version: 66.06
glider: 139
mission: 8
dive: 189
start: 8 16 110 2 2 6
data:
$ID,139
$MISSION,8
$DIVE,189
$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,-2154409.8
$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
$GPS1,015634,2105.909,-15750.605,14,2.5,33,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-72.4
$GPS2,020149,2105.908,-15750.596,11,1.5,16,9.8
$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,81.0,13267,-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,-64.20,0.000,2,0.000,0.000,428,1671,2748,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.3,-3.5,12,104,12.55,0.00,-2.25,0.000,6,0.137,0.000,2752,1672,2871,0,0,0,0,0,0
$GC,301,-1.50,-58.4,52.2,-17.9,43,305,0.00,2.35,0.00,0.000,4,0.000,0.022,2753,3108,2874,0,0,0,0,0,0
$GC,422,-1.56,-58.4,69.1,-13.7,52,427,0.00,2.40,0.00,0.000,6,0.000,0.031,2753,1684,2874,0,0,0,0,0,0
$GC,687,-1.56,-58.4,110.7,-14.9,73,691,0.00,2.33,0.00,0.000,4,0.000,0.021,2753,3109,2876,0,0,0,0,0,0
$GC,698,-1.56,-58.4,112.7,-15.6,74,703,0.00,2.38,0.00,0.000,6,0.000,0.031,2753,1687,2875,0,0,0,0,0,0
$GC,965,-1.61,-58.4,144.5,-10.9,95,970,0.00,2.33,0.00,0.000,4,0.000,0.022,2753,3108,2876,0,0,0,0,0,0
$GC,998,-1.73,-58.4,148.5,-10.8,97,1004,0.12,2.38,0.00,0.000,6,0.064,0.031,2711,1690,2877,0,0,0,0,0,0
$GC,1261,-1.70,-58.4,185.1,-15.9,118,1265,0.00,2.40,0.00,0.000,4,0.000,0.046,2711,292,2876,0,0,0,0,0,0
$GC,1280,-1.62,-58.4,189.1,-17.3,119,1287,0.17,2.30,0.00,0.000,6,0.097,0.019,2746,1731,2877,0,0,0,0,0,0
$GC,1544,-1.67,-58.4,221.6,-12.2,135,1548,0.00,2.20,0.00,0.000,4,0.000,0.024,2745,3077,2877,0,0,0,0,0,0
$GC,1628,-1.80,-58.4,231.3,-10.3,138,1635,0.12,2.35,0.00,0.000,6,0.033,0.033,2699,1698,2877,0,0,0,0,0,0
$GC,1945,-1.80,-58.4,270.8,-13.0,154,1949,0.00,2.25,0.00,0.000,4,0.000,0.025,2699,3077,2877,0,0,0,0,0,0
$GC,1988,-1.80,-58.4,276.1,-11.6,156,1992,0.00,2.33,0.00,0.000,6,0.000,0.034,2699,1694,2877,0,0,0,0,0,0
$GC,2340,-1.80,-58.4,316.2,-12.0,170,2344,0.00,2.30,0.00,0.000,4,0.000,0.026,2699,3078,2877,0,0,0,0,0,0
$GC,2394,-1.83,-58.4,322.2,-11.2,171,2398,0.00,2.33,0.00,0.000,6,0.000,0.035,2699,1692,2876,0,0,0,0,0,0
$GC,2712,-1.83,-58.4,360.1,-11.8,179,2716,0.00,2.30,0.00,0.000,4,0.000,0.028,2699,3082,2876,0,0,0,0,0,0
$GC,2750,-1.90,-58.4,364.4,-10.5,179,2755,0.00,2.35,0.00,0.000,6,0.000,0.037,2699,1689,2875,0,0,0,0,0,0
$GC,3082,-1.90,-58.4,400.2,-11.0,188,3086,0.00,2.30,0.00,0.000,4,0.000,0.030,2699,3074,2874,0,0,0,0,0,0
$GC,3221,-1.95,-58.4,415.8,-11.2,191,3226,0.10,2.35,0.00,0.000,6,0.077,0.040,2668,1695,2872,0,0,0,0,0,0
$STATE,3501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3502,begin apogee
$GC,3509,-0.31,0.0,450.8,12.3,198,3563,1.75,0.00,49.45,0.838,6,0.086,0.000,3030,1767,2630,0,0,0,0,0,0
$STATE,3563,end apogee,CONTROL_FINISHED_OK
$STATE,3563,begin climb
$GC,3566,1.56,58.4,452.3,0.0,199,3624,1.77,2.45,50.35,0.821,4,0.028,0.033,3456,3173,2391,0,0,0,0,0,0
$GC,3721,1.34,123.0,451.0,2.1,202,3784,0.32,2.42,56.83,0.824,6,0.106,0.037,3395,1767,2127,0,0,0,0,0,0
$GC,4108,1.17,123.0,410.9,11.8,212,4113,0.20,2.50,0.00,0.000,4,0.106,0.054,3357,362,2118,0,0,0,0,0,0
$GC,4156,0.97,123.0,405.5,11.6,213,4161,0.22,2.33,0.00,0.000,6,0.100,0.028,3314,1755,2116,0,0,0,0,0,0
$GC,4480,0.97,123.0,378.4,8.1,221,4484,0.00,2.40,0.00,0.000,4,0.000,0.035,3314,3181,2114,0,0,0,0,0,0
$GC,4545,0.97,124.1,373.2,7.8,222,4549,0.00,2.42,0.00,0.000,6,0.000,0.039,3314,1773,2113,0,0,0,0,0,0
$GC,4894,0.97,124.1,343.9,8.1,231,4898,0.00,2.40,0.00,0.000,4,0.000,0.035,3314,3182,2110,0,0,0,0,0,0
$GC,4924,1.01,130.7,341.8,7.3,231,4937,0.00,2.42,4.88,0.571,6,0.000,0.039,3314,1770,2097,0,0,0,0,0,0
$GC,5262,1.02,139.9,318.0,7.1,240,5279,0.00,2.55,9.70,0.703,4,0.000,0.054,3313,358,2058,0,0,0,0,0,0
$GC,5401,0.96,139.9,307.4,8.3,243,5405,0.00,2.38,0.00,0.000,6,0.000,0.028,3314,1789,2054,0,0,0,0,0,0
$GC,5734,1.02,148.6,284.1,7.1,256,5749,0.00,2.55,8.55,0.668,4,0.000,0.052,3314,350,2023,0,0,0,0,0,0
$GC,5760,1.02,152.7,282.0,7.5,257,5772,0.00,2.38,5.22,0.565,6,0.000,0.027,3314,1784,2007,0,0,0,0,0,0
$GC,6092,1.07,152.7,255.6,8.2,273,6096,0.00,2.47,0.00,0.000,4,0.000,0.051,3314,358,2004,0,0,0,0,0,0
$GC,6158,1.03,152.7,249.2,10.1,276,6163,0.00,2.33,0.00,0.000,6,0.000,0.026,3314,1765,2002,0,0,0,0,0,0
$GC,6488,1.11,169.4,224.6,6.4,292,6512,0.12,2.55,15.62,0.680,4,0.067,0.051,3351,354,1939,0,0,0,0,0,0
$GC,6558,1.00,169.4,218.6,10.1,294,6564,0.12,2.38,0.00,0.000,6,0.084,0.025,3322,1765,1937,0,0,0,0,0,0
$GC,6882,1.06,169.4,188.9,11.0,313,6886,0.00,2.33,0.00,0.000,4,0.000,0.028,3322,3175,1936,0,0,0,0,0,0
$GC,6957,1.16,169.4,181.8,8.2,318,6964,0.10,2.45,0.00,0.000,6,0.038,0.035,3360,1761,1936,0,0,0,0,0,0
$GC,7219,1.19,189.6,163.9,6.1,339,7246,0.00,2.50,18.77,0.630,4,0.000,0.049,3360,366,1856,0,0,0,0,0,0
$GC,7359,1.09,189.6,150.0,12.5,349,7364,0.12,2.30,0.00,0.000,6,0.107,0.021,3336,1780,1852,0,0,0,0,0,0
$GC,7625,1.14,189.6,123.6,9.1,370,7626,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,1786,1852,0,0,0,0,0,0
$GC,7877,1.23,199.7,104.0,7.0,390,7893,0.15,2.50,9.75,0.533,4,0.058,0.045,3382,349,1816,0,0,0,0,0,0
$GC,8041,1.13,199.7,83.5,13.3,401,8048,0.17,2.33,0.00,0.000,6,0.097,0.020,3347,1777,1813,0,0,0,0,0,0
$GC,8304,1.21,199.7,59.5,8.1,422,8308,0.00,2.45,0.00,0.000,4,0.000,0.044,3347,353,1812,0,0,0,0,0,0
$GC,8403,1.24,223.8,53.7,5.7,429,8433,0.10,2.28,22.05,0.533,6,0.074,0.019,3382,1786,1717,0,0,0,0,0,0
$GC,8685,1.32,250.2,37.1,5.5,451,8714,0.00,2.50,23.55,0.516,4,0.000,0.042,3382,352,1609,0,0,0,0,0,0
$GC,8746,1.27,250.2,32.9,8.6,455,8750,0.00,2.28,0.00,0.000,6,0.000,0.018,3382,1772,1606,0,0,0,0,0,0
$GC,9008,1.31,250.2,5.1,13.4,511,9014,0.00,0.00,0.00,0.000,6,0.000,0.000,3382,1778,1606,0,0,0,0,0,0
$STATE,9028,end climb,SURFACE_DEPTH_REACHED
$STATE,9028,begin surface coast
$FINISH,0.6,1.023151
$STATE,9055,end surface coast,CONTROL_FINISHED_OK
$STATE,9055,begin surface
$SM_CCo,9078,90.32,0.495,0,0,958,410.14
$SM_GC,1.25,0.00,0.00,90.32,0.000,0.000,0.495,426,1671,958,-12.30,-0.68,410.14
$IRIDIUM_FIX,2057.14,-15751.76,091199,232320
$TT8_MAMPS,0.028379
$HUMID,52.91
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.5,16.788
$10V_AH,10.3,13.257
$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,30.925,104.950,274.725,90.325,0.000,26.644,30.122,135.030,4.500,0.000,17.051,1043.895,5904.832,419.255,1667.023,447.453,0.000,1171.279,0.000,1647.004,0.000,29.252,0.000
$DEVICE_MAMPS,136.526,89.739,837.564,495.482,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,350.462,336.051,772.236,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,28597,521
$CAP_FILE_SIZE,106045,0
$CFSIZE,260165632,203685888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160810,043607,2105.785,-15750.655,34,1.3,34,9.8