version: 66.06
glider: 139
mission: 8
dive: 56
start: 8 1 110 4 36 51
data:
$ID,139
$MISSION,8
$DIVE,56
$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,70
$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,-2151368.2
$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,3090
$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,1690
$C_ROLL_CLIMB,1870
$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,2680
$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
$GPS1,042526,2104.615,-15751.817,34,6.4,53,9.8
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-72.1
$GPS2,043631,2104.546,-15752.115,17,6.2,36,9.8
$SPEED_LIMITS,0.137,0.172
$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,71.8,16064,-22.0,-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,-1.46,-68.2,0.0,0.0,0,87,0.00,0.00,-68.78,0.000,6,0.000,0.000,428,1712,2959,0,0,0,0,0,0
$GC,90,-1.46,-68.2,4.1,-5.9,13,108,12.62,2.45,0.00,0.000,4,0.137,0.036,2763,276,2961,0,0,0,0,0,0
$GC,116,-0.07,-68.2,16.5,-30.6,17,123,1.48,2.38,0.00,0.000,6,0.094,0.020,3070,1714,2961,0,0,0,0,0,0
$GC,322,-0.77,-68.2,33.5,-9.4,58,330,0.65,2.45,0.00,0.000,4,0.047,0.042,2914,284,2963,0,0,0,0,0,0
$GC,406,-1.02,-68.2,39.6,-7.1,64,411,0.20,2.25,0.00,0.000,6,0.046,0.018,2852,1713,2962,0,0,0,0,0,0
$GC,674,-1.14,-68.2,71.2,-12.6,85,678,0.00,2.45,0.00,0.000,4,0.000,0.045,2852,285,2963,0,0,0,0,0,0
$GC,700,-1.21,-68.2,74.8,-13.2,87,704,0.12,2.22,0.00,0.000,6,0.062,0.018,2809,1708,2963,0,0,0,0,0,0
$GC,966,-1.29,-68.2,105.4,-8.8,108,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1714,2964,0,0,0,0,0,0
$GC,1216,-1.39,-68.2,130.7,-9.6,128,1220,0.00,2.47,0.00,0.000,4,0.000,0.047,2808,281,2964,0,0,0,0,0,0
$GC,1268,-1.46,-68.2,135.8,-9.4,132,1273,0.17,2.20,0.00,0.000,6,0.051,0.018,2753,1686,2964,0,0,0,0,0,0
$GC,1533,-1.46,-68.2,166.1,-12.9,153,1534,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1692,2965,0,0,0,0,0,0
$GC,1787,-1.46,-68.2,199.0,-12.3,173,1791,0.00,2.42,0.00,0.000,4,0.000,0.047,2753,284,2965,0,0,0,0,0,0
$GC,1810,-1.42,-68.2,202.4,-13.9,175,1815,0.12,2.20,0.00,0.000,6,0.107,0.020,2777,1687,2965,0,0,0,0,0,0
$GC,2140,-1.50,-68.2,233.2,-8.1,191,2141,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1692,2965,0,0,0,0,0,0
$GC,2447,-1.57,-68.2,261.9,-9.4,206,2451,0.12,2.25,0.00,0.000,4,0.067,0.027,2736,3058,2964,0,0,0,0,0,0
$GC,2515,-1.63,-68.2,268.6,-9.9,209,2519,0.00,2.28,0.00,0.000,6,0.000,0.033,2736,1688,2964,0,0,0,0,0,0
$GC,2844,-1.63,-68.2,305.7,-12.2,224,2845,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1688,2963,0,0,0,0,0,0
$GC,3169,-1.66,-68.2,348.7,-12.9,232,3170,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1687,2963,0,0,0,0,0,0
$GC,3495,-1.69,-68.2,384.1,-9.9,240,3496,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1687,2961,0,0,0,0,0,0
$GC,3819,-1.74,-68.2,411.1,-8.2,248,3821,0.12,0.00,0.00,0.000,6,0.067,0.000,2699,1687,2959,0,0,0,0,0,0
$GC,4145,-1.70,-68.2,443.6,-10.6,256,4150,0.10,2.50,0.00,0.000,4,0.117,0.059,2717,283,2956,0,0,0,0,0,0
$GC,4161,-1.65,-68.2,445.5,-10.7,256,4165,0.00,2.28,0.00,0.000,6,0.000,0.027,2717,1675,2957,0,0,0,0,0,0
$STATE,4228,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4228,begin apogee
$GC,4234,-0.31,0.0,452.9,10.2,258,4295,1.42,0.00,57.03,0.847,6,0.078,0.000,3018,1874,2680,0,0,0,0,0,0
$STATE,4296,end apogee,CONTROL_FINISHED_OK
$STATE,4296,begin climb
$GC,4299,1.46,68.2,454.0,0.0,259,4366,1.70,2.47,58.78,0.831,4,0.029,0.041,3421,3250,2402,0,0,0,0,0,0
$GC,4379,1.30,196.7,455.4,-2.0,261,4499,0.25,2.40,112.57,0.834,6,0.104,0.038,3374,1869,1877,0,0,0,0,0,0
$GC,4846,1.14,196.7,393.5,15.1,273,4851,0.17,2.53,0.00,0.000,4,0.106,0.059,3340,466,1868,0,0,0,0,0,0
$GC,5032,0.96,196.7,364.5,15.3,277,5037,0.20,2.35,0.00,0.000,6,0.105,0.029,3302,1867,1862,0,0,0,0,0,0
$GC,5355,0.96,196.7,327.2,11.6,285,5359,0.00,2.50,0.00,0.000,4,0.000,0.055,3302,465,1861,0,0,0,0,0,0
$GC,5493,0.89,196.7,310.8,11.8,288,5498,0.00,2.35,0.00,0.000,6,0.000,0.028,3302,1875,1858,0,0,0,0,0,0
$GC,5825,0.89,196.7,279.9,8.6,301,5829,0.00,2.50,0.00,0.000,4,0.000,0.053,3302,462,1858,0,0,0,0,0,0
$GC,6004,0.84,196.7,259.3,11.4,308,6011,0.10,2.38,0.00,0.000,6,0.097,0.028,3279,1876,1855,0,0,0,0,0,0
$GC,6322,0.95,217.1,233.4,6.3,324,6346,0.00,2.58,15.32,0.686,4,0.000,0.051,3279,462,1794,0,0,0,0,0,0
$GC,6388,0.95,217.1,228.2,8.5,326,6395,0.00,2.38,0.00,0.000,6,0.000,0.026,3279,1872,1791,0,0,0,0,0,0
$GC,6703,1.05,217.1,202.6,8.9,342,6708,0.17,2.50,0.00,0.000,4,0.054,0.051,3329,460,1789,0,0,0,0,0,0
$GC,6814,0.96,217.1,189.7,12.3,349,6819,0.15,2.30,0.00,0.000,6,0.106,0.025,3301,1874,1788,0,0,0,0,0,0
$GC,7081,1.03,217.1,167.3,9.2,370,7085,0.00,2.47,0.00,0.000,4,0.000,0.048,3300,455,1788,0,0,0,0,0,0
$GC,7160,1.03,217.1,157.5,12.9,376,7164,0.00,2.33,0.00,0.000,6,0.000,0.023,3301,1880,1787,0,0,0,0,0,0
$GC,7427,1.13,220.3,132.0,7.7,397,7432,0.15,2.47,0.00,0.000,4,0.059,0.048,3346,452,1786,0,0,0,0,0,0
$GC,7447,1.13,220.3,129.8,8.6,398,7453,0.00,2.33,0.00,0.000,6,0.000,0.022,3346,1877,1786,0,0,0,0,0,0
$GC,7706,1.13,220.3,107.3,9.2,419,7710,0.00,2.45,0.00,0.000,4,0.000,0.045,3346,460,1786,0,0,0,0,0,0
$GC,7884,1.05,220.3,89.1,9.7,432,7889,0.15,2.28,0.00,0.000,6,0.097,0.021,3317,1875,1786,0,0,0,0,0,0
$GC,8154,1.14,220.3,66.2,8.9,453,8159,0.10,2.42,0.00,0.000,4,0.075,0.044,3353,462,1786,0,0,0,0,0,0
$GC,8186,1.08,220.3,62.5,9.8,455,8193,0.10,2.28,0.00,0.000,6,0.077,0.021,3328,1878,1786,0,0,0,0,0,0
$GC,8449,1.17,227.4,42.6,7.3,476,8464,0.00,2.45,9.52,0.486,4,0.000,0.043,3328,462,1751,0,0,0,0,0,0
$GC,8718,1.17,227.4,21.4,8.3,512,8724,0.00,2.28,0.00,0.000,6,0.000,0.020,3328,1874,1748,0,0,0,0,0,0
$GC,8920,1.27,227.4,3.1,9.8,558,8927,0.17,2.45,0.00,0.000,4,0.051,0.042,3384,466,1749,0,0,0,0,0,0
$STATE,8934,end climb,SURFACE_DEPTH_REACHED
$STATE,8934,begin surface coast
$FINISH,0.4,1.011678
$STATE,8965,end surface coast,CONTROL_FINISHED_OK
$STATE,8965,begin surface
$SM_CCo,8991,105.88,0.503,0,0,1007,410.14
$SM_GC,0.96,0.00,0.00,105.88,0.000,0.000,0.503,429,1703,1007,-12.24,0.31,410.14
$IRIDIUM_FIX,2054.83,-15751.76,261099,040418
$TT8_MAMPS,0.028379
$HUMID,51.10
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.4,5.794
$10V_AH,10.4,3.523
$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,33.325,90.475,253.225,105.875,0.000,65.528,88.505,276.772,4.500,0.000,37.129,1096.108,5803.137,413.599,1748.478,701.972,0.000,1146.566,0.000,1707.711,0.000,29.256,0.000
$DEVICE_MAMPS,136.526,59.059,846.768,503.152,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,381.712,371.023,893.563,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355740
$DATA_FILE_SIZE,31827,567
$CAP_FILE_SIZE,105255,0
$CFSIZE,260165632,210493440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010810,070937,2104.414,-15752.183,31,1.7,31,9.8