version: 66.06
glider: 139
mission: 8
dive: 71
start: 8 2 110 20 6 40
data:
$ID,139
$MISSION,8
$DIVE,71
$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,-2151769.8
$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,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
$GPS1,195952,2105.817,-15746.082,12,2.7,31,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-68.3
$GPS2,200624,2105.874,-15746.135,97,0.9,97,9.8
$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,81.3,5558,-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,-64.80,0.000,2,0.000,0.000,425,1679,2876,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.8,-5.3,12,104,12.57,2.38,-0.88,0.000,4,0.137,0.048,2753,282,2929,0,0,0,0,0,0
$GC,176,-1.44,-58.4,34.2,-27.9,29,181,0.17,2.33,0.00,0.000,6,0.102,0.018,2786,1718,2931,0,0,0,0,0,0
$GC,437,-1.50,-58.4,74.0,-15.0,49,442,0.00,2.50,0.00,0.000,4,0.000,0.045,2786,276,2932,0,0,0,0,0,0
$GC,463,-1.50,-58.4,78.2,-16.4,51,468,0.00,2.25,0.00,0.000,6,0.000,0.018,2786,1711,2932,0,0,0,0,0,0
$GC,729,-1.58,-58.4,117.9,-14.8,72,734,0.12,2.22,0.00,0.000,4,0.065,0.024,2746,3064,2933,0,0,0,0,0,0
$GC,782,-1.66,-58.4,125.9,-15.0,76,786,0.00,2.30,0.00,0.000,6,0.000,0.032,2746,1687,2933,0,0,0,0,0,0
$GC,1048,-1.66,-58.4,166.8,-15.1,97,1052,0.00,2.28,0.00,0.000,4,0.000,0.025,2746,3062,2935,0,0,0,0,0,0
$GC,1129,-1.77,-58.4,178.7,-14.7,103,1134,0.15,2.30,0.00,0.000,6,0.058,0.031,2700,1690,2934,0,0,0,0,0,0
$GC,1393,-1.73,-58.4,220.1,-15.1,120,1398,0.10,2.30,0.00,0.000,4,0.117,0.025,2719,3068,2935,0,0,0,0,0,0
$GC,1503,-1.82,-58.4,233.6,-11.8,124,1509,0.00,2.35,0.00,0.000,6,0.000,0.032,2719,1688,2935,0,0,0,0,0,0
$GC,1820,-1.86,-58.4,269.0,-11.3,140,1825,0.12,2.42,0.00,0.000,4,0.066,0.048,2678,280,2935,0,0,0,0,0,0
$GC,1834,-1.86,-58.4,271.1,-11.5,140,1841,0.00,2.28,0.00,0.000,6,0.000,0.021,2678,1691,2935,0,0,0,0,0,0
$GC,2170,-1.81,-58.4,318.8,-14.4,154,2174,0.12,2.28,0.00,0.000,4,0.110,0.029,2702,3063,2934,0,0,0,0,0,0
$GC,2244,-1.89,-58.4,328.5,-12.5,155,2249,0.00,2.35,0.00,0.000,6,0.000,0.036,2702,1684,2935,0,0,0,0,0,0
$GC,2585,-1.89,-58.4,364.9,-10.3,164,2589,0.00,2.30,0.00,0.000,4,0.000,0.031,2702,3064,2932,0,0,0,0,0,0
$GC,2613,-1.94,-58.4,367.9,-9.8,164,2618,0.12,2.35,0.00,0.000,6,0.069,0.038,2665,1687,2933,0,0,0,0,0,0
$GC,2951,-1.89,-58.4,412.4,-13.6,173,2955,0.12,2.33,0.00,0.000,4,0.111,0.034,2689,3060,2930,0,0,0,0,0,0
$GC,2980,-1.92,-58.4,416.1,-12.0,173,2984,0.00,2.35,0.00,0.000,6,0.000,0.041,2688,1690,2930,0,0,0,0,0,0
$STATE,3278,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3278,begin apogee
$GC,3284,-0.31,0.0,450.0,11.3,181,3337,1.65,0.00,49.35,0.844,6,0.084,0.000,3032,1843,2690,0,0,0,0,0,0
$STATE,3338,end apogee,CONTROL_FINISHED_OK
$STATE,3338,begin climb
$GC,3342,1.56,58.4,451.1,0.0,182,3400,1.75,2.53,50.42,0.826,4,0.030,0.051,3450,436,2450,0,0,0,0,0,0
$GC,3408,1.37,173.2,451.5,-2.4,183,3520,0.28,2.35,100.32,0.834,6,0.112,0.028,3400,1854,1984,0,0,0,0,0,0
$GC,3839,1.20,173.2,394.8,15.9,194,3844,0.20,2.53,0.00,0.000,4,0.107,0.054,3361,438,1974,0,0,0,0,0,0
$GC,3864,1.00,173.2,391.0,14.6,194,3869,0.22,2.38,0.00,0.000,6,0.107,0.029,3319,1850,1971,0,0,0,0,0,0
$GC,4205,1.00,173.2,355.2,10.4,203,4209,0.00,2.50,0.00,0.000,4,0.000,0.055,3318,441,1970,0,0,0,0,0,0
$GC,4364,0.92,173.2,335.4,13.8,206,4368,0.00,2.35,0.00,0.000,6,0.000,0.030,3319,1856,1966,0,0,0,0,0,0
$GC,4708,0.92,173.2,297.4,10.9,215,4713,0.00,2.50,0.00,0.000,4,0.000,0.054,3318,438,1964,0,0,0,0,0,0
$GC,4741,0.85,173.2,293.5,11.1,216,4746,0.17,2.35,0.00,0.000,6,0.113,0.029,3286,1851,1963,0,0,0,0,0,0
$GC,5059,0.95,173.2,265.5,9.3,231,5063,0.00,2.50,0.00,0.000,4,0.000,0.053,3286,436,1962,0,0,0,0,0,0
$GC,5227,0.98,173.2,249.1,9.6,238,5232,0.12,2.33,0.00,0.000,6,0.071,0.028,3321,1856,1960,0,0,0,0,0,0
$GC,5550,1.05,194.0,224.5,6.0,254,5573,0.00,2.58,15.23,0.690,4,0.000,0.051,3321,438,1898,0,0,0,0,0,0
$GC,5679,1.02,194.0,214.1,9.4,259,5684,0.00,2.35,0.00,0.000,6,0.000,0.026,3320,1861,1895,0,0,0,0,0,0
$GC,5997,1.09,194.0,188.2,9.4,278,6001,0.00,2.30,0.00,0.000,4,0.000,0.032,3321,3239,1894,0,0,0,0,0,0
$GC,6129,1.20,194.0,174.8,10.9,287,6135,0.17,2.40,0.00,0.000,6,0.056,0.035,3369,1841,1894,0,0,0,0,0,0
$GC,6387,1.20,194.0,147.6,9.5,308,6388,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,1840,1894,0,0,0,0,0,0
$GC,6640,1.20,194.0,125.1,8.8,328,6645,0.00,2.40,0.00,0.000,4,0.000,0.046,3369,432,1893,0,0,0,0,0,0
$GC,6659,1.13,194.0,123.1,9.6,329,6665,0.12,2.30,0.00,0.000,6,0.108,0.022,3345,1862,1891,0,0,0,0,0,0
$GC,6920,1.19,194.0,101.8,8.1,350,6924,0.00,2.45,0.00,0.000,4,0.000,0.044,3345,440,1892,0,0,0,0,0,0
$GC,6953,1.16,194.0,98.4,10.1,352,6959,0.00,2.28,0.00,0.000,6,0.000,0.021,3345,1858,1891,0,0,0,0,0,0
$GC,7215,1.24,203.4,78.9,7.0,373,7230,0.10,2.45,8.90,0.510,4,0.076,0.043,3378,438,1860,0,0,0,0,0,0
$GC,7337,1.16,203.4,65.4,9.7,381,7344,0.10,2.28,0.00,0.000,6,0.083,0.021,3354,1848,1857,0,0,0,0,0,0
$GC,7600,1.23,203.4,44.7,8.2,402,7604,0.00,2.40,0.00,0.000,4,0.000,0.042,3354,435,1857,0,0,0,0,0,0
$GC,7627,1.24,211.3,42.8,7.2,404,7642,0.00,2.22,8.43,0.476,6,0.000,0.020,3354,1862,1827,0,0,0,0,0,0
$GC,7898,1.37,247.6,27.2,4.6,433,7939,0.20,2.50,32.65,0.520,4,0.048,0.043,3412,432,1678,0,0,0,0,0,0
$GC,7960,1.30,247.6,21.2,10.6,444,7967,0.12,2.28,0.00,0.000,6,0.085,0.019,3384,1836,1677,0,0,0,0,0,0
$STATE,8126,end climb,SURFACE_DEPTH_REACHED
$STATE,8126,begin surface coast
$FINISH,0.3,1.002913
$STATE,8153,end surface coast,CONTROL_FINISHED_OK
$STATE,8153,begin surface
$SM_CCo,8176,90.45,0.502,0,0,1017,410.14
$SM_GC,1.10,0.00,0.00,90.45,0.000,0.000,0.502,431,1673,1017,-12.28,-0.48,410.14
$IRIDIUM_FIX,2057.14,-15744.48,271099,171710
$TT8_MAMPS,0.029146
$HUMID,51.77
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.00
$XPDR_PINGS,1
$24V_AH,23.4,7.089
$10V_AH,10.4,4.608
$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,31.600,99.800,265.300,90.450,0.000,31.212,30.812,134.508,4.750,0.000,97.263,963.077,5298.244,400.676,1583.335,413.632,0.000,1084.298,0.000,1478.875,0.000,29.254,0.000
$DEVICE_MAMPS,137.293,62.127,843.700,502.385,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,327.865,316.145,739.494,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,28662,488
$CAP_FILE_SIZE,97999,0
$CFSIZE,260165632,209752064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020810,222538,2106.016,-15745.318,33,1.4,33,9.8