version: 66.06
glider: 139
mission: 8
dive: 243
start: 8 22 110 6 40 18
data:
$ID,139
$MISSION,8
$DIVE,243
$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,-2155638.2
$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
$GPS1,063136,2107.905,-15758.073,67,1.5,76,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-70.4
$GPS2,064001,2107.893,-15758.065,10,1.5,15,9.8
$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,88.6,26454,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.56,-58.4,0.0,0.0,0,84,0.00,0.00,-64.25,0.000,2,0.000,0.000,430,1673,2776,0,0,0,0,0,0
$GC,88,-1.56,-58.4,3.7,-4.2,12,107,12.45,2.45,-1.70,0.000,4,0.134,0.035,2751,3108,2870,0,0,0,0,0,0
$GC,156,-1.56,-58.4,23.8,-19.9,26,163,0.00,2.42,0.00,0.000,6,0.000,0.035,2751,1696,2872,0,0,0,0,0,0
$GC,357,-1.48,-58.4,62.1,-18.9,46,362,0.12,2.33,0.00,0.000,4,0.113,0.021,2775,3108,2873,0,0,0,0,0,0
$GC,385,-1.53,-58.4,67.3,-17.5,48,389,0.00,2.38,0.00,0.000,6,0.000,0.032,2774,1691,2873,0,0,0,0,0,0
$GC,646,-1.58,-58.4,109.7,-15.2,68,650,0.00,2.35,0.00,0.000,4,0.000,0.021,2774,3115,2874,0,0,0,0,0,0
$GC,692,-1.70,-58.4,116.8,-12.9,71,698,0.20,2.38,0.00,0.000,6,0.047,0.033,2716,1691,2874,0,0,0,0,0,0
$GC,953,-1.65,-58.4,159.3,-15.2,92,959,0.12,2.35,0.00,0.000,4,0.104,0.022,2740,3109,2875,0,0,0,0,0,0
$GC,999,-1.74,-58.4,165.4,-12.4,95,1003,0.00,2.35,0.00,0.000,6,0.000,0.031,2740,1693,2875,0,0,0,0,0,0
$GC,1264,-1.74,-58.4,197.4,-12.1,116,1268,0.00,2.35,0.00,0.000,4,0.000,0.023,2740,3116,2876,0,0,0,0,0,0
$GC,1390,-1.83,-58.4,211.3,-10.9,122,1395,0.17,2.38,0.00,0.000,6,0.052,0.031,2690,1689,2876,0,0,0,0,0,0
$GC,1711,-1.77,-58.4,251.3,-13.5,137,1716,0.12,2.35,0.00,0.000,4,0.107,0.025,2714,3106,2876,0,0,0,0,0,0
$GC,1757,-1.82,-58.4,257.7,-12.1,139,1761,0.00,2.38,0.00,0.000,6,0.000,0.032,2714,1697,2875,0,0,0,0,0,0
$GC,2088,-1.82,-58.4,296.9,-10.9,155,2092,0.00,2.38,0.00,0.000,4,0.000,0.026,2714,3114,2876,0,0,0,0,0,0
$GC,2166,-1.87,-58.4,305.2,-10.0,157,2170,0.00,2.38,0.00,0.000,6,0.000,0.034,2713,1695,2875,0,0,0,0,0,0
$GC,2498,-1.87,-58.4,341.6,-11.3,165,2502,0.00,2.38,0.00,0.000,4,0.000,0.028,2713,3104,2874,0,0,0,0,0,0
$GC,2532,-1.95,-58.4,345.6,-12.3,165,2537,0.17,2.38,0.00,0.000,6,0.056,0.036,2663,1694,2873,0,0,0,0,0,0
$GC,2863,-1.87,-58.4,386.4,-12.0,173,2868,0.15,2.40,0.00,0.000,4,0.101,0.029,2693,3110,2872,0,0,0,0,0,0
$GC,2930,-1.91,-58.4,393.8,-10.6,174,2934,0.00,2.40,0.00,0.000,6,0.000,0.038,2693,1692,2872,0,0,0,0,0,0
$GC,3276,-1.91,-58.4,433.0,-12.4,183,3280,0.00,2.38,0.00,0.000,4,0.000,0.031,2693,3109,2869,0,0,0,0,0,0
$GC,3323,-1.95,-58.4,439.2,-13.1,184,3327,0.00,2.40,0.00,0.000,6,0.000,0.039,2693,1697,2869,0,0,0,0,0,0
$STATE,3440,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3440,begin apogee
$GC,3448,-0.31,0.0,453.7,12.2,187,3501,1.62,0.00,49.00,0.832,6,0.082,0.000,3032,1806,2630,0,0,0,0,0,0
$STATE,3501,end apogee,CONTROL_FINISHED_OK
$STATE,3502,begin climb
$GC,3504,1.56,58.4,455.2,0.0,188,3562,1.75,2.35,50.45,0.816,4,0.029,0.031,3449,3153,2390,0,0,0,0,0,0
$GC,3599,1.39,150.7,455.9,-0.4,190,3690,0.22,2.38,80.80,0.819,6,0.107,0.035,3407,1772,2015,0,0,0,0,0,0
$GC,4005,1.20,150.7,411.1,12.8,200,4007,0.22,0.00,0.00,0.000,6,0.105,0.000,3364,1772,2005,0,0,0,0,0,0
$GC,4329,1.10,150.7,370.2,12.6,208,4334,0.12,2.50,0.00,0.000,4,0.114,0.056,3341,359,2001,0,0,0,0,0,0
$GC,4377,0.96,150.7,363.5,14.0,209,4382,0.17,2.33,0.00,0.000,6,0.107,0.028,3308,1746,1998,0,0,0,0,0,0
$GC,4701,0.99,150.7,329.4,10.4,217,4705,0.00,2.40,0.00,0.000,4,0.000,0.033,3308,3176,1997,0,0,0,0,0,0
$GC,4720,1.06,150.7,327.1,10.7,217,4724,0.00,2.45,0.00,0.000,6,0.000,0.038,3308,1763,1997,0,0,0,0,0,0
$GC,5051,1.10,150.7,294.5,9.8,226,5056,0.15,2.47,0.00,0.000,4,0.063,0.055,3349,358,1995,0,0,0,0,0,0
$GC,5066,1.06,150.7,292.7,9.9,226,5073,0.00,2.38,0.00,0.000,6,0.000,0.028,3349,1764,1993,0,0,0,0,0,0
$GC,5381,1.06,150.7,263.9,9.0,242,5385,0.00,2.35,0.00,0.000,4,0.000,0.031,3349,3176,1993,0,0,0,0,0,0
$GC,5526,1.06,150.7,252.8,8.1,248,5530,0.00,2.42,0.00,0.000,6,0.000,0.038,3349,1768,1993,0,0,0,0,0,0
$GC,5850,1.06,150.7,225.6,9.2,264,5855,0.00,2.42,0.00,0.000,4,0.000,0.052,3349,359,1991,0,0,0,0,0,0
$GC,5873,0.99,150.7,223.7,9.8,265,5878,0.17,2.35,0.00,0.000,6,0.102,0.025,3316,1779,1989,0,0,0,0,0,0
$GC,6207,1.06,157.9,198.9,7.2,281,6211,0.00,2.45,0.00,0.000,4,0.000,0.050,3315,356,1989,0,0,0,0,0,0
$GC,6246,1.07,162.5,195.8,7.5,284,6261,0.00,2.33,6.78,0.562,6,0.000,0.024,3316,1793,1966,0,0,0,0,0,0
$GC,6517,1.18,190.1,179.5,5.4,305,6551,0.17,2.53,25.73,0.649,4,0.055,0.047,3365,359,1854,0,0,0,0,0,0
$GC,6627,1.07,190.1,167.5,13.4,313,6632,0.15,2.30,0.00,0.000,6,0.102,0.022,3335,1763,1850,0,0,0,0,0,0
$GC,6893,1.12,190.1,139.3,10.3,334,6897,0.00,2.42,0.00,0.000,4,0.000,0.047,3335,357,1849,0,0,0,0,0,0
$GC,6922,1.07,190.1,135.7,12.7,336,6927,0.00,2.33,0.00,0.000,6,0.000,0.021,3335,1779,1848,0,0,0,0,0,0
$GC,7183,1.16,207.0,115.9,6.4,356,7205,0.00,2.55,15.23,0.561,4,0.000,0.047,3335,353,1786,0,0,0,0,0,0
$GC,7320,1.16,207.0,103.7,10.0,366,7324,0.00,2.30,0.00,0.000,6,0.000,0.020,3335,1780,1782,0,0,0,0,0,0
$GC,7587,1.32,223.2,84.8,6.4,387,7608,0.22,2.50,15.02,0.535,4,0.045,0.045,3400,358,1719,0,0,0,0,0,0
$GC,7660,1.23,223.2,77.6,12.5,392,7665,0.17,2.28,0.00,0.000,6,0.096,0.019,3365,1772,1717,0,0,0,0,0,0
$GC,7927,1.31,223.2,53.4,9.1,413,7931,0.00,2.42,0.00,0.000,4,0.000,0.044,3365,354,1716,0,0,0,0,0,0
$GC,7967,1.31,223.2,49.1,10.7,416,7971,0.00,2.30,0.00,0.000,6,0.000,0.018,3366,1787,1715,0,0,0,0,0,0
$GC,8229,1.37,223.2,22.7,11.2,446,8236,0.15,2.50,0.00,0.000,4,0.056,0.044,3413,356,1715,0,0,0,0,0,0
$GC,8279,1.24,223.2,15.9,14.5,456,8286,0.17,2.28,0.00,0.000,6,0.078,0.018,3373,1765,1715,0,0,0,0,0,0
$STATE,8402,end climb,SURFACE_DEPTH_REACHED
$STATE,8402,begin surface coast
$FINISH,0.8,1.017863
$STATE,8450,end surface coast,CONTROL_FINISHED_OK
$STATE,8450,begin surface
$SM_CCo,8474,102.85,0.486,0,0,958,410.14
$SM_GC,1.65,0.00,0.00,102.85,0.000,0.000,0.486,429,1674,958,-12.29,-0.57,410.14
$IRIDIUM_FIX,2057.14,-15759.05,161199,030343
$TT8_MAMPS,0.029146
$HUMID,52.67
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.5,21.303
$10V_AH,10.3,17.251
$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,31.625,110.050,243.000,102.850,0.000,25.069,30.817,329.117,4.500,0.000,15.969,993.009,5546.118,404.598,1507.447,629.461,0.000,1087.119,0.000,1488.028,0.000,29.269,0.000
$DEVICE_MAMPS,134.225,77.467,832.195,486.278,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,333.116,321.868,732.363,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355836
$DATA_FILE_SIZE,28591,495
$CAP_FILE_SIZE,104558,0
$CFSIZE,260165632,200871936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220810,090445,2107.786,-15757.534,32,4.7,51,9.8