version: 66.06
glider: 139
mission: 8
dive: 187
start: 8 15 110 20 29 56
data:
$ID,139
$MISSION,8
$DIVE,187
$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,-2154373.5
$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
$GPS1,202107,2106.030,-15751.860,35,0.9,35,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-72.5
$GPS2,202937,2106.078,-15751.913,12,1.0,17,9.8
$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,82.0,15550,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.56,-58.4,0.0,0.0,0,83,0.00,0.00,-64.62,0.000,2,0.000,0.000,427,1718,2769,0,0,0,0,0,0
$GC,86,-1.56,-58.4,3.2,-3.4,12,111,12.52,2.53,-1.92,0.000,4,0.135,0.055,2753,285,2873,0,0,0,0,0,0
$GC,119,-0.33,-58.4,15.4,-26.9,17,126,1.30,2.35,0.00,0.000,6,0.090,0.020,3026,1736,2874,0,0,0,0,0,0
$GC,322,-0.91,-58.4,28.2,-4.4,63,329,0.52,2.50,0.00,0.000,4,0.028,0.041,2877,284,2875,0,0,0,0,0,0
$GC,357,-1.19,-58.4,31.7,-9.1,68,362,0.17,2.22,0.00,0.000,6,0.050,0.018,2822,1697,2875,0,0,0,0,0,0
$GC,618,-1.31,-58.4,68.1,-14.0,88,619,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1701,2875,0,0,0,0,0,0
$GC,869,-1.46,-58.4,97.8,-12.3,108,874,0.17,2.42,0.00,0.000,4,0.049,0.045,2767,290,2876,0,0,0,0,0,0
$GC,884,-1.53,-58.4,100.0,-12.0,109,888,0.00,2.22,0.00,0.000,6,0.000,0.018,2767,1718,2877,0,0,0,0,0,0
$GC,1149,-1.59,-58.4,131.6,-11.2,130,1150,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1722,2877,0,0,0,0,0,0
$GC,1401,-1.67,-58.4,157.8,-8.7,150,1403,0.15,0.00,0.00,0.000,6,0.058,0.000,2719,1723,2877,0,0,0,0,0,0
$GC,1652,-1.67,-58.4,190.1,-14.7,170,1656,0.00,2.45,0.00,0.000,4,0.000,0.046,2719,286,2877,0,0,0,0,0,0
$GC,1745,-1.58,-58.4,205.4,-15.9,176,1750,0.17,2.20,0.00,0.000,6,0.097,0.019,2753,1686,2878,0,0,0,0,0,0
$GC,2075,-1.67,-58.4,240.8,-10.0,192,2079,0.00,2.25,0.00,0.000,4,0.000,0.025,2753,3071,2878,0,0,0,0,0,0
$GC,2126,-1.81,-58.4,245.7,-8.7,194,2131,0.20,2.30,0.00,0.000,6,0.048,0.033,2695,1692,2878,0,0,0,0,0,0
$GC,2451,-1.81,-58.4,282.4,-12.6,210,2455,0.00,2.28,0.00,0.000,4,0.000,0.024,2695,3070,2878,0,0,0,0,0,0
$GC,2475,-1.81,-58.4,286.0,-12.9,211,2479,0.00,2.30,0.00,0.000,6,0.000,0.035,2694,1694,2878,0,0,0,0,0,0
$GC,2816,-1.81,-58.4,325.5,-11.6,223,2820,0.00,2.25,0.00,0.000,4,0.000,0.026,2694,3069,2877,0,0,0,0,0,0
$GC,2993,-1.84,-58.4,344.9,-10.2,226,2999,0.00,2.33,0.00,0.000,6,0.000,0.035,2694,1697,2876,0,0,0,0,0,0
$GC,3324,-1.84,-58.4,376.9,-9.1,235,3328,0.00,2.28,0.00,0.000,4,0.000,0.028,2694,3073,2874,0,0,0,0,0,0
$GC,3343,-1.84,-58.4,378.8,-9.7,235,3347,0.00,2.33,0.00,0.000,6,0.000,0.037,2694,1697,2874,0,0,0,0,0,0
$GC,3690,-1.84,-58.4,412.5,-10.1,244,3691,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1695,2872,0,0,0,0,0,0
$STATE,4011,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4012,begin apogee
$GC,4018,-0.31,0.0,451.7,11.9,252,4071,1.60,0.00,49.28,0.835,6,0.083,0.000,3027,1771,2630,0,0,0,0,0,0
$STATE,4072,end apogee,CONTROL_FINISHED_OK
$STATE,4072,begin climb
$GC,4076,1.56,58.4,453.6,0.0,253,4131,1.77,0.00,50.40,0.820,6,0.030,0.000,3451,1772,2391,0,0,0,0,0,0
$GC,4445,1.32,112.3,447.8,3.0,262,4498,0.30,2.42,46.72,0.829,4,0.110,0.035,3391,3167,2172,0,0,0,0,0,0
$GC,4749,1.18,112.3,424.2,8.5,268,4754,0.17,2.45,0.00,0.000,6,0.119,0.041,3359,1768,2167,0,0,0,0,0,0
$GC,5087,1.08,112.3,397.4,7.9,277,5092,0.12,2.50,0.00,0.000,4,0.121,0.055,3336,356,2161,0,0,0,0,0,0
$GC,5171,0.93,112.3,389.9,8.1,278,5177,0.17,2.33,0.00,0.000,6,0.112,0.028,3304,1754,2158,0,0,0,0,0,0
$GC,5503,0.94,122.7,368.0,7.0,287,5516,0.00,2.42,7.90,0.693,4,0.000,0.035,3304,3177,2129,0,0,0,0,0,0
$GC,5527,0.99,129.1,366.1,7.3,287,5539,0.00,2.45,7.82,0.683,6,0.000,0.039,3305,1770,2103,0,0,0,0,0,0
$GC,5866,1.05,145.0,342.2,6.5,295,5887,0.10,2.55,15.12,0.757,4,0.080,0.055,3333,358,2038,0,0,0,0,0,0
$GC,5903,0.98,155.9,339.7,6.9,295,5920,0.00,2.40,11.27,0.718,6,0.000,0.028,3333,1777,1994,0,0,0,0,0,0
$GC,6244,0.98,155.9,310.8,8.7,304,6248,0.00,2.53,0.00,0.000,4,0.000,0.054,3333,349,1990,0,0,0,0,0,0
$GC,6283,0.87,155.9,306.8,10.7,304,6289,0.22,2.35,0.00,0.000,6,0.102,0.027,3290,1765,1987,0,0,0,0,0,0
$GC,6598,0.98,166.2,282.6,7.0,318,6614,0.10,2.55,9.48,0.678,4,0.079,0.052,3319,358,1952,0,0,0,0,0,0
$GC,6698,0.92,166.2,272.9,9.8,322,6703,0.00,2.35,0.00,0.000,6,0.000,0.026,3319,1776,1949,0,0,0,0,0,0
$GC,7019,0.97,166.2,246.6,8.5,338,7023,0.00,2.50,0.00,0.000,4,0.000,0.051,3319,354,1948,0,0,0,0,0,0
$GC,7128,0.92,166.2,235.9,10.1,342,7134,0.00,2.35,0.00,0.000,6,0.000,0.025,3319,1766,1946,0,0,0,0,0,0
$GC,7444,1.01,182.8,211.8,6.4,358,7467,0.00,2.55,15.40,0.663,4,0.000,0.051,3319,358,1883,0,0,0,0,0,0
$GC,7510,1.01,182.8,206.1,9.6,360,7517,0.00,2.38,0.00,0.000,6,0.000,0.024,3319,1770,1881,0,0,0,0,0,0
$GC,7840,1.07,182.8,174.7,10.7,384,7845,0.00,2.45,0.00,0.000,4,0.000,0.048,3319,351,1880,0,0,0,0,0,0
$GC,7964,1.07,182.8,159.5,13.8,393,7968,0.00,2.35,0.00,0.000,6,0.000,0.021,3319,1790,1878,0,0,0,0,0,0
$GC,8229,1.17,182.8,135.1,8.3,414,8234,0.15,2.50,0.00,0.000,4,0.059,0.048,3364,357,1878,0,0,0,0,0,0
$GC,8270,1.05,182.8,131.0,10.5,417,8275,0.17,2.30,0.00,0.000,6,0.097,0.021,3329,1778,1878,0,0,0,0,0,0
$GC,8536,1.15,185.7,110.9,7.6,438,8537,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,1783,1878,0,0,0,0,0,0
$GC,8788,1.25,185.7,91.6,9.9,458,8793,0.17,2.45,0.00,0.000,4,0.053,0.045,3381,355,1878,0,0,0,0,0,0
$GC,8963,1.13,185.7,73.6,10.0,471,8968,0.17,2.28,0.00,0.000,6,0.098,0.020,3346,1781,1878,0,0,0,0,0,0
$GC,9233,1.24,202.2,52.1,6.4,492,9254,0.10,0.00,18.00,0.523,6,0.074,0.000,3381,1787,1804,0,0,0,0,0,0
$GC,9506,1.33,238.9,35.4,4.6,513,9548,0.00,2.35,32.17,0.518,4,0.000,0.022,3381,3159,1655,0,0,0,0,0,0
$GC,9554,1.40,254.6,32.2,6.5,516,9580,0.12,2.35,14.73,0.486,6,0.062,0.030,3420,1762,1592,0,0,0,0,0,0
$STATE,9802,end climb,SURFACE_DEPTH_REACHED
$STATE,9802,begin surface coast
$FINISH,0.8,1.023051
$STATE,9822,end surface coast,CONTROL_FINISHED_OK
$STATE,9822,begin surface
$SM_CCo,9846,83.60,0.493,0,0,958,410.14
$SM_GC,1.40,0.00,0.00,83.60,0.000,0.000,0.493,429,1679,958,-12.29,-0.45,410.14
$IRIDIUM_FIX,2057.14,-15753.90,091199,202046
$TT8_MAMPS,0.029146
$HUMID,53.46
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.5,16.627
$10V_AH,10.4,13.113
$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,33.550,95.475,278.300,83.600,0.000,62.062,57.533,199.818,4.500,0.000,18.013,1118.826,6589.754,416.978,1738.307,578.633,0.000,1173.375,0.000,1713.583,0.000,29.263,0.000
$DEVICE_MAMPS,134.992,90.506,835.263,493.181,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,385.816,364.438,857.741,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,31856,573
$CAP_FILE_SIZE,111167,0
$CFSIZE,260165632,203784192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150810,231636,2106.062,-15751.245,15,1.0,31,9.8