version: 66.06
glider: 139
mission: 8
dive: 181
start: 8 15 110 3 56 43
data:
$ID,139
$MISSION,8
$DIVE,181
$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,-2154249.5
$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
$GPS1,035107,2106.200,-15752.260,68,1.0,68,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-73.4
$GPS2,035626,2106.220,-15752.281,17,1.2,17,9.8
$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,82.9,16196,-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,-64.62,0.000,2,0.000,0.000,424,1680,2763,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.2,-3.3,12,110,12.57,2.40,-2.00,0.000,4,0.136,0.035,2754,3101,2872,0,0,0,0,0,0
$GC,135,-1.06,-58.4,18.8,-30.5,21,142,0.47,2.42,0.00,0.000,6,0.081,0.033,2864,1693,2873,0,0,0,0,0,0
$GC,342,-1.24,-58.4,45.3,-11.8,48,347,0.15,2.38,0.00,0.000,4,0.056,0.021,2814,3116,2874,0,0,0,0,0,0
$GC,398,-1.41,-58.4,53.4,-12.6,52,402,0.00,2.38,0.00,0.000,6,0.000,0.032,2814,1693,2874,0,0,0,0,0,0
$GC,657,-1.54,-58.4,87.5,-13.3,72,662,0.22,2.40,0.00,0.000,4,0.044,0.045,2748,291,2875,0,0,0,0,0,0
$GC,774,-1.49,-58.4,108.2,-16.6,80,782,0.08,2.33,0.00,0.000,6,0.086,0.018,2768,1731,2876,0,0,0,0,0,0
$GC,1036,-1.57,-58.4,143.0,-11.6,101,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,1733,2876,0,0,0,0,0,0
$GC,1288,-1.66,-58.4,168.8,-10.2,121,1293,0.15,2.20,0.00,0.000,4,0.058,0.023,2720,3080,2877,0,0,0,0,0,0
$GC,1326,-1.71,-58.4,173.8,-13.0,124,1330,0.00,2.33,0.00,0.000,6,0.000,0.032,2720,1689,2877,0,0,0,0,0,0
$GC,1604,-1.71,-58.4,211.6,-13.3,143,1605,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1689,2877,0,0,0,0,0,0
$GC,1910,-1.71,-58.4,250.4,-11.0,158,1914,0.00,2.30,0.00,0.000,4,0.000,0.025,2720,3078,2878,0,0,0,0,0,0
$GC,2028,-1.79,-58.4,264.2,-10.8,163,2032,0.00,2.30,0.00,0.000,6,0.000,0.031,2720,1692,2878,0,0,0,0,0,0
$GC,2372,-1.79,-58.4,304.9,-11.7,179,2376,0.00,2.30,0.00,0.000,4,0.000,0.025,2720,3078,2877,0,0,0,0,0,0
$GC,2470,-1.87,-58.4,316.4,-12.1,181,2475,0.12,2.35,0.00,0.000,6,0.066,0.035,2681,1694,2877,0,0,0,0,0,0
$GC,2791,-1.83,-58.4,358.2,-13.5,189,2795,0.00,2.42,0.00,0.000,4,0.000,0.051,2681,291,2876,0,0,0,0,0,0
$GC,2824,-1.70,-58.4,363.4,-15.1,189,2828,0.22,2.25,0.00,0.000,6,0.096,0.022,2727,1696,2876,0,0,0,0,0,0
$GC,3157,-1.75,-58.4,402.1,-11.8,197,3161,0.00,2.28,0.00,0.000,4,0.000,0.029,2726,3077,2875,0,0,0,0,0,0
$GC,3226,-1.85,-58.4,410.4,-11.1,198,3231,0.12,2.38,0.00,0.000,6,0.067,0.038,2689,1689,2874,0,0,0,0,0,0
$GC,3568,-1.85,-58.4,448.2,-10.3,207,3569,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1688,2872,0,0,0,0,0,0
$STATE,3605,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3605,begin apogee
$GC,3612,-0.31,0.0,452.2,10.1,208,3665,1.62,0.00,49.65,0.829,6,0.081,0.000,3030,1762,2630,0,0,0,0,0,0
$STATE,3666,end apogee,CONTROL_FINISHED_OK
$STATE,3666,begin climb
$GC,3669,1.56,58.4,453.0,0.0,209,3727,1.75,2.42,50.28,0.813,4,0.028,0.034,3450,3169,2390,0,0,0,0,0,0
$GC,3755,1.35,119.0,451.6,2.4,211,3816,0.28,2.42,53.72,0.810,6,0.107,0.036,3399,1767,2143,0,0,0,0,0,0
$GC,4130,1.17,119.0,413.6,10.8,220,4135,0.22,2.50,0.00,0.000,4,0.107,0.054,3356,359,2133,0,0,0,0,0,0
$GC,4177,0.98,119.0,407.9,10.5,221,4183,0.22,2.35,0.00,0.000,6,0.104,0.027,3313,1754,2130,0,0,0,0,0,0
$GC,4502,0.98,119.0,382.1,8.2,229,4506,0.00,2.40,0.00,0.000,4,0.000,0.034,3313,3177,2128,0,0,0,0,0,0
$GC,4563,1.03,126.7,377.5,7.2,230,4575,0.00,2.45,5.12,0.582,6,0.000,0.038,3313,1765,2113,0,0,0,0,0,0
$GC,4916,1.03,126.7,351.2,8.0,239,4920,0.00,2.47,0.00,0.000,4,0.000,0.052,3313,354,2110,0,0,0,0,0,0
$GC,5060,0.96,126.7,337.9,9.8,242,5064,0.00,2.38,0.00,0.000,6,0.000,0.026,3312,1775,2107,0,0,0,0,0,0
$GC,5379,0.97,133.2,311.7,7.3,250,5391,0.00,2.55,6.25,0.616,4,0.000,0.053,3313,359,2086,0,0,0,0,0,0
$GC,5540,0.93,146.8,300.4,6.7,253,5562,0.00,2.33,13.48,0.715,6,0.000,0.025,3313,1775,2031,0,0,0,0,0,0
$GC,5876,0.99,165.6,282.3,6.2,269,5901,0.00,2.42,18.00,0.719,4,0.000,0.031,3313,3167,1954,0,0,0,0,0,0
$GC,5993,1.07,165.6,271.5,10.4,274,5997,0.00,2.40,0.00,0.000,6,0.000,0.038,3312,1767,1954,0,0,0,0,0,0
$GC,6319,1.13,165.6,239.1,10.9,290,6324,0.15,2.45,0.00,0.000,4,0.064,0.051,3354,359,1950,0,0,0,0,0,0
$GC,6380,1.01,165.6,231.3,13.5,292,6387,0.15,2.35,0.00,0.000,6,0.087,0.025,3321,1762,1947,0,0,0,0,0,0
$GC,6697,1.08,165.6,200.5,8.5,308,6701,0.00,2.45,0.00,0.000,4,0.000,0.050,3321,356,1947,0,0,0,0,0,0
$GC,6748,1.08,166.7,196.2,7.8,312,6752,0.00,2.33,0.00,0.000,6,0.000,0.024,3321,1788,1946,0,0,0,0,0,0
$GC,7016,1.19,201.5,180.8,4.8,333,7056,0.17,2.38,31.62,0.657,4,0.055,0.027,3370,3169,1808,0,0,0,0,0,0
$GC,7100,1.19,201.5,173.5,10.2,339,7104,0.00,2.40,0.00,0.000,6,0.000,0.035,3370,1762,1808,0,0,0,0,0,0
$GC,7364,1.19,201.5,144.3,10.5,360,7368,0.00,2.40,0.00,0.000,4,0.000,0.047,3370,358,1805,0,0,0,0,0,0
$GC,7393,1.08,201.5,141.3,11.1,362,7398,0.17,2.30,0.00,0.000,6,0.101,0.021,3336,1785,1803,0,0,0,0,0,0
$GC,7655,1.17,201.5,116.0,9.9,382,7659,0.00,2.45,0.00,0.000,4,0.000,0.046,3335,358,1803,0,0,0,0,0,0
$GC,7803,1.17,201.5,100.4,8.4,393,7806,0.00,2.28,0.00,0.000,6,0.000,0.020,3336,1774,1801,0,0,0,0,0,0
$GC,8073,1.33,236.9,83.5,4.7,414,8110,0.22,2.55,30.83,0.560,4,0.046,0.044,3399,356,1662,0,0,0,0,0,0
$GC,8151,1.19,236.9,76.4,11.8,419,8158,0.17,2.33,0.00,0.000,6,0.083,0.019,3361,1776,1660,0,0,0,0,0,0
$GC,8414,1.26,236.9,48.7,9.9,440,8418,0.00,2.42,0.00,0.000,4,0.000,0.044,3360,358,1659,0,0,0,0,0,0
$GC,8542,1.26,236.9,34.1,12.0,449,8548,0.00,2.30,0.00,0.000,6,0.000,0.018,3361,1769,1657,0,0,0,0,0,0
$GC,8804,1.36,236.9,9.3,9.7,504,8811,0.15,2.47,0.00,0.000,4,0.057,0.047,3407,361,1656,0,0,0,0,0,0
$GC,8841,1.30,236.9,5.2,11.3,511,8848,0.10,2.30,0.00,0.000,6,0.084,0.018,3384,1784,1657,0,0,0,0,0,0
$STATE,8857,end climb,SURFACE_DEPTH_REACHED
$STATE,8857,begin surface coast
$FINISH,0.8,1.022837
$STATE,8884,end surface coast,CONTROL_FINISHED_OK
$STATE,8884,begin surface
$SM_CCo,8907,97.75,0.494,0,0,957,410.14
$SM_GC,1.39,0.00,0.00,97.75,0.000,0.000,0.494,425,1675,957,-12.31,-0.57,410.14
$IRIDIUM_FIX,2059.45,-15753.90,091199,010136
$TT8_MAMPS,0.029146
$HUMID,51.96
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.5,16.122
$10V_AH,10.4,12.664
$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,32.200,104.900,258.950,97.750,0.000,29.787,40.522,129.703,4.500,0.000,17.808,1052.118,5746.278,416.137,1674.660,435.253,0.000,1165.668,0.000,1644.024,0.000,29.254,0.000
$DEVICE_MAMPS,135.759,90.506,829.127,493.948,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,349.594,333.977,766.954,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,28660,520
$CAP_FILE_SIZE,106852,0
$CFSIZE,260165632,204103680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150810,062806,2106.024,-15752.484,39,1.4,39,9.8