version: 66.06
glider: 139
mission: 8
dive: 182
start: 8 15 110 6 39 12
data:
$ID,139
$MISSION,8
$DIVE,182
$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,-2154271.8
$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
$GPS1,062806,2106.024,-15752.484,39,1.4,39,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-71.8
$GPS2,063855,2106.025,-15752.557,16,1.5,21,9.8
$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,81.5,16659,-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,13,begin dive
$GC,15,-1.56,-58.4,0.0,0.0,0,82,0.00,0.00,-64.10,0.000,2,0.000,0.000,424,1672,2745,0,0,0,0,0,0
$GC,86,-1.56,-58.4,3.2,-3.2,12,111,12.55,2.42,-2.33,0.000,4,0.136,0.053,2754,285,2872,0,0,0,0,0,0
$GC,136,-0.96,-58.4,20.6,-34.2,21,143,0.57,2.35,0.00,0.000,6,0.085,0.018,2885,1734,2873,0,0,0,0,0,0
$GC,338,-1.20,-58.4,44.5,-9.9,45,343,0.20,2.50,0.00,0.000,4,0.045,0.044,2820,290,2874,0,0,0,0,0,0
$GC,378,-1.23,-58.4,49.7,-13.4,48,382,0.00,2.22,0.00,0.000,6,0.000,0.018,2821,1711,2874,0,0,0,0,0,0
$GC,644,-1.37,-58.4,81.8,-11.4,69,648,0.00,2.47,0.00,0.000,4,0.000,0.045,2820,282,2875,0,0,0,0,0,0
$GC,746,-1.45,-58.4,93.9,-10.7,76,753,0.12,2.25,0.00,0.000,6,0.031,0.018,2773,1703,2875,0,0,0,0,0,0
$GC,1007,-1.49,-58.4,126.0,-12.3,97,1011,0.00,2.17,0.00,0.000,4,0.000,0.021,2773,3059,2875,0,0,0,0,0,0
$GC,1034,-1.58,-58.4,129.3,-11.2,99,1038,0.00,2.30,0.00,0.000,6,0.000,0.031,2773,1690,2876,0,0,0,0,0,0
$GC,1300,-1.64,-58.4,160.8,-11.3,120,1302,0.15,0.00,0.00,0.000,6,0.057,0.000,2727,1689,2876,0,0,0,0,0,0
$GC,1550,-1.64,-58.4,195.0,-13.3,140,1554,0.00,2.28,0.00,0.000,4,0.000,0.022,2728,3065,2876,0,0,0,0,0,0
$GC,1607,-1.71,-58.4,202.8,-13.0,144,1612,0.00,2.30,0.00,0.000,6,0.000,0.033,2727,1695,2876,0,0,0,0,0,0
$GC,1926,-1.71,-58.4,241.7,-11.9,159,1930,0.00,2.25,0.00,0.000,4,0.000,0.024,2727,3065,2876,0,0,0,0,0,0
$GC,2033,-1.82,-58.4,254.4,-11.6,163,2039,0.10,2.30,0.00,0.000,6,0.074,0.033,2693,1686,2876,0,0,0,0,0,0
$GC,2351,-1.82,-58.4,292.8,-12.0,179,2355,0.00,2.25,0.00,0.000,4,0.000,0.025,2693,3062,2876,0,0,0,0,0,0
$GC,2502,-1.85,-58.4,311.9,-12.8,184,2506,0.00,2.30,0.00,0.000,6,0.000,0.035,2693,1694,2876,0,0,0,0,0,0
$GC,2852,-1.85,-58.4,353.0,-11.5,193,2856,0.00,2.25,0.00,0.000,4,0.000,0.028,2693,3061,2875,0,0,0,0,0,0
$GC,2910,-1.91,-58.4,360.3,-13.9,194,2915,0.00,2.33,0.00,0.000,6,0.000,0.037,2693,1694,2875,0,0,0,0,0,0
$GC,3225,-1.91,-58.4,401.5,-13.2,202,3230,0.00,2.28,0.00,0.000,4,0.000,0.030,2693,3054,2873,0,0,0,0,0,0
$GC,3363,-1.95,-58.4,418.1,-10.4,205,3367,0.00,2.30,0.00,0.000,6,0.000,0.040,2693,1697,2872,0,0,0,0,0,0
$STATE,3688,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3688,begin apogee
$GC,3695,-0.31,0.0,453.4,11.0,213,3748,1.60,0.00,49.20,0.834,6,0.082,0.000,3028,1697,2629,0,0,0,0,0,0
$STATE,3749,end apogee,CONTROL_FINISHED_OK
$STATE,3749,begin climb
$GC,3752,1.56,58.4,454.7,0.0,214,3810,1.77,2.50,50.00,0.819,4,0.030,0.035,3452,3131,2391,0,0,0,0,0,0
$GC,3910,1.33,106.9,451.4,3.5,217,3960,0.32,2.35,42.65,0.818,6,0.107,0.037,3390,1769,2193,0,0,0,0,0,0
$GC,4297,1.15,106.9,417.1,10.3,227,4302,0.20,2.47,0.00,0.000,4,0.110,0.054,3352,362,2184,0,0,0,0,0,0
$GC,4460,0.96,106.9,398.5,10.6,230,4465,0.22,2.30,0.00,0.000,6,0.109,0.028,3310,1738,2179,0,0,0,0,0,0
$GC,4802,0.97,114.3,373.2,7.2,239,4809,0.00,0.00,4.97,0.585,6,0.000,0.000,3310,1738,2163,0,0,0,0,0,0
$GC,5126,0.99,125.4,349.4,6.9,247,5143,0.00,2.50,11.10,0.729,4,0.000,0.035,3310,3171,2118,0,0,0,0,0,0
$GC,5256,1.05,135.5,341.0,7.0,249,5272,0.00,2.42,11.00,0.722,6,0.000,0.040,3309,1770,2076,0,0,0,0,0,0
$GC,5598,1.08,135.8,315.5,7.9,258,5603,0.12,2.50,0.00,0.000,4,0.071,0.055,3344,358,2072,0,0,0,0,0,0
$GC,5651,0.95,135.8,310.9,8.5,259,5656,0.17,2.35,0.00,0.000,6,0.107,0.028,3311,1772,2069,0,0,0,0,0,0
$GC,5974,1.01,153.6,289.7,6.3,270,5997,0.00,2.55,16.27,0.734,4,0.000,0.052,3310,354,2002,0,0,0,0,0,0
$GC,6023,0.94,153.6,285.9,8.4,272,6028,0.00,2.38,0.00,0.000,6,0.000,0.027,3310,1779,2000,0,0,0,0,0,0
$GC,6353,1.00,153.6,257.6,7.9,288,6354,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,1784,1998,0,0,0,0,0,0
$GC,6664,1.08,174.9,236.7,6.0,303,6686,0.12,0.00,19.77,0.703,6,0.070,0.000,3346,1784,1916,0,0,0,0,0,0
$GC,6994,1.08,174.9,209.2,8.8,319,6998,0.00,2.50,0.00,0.000,4,0.000,0.050,3345,354,1911,0,0,0,0,0,0
$GC,7023,0.98,174.9,206.2,9.0,320,7028,0.15,2.35,0.00,0.000,6,0.107,0.024,3317,1774,1910,0,0,0,0,0,0
$GC,7349,1.06,174.9,179.5,8.8,343,7353,0.00,2.47,0.00,0.000,4,0.000,0.048,3317,354,1909,0,0,0,0,0,0
$GC,7376,1.06,174.9,176.4,9.4,345,7380,0.00,2.33,0.00,0.000,6,0.000,0.023,3317,1786,1908,0,0,0,0,0,0
$GC,7639,1.15,182.0,155.5,7.3,365,7648,0.15,0.00,6.32,0.525,6,0.061,0.000,3360,1792,1888,0,0,0,0,0,0
$GC,7900,1.15,182.0,132.3,9.5,386,7905,0.00,2.45,0.00,0.000,4,0.000,0.047,3359,355,1887,0,0,0,0,0,0
$GC,7942,1.07,182.0,128.3,9.3,389,7947,0.15,2.28,0.00,0.000,6,0.105,0.021,3332,1773,1885,0,0,0,0,0,0
$GC,8205,1.17,191.6,110.8,7.0,409,8222,0.10,2.50,10.12,0.542,4,0.077,0.045,3364,359,1847,0,0,0,0,0,0
$GC,8271,1.10,191.6,104.6,10.3,413,8277,0.12,2.28,0.00,0.000,6,0.107,0.020,3341,1773,1845,0,0,0,0,0,0
$GC,8532,1.19,205.7,86.9,6.6,434,8547,0.00,0.00,13.62,0.539,6,0.000,0.000,3341,1778,1791,0,0,0,0,0,0
$GC,8797,1.28,205.7,65.2,8.9,455,8802,0.17,2.47,0.00,0.000,4,0.053,0.045,3391,347,1790,0,0,0,0,0,0
$GC,8999,1.20,205.7,41.1,11.9,470,9004,0.15,2.28,0.00,0.000,6,0.104,0.018,3362,1773,1788,0,0,0,0,0,0
$GC,9263,1.28,205.7,18.7,8.2,510,9270,0.00,2.45,0.00,0.000,4,0.000,0.044,3362,358,1788,0,0,0,0,0,0
$GC,9337,1.28,205.7,11.2,11.0,526,9344,0.00,2.30,0.00,0.000,6,0.000,0.018,3362,1775,1788,0,0,0,0,0,0
$STATE,9433,end climb,SURFACE_DEPTH_REACHED
$STATE,9433,begin surface coast
$FINISH,0.7,1.008777
$STATE,9487,end surface coast,CONTROL_FINISHED_OK
$STATE,9487,begin surface
$SM_CCo,9510,117.85,0.495,0,0,957,410.14
$SM_GC,1.58,0.00,0.00,117.85,0.000,0.000,0.495,430,1678,957,-12.29,-0.48,410.14
$IRIDIUM_FIX,2054.83,-15751.76,091199,060650
$TT8_MAMPS,0.028379
$HUMID,51.65
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.5,16.208
$10V_AH,10.4,12.743
$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,31.675,94.650,235.050,117.850,0.000,82.213,192.221,126.466,4.500,0.000,21.525,1108.375,6359.483,421.664,1738.158,648.476,0.000,1162.175,0.000,1711.488,0.000,29.260,0.000
$DEVICE_MAMPS,135.759,71.331,834.496,494.715,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,377.541,359.295,830.269,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,31938,560
$CAP_FILE_SIZE,107553,0
$CFSIZE,260165632,204046336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150810,092052,2105.983,-15752.185,13,5.6,32,9.8