version: 66.06
glider: 139
mission: 8
dive: 200
start: 8 17 110 8 21 18
data:
$ID,139
$MISSION,8
$DIVE,200
$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,-2154664.2
$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
$GPS1,081555,2105.862,-15748.908,42,1.8,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-71.0
$GPS2,082101,2105.881,-15748.880,14,1.6,14,9.8
$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,80.9,10302,-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,13,begin dive
$GC,15,-1.56,-58.4,0.0,0.0,0,82,0.00,0.00,-64.15,0.000,2,0.000,0.000,429,1723,2757,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.3,-3.5,12,110,12.55,2.53,-2.08,0.000,4,0.137,0.054,2752,286,2872,0,0,0,0,0,0
$GC,123,-0.46,-58.4,17.0,-31.4,18,130,1.17,2.35,0.00,0.000,6,0.097,0.019,2997,1733,2873,0,0,0,0,0,0
$GC,325,-0.96,-58.4,29.8,-2.9,64,332,0.45,2.50,0.00,0.000,4,0.031,0.042,2869,285,2874,0,0,0,0,0,0
$GC,386,-1.11,-58.4,35.5,-12.2,69,390,0.00,2.25,0.00,0.000,6,0.000,0.018,2870,1713,2874,0,0,0,0,0,0
$GC,651,-1.34,-58.4,64.4,-10.9,90,656,0.25,2.45,0.00,0.000,4,0.041,0.045,2792,289,2874,0,0,0,0,0,0
$GC,721,-1.34,-58.4,76.5,-18.7,95,725,0.00,2.20,0.00,0.000,6,0.000,0.018,2792,1701,2874,0,0,0,0,0,0
$GC,984,-1.42,-58.4,115.3,-13.7,115,988,0.00,2.20,0.00,0.000,4,0.000,0.021,2792,3069,2875,0,0,0,0,0,0
$GC,1012,-1.56,-58.4,119.1,-10.9,117,1017,0.15,2.28,0.00,0.000,6,0.054,0.031,2744,1692,2875,0,0,0,0,0,0
$GC,1272,-1.56,-58.4,154.0,-12.7,137,1276,0.00,2.28,0.00,0.000,4,0.000,0.022,2743,3064,2876,0,0,0,0,0,0
$GC,1360,-1.65,-58.4,165.4,-13.0,143,1366,0.00,2.30,0.00,0.000,6,0.000,0.031,2743,1690,2876,0,0,0,0,0,0
$GC,1621,-1.69,-58.4,192.9,-10.4,164,1622,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1690,2877,0,0,0,0,0,0
$GC,1869,-1.74,-58.4,220.3,-10.5,178,1871,0.10,0.00,0.00,0.000,6,0.076,0.000,2708,1689,2877,0,0,0,0,0,0
$GC,2178,-1.74,-58.4,257.0,-12.4,193,2182,0.00,2.25,0.00,0.000,4,0.000,0.025,2708,3066,2878,0,0,0,0,0,0
$GC,2202,-1.78,-58.4,260.1,-11.9,194,2206,0.00,2.30,0.00,0.000,6,0.000,0.032,2708,1686,2878,0,0,0,0,0,0
$GC,2532,-1.78,-58.4,298.4,-11.4,210,2536,0.00,2.25,0.00,0.000,4,0.000,0.026,2708,3058,2877,0,0,0,0,0,0
$GC,2575,-1.87,-58.4,303.5,-11.9,212,2579,0.00,2.30,0.00,0.000,6,0.000,0.035,2708,1688,2877,0,0,0,0,0,0
$GC,2905,-1.87,-58.4,341.1,-11.7,220,2909,0.00,2.30,0.00,0.000,4,0.000,0.028,2707,3056,2876,0,0,0,0,0,0
$GC,3049,-1.93,-58.4,357.9,-10.4,223,3054,0.12,2.30,0.00,0.000,6,0.067,0.036,2670,1691,2875,0,0,0,0,0,0
$GC,3370,-1.88,-58.4,399.6,-13.1,231,3378,0.10,2.30,0.00,0.000,4,0.116,0.030,2689,3056,2873,0,0,0,0,0,0
$GC,3470,-1.91,-58.4,412.0,-12.1,233,3474,0.00,2.33,0.00,0.000,6,0.000,0.040,2689,1694,2873,0,0,0,0,0,0
$STATE,3799,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3799,begin apogee
$GC,3806,-0.31,0.0,451.1,11.2,241,3859,1.65,0.00,49.42,0.832,6,0.086,0.000,3031,1693,2630,0,0,0,0,0,0
$STATE,3860,end apogee,CONTROL_FINISHED_OK
$STATE,3860,begin climb
$GC,3863,1.56,58.4,452.1,0.0,242,3921,1.80,0.00,50.75,0.815,6,0.030,0.000,3455,1693,2390,0,0,0,0,0,0
$GC,4248,1.27,81.3,434.9,5.8,252,4274,0.35,2.50,19.67,0.788,4,0.106,0.032,3383,3126,2297,0,0,0,0,0,0
$GC,4362,1.14,89.3,427.6,7.2,254,4376,0.17,2.35,8.15,0.693,6,0.115,0.038,3351,1766,2266,0,0,0,0,0,0
$GC,4704,1.07,103.8,404.8,6.6,262,4720,0.00,0.00,13.75,0.764,6,0.000,0.000,3350,1766,2206,0,0,0,0,0,0
$GC,5027,1.01,120.7,383.5,6.4,270,5048,0.15,2.40,15.73,0.770,4,0.117,0.035,3323,3134,2138,0,0,0,0,0,0
$GC,5055,1.03,143.6,381.7,5.8,270,5083,0.00,2.40,22.48,0.783,6,0.000,0.039,3323,1768,2044,0,0,0,0,0,0
$GC,5399,1.03,143.6,349.1,11.0,279,5403,0.00,2.50,0.00,0.000,4,0.000,0.056,3323,358,2037,0,0,0,0,0,0
$GC,5469,0.93,143.6,339.7,12.9,280,5473,0.00,2.33,0.00,0.000,6,0.000,0.028,3322,1742,2033,0,0,0,0,0,0
$GC,5810,0.93,143.6,304.7,10.1,289,5814,0.00,2.42,0.00,0.000,4,0.000,0.032,3323,3180,2033,0,0,0,0,0,0
$GC,5834,0.97,143.6,302.4,8.9,289,5838,0.00,2.45,0.00,0.000,6,0.000,0.039,3322,1769,2032,0,0,0,0,0,0
$GC,6159,0.97,149.1,276.8,7.4,304,6168,0.00,2.50,3.90,0.482,4,0.000,0.054,3322,358,2022,0,0,0,0,0,0
$GC,6206,0.90,149.1,272.6,9.1,306,6211,0.15,2.35,0.00,0.000,6,0.116,0.027,3295,1780,2020,0,0,0,0,0,0
$GC,6535,0.99,155.9,249.0,7.3,322,6547,0.00,2.53,7.47,0.621,4,0.000,0.053,3295,357,1994,0,0,0,0,0,0
$GC,6571,0.99,155.9,245.9,8.8,323,6576,0.00,2.38,0.00,0.000,6,0.000,0.026,3295,1776,1992,0,0,0,0,0,0
$GC,6888,1.13,179.5,224.0,5.8,339,6917,0.22,2.60,22.38,0.701,4,0.052,0.051,3354,352,1897,0,0,0,0,0,0
$GC,6971,1.02,179.5,216.3,10.8,342,6976,0.17,2.35,0.00,0.000,6,0.106,0.025,3321,1773,1893,0,0,0,0,0,0
$GC,7293,1.09,182.6,190.2,7.6,361,7297,0.00,2.50,0.00,0.000,4,0.000,0.049,3321,347,1892,0,0,0,0,0,0
$GC,7368,1.09,182.6,182.5,12.0,366,7375,0.00,2.38,0.00,0.000,6,0.000,0.023,3321,1768,1890,0,0,0,0,0,0
$GC,7628,1.17,182.6,160.1,8.1,387,7633,0.15,2.33,0.00,0.000,4,0.061,0.027,3364,3176,1890,0,0,0,0,0,0
$GC,7690,1.20,182.6,154.1,9.7,391,7695,0.00,2.38,0.00,0.000,6,0.000,0.034,3364,1765,1889,0,0,0,0,0,0
$GC,7948,1.20,182.6,131.3,9.0,412,7952,0.00,2.33,0.00,0.000,4,0.000,0.025,3364,3185,1889,0,0,0,0,0,0
$GC,8005,1.24,183.0,126.5,7.9,416,8009,0.00,2.40,0.00,0.000,6,0.000,0.031,3364,1768,1889,0,0,0,0,0,0
$GC,8263,1.25,194.1,105.8,6.9,436,8278,0.00,0.00,13.00,0.557,6,0.000,0.000,3364,1769,1838,0,0,0,0,0,0
$GC,8530,1.25,194.1,81.9,9.4,457,8534,0.00,2.42,0.00,0.000,4,0.000,0.046,3364,360,1837,0,0,0,0,0,0
$GC,8563,1.19,194.1,78.1,11.6,459,8569,0.00,2.33,0.00,0.000,6,0.000,0.019,3364,1782,1835,0,0,0,0,0,0
$GC,8824,1.26,208.2,59.6,6.6,480,8843,0.00,2.47,13.60,0.510,4,0.000,0.043,3364,352,1780,0,0,0,0,0,0
$GC,8974,1.26,208.2,48.6,8.5,491,8979,0.00,2.28,0.00,0.000,6,0.000,0.018,3364,1779,1778,0,0,0,0,0,0
$GC,9242,1.35,221.5,30.5,6.7,512,9264,0.12,2.30,12.52,0.483,4,0.064,0.022,3405,3146,1727,0,0,0,0,0,0
$GC,9293,1.39,227.4,26.3,7.4,520,9306,0.00,2.35,7.00,0.426,6,0.000,0.029,3404,1774,1703,0,0,0,0,0,0
$GC,9501,1.36,227.4,4.0,10.3,567,9508,0.00,2.42,0.00,0.000,4,0.000,0.041,3404,362,1701,0,0,0,0,0,0
$STATE,9514,end climb,SURFACE_DEPTH_REACHED
$STATE,9515,begin surface coast
$FINISH,0.7,1.009612
$STATE,9545,end surface coast,CONTROL_FINISHED_OK
$STATE,9546,begin surface
$SM_CCo,9571,103.45,0.494,0,0,957,410.14
$SM_GC,1.46,0.00,0.00,103.45,0.000,0.000,0.494,430,1717,957,-12.28,0.62,410.14
$IRIDIUM_FIX,2059.45,-15753.90,111199,050537
$TT8_MAMPS,0.029146
$HUMID,52.36
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,17.667
$10V_AH,10.3,14.078
$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,32.625,108.750,259.825,103.450,0.000,29.734,28.394,126.852,4.500,0.000,14.193,1121.193,6276.717,450.197,1697.625,433.948,0.000,1177.974,0.000,1681.591,0.000,29.261,0.000
$DEVICE_MAMPS,136.526,55.991,832.195,493.948,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,387.550,373.443,887.503,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,31766,576
$CAP_FILE_SIZE,108017,0
$CFSIZE,260165632,203083776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170810,110325,2105.897,-15748.540,9,1.7,14,9.8