5,7.0,228,4757,0.00,2.55,7.88,0.696,4,0.000,0.055,3311,351,2180,0,0,0,0,0,0
$GC,4844,0.87,110.3,378.7,9.1,230,4849,0.12,2.40,0.00,0.000,6,0.120,0.028,3289,1773,2176,0,0,0,0,0,0
$GC,5163,0.92,110.3,353.6,7.9,238,5167,0.00,2.40,0.00,0.000,4,0.000,0.035,3289,3178,2175,0,0,0,0,0,0
$GC,5242,1.00,113.3,347.4,7.6,239,5247,0.12,2.45,0.00,0.000,6,0.071,0.038,3323,1762,2175,0,0,0,0,0,0
$GC,5580,1.03,136.4,324.6,5.8,248,5609,0.00,2.45,23.73,0.777,4,0.000,0.031,3323,3179,2073,0,0,0,0,0,0
$GC,5620,1.06,159.8,322.1,5.8,249,5648,0.00,2.45,22.62,0.759,6,0.000,0.038,3323,1768,1977,0,0,0,0,0,0
$GC,5973,1.06,159.8,292.0,8.4,259,5977,0.00,2.47,0.00,0.000,4,0.000,0.054,3322,352,1971,0,0,0,0,0,0
$GC,6141,1.00,159.8,273.5,10.9,266,6145,0.00,2.35,0.00,0.000,6,0.000,0.026,3322,1771,1967,0,0,0,0,0,0
$GC,6462,1.00,159.8,243.5,9.1,282,6463,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,1775,1966,0,0,0,0,0,0
$GC,6772,1.04,159.8,216.0,8.3,297,6773,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,1775,1966,0,0,0,0,0,0
$GC,7083,1.09,159.8,188.8,9.1,316,7084,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,1776,1965,0,0,0,0,0,0
$GC,7335,1.15,163.5,170.0,7.6,336,7340,0.12,2.47,0.00,0.000,4,0.068,0.050,3359,358,1964,0,0,0,0,0,0
$GC,7454,1.04,163.5,159.3,9.8,344,7461,0.12,2.35,0.00,0.000,6,0.086,0.023,3330,1774,1962,0,0,0,0,0,0
$GC,7716,1.11,174.5,141.7,6.9,365,7733,0.00,2.38,11.55,0.589,4,0.000,0.027,3331,3182,1918,0,0,0,0,0,0
$GC,7753,1.20,174.5,138.6,8.1,367,7759,0.12,2.42,0.00,0.000,6,0.067,0.034,3367,1767,1918,0,0,0,0,0,0
$GC,8013,1.20,174.5,114.9,8.1,388,8017,0.00,2.42,0.00,0.000,4,0.000,0.047,3367,361,1918,0,0,0,0,0,0
$GC,8089,1.10,176.0,108.7,7.8,393,8095,0.15,2.30,0.00,0.000,6,0.104,0.021,3338,1777,1915,0,0,0,0,0,0
$GC,8350,1.22,211.5,96.0,4.7,414,8391,0.12,2.50,33.60,0.582,4,0.066,0.043,3376,355,1766,0,0,0,0,0,0
$GC,8452,1.14,211.5,85.6,12.3,421,8457,0.15,2.30,0.00,0.000,6,0.102,0.020,3348,1769,1762,0,0,0,0,0,0
$GC,8714,1.22,211.5,60.0,9.0,441,8718,0.00,2.42,0.00,0.000,4,0.000,0.044,3347,355,1762,0,0,0,0,0,0
$GC,8836,1.22,211.5,48.1,11.2,450,8840,0.00,2.33,0.00,0.000,6,0.000,0.019,3347,1788,1760,0,0,0,0,0,0
$GC,9103,1.34,223.6,29.7,6.8,471,9121,0.20,2.47,11.02,0.479,4,0.048,0.043,3406,359,1717,0,0,0,0,0,0
$GC,9155,1.24,223.6,24.8,10.0,481,9162,0.15,2.33,0.00,0.000,6,0.083,0.019,3372,1779,1715,0,0,0,0,0,0
$GC,9359,1.29,223.6,6.5,8.4,527,9365,0.00,2.28,0.00,0.000,4,0.000,0.023,3372,3150,1715,0,0,0,0,0,0
$STATE,9396,end climb,SURFACE_DEPTH_REACHED
$STATE,9396,begin surface coast
$FINISH,0.7,1.009804
$STATE,9431,end surface coast,CONTROL_FINISHED_OK
$STATE,9431,begin surface
$SM_CCo,9456,107.55,0.499,0,0,958,410.14
$SM_GC,1.35,0.00,0.00,107.55,0.000,0.000,0.499,428,1676,958,-12.29,-0.54,410.14
$IRIDIUM_FIX,2057.14,-15808.48,071199,222236
$TT8_MAMPS,0.028379
$HUMID,52.24
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.5,15.331
$10V_AH,10.3,11.930
$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,31.725,104.575,246.675,107.550,0.000,24.009,34.150,143.015,4.500,0.000,14.493,1076.957,6270.313,412.829,1672.232,452.565,0.000,1154.148,0.000,1654.978,0.000,29.254,0.000
$DEVICE_MAMPS,136.526,90.506,845.234,498.550,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,365.955,349.904,792.438,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,31872,543
$CAP_FILE_SIZE,107055,0
$CFSIZE,260165632,204607488
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140810,032323,2105.928,-15755.021,17,2.8,36,9.8