version: 66.06
glider: 139
mission: 8
dive: 60
start: 8 1 110 14 46 27
data:
$ID,139
$MISSION,8
$DIVE,60
$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,-2151456.8
$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
$GPS1,144044,2104.607,-15750.688,10,1.9,10,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-72.3
$GPS2,144608,2104.638,-15750.756,14,2.0,14,9.8
$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,71.1,13717,-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,-64.82,0.000,2,0.000,0.000,425,1699,2851,0,0,0,0,0,0
$GC,85,-1.46,-68.2,3.7,-5.1,12,110,12.68,2.47,-1.85,0.000,4,0.138,0.054,2763,287,2961,0,0,0,0,0,0
$GC,166,-1.32,-68.2,28.9,-21.7,28,173,0.15,2.35,0.00,0.000,6,0.090,0.019,2796,1714,2962,0,0,0,0,0,0
$GC,362,-1.32,-68.2,60.2,-14.2,44,366,0.00,2.22,0.00,0.000,4,0.000,0.023,2796,3082,2964,0,0,0,0,0,0
$GC,404,-1.40,-68.2,66.0,-12.2,47,408,0.00,2.35,0.00,0.000,6,0.000,0.031,2796,1688,2963,0,0,0,0,0,0
$GC,665,-1.43,-68.2,100.1,-12.2,67,669,0.00,2.28,0.00,0.000,4,0.000,0.023,2796,3081,2964,0,0,0,0,0,0
$GC,718,-1.57,-68.2,105.9,-10.2,71,723,0.22,2.35,0.00,0.000,6,0.044,0.031,2732,1681,2964,0,0,0,0,0,0
$GC,986,-1.50,-68.2,144.0,-13.9,92,991,0.15,2.35,0.00,0.000,4,0.101,0.024,2762,3087,2965,0,0,0,0,0,0
$GC,1011,-1.50,-68.2,147.7,-12.5,94,1015,0.00,2.38,0.00,0.000,6,0.000,0.032,2762,1681,2965,0,0,0,0,0,0
$GC,1279,-1.50,-68.2,181.0,-12.7,115,1284,0.00,2.38,0.00,0.000,4,0.000,0.046,2762,285,2966,0,0,0,0,0,0
$GC,1307,-1.46,-68.2,185.2,-12.9,117,1312,0.00,2.25,0.00,0.000,6,0.000,0.019,2762,1707,2966,0,0,0,0,0,0
$GC,1567,-1.50,-68.2,212.8,-10.2,133,1571,0.00,2.47,0.00,0.000,4,0.000,0.048,2762,280,2966,0,0,0,0,0,0
$GC,1590,-1.50,-68.2,216.1,-12.6,134,1594,0.00,2.25,0.00,0.000,6,0.000,0.020,2762,1700,2966,0,0,0,0,0,0
$GC,1921,-1.54,-68.2,251.5,-11.7,150,1922,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1705,2966,0,0,0,0,0,0
$GC,2231,-1.60,-68.2,283.8,-10.3,165,2235,0.00,2.45,0.00,0.000,4,0.000,0.050,2762,281,2966,0,0,0,0,0,0
$GC,2263,-1.60,-68.2,287.7,-11.8,166,2268,0.00,2.25,0.00,0.000,6,0.000,0.021,2762,1686,2966,0,0,0,0,0,0
$GC,2597,-1.67,-68.2,318.2,-8.2,177,2602,0.15,2.30,0.00,0.000,4,0.061,0.028,2718,3065,2965,0,0,0,0,0,0
$GC,2626,-1.70,-68.2,320.8,-9.6,177,2630,0.00,2.35,0.00,0.000,6,0.000,0.037,2718,1686,2965,0,0,0,0,0,0
$GC,2961,-1.70,-68.2,354.2,-10.3,186,2965,0.00,2.28,0.00,0.000,4,0.000,0.029,2718,3064,2963,0,0,0,0,0,0
$GC,3000,-1.76,-68.2,358.2,-10.3,186,3006,0.00,2.35,0.00,0.000,6,0.000,0.038,2718,1690,2964,0,0,0,0,0,0
$GC,3331,-1.76,-68.2,389.6,-9.4,195,3335,0.00,2.30,0.00,0.000,4,0.000,0.031,2718,3067,2962,0,0,0,0,0,0
$GC,3364,-1.82,-68.2,393.0,-10.2,195,3369,0.10,2.38,0.00,0.000,6,0.079,0.040,2688,1687,2962,0,0,0,0,0,0
$GC,3697,-1.75,-68.2,431.9,-11.8,203,3702,0.00,2.30,0.00,0.000,4,0.000,0.033,2688,3062,2960,0,0,0,0,0,0
$GC,3748,-1.75,-68.2,438.0,-11.0,204,3752,0.00,2.38,0.00,0.000,6,0.000,0.041,2688,1685,2960,0,0,0,0,0,0
$STATE,3901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3901,begin apogee
$GC,3908,-0.31,0.0,454.1,10.4,208,3969,1.60,0.00,57.42,0.851,6,0.084,0.000,3020,1866,2680,0,0,0,0,0,0
$STATE,3970,end apogee,CONTROL_FINISHED_OK
$STATE,3970,begin climb
$GC,3973,1.46,68.2,455.2,0.0,209,4036,1.67,0.00,59.03,0.831,6,0.032,0.000,3415,1866,2402,0,0,0,0,0,0
$GC,4343,1.25,132.4,449.5,2.9,218,4403,0.25,0.00,56.53,0.838,6,0.111,0.000,3364,1866,2140,0,0,0,0,0,0
$GC,4712,1.08,132.4,417.8,9.3,227,4714,0.20,0.00,0.00,0.000,6,0.110,0.000,3326,1866,2131,0,0,0,0,0,0
$GC,5035,1.00,132.4,386.0,9.9,235,5040,0.00,2.40,0.00,0.000,4,0.000,0.039,3326,3253,2128,0,0,0,0,0,0
$GC,5065,0.95,132.4,383.3,8.8,235,5070,0.15,2.40,0.00,0.000,6,0.121,0.041,3300,1864,2127,0,0,0,0,0,0
$GC,5401,0.97,149.4,359.0,6.6,244,5421,0.00,2.47,14.02,0.764,4,0.000,0.038,3300,3251,2070,0,0,0,0,0,0
$GC,5441,0.98,157.2,356.0,7.3,244,5457,0.00,2.42,8.73,0.699,6,0.000,0.041,3300,1863,2038,0,0,0,0,0,0
$GC,5775,0.98,157.2,326.9,8.5,253,5779,0.00,2.47,0.00,0.000,4,0.000,0.054,3299,452,2034,0,0,0,0,0,0
$GC,5840,0.89,157.2,320.7,8.7,254,5845,0.00,2.35,0.00,0.000,6,0.000,0.029,3299,1861,2031,0,0,0,0,0,0
$GC,6167,0.89,157.2,295.4,8.0,263,6171,0.00,2.47,0.00,0.000,4,0.000,0.054,3299,462,2030,0,0,0,0,0,0
$GC,6275,0.82,157.2,286.2,9.8,267,6281,0.15,2.35,0.00,0.000,6,0.121,0.028,3272,1873,2028,0,0,0,0,0,0
$GC,6593,0.93,176.7,266.0,6.4,283,6616,0.00,2.55,17.38,0.728,4,0.000,0.051,3272,455,1958,0,0,0,0,0,0
$GC,6682,0.93,178.4,259.5,7.8,286,6689,0.00,2.40,0.00,0.000,6,0.000,0.027,3272,1885,1955,0,0,0,0,0,0
$GC,6999,1.07,214.3,241.1,5.1,302,7043,0.22,2.55,34.25,0.726,4,0.051,0.049,3331,462,1805,0,0,0,0,0,0
$GC,7187,0.96,214.3,218.9,12.9,310,7192,0.15,2.33,0.00,0.000,6,0.109,0.025,3303,1871,1799,0,0,0,0,0,0
$GC,7517,1.03,227.5,189.0,6.9,330,7535,0.00,2.55,11.85,0.629,4,0.000,0.050,3303,462,1751,0,0,0,0,0,0
$GC,7686,1.03,227.5,172.8,9.7,342,7690,0.00,2.33,0.00,0.000,6,0.000,0.023,3303,1876,1748,0,0,0,0,0,0
$GC,7947,1.10,227.5,149.3,9.6,362,7952,0.12,2.50,0.00,0.000,4,0.067,0.048,3341,455,1747,0,0,0,0,0,0
$GC,8097,1.02,227.5,127.0,13.5,373,8102,0.15,2.33,0.00,0.000,6,0.104,0.022,3312,1883,1745,0,0,0,0,0,0
$GC,8360,1.11,228.5,103.2,7.8,393,8365,0.00,2.47,0.00,0.000,4,0.000,0.045,3311,456,1746,0,0,0,0,0,0
$GC,8461,1.14,228.5,93.7,9.6,400,8468,0.08,2.30,0.00,0.000,6,0.043,0.021,3344,1865,1745,0,0,0,0,0,0
$GC,8724,1.18,230.6,73.4,7.7,421,8729,0.00,2.40,0.00,0.000,4,0.000,0.044,3344,458,1745,0,0,0,0,0,0
$GC,8763,1.14,230.6,69.4,10.1,424,8768,0.00,2.28,0.00,0.000,6,0.000,0.021,3344,1885,1745,0,0,0,0,0,0
$GC,9031,1.20,239.8,47.6,7.2,445,9044,0.00,0.00,11.50,0.504,6,0.000,0.000,3345,1890,1702,0,0,0,0,0,0
$GC,9294,1.26,255.6,29.3,6.7,466,9311,0.00,0.00,15.02,0.500,6,0.000,0.000,3345,1890,1636,0,0,0,0,0,0
$GC,9507,1.32,255.6,9.4,10.2,514,9514,0.15,2.53,0.00,0.000,4,0.057,0.045,3390,453,1635,0,0,0,0,0,0
$STATE,9557,end climb,SURFACE_DEPTH_REACHED
$STATE,9557,begin surface coast
$FINISH,0.3,1.019175
$STATE,9580,end surface coast,CONTROL_FINISHED_OK
$STATE,9581,begin surface
$SM_CCo,9607,87.32,0.502,0,0,1007,410.14
$SM_GC,1.15,0.00,0.00,87.32,0.000,0.000,0.502,429,1706,1007,-12.24,0.48,410.14
$IRIDIUM_FIX,2057.14,-15748.75,261099,121239
$TT8_MAMPS,0.028379
$HUMID,51.61
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.20
$XPDR_PINGS,1
$24V_AH,23.4,6.144
$10V_AH,10.4,3.808
$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,31.125,104.525,285.725,87.325,0.000,28.870,34.323,145.836,4.750,0.000,14.237,1047.685,6525.856,436.946,1567.176,443.285,0.000,1139.507,0.000,1547.057,0.000,29.248,0.000
$DEVICE_MAMPS,138.060,54.457,850.603,502.385,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,356.913,334.390,762.452,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,28620,530
$CAP_FILE_SIZE,104136,0
$CFSIZE,260165632,210305024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010810,173036,2104.730,-15750.406,117,0.9,117,9.8