version: 66.06
glider: 139
mission: 8
dive: 69
start: 8 2 110 14 49 12
data:
$ID,139
$MISSION,8
$DIVE,69
$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,-2151653.8
$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
$GPS1,144355,2105.452,-15746.430,16,1.9,21,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-71.5
$GPS2,144856,2105.434,-15746.515,21,1.9,21,9.8
$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,73.7,6253,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.56,-58.4,0.0,0.0,0,82,0.00,0.00,-64.80,0.000,2,0.000,0.000,429,1686,2858,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.7,-5.4,12,104,12.57,2.40,-1.05,0.000,4,0.139,0.051,2743,283,2920,0,0,0,0,0,0
$GC,138,-1.09,-58.4,23.5,-35.2,22,145,0.47,2.35,0.00,0.000,6,0.098,0.019,2849,1725,2922,0,0,0,0,0,0
$GC,349,-1.26,-58.4,49.7,-10.3,42,353,0.15,2.22,0.00,0.000,4,0.056,0.023,2801,3081,2922,0,0,0,0,0,0
$GC,368,-1.41,-58.4,52.3,-11.3,43,374,0.00,2.38,0.00,0.000,6,0.000,0.031,2801,1688,2922,0,0,0,0,0,0
$GC,627,-1.51,-58.4,84.5,-13.1,64,632,0.17,2.45,0.00,0.000,4,0.053,0.047,2749,280,2923,0,0,0,0,0,0
$GC,660,-1.43,-58.4,90.1,-17.7,66,668,0.10,2.28,0.00,0.000,6,0.083,0.018,2773,1700,2924,0,0,0,0,0,0
$GC,924,-1.51,-58.4,121.5,-12.7,87,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1705,2925,0,0,0,0,0,0
$GC,1183,-1.61,-58.4,154.5,-11.7,108,1188,0.17,2.45,0.00,0.000,4,0.054,0.047,2721,283,2925,0,0,0,0,0,0
$GC,1264,-1.54,-58.4,165.7,-13.3,114,1269,0.15,2.25,0.00,0.000,6,0.104,0.019,2750,1696,2925,0,0,0,0,0,0
$GC,1531,-1.59,-58.4,196.2,-10.8,135,1535,0.00,2.22,0.00,0.000,4,0.000,0.025,2750,3065,2926,0,0,0,0,0,0
$GC,1569,-1.72,-58.4,200.8,-11.7,138,1576,0.12,2.33,0.00,0.000,6,0.035,0.033,2705,1695,2926,0,0,0,0,0,0
$GC,1884,-1.72,-58.4,247.2,-15.3,154,1888,0.00,2.30,0.00,0.000,4,0.000,0.026,2705,3066,2926,0,0,0,0,0,0
$GC,2012,-1.77,-58.4,265.6,-14.4,159,2018,0.00,2.33,0.00,0.000,6,0.000,0.035,2705,1684,2926,0,0,0,0,0,0
$GC,2327,-1.77,-58.4,305.5,-12.7,174,2331,0.00,2.28,0.00,0.000,4,0.000,0.026,2705,3067,2925,0,0,0,0,0,0
$GC,2347,-1.77,-58.4,307.8,-11.6,174,2352,0.00,2.33,0.00,0.000,6,0.000,0.035,2705,1688,2925,0,0,0,0,0,0
$GC,2692,-1.77,-58.4,348.4,-11.8,183,2696,0.00,2.28,0.00,0.000,4,0.000,0.028,2705,3062,2925,0,0,0,0,0,0
$GC,2716,-1.80,-58.4,351.1,-11.5,183,2720,0.00,2.33,0.00,0.000,6,0.000,0.035,2705,1684,2925,0,0,0,0,0,0
$GC,3057,-1.80,-58.4,388.5,-10.8,192,3061,0.00,2.30,0.00,0.000,4,0.000,0.031,2705,3066,2924,0,0,0,0,0,0
$GC,3089,-1.88,-58.4,392.5,-11.1,192,3094,0.12,2.35,0.00,0.000,6,0.070,0.038,2669,1684,2923,0,0,0,0,0,0
$GC,3421,-1.84,-58.4,433.9,-12.8,200,3426,0.00,2.30,0.00,0.000,4,0.000,0.032,2669,3058,2921,0,0,0,0,0,0
$GC,3454,-1.84,-58.4,438.2,-12.1,200,3458,0.00,2.35,0.00,0.000,6,0.000,0.041,2669,1690,2921,0,0,0,0,0,0
$STATE,3579,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3579,begin apogee
$GC,3586,-0.31,0.0,453.6,12.2,203,3639,1.70,0.00,49.72,0.838,6,0.088,0.000,3020,1860,2680,0,0,0,0,0,0
$STATE,3640,end apogee,CONTROL_FINISHED_OK
$STATE,3640,begin climb
$GC,3644,1.56,58.4,455.0,0.0,204,3703,1.80,2.42,50.58,0.821,4,0.031,0.038,3442,3247,2440,0,0,0,0,0,0
$GC,3768,1.42,170.7,458.0,-2.2,207,3878,0.22,2.38,98.95,0.832,6,0.115,0.037,3400,1867,1983,0,0,0,0,0,0
$GC,4200,1.25,170.7,408.5,13.7,218,4202,0.20,0.00,0.00,0.000,6,0.112,0.000,3363,1867,1973,0,0,0,0,0,0
$GC,4525,1.16,170.7,367.2,12.5,226,4530,0.00,2.50,0.00,0.000,4,0.000,0.057,3363,460,1970,0,0,0,0,0,0
$GC,4610,0.98,170.7,356.1,12.9,227,4616,0.30,2.35,0.00,0.000,6,0.103,0.029,3306,1865,1966,0,0,0,0,0,0
$GC,4941,1.04,170.7,324.6,9.2,236,4945,0.00,2.50,0.00,0.000,4,0.000,0.054,3305,455,1965,0,0,0,0,0,0
$GC,5073,1.04,170.7,308.9,11.5,238,5079,0.00,2.35,0.00,0.000,6,0.000,0.028,3305,1877,1962,0,0,0,0,0,0
$GC,5388,1.11,170.7,278.0,9.3,252,5393,0.12,2.50,0.00,0.000,4,0.073,0.051,3339,456,1961,0,0,0,0,0,0
$GC,5531,1.02,170.7,261.3,11.5,258,5536,0.15,2.33,0.00,0.000,6,0.115,0.027,3312,1876,1959,0,0,0,0,0,0
$GC,5854,1.10,180.0,235.4,7.1,274,5866,0.00,2.47,4.75,0.518,4,0.000,0.048,3311,460,1946,0,0,0,0,0,0
$GC,5924,1.10,180.0,229.3,8.6,277,5928,0.00,2.35,0.00,0.000,6,0.000,0.025,3311,1886,1944,0,0,0,0,0,0
$GC,6255,1.18,183.1,203.6,7.6,293,6267,0.15,2.50,4.47,0.479,4,0.064,0.046,3353,460,1932,0,0,0,0,0,0
$GC,6320,1.08,183.1,196.8,10.8,296,6326,0.12,2.35,0.00,0.000,6,0.088,0.025,3325,1877,1931,0,0,0,0,0,0
$GC,6582,1.14,187.5,174.9,7.5,317,6596,0.00,2.53,5.57,0.516,4,0.000,0.047,3325,458,1914,0,0,0,0,0,0
$GC,6699,1.15,195.4,166.3,7.2,325,6713,0.00,2.33,8.43,0.572,6,0.000,0.023,3325,1889,1883,0,0,0,0,0,0
$GC,6968,1.23,195.4,146.3,9.2,346,6973,0.15,2.50,0.00,0.000,4,0.061,0.045,3367,456,1882,0,0,0,0,0,0
$GC,7151,1.12,195.4,124.8,12.6,359,7158,0.17,2.30,0.00,0.000,6,0.102,0.021,3334,1874,1880,0,0,0,0,0,0
$GC,7412,1.20,195.4,102.6,7.9,380,7416,0.00,2.25,0.00,0.000,4,0.000,0.027,3334,3247,1879,0,0,0,0,0,0
$GC,7426,1.29,195.4,101.5,8.0,381,7431,0.15,2.30,0.00,0.000,6,0.060,0.030,3378,1866,1879,0,0,0,0,0,0
$GC,7693,1.29,195.4,78.0,8.9,402,7697,0.00,2.40,0.00,0.000,4,0.000,0.044,3377,459,1879,0,0,0,0,0,0
$GC,7712,1.23,195.4,75.8,9.4,403,7718,0.00,2.30,0.00,0.000,6,0.000,0.021,3378,1879,1880,0,0,0,0,0,0
$GC,7971,1.25,204.2,57.2,7.1,424,7987,0.00,2.45,9.27,0.493,4,0.000,0.042,3378,461,1847,0,0,0,0,0,0
$GC,8173,1.21,204.2,36.2,8.1,438,8180,0.08,2.28,0.00,0.000,6,0.090,0.020,3358,1891,1844,0,0,0,0,0,0
$GC,8435,1.34,250.5,21.9,3.7,483,8483,0.10,2.50,40.72,0.518,4,0.077,0.041,3392,457,1656,0,0,0,0,0,0
$GC,8491,1.36,267.6,18.5,6.4,492,8515,0.00,2.28,15.62,0.482,6,0.000,0.019,3393,1868,1588,0,0,0,0,0,0
$STATE,8627,end climb,SURFACE_DEPTH_REACHED
$STATE,8627,begin surface coast
$FINISH,0.5,1.023113
$STATE,8650,end surface coast,CONTROL_FINISHED_OK
$STATE,8650,begin surface
$SM_CCo,8672,79.28,0.498,0,0,1007,410.14
$SM_GC,1.29,0.00,0.00,79.28,0.000,0.000,0.498,429,1687,1007,-12.24,-0.08,410.14
$IRIDIUM_FIX,2057.14,-15748.75,271099,121245
$TT8_MAMPS,0.029146
$HUMID,51.06
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.4,6.928
$10V_AH,10.4,4.466
$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,32.250,104.375,288.100,79.275,0.000,30.024,29.752,117.304,4.500,0.000,21.261,1030.011,5564.279,422.139,1625.606,410.659,0.000,1154.457,0.000,1599.263,0.000,29.252,0.000
$DEVICE_MAMPS,138.827,57.525,838.331,497.783,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,352.835,343.938,809.681,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355672
$DATA_FILE_SIZE,28728,527
$CAP_FILE_SIZE,103461,0
$CFSIZE,260165632,209842176
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020810,171636,2105.483,-15746.322,42,0.9,53,9.8