version: 66.06
glider: 139
mission: 8
dive: 206
start: 8 18 110 0 57 26
data:
$ID,139
$MISSION,8
$DIVE,206
$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,-2154797.2
$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
$GPS1,005152,2106.013,-15746.148,13,2.5,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-72.8
$GPS2,005710,2106.025,-15746.099,13,2.6,32,9.8
$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,84.3,5509,-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,14,-1.56,-58.4,0.0,0.0,0,81,0.00,0.00,-64.18,0.000,2,0.000,0.000,427,1673,2773,0,0,0,0,0,0
$GC,84,-1.56,-58.4,3.5,-4.1,12,104,12.50,2.45,-1.75,0.000,4,0.134,0.053,2754,281,2871,0,0,0,0,0,0
$GC,129,-0.81,-58.4,19.7,-35.0,20,137,0.75,2.38,0.00,0.000,6,0.088,0.019,2919,1735,2873,0,0,0,0,0,0
$GC,337,-1.11,-58.4,41.4,-9.4,47,342,0.25,2.50,0.00,0.000,4,0.040,0.044,2840,288,2874,0,0,0,0,0,0
$GC,397,-1.20,-58.4,49.5,-14.4,51,404,0.00,2.28,0.00,0.000,6,0.000,0.018,2840,1713,2875,0,0,0,0,0,0
$GC,657,-1.38,-58.4,77.6,-10.2,72,662,0.17,2.47,0.00,0.000,4,0.050,0.046,2784,283,2875,0,0,0,0,0,0
$GC,703,-1.38,-58.4,84.5,-14.5,75,709,0.00,2.20,0.00,0.000,6,0.000,0.018,2784,1690,2875,0,0,0,0,0,0
$GC,963,-1.45,-58.4,119.5,-12.9,96,968,0.00,2.25,0.00,0.000,4,0.000,0.022,2784,3067,2876,0,0,0,0,0,0
$GC,1078,-1.60,-58.4,133.3,-11.3,104,1083,0.15,2.30,0.00,0.000,6,0.055,0.031,2736,1683,2875,0,0,0,0,0,0
$GC,1343,-1.60,-58.4,169.0,-13.4,125,1347,0.00,2.28,0.00,0.000,4,0.000,0.021,2737,3070,2877,0,0,0,0,0,0
$GC,1369,-1.66,-58.4,172.5,-13.7,127,1373,0.00,2.33,0.00,0.000,6,0.000,0.033,2736,1689,2876,0,0,0,0,0,0
$GC,1648,-1.69,-58.4,207.9,-12.5,147,1652,0.00,2.25,0.00,0.000,4,0.000,0.023,2736,3072,2877,0,0,0,0,0,0
$GC,1769,-1.78,-58.4,222.0,-10.4,152,1774,0.12,2.30,0.00,0.000,6,0.063,0.031,2695,1688,2877,0,0,0,0,0,0
$GC,2093,-1.73,-58.4,261.9,-11.9,168,2098,0.12,2.30,0.00,0.000,4,0.107,0.025,2720,3071,2877,0,0,0,0,0,0
$GC,2121,-1.78,-58.4,265.2,-10.1,169,2125,0.00,2.30,0.00,0.000,6,0.000,0.033,2720,1692,2877,0,0,0,0,0,0
$GC,2444,-1.78,-58.4,300.1,-10.9,185,2448,0.00,2.25,0.00,0.000,4,0.000,0.025,2720,3071,2877,0,0,0,0,0,0
$GC,2472,-1.87,-58.4,303.8,-11.7,185,2477,0.12,2.33,0.00,0.000,6,0.065,0.035,2680,1695,2876,0,0,0,0,0,0
$GC,2809,-1.83,-58.4,349.3,-13.5,194,2814,0.10,2.30,0.00,0.000,4,0.116,0.028,2699,3066,2876,0,0,0,0,0,0
$GC,2866,-1.87,-58.4,356.3,-11.2,195,2870,0.00,2.33,0.00,0.000,6,0.000,0.035,2699,1695,2876,0,0,0,0,0,0
$GC,3185,-1.87,-58.4,394.0,-11.8,203,3189,0.00,2.30,0.00,0.000,4,0.000,0.029,2699,3061,2874,0,0,0,0,0,0
$GC,3268,-1.93,-58.4,403.7,-11.3,204,3274,0.00,2.33,0.00,0.000,6,0.000,0.038,2699,1695,2874,0,0,0,0,0,0
$GC,3599,-1.93,-58.4,439.9,-10.7,213,3604,0.00,2.33,0.00,0.000,4,0.000,0.031,2699,3062,2871,0,0,0,0,0,0
$STATE,3708,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3711,begin apogee
$GC,3720,-0.31,0.0,450.2,8.8,215,3773,1.58,0.00,49.28,0.831,6,0.085,0.000,3029,1765,2630,0,0,0,0,0,0
$STATE,3774,end apogee,CONTROL_FINISHED_OK
$STATE,3774,begin climb
$GC,3776,1.56,58.4,451.5,0.0,216,3832,1.77,0.00,50.45,0.815,6,0.029,0.000,3449,1765,2391,0,0,0,0,0,0
$GC,4147,1.31,104.9,440.7,3.7,225,4195,0.30,2.38,40.45,0.819,4,0.108,0.032,3388,3132,2200,0,0,0,0,0,0
$GC,4407,1.17,109.3,420.8,7.5,230,4420,0.15,2.35,4.50,0.549,6,0.123,0.038,3360,1770,2184,0,0,0,0,0,0
$GC,4747,1.08,112.6,394.4,7.6,239,4751,0.12,2.38,0.00,0.000,4,0.122,0.035,3338,3143,2179,0,0,0,0,0,0
$GC,4826,1.09,116.7,388.4,7.5,240,4838,0.00,2.38,7.25,0.674,6,0.000,0.039,3338,1771,2154,0,0,0,0,0,0
$GC,5169,1.05,119.0,362.3,7.7,249,5173,0.00,2.35,0.00,0.000,4,0.000,0.035,3338,3143,2150,0,0,0,0,0,0
$GC,5202,1.05,122.5,359.3,7.6,249,5215,0.00,2.40,6.32,0.643,6,0.000,0.039,3338,1765,2129,0,0,0,0,0,0
$GC,5545,1.03,131.9,333.5,7.0,258,5561,0.00,2.42,9.52,0.703,4,0.000,0.033,3338,3134,2091,0,0,0,0,0,0
$GC,5700,1.04,142.8,321.7,6.9,261,5716,0.00,2.35,11.27,0.716,6,0.000,0.039,3338,1769,2047,0,0,0,0,0,0
$GC,6034,1.04,142.8,294.0,8.8,271,6038,0.00,2.47,0.00,0.000,4,0.000,0.054,3337,351,2043,0,0,0,0,0,0
$GC,6132,0.94,142.8,284.5,9.7,275,6137,0.15,2.33,0.00,0.000,6,0.114,0.026,3310,1745,2039,0,0,0,0,0,0
$GC,6456,1.00,142.8,258.7,8.3,291,6460,0.00,2.42,0.00,0.000,4,0.000,0.051,3309,358,2039,0,0,0,0,0,0
$GC,6485,1.00,142.8,256.1,8.8,292,6489,0.00,2.33,0.00,0.000,6,0.000,0.025,3309,1772,2037,0,0,0,0,0,0
$GC,6805,1.11,175.8,236.9,4.9,308,6840,0.12,2.40,28.92,0.712,4,0.069,0.030,3346,3182,1913,0,0,0,0,0,0
$GC,6918,1.15,176.2,229.6,7.9,313,6922,0.00,2.42,0.00,0.000,6,0.000,0.035,3346,1766,1912,0,0,0,0,0,0
$GC,7250,1.15,176.2,198.7,10.3,329,7254,0.00,2.45,0.00,0.000,4,0.000,0.050,3346,356,1909,0,0,0,0,0,0
$GC,7289,1.06,176.2,193.7,12.1,332,7293,0.00,2.33,0.00,0.000,6,0.000,0.023,3346,1780,1907,0,0,0,0,0,0
$GC,7554,1.06,176.2,167.9,8.9,353,7558,0.00,2.45,0.00,0.000,4,0.000,0.048,3346,357,1907,0,0,0,0,0,0
$GC,7651,0.98,176.2,157.3,11.3,360,7656,0.15,2.33,0.00,0.000,6,0.104,0.021,3317,1776,1905,0,0,0,0,0,0
$GC,7911,1.07,176.2,136.1,8.2,380,7916,0.00,2.47,0.00,0.000,4,0.000,0.047,3317,348,1905,0,0,0,0,0,0
$GC,7999,1.08,180.5,128.6,7.5,386,8009,0.00,2.35,4.38,0.423,6,0.000,0.021,3317,1781,1893,0,0,0,0,0,0
$GC,8275,1.20,186.2,109.3,7.4,408,8291,0.20,2.50,6.72,0.492,4,0.049,0.044,3373,361,1870,0,0,0,0,0,0
$GC,8344,1.10,186.2,102.9,9.8,412,8351,0.15,2.33,0.00,0.000,6,0.082,0.020,3340,1777,1869,0,0,0,0,0,0
$GC,8606,1.21,211.5,86.2,5.6,433,8637,0.10,2.53,23.60,0.559,4,0.075,0.044,3373,361,1767,0,0,0,0,0,0
$GC,8664,1.12,211.5,81.7,9.6,437,8669,0.15,2.28,0.00,0.000,6,0.101,0.019,3344,1768,1764,0,0,0,0,0,0
$GC,8932,1.21,211.5,59.8,8.3,458,8936,0.00,2.45,0.00,0.000,4,0.000,0.044,3343,348,1763,0,0,0,0,0,0
$GC,9025,1.21,211.5,51.4,9.7,465,9030,0.00,2.30,0.00,0.000,6,0.000,0.019,3344,1789,1761,0,0,0,0,0,0
$GC,9292,1.36,224.8,31.8,6.7,486,9310,0.22,2.53,12.12,0.481,4,0.044,0.044,3409,355,1712,0,0,0,0,0,0
$GC,9353,1.27,224.8,26.3,9.3,495,9360,0.12,2.30,0.00,0.000,6,0.084,0.018,3380,1767,1711,0,0,0,0,0,0
$GC,9556,1.31,224.8,8.2,9.0,541,9562,0.00,0.00,0.00,0.000,6,0.000,0.000,3380,1773,1711,0,0,0,0,0,0
$STATE,9617,end climb,SURFACE_DEPTH_REACHED
$STATE,9617,begin surface coast
$FINISH,0.6,1.023155
$STATE,9652,end surface coast,CONTROL_FINISHED_OK
$STATE,9653,begin surface
$SM_CCo,9676,105.75,0.492,0,0,957,410.14
$SM_GC,1.41,0.00,0.00,105.75,0.000,0.000,0.492,425,1656,957,-12.31,-1.10,410.14
$IRIDIUM_FIX,2059.45,-15745.74,111199,222211
$TT8_MAMPS,0.029146
$HUMID,51.65
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.5,18.139
$10V_AH,10.3,14.523
$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,32.250,118.075,254.800,105.750,0.000,27.737,26.133,126.775,4.500,0.000,33.887,1140.473,6240.432,422.641,1853.445,441.342,0.000,1234.053,0.000,1809.101,0.000,29.277,0.000
$DEVICE_MAMPS,134.225,72.098,831.428,491.647,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,378.895,359.871,849.947,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,31879,563
$CAP_FILE_SIZE,115678,0
$CFSIZE,260165632,202764288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180810,034137,2105.879,-15745.585,30,1.3,30,9.8