version: 66.06
glider: 139
mission: 8
dive: 110
start: 8 7 110 3 28 43
data:
$ID,139
$MISSION,8
$DIVE,110
$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,-2152580.2
$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,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
$GPS1,032331,2106.121,-15750.917,39,1.5,39,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-72.6
$GPS2,032826,2106.101,-15750.899,12,1.7,12,9.8
$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,82.4,13801,-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,-64.53,0.000,2,0.000,0.000,429,1662,2796,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.4,-4.1,12,110,12.57,2.42,-1.70,0.000,4,0.137,0.052,2752,280,2893,0,0,0,0,0,0
$GC,156,-1.36,-58.4,27.3,-27.9,26,163,0.20,2.35,0.00,0.000,6,0.093,0.019,2796,1721,2894,0,0,0,0,0,0
$GC,360,-1.43,-58.4,60.5,-14.4,43,362,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1726,2895,0,0,0,0,0,0
$GC,614,-1.52,-58.4,93.1,-11.6,63,619,0.12,2.53,0.00,0.000,4,0.064,0.047,2755,279,2896,0,0,0,0,0,0
$GC,642,-1.48,-58.4,97.1,-14.9,65,647,0.10,2.25,0.00,0.000,6,0.115,0.018,2774,1706,2896,0,0,0,0,0,0
$GC,907,-1.55,-58.4,132.2,-13.1,86,911,0.00,2.45,0.00,0.000,4,0.000,0.046,2774,281,2897,0,0,0,0,0,0
$GC,925,-1.58,-58.4,134.8,-12.8,87,931,0.00,2.25,0.00,0.000,6,0.000,0.019,2774,1707,2897,0,0,0,0,0,0
$GC,1185,-1.69,-58.4,166.0,-11.6,108,1190,0.20,2.20,0.00,0.000,4,0.048,0.021,2716,3053,2898,0,0,0,0,0,0
$GC,1243,-1.73,-58.4,173.3,-12.1,112,1247,0.00,2.28,0.00,0.000,6,0.000,0.031,2716,1688,2898,0,0,0,0,0,0
$GC,1516,-1.73,-58.4,208.7,-11.7,131,1520,0.00,2.25,0.00,0.000,4,0.000,0.024,2716,3052,2899,0,0,0,0,0,0
$GC,1607,-1.79,-58.4,218.4,-10.0,135,1611,0.00,2.30,0.00,0.000,6,0.000,0.033,2716,1689,2899,0,0,0,0,0,0
$GC,1937,-1.79,-58.4,258.0,-12.9,151,1938,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1688,2898,0,0,0,0,0,0
$GC,2246,-1.79,-58.4,296.9,-12.3,166,2250,0.00,2.28,0.00,0.000,4,0.000,0.027,2716,3056,2899,0,0,0,0,0,0
$GC,2370,-1.87,-58.4,311.5,-11.0,169,2374,0.10,2.30,0.00,0.000,6,0.076,0.035,2683,1689,2898,0,0,0,0,0,0
$GC,2716,-1.87,-58.4,353.8,-11.6,178,2717,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,1688,2896,0,0,0,0,0,0
$GC,3040,-1.87,-58.4,390.6,-11.1,186,3044,0.00,2.28,0.00,0.000,4,0.000,0.031,2683,3052,2895,0,0,0,0,0,0
$GC,3083,-1.87,-58.4,395.3,-11.4,187,3087,0.00,2.33,0.00,0.000,6,0.000,0.039,2683,1684,2894,0,0,0,0,0,0
$GC,3411,-1.87,-58.4,432.2,-11.6,195,3412,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,1684,2892,0,0,0,0,0,0
$STATE,3570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3570,begin apogee
$GC,3576,-0.31,0.0,452.5,12.5,199,3630,1.67,0.00,49.92,0.844,6,0.085,0.000,3031,1804,2649,0,0,0,0,0,0
$STATE,3631,end apogee,CONTROL_FINISHED_OK
$STATE,3631,begin climb
$GC,3634,1.56,58.4,454.0,0.0,200,3693,1.77,2.50,50.88,0.828,4,0.029,0.038,3448,3220,2411,0,0,0,0,0,0
$GC,3870,1.37,137.7,455.6,0.8,205,3951,0.25,2.42,70.45,0.837,6,0.109,0.038,3401,1826,2087,0,0,0,0,0,0
$GC,4292,1.18,137.7,410.6,12.9,216,4297,0.22,2.50,0.00,0.000,4,0.109,0.055,3358,425,2077,0,0,0,0,0,0
$GC,4359,0.99,137.7,401.6,13.7,217,4364,0.22,2.33,0.00,0.000,6,0.107,0.029,3317,1830,2073,0,0,0,0,0,0
$GC,4704,0.99,137.7,367.5,9.8,226,4709,0.00,2.50,0.00,0.000,4,0.000,0.054,3317,424,2072,0,0,0,0,0,0
$GC,4849,0.91,137.7,351.0,11.0,229,4853,0.00,2.33,0.00,0.000,6,0.000,0.029,3317,1834,2068,0,0,0,0,0,0
$GC,5167,0.91,137.7,317.0,10.0,237,5171,0.00,2.33,0.00,0.000,4,0.000,0.035,3317,3213,2068,0,0,0,0,0,0
$GC,5214,0.95,137.7,311.7,11.2,238,5218,0.00,2.38,0.00,0.000,6,0.000,0.038,3317,1826,2067,0,0,0,0,0,0
$GC,5540,0.97,153.1,285.2,6.5,250,5553,0.00,0.00,11.07,0.701,6,0.000,0.000,3317,1826,2025,0,0,0,0,0,0
$GC,5850,1.02,168.0,264.9,6.6,265,5867,0.00,0.00,14.60,0.711,6,0.000,0.000,3317,1826,1965,0,0,0,0,0,0
$GC,6180,1.07,168.0,234.8,9.4,281,6184,0.00,2.47,0.00,0.000,4,0.000,0.053,3317,416,1961,0,0,0,0,0,0
$GC,6247,1.04,168.0,227.6,11.1,284,6252,0.00,2.33,0.00,0.000,6,0.000,0.026,3317,1843,1958,0,0,0,0,0,0
$GC,6578,1.11,179.3,199.1,6.9,300,6595,0.12,2.53,10.60,0.637,4,0.069,0.048,3353,417,1918,0,0,0,0,0,0
$GC,6646,1.01,179.3,192.7,11.1,304,6653,0.12,2.35,0.00,0.000,6,0.088,0.025,3325,1837,1915,0,0,0,0,0,0
$GC,6909,1.07,179.3,169.3,10.2,325,6913,0.00,2.47,0.00,0.000,4,0.000,0.048,3324,417,1915,0,0,0,0,0,0
$GC,7010,1.07,179.3,157.5,10.9,332,7016,0.00,2.33,0.00,0.000,6,0.000,0.023,3325,1833,1913,0,0,0,0,0,0
$GC,7273,1.14,179.8,136.4,7.8,353,7278,0.10,2.45,0.00,0.000,4,0.077,0.048,3357,421,1913,0,0,0,0,0,0
$GC,7348,1.05,179.8,127.5,12.2,358,7354,0.10,2.30,0.00,0.000,6,0.088,0.022,3334,1822,1912,0,0,0,0,0,0
$GC,7611,1.12,181.7,107.0,7.7,379,7615,0.00,2.40,0.00,0.000,4,0.000,0.046,3333,421,1912,0,0,0,0,0,0
$GC,7787,1.12,181.7,91.1,10.3,392,7791,0.00,2.25,0.00,0.000,6,0.000,0.021,3333,1841,1913,0,0,0,0,0,0
$GC,8054,1.22,191.0,71.0,7.1,413,8072,0.15,2.50,11.12,0.523,4,0.058,0.043,3379,426,1870,0,0,0,0,0,0
$GC,8105,1.13,191.0,66.8,8.4,416,8112,0.12,2.28,0.00,0.000,6,0.083,0.021,3350,1837,1869,0,0,0,0,0,0
$GC,8367,1.24,203.5,48.1,6.8,437,8385,0.00,2.50,12.43,0.503,4,0.000,0.044,3350,420,1820,0,0,0,0,0,0
$GC,8583,1.26,220.8,33.5,6.3,452,8606,0.08,2.28,16.38,0.507,6,0.041,0.019,3384,1840,1748,0,0,0,0,0,0
$GC,8868,1.26,220.8,7.3,9.0,511,8873,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,1840,1748,0,0,0,0,0,0
$STATE,8908,end climb,SURFACE_DEPTH_REACHED
$STATE,8908,begin surface coast
$FINISH,0.6,1.023131
$STATE,8939,end surface coast,CONTROL_FINISHED_OK
$STATE,8939,begin surface
$SM_CCo,8962,104.28,0.503,0,0,978,410.14
$SM_GC,1.21,0.00,0.00,104.28,0.000,0.000,0.503,428,1666,978,-12.29,-0.68,410.14
$IRIDIUM_FIX,2057.14,-15831.22,011199,000022
$TT8_MAMPS,0.028379
$HUMID,51.61
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.4,10.371
$10V_AH,10.4,7.471
$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,30.900,85.550,247.450,104.275,0.000,29.172,28.322,122.007,4.500,0.000,12.983,1042.249,5845.937,414.290,1646.755,412.374,0.000,1128.237,0.000,1630.959,0.000,29.252,0.000
$DEVICE_MAMPS,137.293,62.127,843.700,503.152,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,354.889,340.120,787.416,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,28644,527
$CAP_FILE_SIZE,99373,0
$CFSIZE,260165632,207753216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,070810,060107,2105.861,-15750.072,38,1.1,38,9.8