version: 66.06
glider: 139
mission: 8
dive: 70
start: 8 2 110 17 21 54
data:
$ID,139
$MISSION,8
$DIVE,70
$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,-2151671.8
$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
$GPS1,171636,2105.483,-15746.322,42,0.9,53,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-70.6
$GPS2,172137,2105.497,-15746.420,11,0.9,17,9.8
$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,74.7,6079,-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,-58.4,0.0,0.0,0,87,0.00,0.00,-67.50,0.000,6,0.000,0.000,429,1688,2920,0,0,0,0,0,0
$GC,90,-1.56,-58.4,4.2,-5.6,13,108,12.52,2.35,0.00,0.000,4,0.137,0.022,2744,3101,2922,0,0,0,0,0,0
$GC,192,-1.59,-58.4,31.8,-15.5,34,196,0.00,2.38,0.00,0.000,6,0.000,0.035,2744,1690,2923,0,0,0,0,0,0
$GC,452,-1.55,-58.4,76.1,-16.1,54,456,0.00,2.33,0.00,0.000,4,0.000,0.023,2744,3104,2924,0,0,0,0,0,0
$GC,478,-1.58,-58.4,79.9,-14.0,56,483,0.00,2.38,0.00,0.000,6,0.000,0.031,2744,1685,2924,0,0,0,0,0,0
$GC,745,-1.58,-58.4,122.0,-15.3,77,749,0.00,2.35,0.00,0.000,4,0.000,0.024,2744,3100,2925,0,0,0,0,0,0
$GC,838,-1.67,-58.4,136.0,-14.2,84,843,0.00,2.40,0.00,0.000,6,0.000,0.033,2744,1684,2925,0,0,0,0,0,0
$GC,1104,-1.67,-58.4,173.6,-13.1,105,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,1683,2925,0,0,0,0,0,0
$GC,1364,-1.72,-58.4,202.7,-11.1,125,1366,0.12,0.00,0.00,0.000,6,0.067,0.000,2706,1683,2926,0,0,0,0,0,0
$GC,1671,-1.72,-58.4,245.2,-13.4,140,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1683,2926,0,0,0,0,0,0
$GC,1981,-1.72,-58.4,283.1,-12.8,155,1986,0.00,2.38,0.00,0.000,4,0.000,0.028,2706,3104,2927,0,0,0,0,0,0
$GC,2127,-1.79,-58.4,300.2,-11.8,161,2131,0.00,2.38,0.00,0.000,6,0.000,0.035,2705,1685,2926,0,0,0,0,0,0
$GC,2463,-1.79,-58.4,341.7,-12.2,170,2468,0.00,2.38,0.00,0.000,4,0.000,0.029,2705,3098,2925,0,0,0,0,0,0
$GC,2548,-1.87,-58.4,352.2,-12.3,171,2553,0.00,2.38,0.00,0.000,6,0.000,0.036,2705,1686,2925,0,0,0,0,0,0
$GC,2879,-1.87,-58.4,389.3,-10.8,180,2880,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1685,2924,0,0,0,0,0,0
$GC,3205,-1.90,-58.4,427.4,-11.3,188,3210,0.15,2.40,0.00,0.000,4,0.065,0.034,2665,3096,2922,0,0,0,0,0,0
$GC,3224,-1.90,-58.4,430.2,-12.9,188,3228,0.00,2.40,0.00,0.000,6,0.000,0.041,2665,1693,2922,0,0,0,0,0,0
$STATE,3404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3404,begin apogee
$GC,3410,-0.31,0.0,454.9,13.7,193,3464,1.73,0.00,49.97,0.845,6,0.087,0.000,3021,1901,2680,0,0,0,0,0,0
$STATE,3465,end apogee,CONTROL_FINISHED_OK
$STATE,3465,begin climb
$GC,3469,1.56,58.4,456.7,0.0,194,3526,1.77,0.00,51.03,0.831,6,0.031,0.000,3440,1902,2440,0,0,0,0,0,0
$GC,3852,1.38,153.3,462.2,-0.7,204,3945,0.25,2.38,83.30,0.853,4,0.112,0.041,3390,3250,2054,0,0,0,0,0,0
$GC,3959,1.24,153.3,456.4,10.6,206,3965,0.15,2.45,0.00,0.000,6,0.124,0.041,3363,1865,2053,0,0,0,0,0,0
$GC,4301,1.13,153.3,411.9,13.3,215,4306,0.12,2.50,0.00,0.000,4,0.122,0.057,3340,461,2045,0,0,0,0,0,0
$GC,4331,0.97,153.3,407.9,13.4,215,4336,0.20,2.35,0.00,0.000,6,0.114,0.029,3303,1860,2042,0,0,0,0,0,0
$GC,4667,1.00,153.3,373.6,10.3,224,4672,0.00,2.50,0.00,0.000,4,0.000,0.056,3303,460,2040,0,0,0,0,0,0
$GC,4757,0.95,153.3,363.0,11.0,226,4761,0.00,2.38,0.00,0.000,6,0.000,0.029,3303,1878,2038,0,0,0,0,0,0
$GC,5085,0.98,153.3,333.4,8.3,234,5090,0.00,2.53,0.00,0.000,4,0.000,0.055,3303,458,2037,0,0,0,0,0,0
$GC,5175,0.94,153.3,325.1,9.3,236,5179,0.00,2.38,0.00,0.000,6,0.000,0.029,3303,1875,2034,0,0,0,0,0,0
$GC,5504,1.00,156.3,300.3,7.6,244,5505,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,1881,2034,0,0,0,0,0,0
$GC,5811,1.05,162.1,276.8,7.4,258,5823,0.00,2.53,4.97,0.565,4,0.000,0.052,3303,456,2019,0,0,0,0,0,0
$GC,5852,1.05,162.1,273.4,8.3,259,5857,0.00,2.35,0.00,0.000,6,0.000,0.028,3303,1887,2017,0,0,0,0,0,0
$GC,6169,1.13,166.6,249.4,7.5,275,6182,0.15,2.58,5.53,0.575,4,0.065,0.051,3344,458,2000,0,0,0,0,0,0
$GC,6234,1.03,166.6,243.5,9.9,277,6240,0.15,2.33,0.00,0.000,6,0.110,0.027,3316,1878,1999,0,0,0,0,0,0
$GC,6551,1.10,182.2,221.2,6.5,293,6573,0.00,2.55,15.30,0.686,4,0.000,0.051,3315,458,1936,0,0,0,0,0,0
$GC,6706,1.10,182.2,207.5,9.0,299,6712,0.00,2.33,0.00,0.000,6,0.000,0.025,3315,1879,1933,0,0,0,0,0,0
$GC,7032,1.17,182.2,179.7,9.5,322,7034,0.12,0.00,0.00,0.000,6,0.070,0.000,3352,1883,1932,0,0,0,0,0,0
$GC,7283,1.17,182.2,158.1,8.1,342,7287,0.00,2.28,0.00,0.000,4,0.000,0.028,3352,3255,1932,0,0,0,0,0,0
$GC,7320,1.24,182.2,154.9,8.4,344,7326,0.00,2.40,0.00,0.000,6,0.000,0.033,3352,1860,1932,0,0,0,0,0,0
$GC,7579,1.24,182.2,135.4,7.9,365,7581,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,1860,1932,0,0,0,0,0,0
$GC,7833,1.25,193.9,115.1,6.8,385,7846,0.00,0.00,11.25,0.560,6,0.000,0.000,3352,1860,1889,0,0,0,0,0,0
$GC,8095,1.30,193.9,94.6,8.2,406,8099,0.00,2.38,0.00,0.000,4,0.000,0.044,3352,462,1888,0,0,0,0,0,0
$GC,8137,1.26,193.9,90.8,9.3,409,8141,0.00,2.28,0.00,0.000,6,0.000,0.021,3352,1886,1886,0,0,0,0,0,0
$GC,8403,1.32,197.3,70.5,7.6,430,8418,0.12,2.47,4.47,0.400,4,0.067,0.041,3390,459,1873,0,0,0,0,0,0
$GC,8579,1.21,197.3,52.9,11.6,442,8586,0.15,2.28,0.00,0.000,6,0.081,0.020,3356,1886,1872,0,0,0,0,0,0
$GC,8842,1.30,207.9,32.5,6.9,463,8859,0.00,2.53,10.95,0.487,4,0.000,0.042,3355,457,1831,0,0,0,0,0,0
$GC,8866,1.36,207.9,30.4,8.1,464,8873,0.10,2.28,0.00,0.000,6,0.038,0.020,3393,1876,1830,0,0,0,0,0,0
$GC,9130,1.36,207.9,11.7,9.0,525,9136,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1876,1829,0,0,0,0,0,0
$STATE,9230,end climb,SURFACE_DEPTH_REACHED
$STATE,9231,begin surface coast
$FINISH,0.3,1.023007
$STATE,9267,end surface coast,CONTROL_FINISHED_OK
$STATE,9268,begin surface
$SM_CCo,9291,116.00,0.504,0,0,1007,410.14
$SM_GC,1.10,0.00,0.00,116.00,0.000,0.000,0.504,426,1678,1007,-12.25,-0.37,410.14
$IRIDIUM_FIX,2057.14,-15744.48,271099,141431
$TT8_MAMPS,0.028379
$HUMID,50.98
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.4,7.008
$10V_AH,10.4,4.539
$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,30.500,82.075,236.775,116.000,0.000,27.888,27.318,125.902,4.500,0.000,17.231,1054.893,6228.048,432.906,1596.556,396.435,0.000,1103.976,0.000,1574.345,0.000,29.254,0.000
$DEVICE_MAMPS,137.293,56.758,852.904,503.919,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,374.558,352.163,829.851,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,31726,556
$CAP_FILE_SIZE,96302,0
$CFSIZE,260165632,209797120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020810,195952,2105.817,-15746.082,12,2.7,31,9.8