version: 66.06
glider: 139
mission: 8
dive: 57
start: 8 1 110 7 15 50
data:
$ID,139
$MISSION,8
$DIVE,57
$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,-2151387.8
$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
$GPS1,070937,2104.414,-15752.183,31,1.7,31,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-74.3
$GPS2,071531,2104.392,-15752.294,13,1.8,18,9.8
$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,71.0,16413,-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,12,begin dive
$GC,15,-1.46,-68.2,0.0,0.0,0,82,0.00,0.00,-64.32,0.000,2,0.000,0.000,429,1704,2800,0,0,0,0,0,0
$GC,85,-1.46,-68.2,3.0,-4.0,12,104,12.62,0.00,-2.92,0.000,6,0.137,0.000,2762,1704,2961,0,0,0,0,0,0
$GC,296,-1.37,-68.2,48.2,-16.5,44,301,0.12,2.50,0.00,0.000,4,0.110,0.048,2787,278,2964,0,0,0,0,0,0
$GC,315,-1.27,-68.2,51.9,-17.1,45,322,0.10,2.35,0.00,0.000,6,0.086,0.019,2811,1724,2963,0,0,0,0,0,0
$GC,577,-1.34,-68.2,89.1,-12.4,66,578,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1725,2964,0,0,0,0,0,0
$GC,827,-1.42,-68.2,117.4,-10.2,86,832,0.15,2.50,0.00,0.000,4,0.058,0.046,2765,279,2965,0,0,0,0,0,0
$GC,856,-1.34,-68.2,121.2,-13.9,88,861,0.15,2.22,0.00,0.000,6,0.100,0.018,2795,1698,2964,0,0,0,0,0,0
$GC,1117,-1.40,-68.2,149.2,-10.3,108,1120,0.00,2.22,0.00,0.000,4,0.000,0.024,2796,3063,2966,0,0,0,0,0,0
$GC,1218,-1.55,-68.2,159.4,-9.8,115,1225,0.20,2.33,0.00,0.000,6,0.047,0.032,2735,1686,2966,0,0,0,0,0,0
$GC,1479,-1.52,-68.2,190.9,-11.6,136,1481,0.12,0.00,0.00,0.000,6,0.104,0.000,2761,1685,2966,0,0,0,0,0,0
$GC,1733,-1.55,-68.2,219.9,-12.2,151,1739,0.00,2.40,0.00,0.000,4,0.000,0.047,2760,285,2966,0,0,0,0,0,0
$GC,1749,-1.55,-68.2,222.7,-13.3,151,1753,0.00,2.22,0.00,0.000,6,0.000,0.020,2761,1697,2966,0,0,0,0,0,0
$GC,2065,-1.59,-68.2,265.6,-13.0,166,2069,0.00,2.22,0.00,0.000,4,0.000,0.026,2761,3061,2966,0,0,0,0,0,0
$GC,2106,-1.70,-68.2,270.4,-11.2,167,2112,0.17,2.33,0.00,0.000,6,0.054,0.035,2709,1685,2966,0,0,0,0,0,0
$GC,2421,-1.66,-68.2,305.7,-10.1,182,2426,0.00,2.42,0.00,0.000,4,0.000,0.051,2709,286,2965,0,0,0,0,0,0
$GC,2441,-1.58,-68.2,307.9,-11.1,182,2446,0.17,2.25,0.00,0.000,6,0.098,0.022,2744,1686,2966,0,0,0,0,0,0
$GC,2787,-1.63,-68.2,336.5,-8.8,191,2791,0.00,2.30,0.00,0.000,4,0.000,0.029,2744,3069,2964,0,0,0,0,0,0
$GC,2839,-1.73,-68.2,341.1,-8.6,192,2844,0.15,2.35,0.00,0.000,6,0.060,0.037,2701,1690,2964,0,0,0,0,0,0
$GC,3162,-1.69,-68.2,376.7,-10.9,200,3167,0.10,2.33,0.00,0.000,4,0.118,0.031,2720,3062,2962,0,0,0,0,0,0
$GC,3238,-1.73,-68.2,384.0,-9.5,201,3243,0.00,2.35,0.00,0.000,6,0.000,0.040,2720,1693,2962,0,0,0,0,0,0
$GC,3575,-1.73,-68.2,421.4,-11.1,210,3579,0.00,2.47,0.00,0.000,4,0.000,0.058,2720,285,2960,0,0,0,0,0,0
$GC,3612,-1.68,-68.2,426.1,-12.1,210,3618,0.00,2.25,0.00,0.000,6,0.000,0.026,2720,1675,2959,0,0,0,0,0,0
$STATE,3820,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3820,begin apogee
$GC,3828,-0.31,0.0,450.3,11.5,216,3889,1.42,0.00,57.58,0.847,6,0.080,0.000,3020,1879,2680,0,0,0,0,0,0
$STATE,3890,end apogee,CONTROL_FINISHED_OK
$STATE,3890,begin climb
$GC,3892,1.46,68.2,452.2,0.0,217,3963,1.67,2.42,59.17,0.830,4,0.031,0.039,3417,3247,2401,0,0,0,0,0,0
$GC,3970,1.35,215.1,455.3,-3.5,218,4106,0.17,2.40,128.43,0.834,6,0.117,0.038,3385,1867,1803,0,0,0,0,0,0
$GC,4429,1.16,215.1,391.3,16.4,230,4435,0.22,2.50,0.00,0.000,4,0.105,0.056,3342,458,1792,0,0,0,0,0,0
$GC,4530,0.97,215.1,373.2,19.9,232,4535,0.20,2.35,0.00,0.000,6,0.108,0.029,3303,1866,1789,0,0,0,0,0,0
$GC,4849,0.97,215.1,332.2,12.0,240,4854,0.00,2.50,0.00,0.000,4,0.000,0.058,3303,460,1787,0,0,0,0,0,0
$GC,4973,0.88,215.1,317.1,12.6,242,4978,0.00,2.35,0.00,0.000,6,0.000,0.029,3303,1878,1784,0,0,0,0,0,0
$GC,5291,0.88,215.1,280.7,12.3,254,5296,0.00,2.50,0.00,0.000,4,0.000,0.054,3303,459,1784,0,0,0,0,0,0
$GC,5389,0.82,215.1,267.5,14.0,258,5394,0.17,2.38,0.00,0.000,6,0.111,0.028,3270,1879,1782,0,0,0,0,0,0
$GC,5712,0.92,215.1,238.8,8.9,274,5717,0.00,2.47,0.00,0.000,4,0.000,0.053,3270,463,1781,0,0,0,0,0,0
$GC,5802,0.96,215.1,229.3,11.1,278,5807,0.12,2.35,0.00,0.000,6,0.067,0.027,3309,1882,1779,0,0,0,0,0,0
$GC,6133,1.00,215.1,195.1,9.6,295,6137,0.00,2.50,0.00,0.000,4,0.000,0.051,3308,460,1780,0,0,0,0,0,0
$GC,6214,0.96,215.1,186.1,10.3,301,6218,0.00,2.33,0.00,0.000,6,0.000,0.025,3308,1876,1778,0,0,0,0,0,0
$GC,6484,1.01,215.1,160.2,9.8,322,6488,0.00,2.47,0.00,0.000,4,0.000,0.049,3308,455,1778,0,0,0,0,0,0
$GC,6567,1.01,215.1,150.5,11.9,328,6571,0.00,2.30,0.00,0.000,6,0.000,0.023,3309,1878,1777,0,0,0,0,0,0
$GC,6828,1.08,215.1,125.7,9.2,348,6832,0.00,2.47,0.00,0.000,4,0.000,0.047,3308,451,1777,0,0,0,0,0,0
$GC,6902,1.08,215.1,117.5,10.3,353,6908,0.00,2.30,0.00,0.000,6,0.000,0.021,3309,1882,1777,0,0,0,0,0,0
$GC,7161,1.16,215.1,97.2,8.0,374,7166,0.15,2.42,0.00,0.000,4,0.058,0.046,3354,460,1777,0,0,0,0,0,0
$GC,7426,1.08,215.1,68.1,10.7,393,7433,0.10,2.28,0.00,0.000,6,0.081,0.021,3330,1869,1777,0,0,0,0,0,0
$GC,7688,1.17,226.5,48.1,7.0,414,7704,0.00,2.47,6.78,0.456,4,0.000,0.044,3330,459,1755,0,0,0,0,0,0
$GC,7948,1.17,226.5,24.9,9.5,441,7955,0.00,2.28,0.00,0.000,6,0.000,0.020,3330,1859,1754,0,0,0,0,0,0
$GC,8151,1.26,226.5,9.1,8.6,487,8158,0.15,2.33,0.00,0.000,4,0.057,0.026,3378,3246,1753,0,0,0,0,0,0
$GC,8204,1.26,226.5,3.8,8.6,498,8211,0.00,2.35,0.00,0.000,6,0.000,0.031,3378,1866,1753,0,0,0,0,0,0
$STATE,8216,end climb,SURFACE_DEPTH_REACHED
$STATE,8216,begin surface coast
$FINISH,0.4,1.013816
$STATE,8256,end surface coast,CONTROL_FINISHED_OK
$STATE,8256,begin surface
$SM_CCo,8280,100.80,0.504,0,0,1008,410.14
$SM_GC,1.06,0.00,0.00,100.80,0.000,0.000,0.504,431,1676,1008,-12.24,-0.40,410.14
$IRIDIUM_FIX,2059.45,-15750.89,261099,040400
$TT8_MAMPS,0.028379
$HUMID,51.96
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.4,5.881
$10V_AH,10.4,3.594
$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,31.025,95.325,251.950,100.800,0.000,29.921,33.968,168.633,4.500,0.000,18.748,1018.409,5221.719,408.768,1626.984,459.619,0.000,1122.607,0.000,1605.137,0.000,29.262,0.000
$DEVICE_MAMPS,137.293,59.826,846.768,503.919,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,342.689,333.626,784.955,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,28653,509
$CAP_FILE_SIZE,100329,0
$CFSIZE,260165632,210456576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010810,093657,2104.429,-15751.824,28,5.5,47,9.8