version: 66.06
glider: 139
mission: 8
dive: 424
start: 9 12 110 0 57 56
data:
$ID,139
$MISSION,8
$DIVE,424
$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,80
$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,-2159874
$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,3050
$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,1700
$C_ROLL_CLIMB,1700
$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
$GPS1,005144,2053.909,-15754.195,13,1.8,13,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-72.8
$GPS2,005738,2053.763,-15754.216,12,1.8,12,9.8
$SPEED_LIMITS,0.137,0.183
$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,31.4,29651,-20.5,-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,-1.38,-77.9,0.0,0.0,0,81,0.00,0.00,-64.30,0.000,2,0.000,0.000,430,1699,2764,0,0,0,0,0,0
$GC,85,-1.38,-77.9,3.7,-4.0,12,109,12.40,2.38,-3.40,0.000,4,0.133,0.035,2740,3108,2951,0,0,0,0,0,0
$GC,152,-1.31,-77.9,21.0,-16.5,25,159,0.08,2.42,0.00,0.000,6,0.089,0.032,2759,1693,2952,0,0,0,0,0,0
$GC,358,-1.13,-77.9,58.6,-19.6,48,360,0.20,0.00,0.00,0.000,6,0.097,0.000,2799,1693,2953,0,0,0,0,0,0
$GC,608,-1.08,-77.9,96.5,-12.2,68,612,0.00,2.40,0.00,0.000,4,0.000,0.045,2799,296,2954,0,0,0,0,0,0
$GC,698,-1.01,-77.9,108.4,-12.7,74,705,0.10,2.33,0.00,0.000,6,0.077,0.018,2824,1734,2954,0,0,0,0,0,0
$GC,961,-1.08,-77.9,127.6,-7.4,95,966,0.00,2.47,0.00,0.000,4,0.000,0.045,2825,288,2955,0,0,0,0,0,0
$GC,999,-1.08,-77.9,131.9,-10.7,98,1004,0.00,2.25,0.00,0.000,6,0.000,0.018,2825,1717,2956,0,0,0,0,0,0
$GC,1267,-1.15,-77.9,159.4,-11.0,119,1274,0.12,2.42,0.00,0.000,4,0.063,0.045,2782,297,2957,0,0,0,0,0,0
$GC,1307,-1.10,-77.9,165.6,-14.9,121,1313,0.12,2.22,0.00,0.000,6,0.099,0.018,2807,1700,2957,0,0,0,0,0,0
$GC,1569,-1.16,-77.9,198.1,-11.2,142,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1704,2957,0,0,0,0,0,0
$GC,1821,-1.24,-77.9,220.9,-7.6,155,1825,0.12,2.42,0.00,0.000,4,0.063,0.047,2765,295,2957,0,0,0,0,0,0
$GC,1860,-1.18,-77.9,224.7,-9.1,156,1867,0.10,2.25,0.00,0.000,6,0.075,0.019,2790,1699,2957,0,0,0,0,0,0
$GC,2176,-1.23,-77.9,252.3,-9.5,172,2179,0.00,2.42,0.00,0.000,4,0.000,0.048,2790,296,2958,0,0,0,0,0,0
$GC,2201,-1.23,-77.9,254.7,-9.9,173,2205,0.00,2.22,0.00,0.000,6,0.000,0.020,2790,1700,2958,0,0,0,0,0,0
$GC,2539,-1.30,-77.9,279.8,-7.0,189,2544,0.10,2.42,0.00,0.000,4,0.074,0.048,2755,293,2957,0,0,0,0,0,0
$GC,2559,-1.30,-77.9,281.9,-8.3,189,2565,0.00,2.22,0.00,0.000,6,0.000,0.021,2755,1693,2958,0,0,0,0,0,0
$GC,2873,-1.30,-77.9,314.0,-9.9,202,2874,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1698,2956,0,0,0,0,0,0
$GC,3199,-1.30,-77.9,351.3,-11.8,210,3203,0.00,2.28,0.00,0.000,4,0.000,0.028,2755,3077,2955,0,0,0,0,0,0
$GC,3273,-1.37,-77.9,359.9,-11.1,211,3278,0.00,2.35,0.00,0.000,6,0.000,0.037,2755,1699,2955,0,0,0,0,0,0
$GC,3615,-1.37,-77.9,390.6,-8.1,220,3616,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1699,2952,0,0,0,0,0,0
$GC,3939,-1.37,-77.9,414.2,-7.4,228,3943,0.00,2.45,0.00,0.000,4,0.000,0.054,2755,299,2950,0,0,0,0,0,0
$GC,3958,-1.37,-77.9,416.0,-8.7,228,3962,0.00,2.28,0.00,0.000,6,0.000,0.025,2755,1698,2950,0,0,0,0,0,0
$GC,4308,-1.40,-77.9,448.0,-9.6,237,4313,0.00,2.45,0.00,0.000,4,0.000,0.057,2755,299,2947,0,0,0,0,0,0
$STATE,4325,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4325,begin apogee
$GC,4333,-0.31,0.0,450.0,9.5,237,4402,1.02,0.00,64.45,0.830,6,0.074,0.000,2977,1701,2630,0,0,0,0,0,0
$STATE,4402,end apogee,CONTROL_FINISHED_OK
$STATE,4402,begin climb
$GC,4405,1.38,77.9,451.8,0.0,239,4480,1.67,2.40,66.97,0.815,4,0.039,0.032,3356,3088,2312,0,0,0,0,0,0
$GC,4495,1.30,167.0,451.1,1.9,241,4583,0.12,2.40,78.50,0.808,6,0.123,0.038,3334,1699,1948,0,0,0,0,0,0
$GC,4929,1.18,167.0,400.7,12.9,252,4934,0.12,2.50,0.00,0.000,4,0.117,0.058,3311,297,1938,0,0,0,0,0,0
$GC,4973,1.02,167.0,394.8,13.3,253,4978,0.20,2.33,0.00,0.000,6,0.107,0.027,3274,1708,1935,0,0,0,0,0,0
$GC,5302,1.02,167.0,358.1,11.2,261,5307,0.00,2.50,0.00,0.000,4,0.000,0.057,3273,298,1933,0,0,0,0,0,0
$GC,5331,0.95,167.0,354.7,11.4,261,5335,0.00,2.33,0.00,0.000,6,0.000,0.026,3273,1699,1931,0,0,0,0,0,0
$GC,5667,0.98,168.9,325.3,7.8,270,5668,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1704,1930,0,0,0,0,0,0
$GC,5993,1.02,168.9,299.7,8.2,278,5997,0.00,2.47,0.00,0.000,4,0.000,0.055,3273,298,1928,0,0,0,0,0,0
$GC,6021,0.97,168.9,297.1,9.3,279,6025,0.00,2.30,0.00,0.000,6,0.000,0.026,3274,1705,1927,0,0,0,0,0,0
$GC,6343,1.04,192.2,276.0,6.3,295,6368,0.00,2.38,19.30,0.713,4,0.000,0.030,3274,3075,1846,0,0,0,0,0,0
$GC,6391,1.18,235.1,273.3,5.0,297,6437,0.15,2.38,39.40,0.725,6,0.061,0.038,3316,1698,1670,0,0,0,0,0,0
$GC,6769,1.18,235.1,239.9,9.9,315,6774,0.00,2.47,0.00,0.000,4,0.000,0.054,3316,290,1664,0,0,0,0,0,0
$GC,6802,1.07,235.1,235.7,12.9,316,6807,0.17,2.33,0.00,0.000,6,0.098,0.024,3281,1711,1661,0,0,0,0,0,0
$GC,7120,1.14,235.1,204.1,10.0,331,7124,0.00,2.50,0.00,0.000,4,0.000,0.053,3281,289,1660,0,0,0,0,0,0
$GC,7367,1.14,235.1,171.9,12.3,348,7371,0.00,2.30,0.00,0.000,6,0.000,0.022,3281,1711,1656,0,0,0,0,0,0
$GC,7635,1.26,254.9,150.4,6.6,369,7658,0.20,2.58,16.35,0.599,4,0.049,0.050,3339,291,1589,0,0,0,0,0,0
$GC,7673,1.17,254.9,146.2,10.8,372,7678,0.17,2.28,0.00,0.000,6,0.095,0.021,3305,1711,1587,0,0,0,0,0,0
$GC,7935,1.23,254.9,122.6,9.4,392,7939,0.00,2.47,0.00,0.000,4,0.000,0.048,3305,294,1586,0,0,0,0,0,0
$GC,7967,1.23,254.9,118.3,13.6,394,7974,0.00,2.28,0.00,0.000,6,0.000,0.021,3306,1701,1585,0,0,0,0,0,0
$GC,8228,1.34,254.9,88.2,10.7,415,8233,0.15,2.45,0.00,0.000,4,0.056,0.048,3354,293,1585,0,0,0,0,0,0
$GC,8368,1.24,254.9,70.8,12.6,425,8373,0.15,2.25,0.00,0.000,6,0.094,0.020,3322,1714,1584,0,0,0,0,0,0
$GC,8631,1.32,254.9,49.3,8.5,445,8635,0.00,2.47,0.00,0.000,4,0.000,0.046,3322,287,1584,0,0,0,0,0,0
$GC,8771,1.32,254.9,33.6,11.0,455,8777,0.00,2.25,0.00,0.000,6,0.000,0.018,3322,1703,1583,0,0,0,0,0,0
$GC,9033,1.41,254.9,10.6,8.7,510,9041,0.15,2.47,0.00,0.000,4,0.055,0.047,3373,297,1583,0,0,0,0,0,0
$STATE,9096,end climb,SURFACE_DEPTH_REACHED
$STATE,9096,begin surface coast
$FINISH,1.0,1.012246
$STATE,9122,end surface coast,CONTROL_FINISHED_OK
$STATE,9122,begin surface
$SM_CCo,9147,86.32,0.482,0,0,957,410.14
$SM_GC,1.65,0.00,0.00,86.32,0.000,0.000,0.482,427,1703,957,-12.07,0.08,410.14
$IRIDIUM_FIX,2045.60,-15755.64,061299,222247
$TT8_MAMPS,0.029146
$HUMID,55.04
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.5,36.595
$10V_AH,10.2,30.598
$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,30.275,104.325,284.975,86.325,0.000,23.842,30.197,177.827,4.500,0.000,12.737,1025.379,6107.829,428.118,1544.625,480.080,0.000,1123.429,0.000,1525.833,0.000,29.271,0.000
$DEVICE_MAMPS,133.458,57.525,829.894,482.443,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,355.492,340.179,772.475,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355856
$DATA_FILE_SIZE,28574,529
$CAP_FILE_SIZE,101379,0
$CFSIZE,260165632,191389696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120910,033337,2053.310,-15753.869,69,1.0,69,9.8