version: 66.06
glider: 139
mission: 8
dive: 174
start: 8 14 110 8 50 25
data:
$ID,139
$MISSION,8
$DIVE,174
$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,-2154117.2
$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
$GPS1,084439,2106.121,-15755.002,11,3.5,30,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-71.7
$GPS2,085010,2106.092,-15755.024,11,4.4,30,9.8
$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,81.6,20924,-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,15,-1.56,-58.4,0.0,0.0,0,87,0.00,0.00,-67.75,0.000,6,0.000,0.000,428,1682,2870,0,0,0,0,0,0
$GC,90,-1.56,-58.4,3.9,-4.3,13,109,12.55,2.38,0.00,0.000,4,0.137,0.022,2754,3109,2872,0,0,0,0,0,0
$GC,271,-1.60,-58.4,43.3,-16.7,41,275,0.00,2.42,0.00,0.000,6,0.000,0.035,2753,1687,2874,0,0,0,0,0,0
$GC,534,-1.60,-58.4,87.5,-14.6,62,538,0.00,2.40,0.00,0.000,4,0.000,0.046,2753,283,2875,0,0,0,0,0,0
$GC,594,-1.53,-58.4,97.3,-16.1,66,601,0.00,2.33,0.00,0.000,6,0.000,0.018,2753,1727,2874,0,0,0,0,0,0
$GC,856,-1.57,-58.4,129.5,-10.2,87,860,0.00,2.17,0.00,0.000,4,0.000,0.022,2754,3072,2876,0,0,0,0,0,0
$GC,913,-1.68,-58.4,136.2,-11.7,91,917,0.00,2.30,0.00,0.000,6,0.000,0.031,2754,1692,2876,0,0,0,0,0,0
$GC,1177,-1.73,-58.4,167.4,-12.0,111,1183,0.15,0.00,0.00,0.000,6,0.059,0.000,2708,1691,2876,0,0,0,0,0,0
$GC,1441,-1.70,-58.4,201.0,-12.5,132,1443,0.10,0.00,0.00,0.000,6,0.115,0.000,2728,1691,2877,0,0,0,0,0,0
$GC,1747,-1.70,-58.4,237.2,-11.6,147,1751,0.00,2.25,0.00,0.000,4,0.000,0.024,2728,3071,2877,0,0,0,0,0,0
$GC,1950,-1.78,-58.4,262.3,-11.6,156,1954,0.00,2.30,0.00,0.000,6,0.000,0.034,2728,1695,2876,0,0,0,0,0,0
$GC,2280,-1.82,-58.4,298.6,-9.8,172,2282,0.10,0.00,0.00,0.000,6,0.077,0.000,2695,1695,2876,0,0,0,0,0,0
$GC,2585,-1.82,-58.4,331.9,-11.4,180,2587,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1695,2875,0,0,0,0,0,0
$GC,2910,-1.82,-58.4,371.4,-12.1,188,2914,0.00,2.33,0.00,0.000,4,0.000,0.029,2695,3068,2874,0,0,0,0,0,0
$GC,3086,-1.87,-58.4,392.4,-12.8,191,3092,0.00,2.33,0.00,0.000,6,0.000,0.038,2695,1695,2873,0,0,0,0,0,0
$GC,3419,-1.87,-58.4,434.2,-12.9,200,3423,0.00,2.35,0.00,0.000,4,0.000,0.031,2695,3074,2871,0,0,0,0,0,0
$GC,3466,-1.91,-58.4,439.3,-9.9,201,3470,0.00,2.38,0.00,0.000,6,0.000,0.041,2695,1698,2870,0,0,0,0,0,0
$STATE,3583,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3583,begin apogee
$GC,3589,-0.31,0.0,451.3,9.8,204,3642,1.60,0.00,49.22,0.833,6,0.084,0.000,3028,1698,2630,0,0,0,0,0,0
$STATE,3643,end apogee,CONTROL_FINISHED_OK
$STATE,3643,begin climb
$GC,3646,1.56,58.4,452.3,0.0,205,3707,1.80,2.55,50.42,0.816,4,0.029,0.033,3451,3138,2391,0,0,0,0,0,0
$GC,3972,1.32,91.7,438.1,4.9,212,4009,0.32,2.38,28.95,0.807,6,0.110,0.038,3390,1768,2256,0,0,0,0,0,0
$GC,4354,1.15,91.7,406.1,8.5,222,4359,0.20,2.38,0.00,0.000,4,0.111,0.033,3353,3146,2249,0,0,0,0,0,0
$GC,4568,1.12,122.6,393.0,5.1,226,4601,0.00,2.38,27.15,0.805,6,0.000,0.039,3352,1771,2130,0,0,0,0,0,0
$GC,4913,1.04,122.6,365.7,8.8,235,4915,0.12,0.00,0.00,0.000,6,0.122,0.000,3330,1771,2123,0,0,0,0,0,0
$GC,5235,1.04,123.8,340.0,7.8,243,5239,0.00,2.50,0.00,0.000,4,0.000,0.056,3330,358,2120,0,0,0,0,0,0
$GC,5254,0.96,123.8,338.2,9.0,243,5259,0.10,2.35,0.00,0.000,6,0.130,0.028,3314,1749,2119,0,0,0,0,0,0
$GC,5601,0.98,140.9,312.7,6.4,252,5622,0.00,2.45,15.77,0.748,4,0.000,0.034,3313,3177,2055,0,0,0,0,0,0
$GC,5694,1.05,147.4,306.4,7.3,254,5706,0.00,2.42,7.18,0.644,6,0.000,0.038,3313,1770,2029,0,0,0,0,0,0
$GC,6028,1.11,161.5,285.1,6.6,267,6044,0.12,0.00,13.77,0.717,6,0.072,0.000,3347,1770,1971,0,0,0,0,0,0
$GC,6357,1.11,161.5,251.2,11.6,282,6361,0.00,2.50,0.00,0.000,4,0.000,0.054,3347,355,1967,0,0,0,0,0,0
$GC,6474,0.99,161.5,235.6,13.7,287,6479,0.15,2.35,0.00,0.000,6,0.109,0.025,3319,1770,1964,0,0,0,0,0,0
$GC,6803,1.06,171.4,207.5,7.0,303,6814,0.00,0.00,9.20,0.624,6,0.000,0.000,3319,1776,1930,0,0,0,0,0,0
$GC,7139,1.13,171.4,180.1,8.8,326,7143,0.12,2.47,0.00,0.000,4,0.070,0.051,3355,359,1928,0,0,0,0,0,0
$GC,7289,1.03,171.4,163.2,10.6,337,7294,0.15,2.35,0.00,0.000,6,0.107,0.022,3326,1796,1926,0,0,0,0,0,0
$GC,7555,1.11,187.5,143.5,6.4,358,7577,0.00,2.53,15.07,0.601,4,0.000,0.047,3325,359,1865,0,0,0,0,0,0
$GC,7674,1.11,187.5,133.2,9.7,366,7681,0.00,2.33,0.00,0.000,6,0.000,0.021,3325,1759,1862,0,0,0,0,0,0
$GC,7936,1.21,192.9,113.8,7.4,387,7951,0.17,2.38,5.90,0.479,4,0.054,0.025,3376,3167,1843,0,0,0,0,0,0
$GC,7958,1.25,192.9,111.7,9.0,388,7962,0.00,2.40,0.00,0.000,6,0.000,0.031,3376,1760,1843,0,0,0,0,0,0
$GC,8216,1.25,192.9,84.7,11.8,408,8217,0.00,0.00,0.00,0.000,6,0.000,0.000,3376,1760,1843,0,0,0,0,0,0
$GC,8471,1.25,192.9,58.1,10.2,428,8475,0.00,2.38,0.00,0.000,4,0.000,0.045,3376,359,1843,0,0,0,0,0,0
$GC,8735,1.20,192.9,37.0,9.0,447,8742,0.00,2.30,0.00,0.000,6,0.000,0.019,3376,1780,1841,0,0,0,0,0,0
$GC,8998,1.26,201.9,17.2,7.1,496,9016,0.00,2.50,9.75,0.465,4,0.000,0.045,3376,359,1805,0,0,0,0,0,0
$STATE,9150,end climb,SURFACE_DEPTH_REACHED
$STATE,9150,begin surface coast
$FINISH,0.7,1.022886
$STATE,9185,end surface coast,CONTROL_FINISHED_OK
$STATE,9185,begin surface
$SM_CCo,9210,119.97,0.499,0,0,956,410.14
$SM_GC,1.49,0.00,0.00,119.97,0.000,0.000,0.499,426,1700,956,-12.30,0.17,410.14
$IRIDIUM_FIX,2059.45,-15753.90,081199,060604
$TT8_MAMPS,0.029146
$HUMID,52.52
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.5,15.565
$10V_AH,10.3,12.148
$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,30.400,75.975,232.400,119.975,0.000,29.854,30.817,137.518,4.500,0.000,31.872,1063.931,5973.786,407.031,1781.979,432.053,0.000,1157.821,0.000,1742.676,0.000,29.250,0.000
$DEVICE_MAMPS,136.526,55.991,832.962,498.550,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,362.385,344.387,797.715,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,28668,538
$CAP_FILE_SIZE,98959,0
$CFSIZE,260165632,204468224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140810,112706,2106.003,-15754.281,15,1.7,31,9.8