version: 66.06
glider: 139
mission: 8
dive: 59
start: 8 1 110 12 13 20
data:
$ID,139
$MISSION,8
$DIVE,59
$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,-2151441.8
$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
$GPS1,120455,2104.542,-15751.136,67,1.1,67,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-72.3
$GPS2,121301,2104.572,-15751.244,11,1.3,11,9.8
$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,71.1,14569,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.46,-68.2,0.0,0.0,0,83,0.00,0.00,-64.03,0.000,2,0.000,0.000,426,1678,2829,0,0,0,0,0,0
$GC,86,-1.46,-68.2,3.4,-4.9,12,105,12.68,0.00,-2.30,0.000,6,0.138,0.000,2763,1677,2959,0,0,0,0,0,0
$GC,298,-1.37,-68.2,47.7,-16.1,44,303,0.12,2.38,0.00,0.000,4,0.115,0.023,2786,3101,2962,0,0,0,0,0,0
$GC,345,-1.44,-68.2,54.8,-13.8,47,351,0.00,2.42,0.00,0.000,6,0.000,0.035,2786,1687,2962,0,0,0,0,0,0
$GC,603,-1.44,-68.2,88.6,-12.4,68,607,0.00,2.35,0.00,0.000,4,0.000,0.024,2786,3102,2963,0,0,0,0,0,0
$GC,637,-1.52,-68.2,92.5,-11.3,70,644,0.10,2.40,0.00,0.000,6,0.036,0.030,2747,1685,2963,0,0,0,0,0,0
$GC,900,-1.47,-68.2,130.7,-16.3,91,905,0.12,2.42,0.00,0.000,4,0.106,0.046,2771,289,2964,0,0,0,0,0,0
$GC,943,-1.47,-68.2,138.2,-15.7,94,947,0.00,2.28,0.00,0.000,6,0.000,0.018,2771,1721,2964,0,0,0,0,0,0
$GC,1202,-1.47,-68.2,169.3,-11.6,114,1207,0.00,2.47,0.00,0.000,4,0.000,0.046,2771,290,2964,0,0,0,0,0,0
$GC,1226,-1.47,-68.2,172.6,-13.3,116,1230,0.00,2.25,0.00,0.000,6,0.000,0.020,2771,1708,2964,0,0,0,0,0,0
$GC,1506,-1.51,-68.2,202.3,-9.7,137,1507,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,1714,2964,0,0,0,0,0,0
$GC,1811,-1.58,-68.2,236.7,-11.9,152,1816,0.12,2.47,0.00,0.000,4,0.067,0.048,2733,282,2964,0,0,0,0,0,0
$GC,1864,-1.52,-68.2,244.0,-15.0,154,1869,0.12,2.25,0.00,0.000,6,0.105,0.021,2758,1689,2965,0,0,0,0,0,0
$GC,2192,-1.58,-68.2,283.8,-11.1,170,2196,0.00,2.42,0.00,0.000,4,0.000,0.049,2758,282,2964,0,0,0,0,0,0
$GC,2225,-1.58,-68.2,288.0,-12.1,171,2229,0.00,2.28,0.00,0.000,6,0.000,0.021,2758,1695,2964,0,0,0,0,0,0
$GC,2559,-1.64,-68.2,321.7,-9.4,182,2563,0.12,2.47,0.00,0.000,4,0.068,0.051,2721,287,2964,0,0,0,0,0,0
$GC,2584,-1.58,-68.2,324.5,-11.2,182,2589,0.12,2.25,0.00,0.000,6,0.106,0.022,2744,1688,2963,0,0,0,0,0,0
$GC,2926,-1.63,-68.2,359.0,-9.9,191,2928,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,1693,2962,0,0,0,0,0,0
$GC,3252,-1.68,-68.2,391.2,-10.3,199,3256,0.00,2.45,0.00,0.000,4,0.000,0.056,2745,288,2960,0,0,0,0,0,0
$GC,3308,-1.68,-68.2,397.8,-11.2,200,3313,0.00,2.30,0.00,0.000,6,0.000,0.025,2744,1690,2960,0,0,0,0,0,0
$GC,3622,-1.75,-68.2,429.1,-9.7,208,3623,0.15,0.00,0.00,0.000,6,0.065,0.000,2704,1695,2957,0,0,0,0,0,0
$STATE,3822,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3822,begin apogee
$GC,3829,-0.31,0.0,451.0,11.0,213,3890,1.50,0.00,57.10,0.851,6,0.081,0.000,3018,1880,2680,0,0,0,0,0,0
$STATE,3891,end apogee,CONTROL_FINISHED_OK
$STATE,3891,begin climb
$GC,3893,1.46,68.2,452.5,0.0,214,3964,1.67,2.42,59.12,0.834,4,0.032,0.039,3415,3248,2401,0,0,0,0,0,0
$GC,3974,1.32,193.7,453.9,-1.8,215,4093,0.20,2.40,110.05,0.835,6,0.113,0.038,3378,1868,1890,0,0,0,0,0,0
$GC,4430,1.14,193.7,390.9,16.1,227,4435,0.20,2.53,0.00,0.000,4,0.109,0.058,3340,463,1880,0,0,0,0,0,0
$GC,4460,0.93,193.7,385.8,16.5,227,4465,0.25,2.35,0.00,0.000,6,0.104,0.029,3292,1860,1877,0,0,0,0,0,0
$GC,4796,0.93,193.7,347.7,10.8,236,4801,0.00,2.47,0.00,0.000,4,0.000,0.057,3292,466,1875,0,0,0,0,0,0
$GC,5006,0.88,193.7,323.4,12.0,240,5010,0.00,2.35,0.00,0.000,6,0.000,0.028,3292,1870,1871,0,0,0,0,0,0
$GC,5327,0.92,193.7,291.9,9.6,250,5331,0.00,2.50,0.00,0.000,4,0.000,0.054,3292,462,1870,0,0,0,0,0,0
$GC,5425,0.88,193.7,281.3,10.5,254,5429,0.00,2.35,0.00,0.000,6,0.000,0.028,3292,1875,1867,0,0,0,0,0,0
$GC,5745,0.94,194.1,253.7,7.9,270,5749,0.00,2.50,0.00,0.000,4,0.000,0.053,3292,458,1867,0,0,0,0,0,0
$GC,5848,0.91,194.1,244.1,9.3,274,5852,0.00,2.33,0.00,0.000,6,0.000,0.027,3292,1874,1865,0,0,0,0,0,0
$GC,6168,0.97,194.1,215.7,8.5,290,6172,0.00,2.47,0.00,0.000,4,0.000,0.051,3292,462,1866,0,0,0,0,0,0
$GC,6366,0.97,194.1,196.2,11.2,299,6371,0.00,2.33,0.00,0.000,6,0.000,0.025,3292,1880,1864,0,0,0,0,0,0
$GC,6624,1.05,194.1,172.4,9.1,320,6629,0.12,2.47,0.00,0.000,4,0.068,0.048,3330,455,1863,0,0,0,0,0,0
$GC,6699,0.96,194.1,164.3,11.0,325,6706,0.15,2.30,0.00,0.000,6,0.107,0.023,3301,1878,1863,0,0,0,0,0,0
$GC,6961,1.03,194.1,143.4,8.2,346,6965,0.00,2.47,0.00,0.000,4,0.000,0.047,3301,452,1863,0,0,0,0,0,0
$GC,7102,1.03,194.1,130.3,9.2,356,7108,0.00,2.33,0.00,0.000,6,0.000,0.022,3301,1876,1863,0,0,0,0,0,0
$GC,7363,1.13,210.1,113.0,6.7,377,7380,0.15,2.53,10.88,0.555,4,0.060,0.045,3346,455,1823,0,0,0,0,0,0
$GC,7476,1.04,210.1,101.5,11.5,385,7481,0.15,2.30,0.00,0.000,6,0.101,0.021,3317,1878,1821,0,0,0,0,0,0
$GC,7743,1.14,225.2,81.9,6.7,406,7764,0.00,2.47,14.77,0.545,4,0.000,0.042,3318,460,1760,0,0,0,0,0,0
$GC,7771,1.20,225.2,79.3,8.7,408,7776,0.15,2.30,0.00,0.000,6,0.059,0.021,3363,1886,1758,0,0,0,0,0,0
$GC,8040,1.20,225.2,56.4,8.1,429,8044,0.00,2.45,0.00,0.000,4,0.000,0.043,3362,452,1758,0,0,0,0,0,0
$GC,8098,1.11,225.2,50.3,9.4,433,8106,0.12,2.28,0.00,0.000,6,0.080,0.020,3333,1871,1757,0,0,0,0,0,0
$GC,8361,1.22,246.6,32.1,6.2,454,8391,0.10,2.30,19.58,0.514,4,0.075,0.025,3367,3229,1673,0,0,0,0,0,0
$GC,8439,1.25,247.8,26.4,7.8,464,8446,0.00,2.33,0.00,0.000,6,0.000,0.028,3368,1868,1672,0,0,0,0,0,0
$GC,8642,1.25,247.8,7.0,10.5,510,8648,0.00,2.42,0.00,0.000,4,0.000,0.044,3367,464,1672,0,0,0,0,0,0
$STATE,8670,end climb,SURFACE_DEPTH_REACHED
$STATE,8670,begin surface coast
$FINISH,1.7,1.023204
$STATE,8680,end surface coast,CONTROL_FINISHED_OK
$STATE,8680,begin surface
$SM_CCo,8705,90.22,0.502,0,0,1007,410.14
$SM_GC,1.03,0.00,0.00,90.22,0.000,0.000,0.502,425,1697,1007,-12.26,0.20,410.14
$IRIDIUM_FIX,2057.14,-15753.90,261099,121227
$TT8_MAMPS,0.029146
$HUMID,51.73
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.4,6.057
$10V_AH,10.4,3.738
$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,31.125,100.050,271.500,90.225,0.000,48.379,58.235,201.480,4.500,0.000,11.175,1027.440,5716.189,411.530,1590.067,539.603,0.000,1125.409,0.000,1574.373,0.000,29.248,0.000
$DEVICE_MAMPS,138.060,57.525,850.603,501.618,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,348.851,337.108,775.264,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,28684,518
$CAP_FILE_SIZE,103745,0
$CFSIZE,260165632,210350080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010810,144044,2104.607,-15750.688,10,1.9,10,9.8