version: 66.06
glider: 139
mission: 8
dive: 185
start: 8 15 110 15 0 3
data:
$ID,139
$MISSION,8
$DIVE,185
$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,-2154340.2
$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
$GPS1,145138,2106.024,-15751.662,12,1.5,12,9.8
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-71.6
$GPS2,145944,2106.013,-15751.757,17,1.8,17,9.8
$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,81.6,15276,-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,14,-1.56,-58.4,0.0,0.0,0,81,0.00,0.00,-64.15,0.000,2,0.000,0.000,427,1729,2745,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.3,-3.5,12,110,12.52,2.53,-2.28,0.000,4,0.136,0.054,2750,292,2873,0,0,0,0,0,0
$GC,131,-0.77,-58.4,19.7,-33.8,20,138,0.82,2.33,0.00,0.000,6,0.091,0.018,2929,1723,2874,0,0,0,0,0,0
$GC,334,-1.11,-58.4,38.6,-7.6,48,336,0.32,0.00,0.00,0.000,6,0.034,0.000,2832,1728,2875,0,0,0,0,0,0
$GC,583,-1.27,-58.4,72.2,-13.1,68,588,0.00,2.47,0.00,0.000,4,0.000,0.045,2831,286,2876,0,0,0,0,0,0
$GC,666,-1.40,-58.4,83.0,-13.6,74,671,0.15,2.22,0.00,0.000,6,0.055,0.018,2783,1710,2875,0,0,0,0,0,0
$GC,928,-1.49,-58.4,117.4,-10.5,94,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1715,2877,0,0,0,0,0,0
$GC,1178,-1.61,-58.4,146.3,-11.9,114,1182,0.15,2.22,0.00,0.000,4,0.056,0.023,2736,3066,2877,0,0,0,0,0,0
$GC,1301,-1.68,-58.4,161.5,-11.7,123,1306,0.00,2.33,0.00,0.000,6,0.000,0.032,2736,1683,2877,0,0,0,0,0,0
$GC,1567,-1.68,-58.4,193.5,-11.8,144,1571,0.00,2.28,0.00,0.000,4,0.000,0.023,2736,3068,2878,0,0,0,0,0,0
$GC,1695,-1.78,-58.4,208.5,-10.0,151,1701,0.10,2.30,0.00,0.000,6,0.074,0.032,2702,1695,2878,0,0,0,0,0,0
$GC,2014,-1.73,-58.4,245.2,-11.5,167,2018,0.00,2.25,0.00,0.000,4,0.000,0.024,2702,3068,2878,0,0,0,0,0,0
$GC,2109,-1.73,-58.4,256.4,-10.7,171,2113,0.00,2.30,0.00,0.000,6,0.000,0.033,2702,1688,2878,0,0,0,0,0,0
$GC,2440,-1.73,-58.4,293.2,-10.5,187,2444,0.00,2.28,0.00,0.000,4,0.000,0.026,2702,3061,2878,0,0,0,0,0,0
$GC,2488,-1.79,-58.4,298.6,-10.4,189,2492,0.00,2.30,0.00,0.000,6,0.000,0.035,2702,1688,2878,0,0,0,0,0,0
$GC,2827,-1.79,-58.4,337.7,-11.3,198,2829,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,1688,2877,0,0,0,0,0,0
$GC,3153,-1.79,-58.4,374.9,-10.8,206,3157,0.00,2.30,0.00,0.000,4,0.000,0.029,2703,3062,2875,0,0,0,0,0,0
$GC,3214,-1.85,-58.4,381.4,-10.0,207,3218,0.00,2.30,0.00,0.000,6,0.000,0.037,2702,1698,2875,0,0,0,0,0,0
$GC,3565,-1.85,-58.4,415.4,-9.5,216,3570,0.00,2.47,0.00,0.000,4,0.000,0.055,2702,285,2873,0,0,0,0,0,0
$GC,3612,-1.81,-58.4,420.7,-11.4,217,3616,0.00,2.25,0.00,0.000,6,0.000,0.025,2702,1677,2872,0,0,0,0,0,0
$STATE,3932,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3933,begin apogee
$GC,3940,-0.31,0.0,453.0,9.7,225,3993,1.55,0.00,49.50,0.839,6,0.080,0.000,3028,1779,2630,0,0,0,0,0,0
$STATE,3994,end apogee,CONTROL_FINISHED_OK
$STATE,3994,begin climb
$GC,3997,1.56,58.4,454.4,0.0,226,4055,1.77,2.53,50.47,0.823,4,0.031,0.051,3449,362,2390,0,0,0,0,0,0
$GC,4147,1.20,113.9,453.4,2.9,229,4204,0.45,2.33,48.83,0.822,6,0.108,0.026,3364,1751,2165,0,0,0,0,0,0
$GC,4542,1.09,113.9,420.2,8.5,239,4547,0.15,2.40,0.00,0.000,4,0.117,0.035,3336,3177,2156,0,0,0,0,0,0
$GC,4605,1.09,113.9,415.0,8.3,240,4610,0.00,2.42,0.00,0.000,6,0.000,0.040,3336,1775,2156,0,0,0,0,0,0
$GC,4956,1.07,135.2,391.9,6.0,249,4980,0.00,2.60,18.02,0.785,4,0.000,0.057,3336,361,2077,0,0,0,0,0,0
$GC,5049,0.93,135.2,384.1,9.5,251,5054,0.17,2.35,0.00,0.000,6,0.112,0.028,3304,1769,2074,0,0,0,0,0,0
$GC,5378,0.97,135.2,357.2,8.2,259,5379,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,1770,2072,0,0,0,0,0,0
$GC,5704,1.02,141.5,332.9,7.3,267,5716,0.00,2.50,5.43,0.601,4,0.000,0.052,3304,355,2053,0,0,0,0,0,0
$GC,5750,0.97,141.5,329.2,8.4,268,5755,0.00,2.38,0.00,0.000,6,0.000,0.028,3303,1787,2051,0,0,0,0,0,0
$GC,6079,1.04,163.1,308.6,5.9,276,6102,0.10,0.00,20.90,0.756,6,0.081,0.000,3332,1793,1965,0,0,0,0,0,0
$GC,6386,1.04,163.1,277.9,10.8,288,6390,0.00,2.50,0.00,0.000,4,0.000,0.052,3332,358,1961,0,0,0,0,0,0
$GC,6547,0.97,163.1,257.3,12.4,295,6551,0.00,2.33,0.00,0.000,6,0.000,0.026,3332,1770,1958,0,0,0,0,0,0
$GC,6873,0.97,163.1,229.4,9.1,311,6878,0.00,2.35,0.00,0.000,4,0.000,0.030,3332,3175,1958,0,0,0,0,0,0
$GC,7034,1.04,163.1,214.2,9.6,318,7039,0.00,2.40,0.00,0.000,6,0.000,0.036,3332,1764,1957,0,0,0,0,0,0
$GC,7359,1.04,163.1,185.1,8.6,339,7360,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,1764,1957,0,0,0,0,0,0
$GC,7613,1.09,175.1,166.4,6.8,359,7629,0.00,2.42,10.75,0.597,4,0.000,0.026,3332,3183,1915,0,0,0,0,0,0
$GC,7643,1.16,191.9,164.5,6.4,361,7669,0.00,2.40,16.55,0.620,6,0.000,0.032,3332,1768,1846,0,0,0,0,0,0
$GC,7924,1.22,191.9,141.8,7.9,383,7929,0.15,2.45,0.00,0.000,4,0.061,0.048,3375,351,1843,0,0,0,0,0,0
$GC,7951,1.12,191.9,138.9,11.7,385,7956,0.15,2.35,0.00,0.000,6,0.106,0.021,3346,1790,1841,0,0,0,0,0,0
$GC,8217,1.18,191.9,113.2,9.7,406,8221,0.00,2.47,0.00,0.000,4,0.000,0.046,3346,350,1841,0,0,0,0,0,0
$GC,8257,1.18,191.9,109.2,9.7,409,8261,0.00,2.30,0.00,0.000,6,0.000,0.021,3346,1776,1840,0,0,0,0,0,0
$GC,8522,1.27,202.3,88.1,7.0,430,8538,0.15,2.47,9.98,0.520,4,0.058,0.043,3390,356,1804,0,0,0,0,0,0
$GC,8570,1.15,202.3,83.6,10.7,433,8575,0.20,2.30,0.00,0.000,6,0.097,0.020,3351,1779,1802,0,0,0,0,0,0
$GC,8838,1.28,232.2,68.2,5.2,454,8872,0.12,0.00,27.17,0.545,6,0.065,0.000,3390,1784,1681,0,0,0,0,0,0
$GC,9128,1.28,232.2,40.7,10.0,477,9132,0.00,2.45,0.00,0.000,4,0.000,0.043,3390,355,1680,0,0,0,0,0,0
$GC,9180,1.22,232.2,33.8,13.6,481,9185,0.12,2.28,0.00,0.000,6,0.108,0.018,3366,1786,1677,0,0,0,0,0,0
$GC,9444,1.29,232.2,6.1,10.9,537,9451,0.00,2.50,0.00,0.000,4,0.000,0.045,3366,351,1677,0,0,0,0,0,0
$GC,9471,1.32,232.2,3.2,10.0,542,9478,0.00,2.30,0.00,0.000,6,0.000,0.018,3366,1766,1677,0,0,0,0,0,0
$STATE,9483,end climb,SURFACE_DEPTH_REACHED
$STATE,9483,begin surface coast
$FINISH,0.7,0.999059
$STATE,9511,end surface coast,CONTROL_FINISHED_OK
$STATE,9511,begin surface
$SM_CCo,9535,97.05,0.493,0,0,957,410.14
$SM_GC,1.49,0.00,0.00,97.05,0.000,0.000,0.493,429,1667,957,-12.29,-0.79,410.14
$IRIDIUM_FIX,2059.45,-15750.89,091199,121258
$TT8_MAMPS,0.029146
$HUMID,52.24
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.5,16.456
$10V_AH,10.4,12.966
$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,31.775,95.125,257.600,97.050,0.000,55.823,107.241,143.186,4.500,0.000,17.864,1081.836,6403.243,419.384,1670.869,543.489,0.000,1146.409,0.000,1645.398,0.000,29.256,0.000
$DEVICE_MAMPS,135.759,75.933,839.098,493.181,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,370.498,350.487,807.343,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,31812,550
$CAP_FILE_SIZE,105859,0
$CFSIZE,260165632,203894784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,150810,174154,2106.068,-15751.916,41,1.9,41,9.8