version: 66.06
glider: 139
mission: 8
dive: 63
start: 8 1 110 23 1 2
data:
$ID,139
$MISSION,8
$DIVE,63
$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,-2151510.5
$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
$GPS1,225531,2105.206,-15748.999,9,1.9,9,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-69.7
$GPS2,230043,2105.182,-15749.028,16,1.7,16,9.8
$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,73.9,10622,-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,-64.32,0.000,2,0.000,0.000,425,1710,2847,0,0,0,0,0,0
$GC,85,-1.46,-68.2,3.6,-5.3,12,104,12.75,0.00,-1.98,0.000,6,0.140,0.000,2763,1710,2960,0,0,0,0,0,0
$GC,305,-1.38,-68.2,51.8,-18.7,44,309,0.12,2.33,0.00,0.000,4,0.117,0.023,2785,3102,2963,0,0,0,0,0,0
$GC,337,-1.42,-68.2,57.5,-14.9,46,344,0.00,2.42,0.00,0.000,6,0.000,0.032,2785,1684,2963,0,0,0,0,0,0
$GC,598,-1.42,-68.2,89.6,-10.8,67,602,0.00,2.42,0.00,0.000,4,0.000,0.046,2785,278,2964,0,0,0,0,0,0
$GC,612,-1.42,-68.2,91.6,-11.1,68,616,0.00,2.30,0.00,0.000,6,0.000,0.018,2785,1732,2963,0,0,0,0,0,0
$GC,872,-1.47,-68.2,122.6,-11.6,88,877,0.00,2.47,0.00,0.000,4,0.000,0.045,2785,285,2964,0,0,0,0,0,0
$GC,901,-1.47,-68.2,126.4,-13.4,90,905,0.00,2.22,0.00,0.000,6,0.000,0.018,2785,1698,2964,0,0,0,0,0,0
$GC,1161,-1.53,-68.2,153.7,-10.2,110,1166,0.12,2.47,0.00,0.000,4,0.067,0.047,2745,281,2966,0,0,0,0,0,0
$GC,1191,-1.44,-68.2,158.0,-14.0,112,1196,0.15,2.22,0.00,0.000,6,0.101,0.019,2775,1688,2965,0,0,0,0,0,0
$GC,1450,-1.49,-68.2,188.4,-11.2,132,1454,0.00,2.22,0.00,0.000,4,0.000,0.024,2776,3062,2966,0,0,0,0,0,0
$GC,1469,-1.56,-68.2,190.6,-10.8,133,1475,0.12,2.28,0.00,0.000,6,0.064,0.032,2735,1688,2966,0,0,0,0,0,0
$GC,1739,-1.52,-68.2,225.5,-13.1,149,1744,0.10,2.30,0.00,0.000,4,0.116,0.025,2755,3067,2966,0,0,0,0,0,0
$GC,1810,-1.62,-68.2,233.7,-10.4,152,1814,0.00,2.30,0.00,0.000,6,0.000,0.032,2755,1686,2966,0,0,0,0,0,0
$GC,2137,-1.66,-68.2,272.0,-12.3,168,2141,0.12,2.30,0.00,0.000,4,0.067,0.026,2718,3064,2966,0,0,0,0,0,0
$GC,2160,-1.69,-68.2,275.2,-11.6,169,2165,0.00,2.30,0.00,0.000,6,0.000,0.035,2718,1692,2966,0,0,0,0,0,0
$GC,2484,-1.69,-68.2,310.8,-10.9,183,2489,0.00,2.42,0.00,0.000,4,0.000,0.050,2717,279,2965,0,0,0,0,0,0
$GC,2499,-1.64,-68.2,312.7,-10.8,183,2503,0.00,2.25,0.00,0.000,6,0.000,0.022,2717,1690,2965,0,0,0,0,0,0
$GC,2813,-1.64,-68.2,348.4,-10.9,191,2817,0.00,2.28,0.00,0.000,4,0.000,0.029,2717,3071,2964,0,0,0,0,0,0
$GC,2873,-1.70,-68.2,355.2,-10.7,192,2877,0.00,2.35,0.00,0.000,6,0.000,0.038,2717,1685,2964,0,0,0,0,0,0
$GC,3222,-1.70,-68.2,394.4,-11.6,201,3224,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1684,2963,0,0,0,0,0,0
$GC,3550,-1.70,-68.2,432.2,-11.5,209,3551,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1684,2960,0,0,0,0,0,0
$STATE,3707,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3708,begin apogee
$GC,3714,-0.31,0.0,451.7,12.0,213,3776,1.45,0.00,57.83,0.847,6,0.080,0.000,3022,1863,2680,0,0,0,0,0,0
$STATE,3776,end apogee,CONTROL_FINISHED_OK
$STATE,3776,begin climb
$GC,3779,1.46,68.2,453.6,0.0,214,3850,1.65,2.45,58.80,0.831,4,0.031,0.038,3414,3258,2401,0,0,0,0,0,0
$GC,3971,1.27,145.0,456.4,2.0,218,4049,0.25,2.42,68.00,0.838,6,0.112,0.038,3367,1868,2088,0,0,0,0,0,0
$GC,4377,1.10,145.0,418.0,11.2,228,4382,0.20,2.53,0.00,0.000,4,0.108,0.056,3329,457,2078,0,0,0,0,0,0
$GC,4434,0.91,145.0,411.1,11.5,229,4440,0.20,2.35,0.00,0.000,6,0.113,0.030,3292,1861,2074,0,0,0,0,0,0
$GC,4749,0.91,145.0,379.8,9.8,237,4753,0.00,2.50,0.00,0.000,4,0.000,0.057,3292,464,2072,0,0,0,0,0,0
$GC,4828,0.82,145.0,371.2,10.9,238,4833,0.12,2.38,0.00,0.000,6,0.125,0.030,3270,1879,2070,0,0,0,0,0,0
$GC,5160,0.89,156.6,346.5,7.0,246,5175,0.00,2.53,8.30,0.699,4,0.000,0.055,3270,463,2040,0,0,0,0,0,0
$GC,5305,0.89,156.6,334.2,8.2,249,5309,0.00,2.35,0.00,0.000,6,0.000,0.029,3270,1871,2036,0,0,0,0,0,0
$GC,5624,0.99,186.4,316.3,5.6,257,5658,0.15,2.55,27.70,0.780,4,0.064,0.054,3310,463,1918,0,0,0,0,0,0
$GC,5758,0.90,186.4,302.5,11.8,260,5762,0.12,2.35,0.00,0.000,6,0.118,0.028,3288,1871,1914,0,0,0,0,0,0
$GC,6093,0.95,186.4,273.7,8.7,275,6097,0.00,2.50,0.00,0.000,4,0.000,0.053,3288,462,1912,0,0,0,0,0,0
$GC,6209,0.95,186.4,262.8,9.2,280,6213,0.00,2.35,0.00,0.000,6,0.000,0.028,3287,1873,1909,0,0,0,0,0,0
$GC,6534,1.01,186.4,235.8,8.1,296,6539,0.10,2.45,0.00,0.000,4,0.081,0.051,3318,462,1909,0,0,0,0,0,0
$GC,6563,0.92,186.4,233.0,10.2,297,6568,0.15,2.33,0.00,0.000,6,0.113,0.026,3290,1877,1908,0,0,0,0,0,0
$GC,6887,0.99,186.4,203.7,8.8,313,6891,0.00,2.47,0.00,0.000,4,0.000,0.050,3289,462,1908,0,0,0,0,0,0
$GC,7011,0.99,186.4,193.1,8.0,321,7015,0.00,2.33,0.00,0.000,6,0.000,0.025,3289,1882,1906,0,0,0,0,0,0
$GC,7276,1.06,186.4,172.1,7.9,342,7281,0.15,2.47,0.00,0.000,4,0.062,0.048,3333,459,1906,0,0,0,0,0,0
$GC,7389,0.96,186.4,160.8,10.4,350,7394,0.17,2.28,0.00,0.000,6,0.104,0.023,3299,1876,1905,0,0,0,0,0,0
$GC,7649,1.02,186.4,140.7,8.5,370,7653,0.00,2.45,0.00,0.000,4,0.000,0.046,3299,458,1905,0,0,0,0,0,0
$GC,7716,1.02,186.4,134.2,9.6,375,7720,0.00,2.30,0.00,0.000,6,0.000,0.022,3299,1879,1905,0,0,0,0,0,0
$GC,7981,1.13,203.0,114.4,6.6,396,8003,0.15,2.47,13.73,0.578,4,0.061,0.045,3344,459,1851,0,0,0,0,0,0
$GC,8048,1.04,203.0,107.9,11.1,400,8055,0.10,2.33,0.00,0.000,6,0.084,0.021,3320,1876,1849,0,0,0,0,0,0
$GC,8310,1.12,214.7,86.5,7.0,421,8327,0.00,2.50,11.73,0.540,4,0.000,0.045,3320,459,1804,0,0,0,0,0,0
$GC,8397,1.12,214.7,78.4,9.2,427,8404,0.00,2.30,0.00,0.000,6,0.000,0.021,3320,1874,1801,0,0,0,0,0,0
$GC,8659,1.23,237.8,59.2,6.1,448,8688,0.17,2.53,21.05,0.544,4,0.053,0.045,3373,462,1710,0,0,0,0,0,0
$GC,8881,1.16,237.8,37.9,8.1,464,8885,0.15,2.25,0.00,0.000,6,0.101,0.020,3343,1878,1706,0,0,0,0,0,0
$GC,9144,1.22,238.4,17.5,7.8,508,9151,0.00,2.28,0.00,0.000,4,0.000,0.025,3343,3244,1705,0,0,0,0,0,0
$GC,9242,1.32,238.4,8.8,11.0,530,9249,0.10,2.35,0.00,0.000,6,0.036,0.029,3384,1861,1705,0,0,0,0,0,0
$STATE,9292,end climb,SURFACE_DEPTH_REACHED
$STATE,9292,begin surface coast
$FINISH,0.3,0.999195
$STATE,9323,end surface coast,CONTROL_FINISHED_OK
$STATE,9323,begin surface
$SM_CCo,9346,100.30,0.507,0,0,1007,410.14
$SM_GC,1.01,0.00,0.00,100.30,0.000,0.000,0.507,430,1672,1007,-12.24,-0.54,410.14
$IRIDIUM_FIX,2059.45,-15750.89,261099,202007
$TT8_MAMPS,0.029146
$HUMID,52.16
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.4,6.409
$10V_AH,10.4,4.029
$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,31.675,109.725,267.125,100.300,0.000,28.846,32.897,132.006,4.500,0.000,16.400,1101.352,6060.307,421.912,1743.520,433.441,0.000,1195.405,0.000,1716.826,0.000,29.247,0.000
$DEVICE_MAMPS,140.361,56.758,846.768,506.987,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,369.040,350.412,809.936,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,31754,547
$CAP_FILE_SIZE,110712,0
$CFSIZE,260165632,210137088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020810,014007,2105.279,-15747.866,60,1.6,60,9.8