version: 66.06
glider: 139
mission: 8
dive: 66
start: 8 2 110 6 54 19
data:
$ID,139
$MISSION,8
$DIVE,66
$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,-2151581.2
$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
$GPS1,064832,2104.888,-15747.887,33,1.9,33,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-75.2
$GPS2,065402,2104.887,-15748.001,16,1.1,16,9.8
$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,69.1,8949,-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,-64.57,0.000,2,0.000,0.000,427,1668,2850,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.6,-4.9,12,103,12.57,0.00,-1.20,0.000,6,0.138,0.000,2742,1668,2919,0,0,0,0,0,0
$GC,300,-1.47,-58.4,55.4,-18.1,41,305,0.12,2.38,0.00,0.000,4,0.117,0.023,2765,3100,2921,0,0,0,0,0,0
$GC,367,-1.55,-58.4,66.1,-14.5,46,371,0.00,2.40,0.00,0.000,6,0.000,0.033,2765,1688,2922,0,0,0,0,0,0
$GC,632,-1.55,-58.4,103.5,-13.3,67,636,0.00,2.42,0.00,0.000,4,0.000,0.046,2765,279,2922,0,0,0,0,0,0
$GC,665,-1.50,-58.4,109.3,-16.7,69,671,0.00,2.30,0.00,0.000,6,0.000,0.018,2765,1727,2923,0,0,0,0,0,0
$GC,926,-1.54,-58.4,141.7,-12.2,90,930,0.00,2.25,0.00,0.000,4,0.000,0.025,2765,3082,2924,0,0,0,0,0,0
$GC,1031,-1.69,-58.4,154.1,-11.1,97,1037,0.20,2.35,0.00,0.000,6,0.049,0.031,2709,1681,2924,0,0,0,0,0,0
$GC,1292,-1.66,-58.4,192.3,-14.3,118,1297,0.10,2.30,0.00,0.000,4,0.117,0.024,2728,3076,2925,0,0,0,0,0,0
$GC,1349,-1.73,-58.4,199.8,-11.9,122,1354,0.00,2.35,0.00,0.000,6,0.000,0.032,2728,1683,2925,0,0,0,0,0,0
$GC,1614,-1.73,-58.4,232.6,-12.0,135,1618,0.00,2.30,0.00,0.000,4,0.000,0.025,2728,3075,2926,0,0,0,0,0,0
$GC,1712,-1.84,-58.4,245.1,-11.4,139,1717,0.17,2.33,0.00,0.000,6,0.054,0.033,2678,1686,2925,0,0,0,0,0,0
$GC,2037,-1.79,-58.4,285.3,-12.9,155,2042,0.10,2.35,0.00,0.000,4,0.117,0.027,2697,3081,2925,0,0,0,0,0,0
$GC,2154,-1.84,-58.4,299.1,-11.2,160,2159,0.00,2.38,0.00,0.000,6,0.000,0.035,2697,1683,2925,0,0,0,0,0,0
$GC,2495,-1.84,-58.4,339.7,-12.2,169,2497,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1682,2924,0,0,0,0,0,0
$GC,2820,-1.84,-58.4,375.0,-10.2,177,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1682,2923,0,0,0,0,0,0
$GC,3146,-1.84,-58.4,408.1,-10.4,185,3150,0.00,2.35,0.00,0.000,4,0.000,0.033,2697,3070,2920,0,0,0,0,0,0
$GC,3261,-1.89,-58.4,420.2,-10.1,187,3265,0.00,2.38,0.00,0.000,6,0.000,0.041,2697,1690,2919,0,0,0,0,0,0
$STATE,3521,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3522,begin apogee
$GC,3528,-0.31,0.0,450.2,11.8,194,3581,1.55,0.00,49.22,0.846,6,0.084,0.000,3020,1870,2680,0,0,0,0,0,0
$STATE,3582,end apogee,CONTROL_FINISHED_OK
$STATE,3582,begin climb
$GC,3585,1.56,58.4,451.9,0.0,195,3644,1.80,0.00,51.08,0.829,6,0.032,0.000,3440,1870,2441,0,0,0,0,0,0
$GC,3970,1.42,173.4,462.7,-2.5,205,4081,0.20,2.58,100.90,0.854,4,0.119,0.054,3401,460,1972,0,0,0,0,0,0
$GC,4173,1.11,173.4,441.8,18.4,209,4178,0.35,2.35,0.00,0.000,6,0.107,0.029,3335,1862,1964,0,0,0,0,0,0
$GC,4514,1.07,173.4,395.9,12.3,218,4518,0.00,2.47,0.00,0.000,4,0.000,0.056,3335,463,1960,0,0,0,0,0,0
$GC,4539,0.95,173.4,392.8,13.7,218,4544,0.20,2.35,0.00,0.000,6,0.114,0.029,3298,1872,1959,0,0,0,0,0,0
$GC,4880,1.00,173.4,356.4,10.4,227,4884,0.00,2.50,0.00,0.000,4,0.000,0.056,3298,460,1957,0,0,0,0,0,0
$GC,4918,0.95,173.4,352.1,10.9,227,4924,0.00,2.35,0.00,0.000,6,0.000,0.030,3298,1870,1955,0,0,0,0,0,0
$GC,5250,1.02,173.4,320.2,9.4,236,5254,0.00,2.50,0.00,0.000,4,0.000,0.054,3298,463,1954,0,0,0,0,0,0
$GC,5328,1.02,173.4,311.1,11.7,237,5333,0.00,2.35,0.00,0.000,6,0.000,0.030,3298,1874,1952,0,0,0,0,0,0
$GC,5644,1.09,173.4,283.5,8.0,249,5649,0.12,2.50,0.00,0.000,4,0.073,0.054,3332,458,1951,0,0,0,0,0,0
$GC,5743,1.01,173.4,272.8,11.1,253,5748,0.12,2.35,0.00,0.000,6,0.117,0.028,3310,1871,1949,0,0,0,0,0,0
$GC,6068,1.10,192.3,247.0,6.2,269,6090,0.00,2.55,13.48,0.700,4,0.000,0.051,3309,468,1896,0,0,0,0,0,0
$GC,6180,1.10,192.3,238.0,9.0,273,6185,0.00,2.35,0.00,0.000,6,0.000,0.026,3310,1883,1893,0,0,0,0,0,0
$GC,6498,1.19,203.7,214.1,6.9,289,6515,0.17,0.00,11.57,0.654,6,0.059,0.000,3356,1887,1849,0,0,0,0,0,0
$GC,6831,1.19,203.7,179.9,10.5,311,6835,0.00,2.47,0.00,0.000,4,0.000,0.048,3356,456,1845,0,0,0,0,0,0
$GC,6962,1.10,203.7,163.3,12.4,320,6969,0.10,2.33,0.00,0.000,6,0.088,0.024,3333,1870,1843,0,0,0,0,0,0
$GC,7223,1.16,203.7,135.8,9.9,341,7227,0.00,2.42,0.00,0.000,4,0.000,0.045,3333,459,1843,0,0,0,0,0,0
$GC,7238,1.16,203.7,133.9,10.1,342,7242,0.00,2.28,0.00,0.000,6,0.000,0.023,3333,1874,1843,0,0,0,0,0,0
$GC,7498,1.24,203.7,109.3,8.5,362,7503,0.12,2.47,0.00,0.000,4,0.068,0.046,3371,456,1843,0,0,0,0,0,0
$GC,7566,1.14,203.7,101.1,13.8,367,7571,0.17,2.30,0.00,0.000,6,0.102,0.021,3337,1881,1842,0,0,0,0,0,0
$GC,7832,1.25,223.6,80.9,6.1,388,7861,0.10,2.47,18.23,0.562,4,0.077,0.044,3369,460,1767,0,0,0,0,0,0
$GC,7914,1.19,223.6,73.9,9.5,393,7921,0.00,2.30,0.00,0.000,6,0.000,0.021,3369,1873,1764,0,0,0,0,0,0
$GC,8176,1.23,226.2,54.4,7.7,414,8180,0.00,2.45,0.00,0.000,4,0.000,0.044,3369,455,1764,0,0,0,0,0,0
$GC,8408,1.20,226.2,29.5,9.6,431,8414,0.00,2.28,0.00,0.000,6,0.000,0.020,3369,1876,1762,0,0,0,0,0,0
$GC,8609,1.27,226.2,16.3,8.2,477,8616,0.00,2.25,0.00,0.000,4,0.000,0.026,3369,3229,1762,0,0,0,0,0,0
$GC,8642,1.35,231.3,13.8,7.4,483,8655,0.00,2.33,7.70,0.443,6,0.000,0.030,3369,1861,1736,0,0,0,0,0,0
$STATE,8765,end climb,SURFACE_DEPTH_REACHED
$STATE,8765,begin surface coast
$FINISH,0.2,1.020040
$STATE,8796,end surface coast,CONTROL_FINISHED_OK
$STATE,8797,begin surface
$SM_CCo,8820,102.25,0.504,0,0,1008,410.14
$SM_GC,0.93,0.00,0.00,102.25,0.000,0.000,0.504,427,1667,1008,-12.25,-0.65,410.14
$IRIDIUM_FIX,2057.14,-15748.75,271099,040422
$TT8_MAMPS,0.028379
$HUMID,52.00
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.4,6.675
$10V_AH,10.5,4.245
$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,30.975,90.900,252.175,102.250,0.000,22.924,28.297,155.905,4.500,0.000,16.413,1011.065,5775.294,433.486,1587.750,443.676,0.000,1120.372,0.000,1567.614,0.000,29.257,0.000
$DEVICE_MAMPS,138.060,55.991,854.438,503.919,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,347.882,330.152,777.735,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,28752,517
$CAP_FILE_SIZE,97841,0
$CFSIZE,260165632,209997824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020810,092416,2105.111,-15747.660,17,3.9,36,9.8