version: 66.06
glider: 139
mission: 8
dive: 201
start: 8 17 110 11 9 1
data:
$ID,139
$MISSION,8
$DIVE,201
$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,-2154681
$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
$GPS1,110325,2105.897,-15748.540,9,1.7,14,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-73.7
$GPS2,110844,2105.913,-15748.514,15,1.8,15,9.8
$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,81.3,9670,-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,-64.18,0.000,2,0.000,0.000,430,1717,2780,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.8,-4.6,12,110,12.52,2.53,-1.60,0.000,4,0.137,0.054,2751,288,2872,0,0,0,0,0,0
$GC,139,-1.10,-58.4,23.2,-34.6,22,147,0.50,2.33,0.00,0.000,6,0.089,0.019,2863,1727,2873,0,0,0,0,0,0
$GC,346,-1.27,-58.4,51.9,-11.9,43,347,0.17,0.00,0.00,0.000,6,0.050,0.000,2806,1733,2874,0,0,0,0,0,0
$GC,597,-1.38,-58.4,84.2,-12.2,63,601,0.00,2.47,0.00,0.000,4,0.000,0.045,2806,288,2875,0,0,0,0,0,0
$GC,694,-1.46,-58.4,97.2,-13.5,70,699,0.10,2.22,0.00,0.000,6,0.074,0.018,2772,1700,2876,0,0,0,0,0,0
$GC,955,-1.52,-58.4,130.3,-11.5,90,959,0.00,2.22,0.00,0.000,4,0.000,0.022,2772,3075,2876,0,0,0,0,0,0
$GC,1028,-1.66,-58.4,138.9,-10.3,95,1033,0.15,2.30,0.00,0.000,6,0.056,0.031,2726,1692,2876,0,0,0,0,0,0
$GC,1288,-1.66,-58.4,172.3,-12.2,115,1292,0.00,2.25,0.00,0.000,4,0.000,0.022,2725,3069,2877,0,0,0,0,0,0
$GC,1320,-1.71,-58.4,176.0,-10.4,117,1325,0.00,2.30,0.00,0.000,6,0.000,0.031,2725,1686,2877,0,0,0,0,0,0
$GC,1578,-1.71,-58.4,209.1,-13.5,136,1582,0.00,2.25,0.00,0.000,4,0.000,0.022,2726,3068,2878,0,0,0,0,0,0
$GC,1592,-1.71,-58.4,211.1,-13.2,136,1598,0.00,2.33,0.00,0.000,6,0.000,0.031,2726,1698,2877,0,0,0,0,0,0
$GC,1907,-1.71,-58.4,251.7,-12.3,152,1911,0.00,2.40,0.00,0.000,4,0.000,0.047,2725,287,2878,0,0,0,0,0,0
$GC,1921,-1.71,-58.4,253.6,-11.9,152,1928,0.00,2.25,0.00,0.000,6,0.000,0.021,2726,1689,2878,0,0,0,0,0,0
$GC,2238,-1.74,-58.4,287.4,-10.6,168,2242,0.00,2.25,0.00,0.000,4,0.000,0.025,2725,3069,2878,0,0,0,0,0,0
$GC,2325,-1.83,-58.4,296.8,-9.9,171,2331,0.10,2.33,0.00,0.000,6,0.077,0.034,2692,1693,2878,0,0,0,0,0,0
$GC,2657,-1.83,-58.4,332.7,-11.0,181,2661,0.00,2.42,0.00,0.000,4,0.000,0.051,2691,293,2877,0,0,0,0,0,0
$GC,2672,-1.78,-58.4,334.7,-11.9,181,2676,0.00,2.25,0.00,0.000,6,0.000,0.022,2692,1693,2877,0,0,0,0,0,0
$GC,3022,-1.78,-58.4,375.1,-11.5,190,3026,0.10,2.30,0.00,0.000,4,0.121,0.030,2711,3072,2876,0,0,0,0,0,0
$GC,3102,-1.87,-58.4,383.6,-10.3,191,3106,0.00,2.33,0.00,0.000,6,0.000,0.038,2710,1699,2875,0,0,0,0,0,0
$GC,3438,-1.90,-58.4,418.3,-10.9,200,3443,0.12,2.47,0.00,0.000,4,0.071,0.056,2675,290,2872,0,0,0,0,0,0
$GC,3509,-1.80,-58.4,428.1,-14.1,201,3514,0.15,2.28,0.00,0.000,6,0.105,0.025,2704,1691,2872,0,0,0,0,0,0
$STATE,3726,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3726,begin apogee
$GC,3733,-0.31,0.0,453.3,11.2,207,3786,1.55,0.00,49.62,0.838,6,0.080,0.000,3029,1789,2630,0,0,0,0,0,0
$STATE,3787,end apogee,CONTROL_FINISHED_OK
$STATE,3787,begin climb
$GC,3790,1.56,58.4,454.6,0.0,208,3851,1.77,2.58,50.65,0.821,4,0.030,0.051,3452,360,2389,0,0,0,0,0,0
$GC,3957,1.18,95.0,452.6,4.6,211,3997,0.50,2.35,32.12,0.810,6,0.107,0.027,3356,1749,2242,0,0,0,0,0,0
$GC,4338,1.06,95.0,423.8,8.1,221,4343,0.12,2.42,0.00,0.000,4,0.120,0.035,3334,3185,2234,0,0,0,0,0,0
$GC,4469,1.08,104.7,414.3,7.0,223,4482,0.00,2.47,8.48,0.707,6,0.000,0.041,3333,1768,2203,0,0,0,0,0,0
$GC,4803,1.03,112.4,390.7,7.2,232,4816,0.00,2.55,7.85,0.694,4,0.000,0.058,3333,354,2171,0,0,0,0,0,0
$GC,4932,0.89,112.4,379.9,8.2,234,4938,0.20,2.40,0.00,0.000,6,0.111,0.028,3296,1773,2167,0,0,0,0,0,0
$GC,5264,0.96,136.9,360.9,5.7,243,5292,0.00,2.60,22.65,0.791,4,0.000,0.055,3296,364,2071,0,0,0,0,0,0
$GC,5367,0.92,136.9,351.8,9.5,245,5371,0.00,2.35,0.00,0.000,6,0.000,0.028,3296,1773,2066,0,0,0,0,0,0
$GC,5681,0.99,141.8,327.9,7.5,253,5693,0.00,2.55,4.82,0.567,4,0.000,0.054,3296,350,2051,0,0,0,0,0,0
$GC,5768,0.99,141.8,320.7,8.7,254,5774,0.00,2.40,0.00,0.000,6,0.000,0.028,3296,1780,2049,0,0,0,0,0,0
$GC,6081,1.07,144.7,297.9,7.6,263,6087,0.15,0.00,3.65,0.465,6,0.065,0.000,3336,1785,2040,0,0,0,0,0,0
$GC,6390,1.07,145.1,273.3,7.9,278,6394,0.00,2.50,0.00,0.000,4,0.000,0.052,3336,357,2040,0,0,0,0,0,0
$GC,6411,1.01,151.2,271.8,7.3,279,6424,0.00,2.35,7.53,0.644,6,0.000,0.027,3336,1781,2013,0,0,0,0,0,0
$GC,6744,1.03,168.9,251.0,6.3,295,6763,0.00,0.00,17.33,0.706,6,0.000,0.000,3336,1781,1941,0,0,0,0,0,0
$GC,7071,1.03,168.9,220.5,10.4,311,7075,0.00,2.50,0.00,0.000,4,0.000,0.050,3336,351,1938,0,0,0,0,0,0
$GC,7145,0.95,168.9,210.7,14.7,314,7150,0.15,2.35,0.00,0.000,6,0.109,0.024,3309,1766,1936,0,0,0,0,0,0
$GC,7467,1.03,168.9,180.4,8.1,337,7471,0.00,2.47,0.00,0.000,4,0.000,0.048,3308,345,1936,0,0,0,0,0,0
$GC,7513,1.03,168.9,175.5,10.3,340,7520,0.00,2.38,0.00,0.000,6,0.000,0.023,3308,1777,1934,0,0,0,0,0,0
$GC,7774,1.13,168.9,151.4,9.2,361,7779,0.15,2.50,0.00,0.000,4,0.061,0.048,3352,348,1934,0,0,0,0,0,0
$GC,7794,1.13,168.9,149.2,9.8,362,7801,0.00,2.35,0.00,0.000,6,0.000,0.022,3352,1771,1934,0,0,0,0,0,0
$GC,8055,1.13,174.1,128.5,7.4,383,8064,0.00,0.00,5.15,0.469,6,0.000,0.000,3352,1776,1919,0,0,0,0,0,0
$GC,8317,1.13,174.1,107.2,8.2,404,8321,0.00,2.45,0.00,0.000,4,0.000,0.045,3352,353,1919,0,0,0,0,0,0
$GC,8356,1.06,174.1,103.5,10.2,407,8360,0.00,2.33,0.00,0.000,6,0.000,0.021,3352,1787,1917,0,0,0,0,0,0
$GC,8626,1.10,174.1,80.9,8.1,428,8630,0.00,2.47,0.00,0.000,4,0.000,0.044,3352,347,1918,0,0,0,0,0,0
$GC,8665,1.04,174.1,77.8,8.9,431,8670,0.12,2.28,0.00,0.000,6,0.107,0.020,3328,1772,1918,0,0,0,0,0,0
$GC,8934,1.19,205.4,61.7,5.1,452,8970,0.12,2.53,29.00,0.550,4,0.065,0.044,3368,360,1791,0,0,0,0,0,0
$GC,8989,1.14,208.5,57.9,7.6,456,9000,0.08,2.33,4.18,0.367,6,0.086,0.020,3350,1779,1779,0,0,0,0,0,0
$GC,9265,1.26,221.0,40.0,6.8,478,9283,0.10,2.53,12.07,0.493,4,0.074,0.044,3384,353,1728,0,0,0,0,0,0
$GC,9404,1.20,221.0,25.6,12.0,492,9411,0.10,2.30,0.00,0.000,6,0.081,0.018,3361,1762,1724,0,0,0,0,0,0
$GC,9606,1.31,224.4,8.4,7.6,538,9613,0.10,2.45,0.00,0.000,4,0.074,0.043,3394,358,1723,0,0,0,0,0,0
$GC,9644,1.31,224.4,4.2,10.9,545,9657,0.00,2.30,3.78,0.321,6,0.000,0.018,3395,1780,1714,0,0,0,0,0,0
$STATE,9662,end climb,SURFACE_DEPTH_REACHED
$STATE,9662,begin surface coast
$FINISH,0.7,1.011372
$STATE,9689,end surface coast,CONTROL_FINISHED_OK
$STATE,9689,begin surface
$SM_CCo,9712,104.70,0.496,0,0,957,410.14
$SM_GC,1.46,0.00,0.00,104.70,0.000,0.000,0.496,428,1668,957,-12.29,-0.76,410.14
$IRIDIUM_FIX,2059.45,-15746.61,111199,080835
$TT8_MAMPS,0.028379
$HUMID,52.87
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.5,17.746
$10V_AH,10.3,14.152
$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,31.825,114.750,258.875,104.700,0.000,30.263,29.737,134.779,4.500,0.000,16.100,1100.853,6461.346,439.189,1675.247,458.573,0.000,1195.327,0.000,1658.608,0.000,29.251,0.000
$DEVICE_MAMPS,136.526,75.933,837.564,496.249,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,372.431,355.082,812.768,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,31750,554
$CAP_FILE_SIZE,111677,0
$CFSIZE,260165632,203022336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,170810,135400,2105.843,-15748.062,43,1.1,43,9.8