version: 66.06
glider: 139
mission: 8
dive: 62
start: 8 1 110 20 17 50
data:
$ID,139
$MISSION,8
$DIVE,62
$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,-2151493.2
$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
$GPS1,201236,2104.965,-15750.066,57,0.9,57,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-69.2
$GPS2,201731,2104.976,-15750.119,10,1.1,15,9.8
$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,73.1,12538,-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,-64.60,0.000,2,0.000,0.000,430,1702,2838,0,0,0,0,0,0
$GC,85,-1.46,-68.2,3.5,-4.7,12,110,12.70,2.47,-2.15,0.000,4,0.140,0.052,2764,282,2961,0,0,0,0,0,0
$GC,175,-1.31,-68.2,28.9,-20.7,30,182,0.17,2.35,0.00,0.000,6,0.096,0.018,2801,1724,2963,0,0,0,0,0,0
$GC,371,-1.31,-68.2,61.8,-16.3,46,372,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1725,2963,0,0,0,0,0,0
$GC,623,-1.36,-68.2,97.0,-12.0,66,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1728,2964,0,0,0,0,0,0
$GC,875,-1.42,-68.2,129.1,-11.8,86,879,0.00,2.47,0.00,0.000,4,0.000,0.046,2801,283,2965,0,0,0,0,0,0
$GC,987,-1.45,-68.2,143.5,-11.5,94,992,0.12,2.28,0.00,0.000,6,0.064,0.018,2762,1708,2965,0,0,0,0,0,0
$GC,1247,-1.45,-68.2,174.9,-12.7,114,1251,0.00,2.22,0.00,0.000,4,0.000,0.024,2761,3066,2966,0,0,0,0,0,0
$GC,1299,-1.56,-68.2,181.1,-11.6,118,1303,0.00,2.33,0.00,0.000,6,0.000,0.033,2761,1689,2966,0,0,0,0,0,0
$GC,1556,-1.56,-68.2,208.9,-10.3,136,1557,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1688,2966,0,0,0,0,0,0
$GC,1867,-1.60,-68.2,239.8,-11.1,151,1872,0.00,2.25,0.00,0.000,4,0.000,0.025,2761,3066,2966,0,0,0,0,0,0
$GC,1906,-1.72,-68.2,244.3,-11.1,152,1911,0.20,2.33,0.00,0.000,6,0.049,0.034,2702,1688,2966,0,0,0,0,0,0
$GC,2224,-1.66,-68.2,288.3,-14.5,167,2229,0.12,2.45,0.00,0.000,4,0.104,0.049,2727,280,2966,0,0,0,0,0,0
$GC,2246,-1.59,-68.2,291.9,-15.7,168,2250,0.00,2.25,0.00,0.000,6,0.000,0.021,2727,1688,2966,0,0,0,0,0,0
$GC,2591,-1.59,-68.2,334.0,-11.6,178,2595,0.00,2.28,0.00,0.000,4,0.000,0.029,2727,3069,2965,0,0,0,0,0,0
$GC,2638,-1.65,-68.2,339.3,-10.9,179,2642,0.00,2.35,0.00,0.000,6,0.000,0.038,2727,1692,2965,0,0,0,0,0,0
$GC,2962,-1.65,-68.2,373.5,-10.7,187,2966,0.00,2.30,0.00,0.000,4,0.000,0.031,2727,3071,2964,0,0,0,0,0,0
$GC,2986,-1.71,-68.2,376.3,-10.4,187,2990,0.00,2.38,0.00,0.000,6,0.000,0.040,2727,1689,2963,0,0,0,0,0,0
$GC,3328,-1.71,-68.2,408.9,-9.1,196,3329,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1689,2961,0,0,0,0,0,0
$GC,3650,-1.71,-68.2,436.8,-8.8,204,3654,0.00,2.33,0.00,0.000,4,0.000,0.035,2727,3068,2959,0,0,0,0,0,0
$GC,3688,-1.79,-68.2,440.3,-9.6,204,3694,0.12,2.38,0.00,0.000,6,0.072,0.042,2691,1692,2959,0,0,0,0,0,0
$STATE,3814,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3814,begin apogee
$GC,3821,-0.31,0.0,453.8,10.7,207,3882,1.58,0.00,57.33,0.857,6,0.084,0.000,3019,1872,2680,0,0,0,0,0,0
$STATE,3883,end apogee,CONTROL_FINISHED_OK
$STATE,3883,begin climb
$GC,3886,1.46,68.2,455.3,0.0,208,3956,1.67,2.42,59.10,0.837,4,0.032,0.038,3414,3252,2401,0,0,0,0,0,0
$GC,4005,1.30,155.9,456.3,1.1,210,4092,0.22,2.40,77.85,0.838,6,0.114,0.038,3373,1867,2043,0,0,0,0,0,0
$GC,4430,1.11,155.9,408.9,12.6,221,4435,0.20,2.53,0.00,0.000,4,0.110,0.056,3335,457,2032,0,0,0,0,0,0
$GC,4530,0.91,155.9,397.3,11.7,223,4535,0.22,2.38,0.00,0.000,6,0.109,0.030,3293,1861,2028,0,0,0,0,0,0
$GC,4849,0.91,155.9,369.7,8.5,231,4853,0.00,2.50,0.00,0.000,4,0.000,0.057,3293,463,2026,0,0,0,0,0,0
$GC,4882,0.82,155.9,366.4,10.3,231,4887,0.12,2.35,0.00,0.000,6,0.123,0.030,3270,1876,2025,0,0,0,0,0,0
$GC,5214,0.88,158.6,339.8,7.7,239,5218,0.00,2.53,0.00,0.000,4,0.000,0.055,3270,458,2024,0,0,0,0,0,0
$GC,5281,0.88,158.6,334.2,8.8,240,5285,0.00,2.35,0.00,0.000,6,0.000,0.029,3270,1875,2021,0,0,0,0,0,0
$GC,5627,0.97,182.2,311.5,6.1,249,5655,0.15,2.58,20.58,0.768,4,0.064,0.053,3311,456,1936,0,0,0,0,0,0
$GC,5705,0.87,182.2,304.6,10.4,250,5709,0.15,2.38,0.00,0.000,6,0.114,0.029,3283,1874,1933,0,0,0,0,0,0
$GC,6026,0.92,182.2,276.1,9.7,265,6031,0.00,2.50,0.00,0.000,4,0.000,0.053,3282,463,1932,0,0,0,0,0,0
$GC,6180,0.92,182.2,261.4,9.1,271,6186,0.00,2.35,0.00,0.000,6,0.000,0.028,3282,1875,1928,0,0,0,0,0,0
$GC,6497,1.01,199.5,238.6,6.6,287,6520,0.12,2.53,15.50,0.701,4,0.071,0.052,3317,459,1866,0,0,0,0,0,0
$GC,6536,0.95,199.5,235.4,8.6,288,6541,0.12,2.38,0.00,0.000,6,0.116,0.027,3295,1879,1864,0,0,0,0,0,0
$GC,6852,0.99,199.5,209.6,8.9,303,6857,0.00,2.50,0.00,0.000,4,0.000,0.051,3295,459,1862,0,0,0,0,0,0
$GC,6942,0.99,199.5,200.1,10.2,307,6947,0.00,2.33,0.00,0.000,6,0.000,0.025,3295,1882,1860,0,0,0,0,0,0
$GC,7268,1.07,199.5,172.6,8.3,332,7273,0.12,2.50,0.00,0.000,4,0.070,0.049,3332,454,1860,0,0,0,0,0,0
$GC,7365,0.97,199.5,163.4,9.8,339,7370,0.15,2.33,0.00,0.000,6,0.105,0.024,3303,1873,1859,0,0,0,0,0,0
$GC,7631,1.04,199.5,141.7,8.2,360,7635,0.00,2.45,0.00,0.000,4,0.000,0.047,3303,459,1859,0,0,0,0,0,0
$GC,7732,1.04,199.5,132.6,9.9,367,7738,0.00,2.30,0.00,0.000,6,0.000,0.022,3302,1876,1859,0,0,0,0,0,0
$GC,7993,1.13,203.4,113.4,7.6,388,8002,0.15,2.47,3.70,0.378,4,0.060,0.046,3348,459,1850,0,0,0,0,0,0
$GC,8091,1.05,203.4,103.5,10.2,394,8096,0.15,2.28,0.00,0.000,6,0.102,0.021,3319,1879,1850,0,0,0,0,0,0
$GC,8351,1.14,206.0,81.2,7.7,414,8360,0.00,2.47,3.90,0.376,4,0.000,0.044,3319,454,1840,0,0,0,0,0,0
$GC,8553,1.14,206.0,64.7,8.9,428,8557,0.00,2.28,0.00,0.000,6,0.000,0.021,3319,1887,1840,0,0,0,0,0,0
$GC,8820,1.28,245.7,48.8,4.8,449,8863,0.22,2.50,36.25,0.543,4,0.046,0.042,3385,460,1677,0,0,0,0,0,0
$GC,8908,1.17,245.7,40.6,12.4,455,8912,0.20,2.28,0.00,0.000,6,0.095,0.019,3345,1870,1673,0,0,0,0,0,0
$GC,9171,1.23,245.7,13.7,9.7,499,9178,0.00,2.45,0.00,0.000,4,0.000,0.044,3345,466,1673,0,0,0,0,0,0
$STATE,9267,end climb,SURFACE_DEPTH_REACHED
$STATE,9267,begin surface coast
$FINISH,0.5,1.023166
$STATE,9296,end surface coast,CONTROL_FINISHED_OK
$STATE,9296,begin surface
$SM_CCo,9321,92.60,0.502,0,0,1007,410.14
$SM_GC,1.03,0.00,0.00,92.60,0.000,0.000,0.502,426,1707,1007,-12.26,0.48,410.14
$IRIDIUM_FIX,2057.14,-15748.75,261099,171729
$TT8_MAMPS,0.029146
$HUMID,52.28
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.4,6.324
$10V_AH,10.4,3.955
$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,31.600,104.925,274.200,92.600,0.000,24.974,26.148,127.518,4.500,0.000,15.432,1056.121,6180.859,416.566,1642.167,414.084,0.000,1149.790,0.000,1618.553,0.000,29.261,0.000
$DEVICE_MAMPS,139.594,56.758,856.739,502.385,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,355.533,334.135,770.261,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,28660,527
$CAP_FILE_SIZE,105075,0
$CFSIZE,260165632,210202624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010810,225531,2105.206,-15748.999,9,1.9,9,9.8