version: 66.06
glider: 139
mission: 8
dive: 112
start: 8 7 110 8 50 52
data:
$ID,139
$MISSION,8
$DIVE,112
$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,-2152630.8
$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,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
$GPS1,084455,2105.598,-15749.768,10,1.6,15,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-71.4
$GPS2,085036,2105.563,-15749.832,16,1.0,32,9.8
$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,78.0,11956,-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,-64.85,0.000,2,0.000,0.000,430,1678,2808,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.5,-4.3,12,105,12.55,2.47,-1.48,0.000,4,0.137,0.054,2750,276,2890,0,0,0,0,0,0
$GC,178,-1.45,-58.4,29.4,-20.0,31,185,0.12,2.35,0.00,0.000,6,0.096,0.019,2778,1718,2892,0,0,0,0,0,0
$GC,375,-1.48,-58.4,61.1,-15.5,47,379,0.00,2.47,0.00,0.000,4,0.000,0.047,2778,285,2893,0,0,0,0,0,0
$GC,430,-1.48,-58.4,70.9,-16.6,51,434,0.00,2.25,0.00,0.000,6,0.000,0.018,2778,1699,2894,0,0,0,0,0,0
$GC,692,-1.56,-58.4,100.8,-10.3,71,696,0.00,2.25,0.00,0.000,4,0.000,0.023,2778,3065,2894,0,0,0,0,0,0
$GC,766,-1.72,-58.4,109.6,-11.4,76,771,0.22,2.33,0.00,0.000,6,0.044,0.033,2713,1685,2894,0,0,0,0,0,0
$GC,1027,-1.67,-58.4,147.0,-14.1,96,1031,0.10,2.30,0.00,0.000,4,0.116,0.023,2733,3070,2895,0,0,0,0,0,0
$GC,1097,-1.75,-58.4,157.2,-13.8,101,1101,0.00,2.33,0.00,0.000,6,0.000,0.033,2733,1684,2895,0,0,0,0,0,0
$GC,1359,-1.75,-58.4,195.0,-14.7,121,1363,0.00,2.30,0.00,0.000,4,0.000,0.024,2733,3064,2896,0,0,0,0,0,0
$GC,1385,-1.82,-58.4,198.8,-13.9,123,1390,0.15,2.30,0.00,0.000,6,0.058,0.033,2686,1688,2896,0,0,0,0,0,0
$GC,1647,-1.76,-58.4,239.7,-14.1,136,1652,0.15,2.30,0.00,0.000,4,0.102,0.025,2716,3069,2896,0,0,0,0,0,0
$GC,1680,-1.83,-58.4,244.3,-11.6,137,1684,0.00,2.33,0.00,0.000,6,0.000,0.033,2716,1681,2896,0,0,0,0,0,0
$GC,2002,-1.83,-58.4,283.1,-12.6,153,2006,0.00,2.28,0.00,0.000,4,0.000,0.026,2716,3062,2896,0,0,0,0,0,0
$GC,2184,-1.90,-58.4,302.7,-11.0,160,2192,0.10,2.30,0.00,0.000,6,0.038,0.035,2676,1691,2897,0,0,0,0,0,0
$GC,2516,-1.85,-58.4,348.4,-13.5,169,2520,0.00,2.30,0.00,0.000,4,0.000,0.028,2676,3065,2896,0,0,0,0,0,0
$GC,2612,-1.85,-58.4,361.0,-11.0,171,2616,0.00,2.33,0.00,0.000,6,0.000,0.037,2676,1690,2895,0,0,0,0,0,0
$GC,2931,-1.81,-58.4,397.5,-11.7,179,2936,0.12,2.33,0.00,0.000,4,0.107,0.031,2701,3061,2894,0,0,0,0,0,0
$GC,2970,-1.89,-58.4,401.9,-11.0,179,2975,0.00,2.35,0.00,0.000,6,0.000,0.039,2701,1690,2894,0,0,0,0,0,0
$GC,3303,-1.89,-58.4,437.6,-10.7,188,3307,0.00,2.33,0.00,0.000,4,0.000,0.034,2701,3063,2891,0,0,0,0,0,0
$GC,3349,-1.96,-58.4,443.0,-10.6,189,3354,0.12,2.35,0.00,0.000,6,0.070,0.041,2664,1684,2891,0,0,0,0,0,0
$STATE,3427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3427,begin apogee
$GC,3434,-0.31,0.0,452.3,12.0,191,3488,1.77,0.00,49.80,0.834,6,0.086,0.000,3032,1824,2649,0,0,0,0,0,0
$STATE,3489,end apogee,CONTROL_FINISHED_OK
$STATE,3489,begin climb
$GC,3491,1.56,58.4,453.6,0.0,192,3550,1.77,2.42,50.78,0.818,4,0.028,0.035,3456,3205,2409,0,0,0,0,0,0
$GC,3654,1.33,111.9,451.5,3.1,196,3708,0.32,2.38,47.05,0.820,6,0.103,0.038,3393,1823,2193,0,0,0,0,0,0
$GC,4055,1.15,111.9,408.8,11.9,206,4060,0.22,2.47,0.00,0.000,4,0.106,0.054,3350,425,2183,0,0,0,0,0,0
$GC,4071,0.97,111.9,406.9,11.8,206,4077,0.20,2.30,0.00,0.000,6,0.107,0.028,3312,1821,2181,0,0,0,0,0,0
$GC,4422,0.97,111.9,375.7,8.3,215,4426,0.00,2.50,0.00,0.000,4,0.000,0.055,3312,417,2178,0,0,0,0,0,0
$GC,4561,0.89,114.1,364.1,7.7,218,4566,0.00,2.35,0.00,0.000,6,0.000,0.028,3312,1831,2175,0,0,0,0,0,0
$GC,4889,0.92,143.0,345.7,5.3,226,4921,0.00,2.45,25.60,0.784,4,0.000,0.035,3312,3216,2067,0,0,0,0,0,0
$GC,4937,1.00,169.1,343.1,5.5,227,4970,0.00,2.40,25.10,0.769,6,0.000,0.038,3312,1832,1960,0,0,0,0,0,0
$GC,5303,1.04,169.1,304.7,12.1,236,5307,0.00,2.50,0.00,0.000,4,0.000,0.054,3312,420,1953,0,0,0,0,0,0
$GC,5388,1.00,169.1,294.6,11.7,238,5394,0.00,2.35,0.00,0.000,6,0.000,0.028,3312,1825,1950,0,0,0,0,0,0
$GC,5704,1.07,182.1,266.8,6.7,254,5720,0.00,2.53,11.23,0.686,4,0.000,0.053,3311,413,1906,0,0,0,0,0,0
$GC,5773,1.07,182.1,260.9,9.4,257,5777,0.00,2.35,0.00,0.000,6,0.000,0.027,3311,1834,1904,0,0,0,0,0,0
$GC,6105,1.15,182.1,230.4,9.1,273,6107,0.17,0.00,0.00,0.000,6,0.058,0.000,3360,1838,1902,0,0,0,0,0,0
$GC,6411,1.15,182.1,198.0,10.8,288,6416,0.00,2.47,0.00,0.000,4,0.000,0.050,3360,415,1901,0,0,0,0,0,0
$GC,6549,1.04,182.1,179.1,13.6,298,6554,0.17,2.33,0.00,0.000,6,0.102,0.024,3326,1844,1899,0,0,0,0,0,0
$GC,6810,1.12,182.3,158.8,7.9,318,6815,0.00,2.45,0.00,0.000,4,0.000,0.048,3326,421,1898,0,0,0,0,0,0
$GC,6852,1.12,182.3,154.7,10.4,321,6856,0.00,2.25,0.00,0.000,6,0.000,0.023,3326,1828,1898,0,0,0,0,0,0
$GC,7117,1.21,182.3,130.9,8.7,342,7119,0.15,0.00,0.00,0.000,6,0.059,0.000,3372,1833,1897,0,0,0,0,0,0
$GC,7369,1.21,183.4,108.4,7.8,362,7370,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,1834,1897,0,0,0,0,0,0
$GC,7620,1.23,204.0,94.5,6.0,382,7648,0.00,2.35,19.17,0.568,4,0.000,0.026,3372,3206,1817,0,0,0,0,0,0
$GC,7769,1.29,204.0,80.4,9.9,392,7775,0.00,2.35,0.00,0.000,6,0.000,0.031,3372,1831,1817,0,0,0,0,0,0
$GC,8028,1.29,204.0,58.0,8.7,413,8032,0.00,2.45,0.00,0.000,4,0.000,0.045,3372,414,1817,0,0,0,0,0,0
$GC,8291,1.26,207.2,39.2,7.6,432,8303,0.00,2.28,4.05,0.354,6,0.000,0.019,3372,1862,1804,0,0,0,0,0,0
$GC,8559,1.33,222.9,20.7,6.5,473,8583,0.00,2.53,15.25,0.489,4,0.000,0.042,3372,427,1740,0,0,0,0,0,0
$STATE,8725,end climb,SURFACE_DEPTH_REACHED
$STATE,8725,begin surface coast
$FINISH,0.7,1.023211
$STATE,8752,end surface coast,CONTROL_FINISHED_OK
$STATE,8752,begin surface
$SM_CCo,8777,101.57,0.498,0,0,976,410.14
$SM_GC,1.39,0.00,0.00,101.57,0.000,0.000,0.498,429,1687,976,-12.29,-0.08,410.14
$IRIDIUM_FIX,2059.45,-15750.89,011199,060643
$TT8_MAMPS,0.029146
$HUMID,50.78
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.4,10.532
$10V_AH,10.4,7.612
$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,31.050,99.175,248.025,101.575,0.000,40.627,34.795,132.530,4.500,0.000,32.877,1031.204,5663.423,408.016,1674.448,441.044,0.000,1138.989,0.000,1639.309,0.000,29.262,0.000
$DEVICE_MAMPS,137.293,57.525,834.496,497.783,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,347.402,333.263,772.450,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,28618,516
$CAP_FILE_SIZE,102167,0
$CFSIZE,260165632,207654912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070810,111944,2105.212,-15749.946,15,1.5,15,9.8