version: 66.06
glider: 139
mission: 8
dive: 67
start: 8 2 110 9 32 7
data:
$ID,139
$MISSION,8
$DIVE,67
$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,-2151614.2
$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
$GPS1,092416,2105.111,-15747.660,17,3.9,36,9.8
$_CALLS,1
$_XMS_NAKs,30
$_XMS_TOUTs,1
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-66.5
$GPS2,093152,2105.147,-15747.757,12,5.5,31,9.8
$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,71.8,8451,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.56,-58.4,0.0,0.0,0,83,0.00,0.00,-64.72,0.000,2,0.000,0.000,426,1667,2881,0,0,0,0,0,0
$GC,87,-1.56,-58.4,3.8,-5.8,12,106,12.57,2.40,-0.62,0.000,4,0.139,0.035,2741,3106,2920,0,0,0,0,0,0
$GC,192,-1.56,-58.4,33.2,-18.1,32,199,0.00,2.42,0.00,0.000,6,0.000,0.035,2741,1695,2922,0,0,0,0,0,0
$GC,453,-1.50,-58.4,76.5,-16.1,53,458,0.10,2.45,0.00,0.000,4,0.127,0.047,2759,278,2922,0,0,0,0,0,0
$GC,472,-1.41,-58.4,80.0,-16.1,54,479,0.08,2.35,0.00,0.000,6,0.098,0.018,2777,1728,2922,0,0,0,0,0,0
$GC,735,-1.49,-58.4,110.3,-11.4,75,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1729,2923,0,0,0,0,0,0
$GC,984,-1.56,-58.4,142.9,-13.3,95,989,0.12,2.22,0.00,0.000,4,0.066,0.025,2737,3073,2924,0,0,0,0,0,0
$GC,1080,-1.64,-58.4,155.8,-12.7,102,1084,0.00,2.35,0.00,0.000,6,0.000,0.032,2737,1680,2924,0,0,0,0,0,0
$GC,1346,-1.64,-58.4,192.8,-12.6,123,1347,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1679,2925,0,0,0,0,0,0
$GC,1595,-1.64,-58.4,220.7,-11.0,137,1599,0.00,2.30,0.00,0.000,4,0.000,0.025,2737,3077,2925,0,0,0,0,0,0
$GC,1696,-1.76,-58.4,231.1,-10.4,141,1701,0.15,2.35,0.00,0.000,6,0.060,0.034,2693,1688,2925,0,0,0,0,0,0
$GC,2015,-1.72,-58.4,270.3,-12.7,156,2017,0.10,0.00,0.00,0.000,6,0.116,0.000,2712,1688,2925,0,0,0,0,0,0
$GC,2340,-1.72,-58.4,312.3,-12.7,170,2341,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1688,2924,0,0,0,0,0,0
$GC,2665,-1.72,-58.4,352.0,-12.3,178,2669,0.00,2.33,0.00,0.000,4,0.000,0.028,2712,3075,2923,0,0,0,0,0,0
$GC,2689,-1.80,-58.4,354.5,-10.3,178,2693,0.00,2.35,0.00,0.000,6,0.000,0.037,2712,1685,2923,0,0,0,0,0,0
$GC,3029,-1.83,-58.4,389.2,-10.4,187,3030,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1685,2922,0,0,0,0,0,0
$GC,3355,-1.87,-58.4,423.4,-10.5,195,3360,0.15,2.35,0.00,0.000,4,0.064,0.034,2670,3070,2919,0,0,0,0,0,0
$GC,3403,-1.87,-58.4,428.7,-11.4,196,3407,0.00,2.35,0.00,0.000,6,0.000,0.041,2670,1693,2918,0,0,0,0,0,0
$STATE,3601,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3601,begin apogee
$GC,3608,-0.31,0.0,450.5,11.0,201,3661,1.70,0.00,49.28,0.844,6,0.089,0.000,3020,1874,2680,0,0,0,0,0,0
$STATE,3662,end apogee,CONTROL_FINISHED_OK
$STATE,3662,begin climb
$GC,3665,1.56,58.4,451.8,0.0,202,3726,1.77,2.55,50.60,0.827,4,0.032,0.051,3437,452,2439,0,0,0,0,0,0
$GC,3987,1.29,163.9,455.5,-1.6,209,4090,0.35,2.35,92.53,0.848,6,0.115,0.028,3372,1873,2011,0,0,0,0,0,0
$GC,4437,1.16,163.9,401.5,13.5,220,4442,0.15,2.50,0.00,0.000,4,0.120,0.055,3343,461,2001,0,0,0,0,0,0
$GC,4521,1.01,163.9,390.1,13.7,221,4527,0.17,2.38,0.00,0.000,6,0.115,0.029,3312,1871,1998,0,0,0,0,0,0
$GC,4853,1.01,163.9,355.9,10.0,230,4857,0.00,2.53,0.00,0.000,4,0.000,0.055,3311,456,1996,0,0,0,0,0,0
$GC,4970,0.94,163.9,341.7,11.7,232,4974,0.00,2.38,0.00,0.000,6,0.000,0.029,3311,1872,1993,0,0,0,0,0,0
$GC,5315,0.94,163.9,309.6,8.8,241,5320,0.00,2.50,0.00,0.000,4,0.000,0.054,3311,460,1992,0,0,0,0,0,0
$GC,5405,0.89,163.9,300.1,11.1,243,5410,0.15,2.38,0.00,0.000,6,0.120,0.028,3284,1879,1990,0,0,0,0,0,0
$GC,5740,1.00,168.7,271.1,7.5,258,5745,0.10,2.53,0.00,0.000,4,0.083,0.052,3312,459,1990,0,0,0,0,0,0
$GC,5762,1.00,173.3,269.4,7.5,259,5775,0.00,2.35,5.62,0.588,6,0.000,0.028,3312,1881,1973,0,0,0,0,0,0
$GC,6098,1.06,173.3,244.3,8.0,275,6103,0.00,2.50,0.00,0.000,4,0.000,0.051,3312,455,1972,0,0,0,0,0,0
$GC,6155,1.03,173.3,238.7,9.6,277,6159,0.00,2.33,0.00,0.000,6,0.000,0.027,3311,1873,1970,0,0,0,0,0,0
$GC,6476,1.10,176.6,214.8,7.6,293,6482,0.00,0.00,3.97,0.463,6,0.000,0.000,3312,1879,1960,0,0,0,0,0,0
$GC,6796,1.19,191.3,190.5,6.6,312,6818,0.17,2.55,14.82,0.653,4,0.059,0.048,3359,460,1900,0,0,0,0,0,0
$GC,6962,1.08,194.1,176.2,7.6,324,6968,0.17,2.33,0.00,0.000,6,0.105,0.024,3326,1877,1895,0,0,0,0,0,0
$GC,7230,1.16,203.6,157.4,7.0,345,7247,0.00,2.50,11.90,0.604,4,0.000,0.047,3325,455,1849,0,0,0,0,0,0
$GC,7299,1.16,203.6,151.6,9.3,350,7303,0.00,2.30,0.00,0.000,6,0.000,0.022,3326,1877,1847,0,0,0,0,0,0
$GC,7559,1.24,203.6,129.9,8.5,370,7564,0.15,2.47,0.00,0.000,4,0.062,0.046,3368,454,1846,0,0,0,0,0,0
$GC,7589,1.11,203.6,126.6,12.0,372,7594,0.17,2.28,0.00,0.000,6,0.101,0.021,3334,1873,1845,0,0,0,0,0,0
$GC,7849,1.18,203.6,102.0,9.2,392,7853,0.00,2.45,0.00,0.000,4,0.000,0.045,3334,449,1845,0,0,0,0,0,0
$GC,8014,1.18,203.6,85.8,10.9,404,8018,0.00,2.25,0.00,0.000,6,0.000,0.021,3334,1871,1844,0,0,0,0,0,0
$GC,8275,1.28,205.1,65.4,7.8,424,8277,0.15,0.00,0.00,0.000,6,0.059,0.000,3380,1876,1844,0,0,0,0,0,0
$GC,8526,1.28,205.1,45.5,8.0,444,8530,0.00,2.42,0.00,0.000,4,0.000,0.043,3379,448,1844,0,0,0,0,0,0
$GC,8580,1.21,205.1,40.0,10.2,448,8585,0.12,2.28,0.00,0.000,6,0.109,0.020,3355,1877,1844,0,0,0,0,0,0
$GC,8843,1.32,220.0,21.4,6.6,488,8867,0.10,2.30,15.43,0.498,4,0.075,0.026,3390,3233,1782,0,0,0,0,0,0
$GC,8958,1.37,222.8,12.3,7.6,512,8971,0.00,2.33,4.50,0.364,6,0.000,0.029,3390,1866,1770,0,0,0,0,0,0
$STATE,9051,end climb,SURFACE_DEPTH_REACHED
$STATE,9054,begin surface coast
$FINISH,0.2,0.998580
$STATE,9081,end surface coast,CONTROL_FINISHED_OK
$STATE,9081,begin surface
$SM_CCo,9104,98.12,0.502,0,0,1007,410.14
$SM_GC,0.94,0.00,0.00,98.12,0.000,0.000,0.502,431,1677,1007,-12.23,-0.34,410.14
$IRIDIUM_FIX,2059.45,-15750.89,271099,070700
$TT8_MAMPS,0.028379
$HUMID,51.29
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.4,6.763
$10V_AH,10.4,4.319
$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,31.575,86.475,248.650,98.125,0.000,31.419,31.294,261.850,4.500,0.000,32.255,1054.057,5985.395,391.430,1677.378,548.480,0.000,1112.922,0.000,1637.910,0.000,29.250,0.000
$DEVICE_MAMPS,138.827,59.059,848.302,502.385,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,363.481,346.827,807.743,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,28640,539
$CAP_FILE_SIZE,103084,0
$CFSIZE,260165632,209944576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020810,120707,2105.386,-15746.911,59,1.1,59,9.8