version: 66.06
glider: 139
mission: 8
dive: 109
start: 8 7 110 0 45 35
data:
$ID,139
$MISSION,8
$DIVE,109
$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,-2152566.5
$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,1830
$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,2650
$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
$GPS1,003938,2106.425,-15751.748,15,1.5,15,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-73.2
$GPS2,004519,2106.463,-15751.754,18,1.6,35,9.8
$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,84.7,15314,-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,-64.78,0.000,2,0.000,0.000,427,1682,2813,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.7,-4.9,12,103,12.57,0.00,-1.35,0.000,6,0.137,0.000,2754,1683,2892,0,0,0,0,0,0
$GC,300,-1.50,-58.4,52.1,-16.4,41,304,0.00,2.35,0.00,0.000,4,0.000,0.024,2754,3101,2894,0,0,0,0,0,0
$GC,422,-1.57,-58.4,69.4,-13.4,50,426,0.00,2.38,0.00,0.000,6,0.000,0.032,2754,1683,2895,0,0,0,0,0,0
$GC,687,-1.57,-58.4,107.9,-14.7,71,691,0.00,2.42,0.00,0.000,4,0.000,0.047,2754,276,2896,0,0,0,0,0,0
$GC,726,-1.51,-58.4,113.6,-14.8,74,730,0.00,2.33,0.00,0.000,6,0.000,0.018,2754,1728,2897,0,0,0,0,0,0
$GC,998,-1.55,-58.4,149.2,-11.9,95,1001,0.00,2.17,0.00,0.000,4,0.000,0.024,2754,3075,2897,0,0,0,0,0,0
$GC,1078,-1.65,-58.4,158.5,-11.4,101,1082,0.00,2.33,0.00,0.000,6,0.000,0.032,2754,1684,2897,0,0,0,0,0,0
$GC,1343,-1.72,-58.4,184.8,-10.6,122,1345,0.12,0.00,0.00,0.000,6,0.067,0.000,2715,1684,2898,0,0,0,0,0,0
$GC,1604,-1.72,-58.4,214.8,-11.9,139,1608,0.00,2.30,0.00,0.000,4,0.000,0.025,2715,3075,2898,0,0,0,0,0,0
$GC,1681,-1.78,-58.4,224.7,-13.5,142,1685,0.00,2.35,0.00,0.000,6,0.000,0.034,2715,1681,2898,0,0,0,0,0,0
$GC,2001,-1.78,-58.4,267.2,-12.6,158,2005,0.00,2.40,0.00,0.000,4,0.000,0.048,2715,285,2898,0,0,0,0,0,0
$GC,2038,-1.73,-58.4,272.2,-12.7,159,2044,0.00,2.25,0.00,0.000,6,0.000,0.021,2715,1698,2899,0,0,0,0,0,0
$GC,2374,-1.73,-58.4,310.5,-12.3,174,2378,0.00,2.28,0.00,0.000,4,0.000,0.028,2715,3071,2898,0,0,0,0,0,0
$GC,2483,-1.81,-58.4,321.8,-10.3,176,2487,0.00,2.35,0.00,0.000,6,0.000,0.036,2715,1688,2897,0,0,0,0,0,0
$GC,2833,-1.84,-58.4,355.1,-9.4,185,2837,0.00,2.28,0.00,0.000,4,0.000,0.030,2715,3062,2896,0,0,0,0,0,0
$GC,2889,-1.93,-58.4,360.7,-9.3,186,2894,0.17,2.33,0.00,0.000,6,0.058,0.038,2668,1690,2895,0,0,0,0,0,0
$GC,3205,-1.87,-58.4,395.0,-10.9,194,3210,0.12,2.33,0.00,0.000,4,0.113,0.032,2692,3062,2893,0,0,0,0,0,0
$GC,3297,-1.92,-58.4,403.4,-8.1,196,3301,0.00,2.38,0.00,0.000,6,0.000,0.041,2692,1682,2892,0,0,0,0,0,0
$GC,3625,-1.92,-58.4,435.2,-9.9,204,3626,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1681,2890,0,0,0,0,0,0
$STATE,3784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3784,begin apogee
$GC,3790,-0.31,0.0,452.0,10.3,208,3844,1.62,0.00,49.55,0.847,6,0.085,0.000,3029,1831,2650,0,0,0,0,0,0
$STATE,3845,end apogee,CONTROL_FINISHED_OK
$STATE,3845,begin climb
$GC,3847,1.56,58.4,452.9,0.0,209,3906,1.80,0.00,51.30,0.828,6,0.029,0.000,3454,1832,2410,0,0,0,0,0,0
$GC,4233,1.36,149.4,454.9,-0.3,219,4322,0.30,2.55,80.72,0.848,4,0.110,0.055,3397,422,2039,0,0,0,0,0,0
$GC,4359,1.07,149.4,448.3,12.9,222,4365,0.32,2.35,0.00,0.000,6,0.106,0.029,3335,1831,2034,0,0,0,0,0,0
$GC,4690,1.03,149.4,413.8,10.5,230,4695,0.00,2.50,0.00,0.000,4,0.000,0.056,3335,420,2028,0,0,0,0,0,0
$GC,4770,0.89,149.4,403.3,13.3,231,4775,0.20,2.35,0.00,0.000,6,0.114,0.028,3298,1832,2025,0,0,0,0,0,0
$GC,5102,0.94,149.4,366.0,11.3,239,5106,0.00,2.50,0.00,0.000,4,0.000,0.055,3297,424,2024,0,0,0,0,0,0
$GC,5164,0.90,149.4,358.2,12.9,240,5168,0.00,2.33,0.00,0.000,6,0.000,0.029,3297,1837,2021,0,0,0,0,0,0
$GC,5514,0.96,149.4,322.2,9.9,249,5519,0.00,2.50,0.00,0.000,4,0.000,0.055,3297,417,2021,0,0,0,0,0,0
$GC,5584,0.93,149.4,314.0,11.9,250,5588,0.00,2.35,0.00,0.000,6,0.000,0.029,3298,1841,2019,0,0,0,0,0,0
$GC,5911,1.00,152.6,285.4,7.6,262,5916,0.00,2.50,0.00,0.000,4,0.000,0.054,3298,418,2019,0,0,0,0,0,0
$GC,6018,1.02,164.4,277.2,6.8,266,6036,0.08,2.35,10.45,0.696,6,0.048,0.028,3326,1835,1979,0,0,0,0,0,0
$GC,6359,1.03,178.1,252.3,6.7,283,6381,0.00,2.33,13.75,0.699,4,0.000,0.032,3326,3206,1922,0,0,0,0,0,0
$GC,6465,1.11,178.1,242.6,10.9,287,6470,0.00,2.38,0.00,0.000,6,0.000,0.038,3326,1821,1922,0,0,0,0,0,0
$GC,6782,1.16,178.1,213.7,9.1,302,6787,0.12,2.45,0.00,0.000,4,0.071,0.053,3361,420,1920,0,0,0,0,0,0
$GC,6976,1.04,178.1,190.3,12.0,313,6981,0.17,2.30,0.00,0.000,6,0.105,0.025,3328,1835,1917,0,0,0,0,0,0
$GC,7239,1.09,178.1,166.1,10.2,333,7243,0.00,2.45,0.00,0.000,4,0.000,0.049,3328,420,1916,0,0,0,0,0,0
$GC,7327,1.06,178.1,156.7,9.3,339,7333,0.00,2.30,0.00,0.000,6,0.000,0.024,3328,1835,1915,0,0,0,0,0,0
$GC,7587,1.13,178.1,134.9,8.7,360,7588,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,1840,1915,0,0,0,0,0,0
$GC,7838,1.20,178.1,110.4,8.0,380,7843,0.15,2.45,0.00,0.000,4,0.061,0.046,3372,414,1915,0,0,0,0,0,0
$GC,7913,1.09,178.1,103.9,9.7,385,7919,0.17,2.28,0.00,0.000,6,0.102,0.021,3338,1846,1914,0,0,0,0,0,0
$GC,8174,1.20,201.6,88.8,5.8,406,8202,0.10,2.53,20.83,0.573,4,0.077,0.045,3370,417,1827,0,0,0,0,0,0
$GC,8307,1.15,201.6,76.1,11.3,415,8314,0.08,2.30,0.00,0.000,6,0.089,0.021,3352,1834,1824,0,0,0,0,0,0
$GC,8570,1.22,206.6,54.1,7.4,436,8585,0.00,2.50,5.65,0.434,4,0.000,0.044,3352,415,1806,0,0,0,0,0,0
$GC,8690,1.23,210.6,44.8,7.5,444,8700,0.00,2.28,4.88,0.400,6,0.000,0.020,3352,1830,1791,0,0,0,0,0,0
$GC,8959,1.35,217.6,27.4,7.3,470,8973,0.17,2.42,8.15,0.458,4,0.053,0.042,3404,420,1761,0,0,0,0,0,0
$GC,9042,1.25,217.6,19.3,10.5,487,9049,0.12,2.28,0.00,0.000,6,0.084,0.019,3375,1829,1759,0,0,0,0,0,0
$STATE,9237,end climb,SURFACE_DEPTH_REACHED
$STATE,9237,begin surface coast
$FINISH,0.5,1.009813
$STATE,9268,end surface coast,CONTROL_FINISHED_OK
$STATE,9268,begin surface
$SM_CCo,9291,105.95,0.502,0,0,978,410.14
$SM_GC,1.25,0.00,0.00,105.95,0.000,0.000,0.502,429,1661,978,-12.29,-0.82,410.14
$IRIDIUM_FIX,2059.45,-15753.03,311099,222235
$TT8_MAMPS,0.028379
$HUMID,52.40
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.4,10.292
$10V_AH,10.4,7.399
$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,31.075,95.150,245.275,105.950,0.000,30.011,37.202,137.631,4.500,0.000,35.627,1074.553,6075.737,437.487,1710.435,440.148,0.000,1159.158,0.000,1672.122,0.000,29.253,0.000
$DEVICE_MAMPS,137.293,55.991,848.302,502.385,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,363.073,343.843,797.044,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,28639,539
$CAP_FILE_SIZE,103638,0
$CFSIZE,260165632,207798272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070810,032331,2106.121,-15750.917,39,1.5,39,9.8