version: 66.06
glider: 139
mission: 8
dive: 195
start: 8 16 110 18 21 18
data:
$ID,139
$MISSION,8
$DIVE,195
$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,-2154525.5
$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
$GPS1,181606,2106.051,-15749.933,31,0.9,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-73.7
$GPS2,182101,2106.109,-15749.977,11,0.9,16,9.8
$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,82.8,12209,-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,-64.35,0.000,2,0.000,0.000,429,1673,2756,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.2,-3.4,12,110,12.50,2.42,-2.15,0.000,4,0.135,0.055,2751,292,2872,0,0,0,0,0,0
$GC,135,-0.93,-58.4,19.6,-32.5,21,142,0.62,2.35,0.00,0.000,6,0.085,0.019,2891,1730,2872,0,0,0,0,0,0
$GC,343,-1.17,-58.4,42.3,-10.0,48,348,0.20,2.50,0.00,0.000,4,0.046,0.045,2829,286,2874,0,0,0,0,0,0
$GC,370,-1.23,-58.4,45.9,-13.5,50,374,0.00,2.25,0.00,0.000,6,0.000,0.018,2829,1713,2874,0,0,0,0,0,0
$GC,635,-1.37,-58.4,82.9,-12.9,71,640,0.12,2.20,0.00,0.000,4,0.063,0.021,2785,3069,2875,0,0,0,0,0,0
$GC,655,-1.49,-58.4,86.1,-14.3,72,662,0.00,2.33,0.00,0.000,6,0.000,0.031,2785,1698,2875,0,0,0,0,0,0
$GC,917,-1.56,-58.4,121.5,-12.7,93,922,0.12,2.42,0.00,0.000,4,0.064,0.045,2744,283,2876,0,0,0,0,0,0
$GC,951,-1.49,-58.4,127.4,-16.7,95,957,0.15,2.22,0.00,0.000,6,0.100,0.018,2774,1695,2876,0,0,0,0,0,0
$GC,1212,-1.57,-58.4,155.0,-9.8,116,1213,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1700,2877,0,0,0,0,0,0
$GC,1462,-1.67,-58.4,180.0,-10.6,136,1467,0.17,2.42,0.00,0.000,4,0.052,0.046,2722,292,2877,0,0,0,0,0,0
$GC,1487,-1.62,-58.4,183.3,-13.9,137,1493,0.12,2.20,0.00,0.000,6,0.107,0.019,2745,1701,2877,0,0,0,0,0,0
$GC,1759,-1.66,-58.4,216.8,-12.6,155,1763,0.00,2.42,0.00,0.000,4,0.000,0.047,2745,285,2877,0,0,0,0,0,0
$GC,1783,-1.66,-58.4,220.4,-13.5,156,1787,0.00,2.22,0.00,0.000,6,0.000,0.020,2745,1697,2877,0,0,0,0,0,0
$GC,2109,-1.71,-58.4,254.3,-10.4,172,2113,0.00,2.25,0.00,0.000,4,0.000,0.024,2746,3072,2877,0,0,0,0,0,0
$GC,2208,-1.83,-58.4,264.1,-10.0,176,2212,0.20,2.33,0.00,0.000,6,0.050,0.034,2687,1693,2877,0,0,0,0,0,0
$GC,2530,-1.80,-58.4,305.7,-14.0,191,2531,0.10,0.00,0.00,0.000,6,0.114,0.000,2706,1692,2878,0,0,0,0,0,0
$GC,2854,-1.80,-58.4,343.5,-11.3,199,2858,0.00,2.28,0.00,0.000,4,0.000,0.027,2706,3074,2876,0,0,0,0,0,0
$GC,3012,-1.87,-58.4,359.9,-9.6,202,3017,0.00,2.35,0.00,0.000,6,0.000,0.037,2706,1688,2876,0,0,0,0,0,0
$GC,3362,-1.87,-58.4,394.2,-9.7,211,3363,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1688,2873,0,0,0,0,0,0
$GC,3688,-1.87,-58.4,426.7,-9.7,219,3692,0.00,2.33,0.00,0.000,4,0.000,0.031,2706,3065,2871,0,0,0,0,0,0
$GC,3842,-1.95,-58.4,440.6,-8.5,222,3847,0.15,2.33,0.00,0.000,6,0.064,0.041,2665,1697,2870,0,0,0,0,0,0
$STATE,3946,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3946,begin apogee
$GC,3953,-0.31,0.0,451.2,10.0,225,4006,1.77,0.00,49.53,0.840,6,0.087,0.000,3032,1697,2630,0,0,0,0,0,0
$STATE,4007,end apogee,CONTROL_FINISHED_OK
$STATE,4007,begin climb
$GC,4010,1.56,58.4,452.0,0.0,226,4069,1.77,2.53,50.60,0.823,4,0.030,0.034,3451,3148,2391,0,0,0,0,0,0
$GC,4112,1.34,113.1,449.7,3.0,228,4167,0.30,2.38,48.67,0.818,6,0.110,0.038,3395,1769,2168,0,0,0,0,0,0
$GC,4486,1.15,113.1,411.8,10.9,238,4488,0.22,0.00,0.00,0.000,6,0.107,0.000,3353,1769,2158,0,0,0,0,0,0
$GC,4810,1.07,113.1,382.9,9.0,246,4814,0.00,2.35,0.00,0.000,4,0.000,0.035,3353,3138,2155,0,0,0,0,0,0
$GC,4996,1.02,113.1,366.4,8.1,250,5001,0.17,2.35,0.00,0.000,6,0.120,0.039,3321,1773,2154,0,0,0,0,0,0
$GC,5320,1.03,123.7,342.4,6.9,258,5332,0.00,2.53,7.32,0.669,4,0.000,0.057,3320,349,2125,0,0,0,0,0,0
$GC,5428,0.97,158.6,336.5,4.8,260,5468,0.00,2.33,32.62,0.788,6,0.000,0.027,3321,1749,1983,0,0,0,0,0,0
$GC,5786,0.97,158.6,309.5,8.6,269,5787,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,1750,1977,0,0,0,0,0,0
$GC,6096,0.97,158.6,281.5,8.7,281,6101,0.00,2.45,0.00,0.000,4,0.000,0.053,3321,358,1974,0,0,0,0,0,0
$GC,6175,0.91,158.6,272.4,12.8,284,6180,0.12,2.38,0.00,0.000,6,0.120,0.026,3299,1783,1972,0,0,0,0,0,0
$GC,6492,1.01,158.6,243.5,8.1,299,6496,0.00,2.50,0.00,0.000,4,0.000,0.051,3299,357,1971,0,0,0,0,0,0
$GC,6521,1.01,158.6,240.9,8.8,300,6525,0.00,2.33,0.00,0.000,6,0.000,0.025,3299,1770,1970,0,0,0,0,0,0
$GC,6841,1.12,170.9,218.1,6.8,316,6854,0.20,0.00,10.12,0.637,6,0.054,0.000,3352,1776,1932,0,0,0,0,0,0
$GC,7162,1.12,170.9,187.0,9.7,335,7167,0.00,2.47,0.00,0.000,4,0.000,0.048,3352,350,1930,0,0,0,0,0,0
$GC,7222,1.02,170.9,180.8,10.1,339,7228,0.15,2.35,0.00,0.000,6,0.106,0.023,3323,1782,1928,0,0,0,0,0,0
$GC,7484,1.10,175.6,162.5,7.5,360,7499,0.00,2.50,5.38,0.499,4,0.000,0.046,3323,350,1912,0,0,0,0,0,0
$GC,7542,1.11,178.6,157.6,7.6,364,7551,0.00,2.33,3.95,0.412,6,0.000,0.021,3323,1789,1902,0,0,0,0,0,0
$GC,7808,1.20,178.6,136.6,8.3,384,7813,0.15,2.50,0.00,0.000,4,0.060,0.047,3367,351,1901,0,0,0,0,0,0
$GC,7929,1.12,178.6,122.9,11.2,393,7934,0.12,2.28,0.00,0.000,6,0.110,0.020,3344,1766,1900,0,0,0,0,0,0
$GC,8196,1.21,202.2,104.4,5.8,414,8225,0.00,2.50,22.70,0.578,4,0.000,0.044,3343,348,1803,0,0,0,0,0,0
$GC,8275,1.21,202.2,97.3,10.0,419,8281,0.00,2.33,0.00,0.000,6,0.000,0.020,3343,1776,1801,0,0,0,0,0,0
$GC,8536,1.29,202.2,75.1,8.4,440,8541,0.17,2.47,0.00,0.000,4,0.053,0.045,3394,355,1800,0,0,0,0,0,0
$GC,8645,1.18,202.2,62.3,11.5,448,8650,0.20,2.28,0.00,0.000,6,0.096,0.019,3354,1780,1798,0,0,0,0,0,0
$GC,8915,1.32,246.8,46.0,3.9,469,8961,0.15,2.35,38.47,0.529,4,0.058,0.023,3399,3159,1622,0,0,0,0,0,0
$GC,8966,1.33,256.1,42.5,7.1,472,8981,0.00,2.40,9.40,0.462,6,0.000,0.028,3399,1765,1585,0,0,0,0,0,0
$GC,9238,1.33,256.1,11.8,12.7,515,9245,0.00,2.42,0.00,0.000,4,0.000,0.044,3399,366,1582,0,0,0,0,0,0
$STATE,9296,end climb,SURFACE_DEPTH_REACHED
$STATE,9296,begin surface coast
$FINISH,0.8,1.012264
$STATE,9314,end surface coast,CONTROL_FINISHED_OK
$STATE,9315,begin surface
$SM_CCo,9340,85.12,0.492,0,0,957,410.14
$SM_GC,1.37,0.00,0.00,85.12,0.000,0.000,0.492,430,1713,957,-12.28,0.51,410.14
$IRIDIUM_FIX,2059.45,-15750.89,101199,151534
$TT8_MAMPS,0.028379
$HUMID,53.38
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.5,17.266
$10V_AH,10.4,13.696
$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,32.825,99.275,278.775,85.125,0.000,27.409,26.611,117.101,4.500,0.000,16.813,1053.624,6184.347,421.270,1640.262,419.509,0.000,1153.623,0.000,1620.239,0.000,29.267,0.000
$DEVICE_MAMPS,134.992,56.758,839.865,491.647,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,357.623,341.119,770.281,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,28584,532
$CAP_FILE_SIZE,105359,0
$CFSIZE,260165632,203362304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160810,205934,2106.274,-15749.794,12,3.3,31,9.8