version: 66.06
glider: 139
mission: 8
dive: 115
start: 8 7 110 16 56 49
data:
$ID,139
$MISSION,8
$DIVE,115
$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,-2152684.8
$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
$GPS1,165120,2104.793,-15749.176,11,1.6,11,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-71.7
$GPS2,165632,2104.795,-15749.192,12,1.9,12,9.8
$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,70.3,11004,-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,-64.47,0.000,2,0.000,0.000,425,1677,2781,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.1,-3.4,12,110,12.62,2.42,-2.00,0.000,4,0.138,0.040,2755,3098,2891,0,0,0,0,0,0
$GC,139,-1.23,-58.4,19.7,-27.9,22,147,0.32,2.42,0.00,0.000,6,0.080,0.034,2826,1689,2892,0,0,0,0,0,0
$GC,345,-1.34,-58.4,45.1,-11.5,49,349,0.00,2.35,0.00,0.000,4,0.000,0.023,2826,3104,2893,0,0,0,0,0,0
$GC,400,-1.57,-58.4,51.3,-9.4,53,405,0.30,2.40,0.00,0.000,6,0.038,0.031,2741,1682,2893,0,0,0,0,0,0
$GC,660,-1.57,-58.4,89.2,-14.6,73,664,0.00,2.40,0.00,0.000,4,0.000,0.047,2741,278,2894,0,0,0,0,0,0
$GC,732,-1.49,-58.4,100.7,-15.7,78,737,0.17,2.30,0.00,0.000,6,0.098,0.018,2776,1729,2895,0,0,0,0,0,0
$GC,992,-1.57,-58.4,131.8,-11.7,98,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1731,2895,0,0,0,0,0,0
$GC,1244,-1.67,-58.4,163.1,-12.0,118,1246,0.17,0.00,0.00,0.000,6,0.053,0.000,2723,1731,2896,0,0,0,0,0,0
$GC,1497,-1.67,-58.4,201.1,-14.3,138,1498,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1732,2896,0,0,0,0,0,0
$GC,1805,-1.67,-58.4,243.1,-12.6,153,1809,0.00,2.22,0.00,0.000,4,0.000,0.026,2723,3072,2896,0,0,0,0,0,0
$GC,1903,-1.74,-58.4,254.9,-11.4,157,1907,0.00,2.33,0.00,0.000,6,0.000,0.033,2723,1689,2896,0,0,0,0,0,0
$GC,2224,-1.78,-58.4,289.1,-10.1,173,2225,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1689,2897,0,0,0,0,0,0
$GC,2551,-1.82,-58.4,323.8,-11.3,184,2556,0.00,2.45,0.00,0.000,4,0.000,0.051,2723,276,2897,0,0,0,0,0,0
$GC,2565,-1.82,-58.4,325.7,-11.2,184,2569,0.00,2.28,0.00,0.000,6,0.000,0.023,2723,1697,2896,0,0,0,0,0,0
$GC,2881,-1.87,-58.4,357.8,-10.3,192,2883,0.15,0.00,0.00,0.000,6,0.060,0.000,2680,1701,2895,0,0,0,0,0,0
$GC,3205,-1.84,-58.4,396.5,-12.1,200,3206,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1702,2893,0,0,0,0,0,0
$GC,3530,-1.84,-58.4,436.3,-12.3,208,3534,0.00,2.33,0.00,0.000,4,0.000,0.034,2680,3065,2892,0,0,0,0,0,0
$GC,3623,-1.88,-58.4,448.1,-13.0,210,3627,0.00,2.38,0.00,0.000,6,0.000,0.042,2680,1690,2891,0,0,0,0,0,0
$STATE,3634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3635,begin apogee
$GC,3641,-0.31,0.0,450.0,12.1,210,3695,1.65,0.00,49.65,0.838,6,0.085,0.000,3025,1826,2649,0,0,0,0,0,0
$STATE,3696,end apogee,CONTROL_FINISHED_OK
$STATE,3696,begin climb
$GC,3698,1.56,58.4,451.6,0.0,211,3754,1.77,0.00,51.17,0.825,6,0.031,0.000,3450,1826,2411,0,0,0,0,0,0
$GC,4071,1.34,131.5,451.1,1.3,221,4145,0.25,2.55,64.20,0.843,4,0.112,0.054,3398,421,2112,0,0,0,0,0,0
$GC,4239,1.05,131.5,436.0,13.4,224,4244,0.35,2.33,0.00,0.000,6,0.106,0.028,3333,1829,2105,0,0,0,0,0,0
$GC,4570,1.01,131.5,406.1,8.7,232,4574,0.00,2.35,0.00,0.000,4,0.000,0.038,3332,3213,2102,0,0,0,0,0,0
$GC,4602,1.01,131.5,403.1,9.1,232,4607,0.00,2.40,0.00,0.000,6,0.000,0.040,3332,1831,2101,0,0,0,0,0,0
$GC,4935,0.98,131.5,376.6,7.9,240,4936,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,1830,2098,0,0,0,0,0,0
$GC,5259,0.98,131.6,352.2,7.9,248,5263,0.00,2.47,0.00,0.000,4,0.000,0.056,3332,424,2096,0,0,0,0,0,0
$GC,5287,0.86,131.6,349.6,9.3,248,5292,0.22,2.30,0.00,0.000,6,0.110,0.028,3290,1832,2094,0,0,0,0,0,0
$GC,5625,0.96,147.6,327.3,6.4,257,5642,0.00,2.55,11.90,0.739,4,0.000,0.054,3290,420,2048,0,0,0,0,0,0
$GC,5675,0.96,150.7,323.5,7.6,258,5684,0.00,2.35,4.25,0.526,6,0.000,0.028,3290,1836,2035,0,0,0,0,0,0
$GC,5995,1.07,167.6,303.5,6.4,266,6019,0.20,2.53,17.02,0.749,4,0.056,0.052,3342,423,1965,0,0,0,0,0,0
$GC,6180,0.95,167.6,282.1,12.7,273,6185,0.17,2.33,0.00,0.000,6,0.107,0.028,3309,1826,1961,0,0,0,0,0,0
$GC,6513,1.02,167.6,248.8,8.8,289,6517,0.00,2.47,0.00,0.000,4,0.000,0.051,3309,421,1959,0,0,0,0,0,0
$GC,6611,1.02,167.6,239.0,10.4,293,6615,0.00,2.33,0.00,0.000,6,0.000,0.026,3309,1838,1957,0,0,0,0,0,0
$GC,6932,1.10,167.7,213.7,7.9,309,6934,0.15,0.00,0.00,0.000,6,0.064,0.000,3351,1842,1957,0,0,0,0,0,0
$GC,7252,1.10,167.7,181.7,10.3,330,7257,0.00,2.45,0.00,0.000,4,0.000,0.048,3351,420,1956,0,0,0,0,0,0
$GC,7312,1.00,167.7,174.0,13.8,334,7319,0.12,2.33,0.00,0.000,6,0.088,0.025,3322,1836,1955,0,0,0,0,0,0
$GC,7574,1.06,167.7,149.7,8.3,355,7578,0.00,2.45,0.00,0.000,4,0.000,0.048,3322,421,1955,0,0,0,0,0,0
$GC,7806,1.07,175.3,129.0,7.2,372,7821,0.00,2.25,6.47,0.515,6,0.000,0.022,3322,1845,1933,0,0,0,0,0,0
$GC,8077,1.17,191.6,112.2,6.4,393,8098,0.15,2.28,16.05,0.586,4,0.060,0.026,3367,3202,1867,0,0,0,0,0,0
$GC,8115,1.17,191.6,108.7,8.6,395,8120,0.00,2.38,0.00,0.000,6,0.000,0.033,3367,1819,1867,0,0,0,0,0,0
$GC,8379,1.17,191.6,83.5,8.8,416,8383,0.00,2.40,0.00,0.000,4,0.000,0.044,3367,421,1866,0,0,0,0,0,0
$GC,8642,1.10,191.6,58.0,9.0,435,8649,0.12,2.28,0.00,0.000,6,0.085,0.020,3339,1840,1864,0,0,0,0,0,0
$GC,8903,1.30,248.2,45.1,2.8,456,8959,0.20,2.28,49.20,0.548,4,0.048,0.023,3399,3200,1637,0,0,0,0,0,0
$GC,9054,1.34,248.2,33.4,10.8,466,9060,0.00,2.35,0.00,0.000,6,0.000,0.030,3398,1824,1636,0,0,0,0,0,0
$STATE,9304,end climb,SURFACE_DEPTH_REACHED
$STATE,9305,begin surface coast
$FINISH,0.6,1.010748
$STATE,9327,end surface coast,CONTROL_FINISHED_OK
$STATE,9327,begin surface
$SM_CCo,9350,93.57,0.506,0,0,978,410.14
$SM_GC,1.34,0.00,0.00,93.57,0.000,0.000,0.506,430,1668,978,-12.28,-0.62,410.14
$IRIDIUM_FIX,2059.45,-15740.59,011199,141416
$TT8_MAMPS,0.029146
$HUMID,52.79
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.4,10.774
$10V_AH,10.4,7.828
$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,31.975,81.050,269.925,93.575,0.000,30.225,32.520,132.186,4.500,0.000,12.378,1030.193,6299.015,412.109,1603.811,411.576,0.000,1113.355,0.000,1584.543,0.000,29.244,0.000
$DEVICE_MAMPS,138.060,57.525,842.933,506.220,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,354.560,330.315,766.512,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,28638,526
$CAP_FILE_SIZE,98409,0
$CFSIZE,260165632,207503360
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070810,193601,2105.087,-15748.327,69,0.9,69,9.8