version: 66.06
glider: 139
mission: 8
dive: 79
start: 8 3 110 17 6 54
data:
$ID,139
$MISSION,8
$DIVE,79
$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,-2151940.5
$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,3100
$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,1850
$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,2690
$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
$GPS1,170050,2101.584,-15749.135,16,1.7,16,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-70.9
$GPS2,170638,2101.621,-15749.195,48,1.8,48,9.8
$SPEED_LIMITS,0.137,0.159
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$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,179.7,6954,-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,-64.57,0.000,2,0.000,0.000,429,1669,2835,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.3,-4.3,12,110,12.57,2.45,-1.67,0.000,4,0.138,0.055,2751,280,2933,0,0,0,0,0,0
$GC,218,-1.45,-58.4,40.6,-18.9,33,226,0.12,2.33,0.00,0.000,6,0.090,0.018,2779,1717,2934,0,0,0,0,0,0
$GC,480,-1.50,-58.4,80.1,-15.1,54,484,0.00,2.47,0.00,0.000,4,0.000,0.045,2779,285,2936,0,0,0,0,0,0
$GC,536,-1.50,-58.4,89.8,-16.8,58,540,0.00,2.22,0.00,0.000,6,0.000,0.018,2779,1702,2936,0,0,0,0,0,0
$GC,796,-1.56,-58.4,124.4,-12.4,78,800,0.00,2.20,0.00,0.000,4,0.000,0.023,2779,3062,2937,0,0,0,0,0,0
$GC,815,-1.66,-58.4,127.2,-12.7,79,821,0.17,2.33,0.00,0.000,6,0.051,0.031,2727,1683,2937,0,0,0,0,0,0
$GC,1077,-1.66,-58.4,162.0,-12.3,100,1081,0.00,2.38,0.00,0.000,4,0.000,0.045,2727,284,2937,0,0,0,0,0,0
$GC,1097,-1.60,-58.4,165.0,-13.0,101,1103,0.12,2.22,0.00,0.000,6,0.108,0.019,2751,1701,2937,0,0,0,0,0,0
$GC,1358,-1.66,-58.4,194.4,-11.9,122,1362,0.00,2.22,0.00,0.000,4,0.000,0.025,2751,3058,2938,0,0,0,0,0,0
$GC,1447,-1.78,-58.4,205.2,-12.0,128,1452,0.17,2.30,0.00,0.000,6,0.054,0.033,2699,1682,2938,0,0,0,0,0,0
$GC,1779,-1.74,-58.4,252.1,-13.7,144,1780,0.10,0.00,0.00,0.000,6,0.118,0.000,2718,1681,2938,0,0,0,0,0,0
$GC,2090,-1.77,-58.4,289.7,-11.2,159,2091,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1681,2938,0,0,0,0,0,0
$GC,2393,-1.81,-58.4,323.4,-11.1,169,2394,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1681,2937,0,0,0,0,0,0
$GC,2717,-1.86,-58.4,356.5,-10.4,177,2719,0.10,0.00,0.00,0.000,6,0.078,0.000,2688,1681,2936,0,0,0,0,0,0
$GC,3043,-1.86,-58.4,398.5,-13.2,185,3047,0.00,2.35,0.00,0.000,4,0.000,0.032,2688,3058,2934,0,0,0,0,0,0
$GC,3181,-1.91,-58.4,415.7,-12.4,188,3186,0.00,2.33,0.00,0.000,6,0.000,0.041,2687,1690,2933,0,0,0,0,0,0
$STATE,3462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3462,begin apogee
$GC,3470,-0.31,0.0,450.5,12.1,195,3524,1.65,0.00,50.03,0.840,6,0.084,0.000,3031,1839,2690,0,0,0,0,0,0
$STATE,3525,end apogee,CONTROL_FINISHED_OK
$STATE,3525,begin climb
$GC,3527,1.56,58.4,452.6,0.0,196,3582,1.75,0.00,50.45,0.825,6,0.030,0.000,3450,1839,2451,0,0,0,0,0,0
$GC,3898,1.38,166.8,460.5,-1.9,205,4002,0.25,2.55,95.38,0.848,4,0.113,0.056,3399,441,2010,0,0,0,0,0,0
$GC,4102,1.09,166.8,438.8,19.0,209,4107,0.32,2.35,0.00,0.000,6,0.109,0.028,3338,1845,2002,0,0,0,0,0,0
$GC,4439,1.04,166.8,399.4,11.0,218,4443,0.00,2.50,0.00,0.000,4,0.000,0.056,3338,441,1998,0,0,0,0,0,0
$GC,4579,0.90,166.8,382.3,12.2,221,4584,0.22,2.35,0.00,0.000,6,0.110,0.029,3296,1853,1994,0,0,0,0,0,0
$GC,4902,0.96,166.8,354.6,8.2,229,4907,0.00,2.47,0.00,0.000,4,0.000,0.054,3296,443,1993,0,0,0,0,0,0
$GC,4932,0.93,166.8,351.8,10.1,229,4936,0.00,2.33,0.00,0.000,6,0.000,0.028,3296,1852,1991,0,0,0,0,0,0
$GC,5272,1.00,166.8,322.7,8.6,238,5276,0.00,2.50,0.00,0.000,4,0.000,0.054,3296,433,1991,0,0,0,0,0,0
$GC,5328,1.00,166.8,316.8,10.6,239,5332,0.00,2.35,0.00,0.000,6,0.000,0.028,3296,1850,1989,0,0,0,0,0,0
$GC,5644,1.08,166.8,288.5,9.2,250,5649,0.17,2.47,0.00,0.000,4,0.061,0.053,3341,433,1988,0,0,0,0,0,0
$GC,5912,0.98,166.8,259.6,9.3,261,5918,0.15,2.33,0.00,0.000,6,0.110,0.027,3314,1861,1985,0,0,0,0,0,0
$GC,6229,1.04,166.8,236.4,8.4,277,6233,0.00,2.50,0.00,0.000,4,0.000,0.051,3313,435,1985,0,0,0,0,0,0
$GC,6290,1.04,166.8,230.1,10.3,279,6295,0.00,2.30,0.00,0.000,6,0.000,0.026,3314,1856,1984,0,0,0,0,0,0
$GC,6607,1.13,178.4,205.5,6.8,295,6620,0.15,2.50,6.93,0.591,4,0.064,0.048,3355,439,1962,0,0,0,0,0,0
$GC,6786,1.03,178.4,188.3,11.1,306,6791,0.15,2.30,0.00,0.000,6,0.108,0.024,3327,1854,1959,0,0,0,0,0,0
$GC,7054,1.08,178.4,167.6,8.0,327,7058,0.00,2.45,0.00,0.000,4,0.000,0.047,3327,439,1959,0,0,0,0,0,0
$GC,7080,1.08,178.4,165.2,9.3,329,7084,0.00,2.28,0.00,0.000,6,0.000,0.023,3327,1857,1958,0,0,0,0,0,0
$GC,7345,1.16,179.8,141.5,7.8,350,7350,0.10,2.47,0.00,0.000,4,0.078,0.046,3358,438,1958,0,0,0,0,0,0
$GC,7479,1.07,179.8,129.1,9.6,360,7484,0.12,2.28,0.00,0.000,6,0.110,0.022,3335,1852,1958,0,0,0,0,0,0
$GC,7751,1.20,221.8,114.2,4.1,381,7798,0.12,2.38,39.12,0.604,4,0.067,0.027,3374,3227,1784,0,0,0,0,0,0
$GC,7815,1.25,237.4,110.7,6.5,385,7835,0.00,2.35,14.82,0.558,6,0.000,0.031,3373,1843,1721,0,0,0,0,0,0
$GC,8088,1.25,237.4,83.9,10.5,407,8092,0.00,2.42,0.00,0.000,4,0.000,0.045,3373,437,1717,0,0,0,0,0,0
$GC,8130,1.19,237.4,78.0,13.6,410,8134,0.00,2.25,0.00,0.000,6,0.000,0.021,3374,1855,1715,0,0,0,0,0,0
$GC,8392,1.23,237.4,52.6,9.3,430,8396,0.00,2.45,0.00,0.000,4,0.000,0.044,3374,435,1715,0,0,0,0,0,0
$GC,8536,1.23,237.4,34.9,12.7,440,8543,0.00,2.28,0.00,0.000,6,0.000,0.019,3374,1842,1714,0,0,0,0,0,0
$GC,8799,1.29,237.4,11.3,9.2,493,8806,0.00,2.30,0.00,0.000,4,0.000,0.025,3374,3226,1713,0,0,0,0,0,0
$GC,8818,1.37,237.4,9.5,9.5,496,8825,0.08,2.35,0.00,0.000,6,0.040,0.029,3407,1843,1713,0,0,0,0,0,0
$STATE,8885,end climb,SURFACE_DEPTH_REACHED
$STATE,8885,begin surface coast
$FINISH,0.4,1.009354
$STATE,8916,end surface coast,CONTROL_FINISHED_OK
$STATE,8916,begin surface
$SM_CCo,8939,100.53,0.505,0,0,1017,410.14
$SM_GC,1.12,0.00,0.00,100.53,0.000,0.000,0.505,427,1672,1017,-12.30,-0.51,410.14
$IRIDIUM_FIX,2050.21,-16028.22,281099,141448
$TT8_MAMPS,0.028379
$HUMID,51.96
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.4,7.793
$10V_AH,10.4,5.192
$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,31.475,90.300,256.725,100.525,0.000,28.579,34.531,135.306,4.500,0.000,48.209,1031.123,5841.065,407.507,1661.927,445.045,0.000,1129.109,0.000,1612.313,0.000,29.252,0.000
$DEVICE_MAMPS,138.060,62.127,848.302,505.453,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,347.986,332.458,747.436,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,28602,517
$CAP_FILE_SIZE,101156,0
$CFSIZE,260165632,209346560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030810,193906,2100.896,-15749.747,49,1.2,54,9.8