version: 66.06
glider: 139
mission: 8
dive: 65
start: 8 2 110 4 16 53
data:
$ID,139
$MISSION,8
$DIVE,65
$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,60
$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,-2151564
$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
$GPS1,040625,2105.055,-15747.580,58,1.4,58,9.8
$_CALLS,2
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-71.6
$GPS2,041637,2105.017,-15747.774,17,1.5,34,9.8
$SPEED_LIMITS,0.137,0.159
$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,70.2,8519,-23.8,-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,-1.56,-58.4,0.0,0.0,0,83,0.00,0.00,-64.43,0.000,2,0.000,0.000,427,1678,2816,0,0,0,0,0,0
$GC,86,-1.56,-58.4,3.1,-3.8,12,111,12.55,2.40,-1.88,0.000,4,0.139,0.035,2741,3099,2922,0,0,0,0,0,0
$GC,157,-1.56,-58.4,22.9,-17.6,26,164,0.00,2.42,0.00,0.000,6,0.000,0.035,2741,1692,2923,0,0,0,0,0,0
$GC,361,-1.49,-58.4,64.0,-19.3,47,366,0.12,2.35,0.00,0.000,4,0.119,0.021,2764,3103,2924,0,0,0,0,0,0
$GC,401,-1.55,-58.4,70.7,-15.4,50,406,0.00,2.40,0.00,0.000,6,0.000,0.033,2764,1687,2923,0,0,0,0,0,0
$GC,668,-1.55,-58.4,109.8,-14.4,71,672,0.00,2.42,0.00,0.000,4,0.000,0.045,2764,278,2925,0,0,0,0,0,0
$GC,683,-1.55,-58.4,112.2,-13.0,72,687,0.00,2.30,0.00,0.000,6,0.000,0.018,2764,1731,2925,0,0,0,0,0,0
$GC,943,-1.61,-58.4,144.1,-11.9,92,948,0.12,2.20,0.00,0.000,4,0.066,0.024,2726,3076,2925,0,0,0,0,0,0
$GC,1052,-1.66,-58.4,158.3,-13.0,100,1056,0.00,2.35,0.00,0.000,6,0.000,0.032,2726,1682,2926,0,0,0,0,0,0
$GC,1318,-1.66,-58.4,192.8,-12.3,121,1322,0.00,2.40,0.00,0.000,4,0.000,0.047,2726,284,2926,0,0,0,0,0,0
$GC,1344,-1.60,-58.4,196.6,-14.5,123,1348,0.00,2.22,0.00,0.000,6,0.000,0.019,2726,1693,2926,0,0,0,0,0,0
$GC,1617,-1.60,-58.4,229.8,-12.2,137,1621,0.00,2.25,0.00,0.000,4,0.000,0.026,2726,3065,2926,0,0,0,0,0,0
$GC,1720,-1.68,-58.4,242.8,-12.1,141,1724,0.00,2.30,0.00,0.000,6,0.000,0.035,2726,1690,2926,0,0,0,0,0,0
$GC,2036,-1.72,-58.4,276.3,-10.1,156,2037,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1689,2926,0,0,0,0,0,0
$GC,2343,-1.76,-58.4,309.0,-10.2,169,2347,0.00,2.30,0.00,0.000,4,0.000,0.028,2726,3069,2925,0,0,0,0,0,0
$GC,2391,-1.88,-58.4,314.0,-10.6,170,2396,0.20,2.35,0.00,0.000,6,0.054,0.036,2670,1688,2925,0,0,0,0,0,0
$GC,2717,-1.82,-58.4,356.9,-13.6,178,2721,0.12,2.30,0.00,0.000,4,0.107,0.030,2694,3062,2923,0,0,0,0,0,0
$GC,2792,-1.86,-58.4,365.2,-10.5,179,2797,0.00,2.33,0.00,0.000,6,0.000,0.038,2694,1690,2922,0,0,0,0,0,0
$GC,3135,-1.86,-58.4,400.9,-10.4,188,3136,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1689,2920,0,0,0,0,0,0
$GC,3457,-1.86,-58.4,434.4,-10.1,196,3458,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1689,2918,0,0,0,0,0,0
$STATE,3617,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3617,begin apogee
$GC,3625,-0.31,0.0,450.2,9.7,200,3678,1.55,0.00,49.17,0.842,6,0.084,0.000,3018,1859,2680,0,0,0,0,0,0
$STATE,3679,end apogee,CONTROL_FINISHED_OK
$STATE,3679,begin climb
$GC,3681,1.56,58.4,450.8,0.0,201,3742,1.77,2.53,50.75,0.825,4,0.033,0.050,3437,456,2438,0,0,0,0,0,0
$GC,4008,1.28,158.9,453.5,-1.2,208,4106,0.35,2.35,87.90,0.844,6,0.113,0.028,3372,1878,2032,0,0,0,0,0,0
$GC,4451,1.17,158.9,408.1,12.5,219,4456,0.12,2.35,0.00,0.000,4,0.123,0.038,3348,3254,2021,0,0,0,0,0,0
$GC,4715,1.17,158.9,376.3,11.1,224,4720,0.00,2.42,0.00,0.000,6,0.000,0.041,3348,1865,2020,0,0,0,0,0,0
$GC,5046,1.11,158.9,338.4,11.4,232,5048,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,1865,2016,0,0,0,0,0,0
$GC,5372,1.06,158.9,306.2,9.6,240,5377,0.12,2.47,0.00,0.000,4,0.118,0.055,3325,456,2014,0,0,0,0,0,0
$GC,5448,0.97,158.9,298.2,11.6,241,5453,0.12,2.35,0.00,0.000,6,0.123,0.029,3303,1863,2011,0,0,0,0,0,0
$GC,5773,1.05,169.0,273.9,7.0,257,5781,0.00,0.00,6.22,0.613,6,0.000,0.000,3303,1866,1991,0,0,0,0,0,0
$GC,6078,1.15,185.2,250.7,6.4,272,6102,0.17,2.40,16.30,0.712,4,0.061,0.033,3349,3262,1923,0,0,0,0,0,0
$GC,6113,1.15,191.9,248.4,7.3,273,6127,0.00,2.40,7.68,0.621,6,0.000,0.036,3349,1869,1897,0,0,0,0,0,0
$GC,6438,1.15,191.9,216.2,11.8,289,6442,0.00,2.47,0.00,0.000,4,0.000,0.051,3349,455,1892,0,0,0,0,0,0
$GC,6604,1.06,191.9,195.1,12.4,297,6609,0.15,2.35,0.00,0.000,6,0.111,0.025,3321,1888,1889,0,0,0,0,0,0
$GC,6870,1.12,191.9,169.5,9.0,318,6874,0.00,2.47,0.00,0.000,4,0.000,0.048,3321,459,1889,0,0,0,0,0,0
$GC,6916,1.12,191.9,164.6,10.2,321,6922,0.00,2.30,0.00,0.000,6,0.000,0.024,3321,1875,1887,0,0,0,0,0,0
$GC,7175,1.19,191.9,142.8,8.6,342,7180,0.12,2.45,0.00,0.000,4,0.069,0.045,3358,459,1887,0,0,0,0,0,0
$GC,7208,1.09,191.9,139.4,10.2,344,7215,0.12,2.33,0.00,0.000,6,0.084,0.023,3329,1868,1887,0,0,0,0,0,0
$GC,7471,1.16,191.9,117.1,7.9,365,7475,0.00,2.28,0.00,0.000,4,0.000,0.028,3329,3255,1887,0,0,0,0,0,0
$GC,7510,1.29,198.0,113.9,7.3,368,7526,0.17,2.35,5.25,0.465,6,0.056,0.032,3378,1856,1872,0,0,0,0,0,0
$GC,7777,1.29,198.0,89.1,8.9,389,7781,0.00,2.38,0.00,0.000,4,0.000,0.045,3378,459,1872,0,0,0,0,0,0
$GC,8034,1.24,212.2,68.6,6.6,408,8055,0.00,2.28,14.10,0.536,6,0.000,0.020,3378,1902,1813,0,0,0,0,0,0
$GC,8317,1.29,224.3,51.8,6.8,430,8335,0.00,2.53,11.90,0.505,4,0.000,0.044,3378,470,1765,0,0,0,0,0,0
$GC,8596,1.25,224.3,27.5,8.9,453,8603,0.00,2.25,0.00,0.000,6,0.000,0.020,3377,1881,1761,0,0,0,0,0,0
$GC,8799,1.29,224.3,10.7,9.1,499,8805,0.00,2.45,0.00,0.000,4,0.000,0.043,3378,465,1761,0,0,0,0,0,0
$STATE,8866,end climb,SURFACE_DEPTH_REACHED
$STATE,8866,begin surface coast
$FINISH,0.3,1.023153
$STATE,8895,end surface coast,CONTROL_FINISHED_OK
$STATE,8895,begin surface
$SM_CCo,8920,107.40,0.502,0,0,1007,410.14
$SM_GC,0.97,0.00,0.00,107.40,0.000,0.000,0.502,428,1667,1007,-12.25,-0.65,410.14
$IRIDIUM_FIX,2054.83,-15746.61,271099,040456
$TT8_MAMPS,0.029146
$HUMID,50.70
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.4,6.591
$10V_AH,10.4,4.174
$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,30.525,89.625,249.275,107.400,0.000,55.171,60.733,293.194,4.500,0.000,34.587,1039.357,5809.859,409.795,1721.862,659.224,0.000,1154.247,0.000,1686.526,0.000,29.250,0.000
$DEVICE_MAMPS,138.827,55.224,844.467,501.618,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,350.298,336.320,780.001,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,28725,520
$CAP_FILE_SIZE,105900,0
$CFSIZE,260165632,210038784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020810,064832,2104.888,-15747.887,33,1.9,33,9.8