version: 66.06
glider: 139
mission: 8
dive: 116
start: 8 7 110 19 41 37
data:
$ID,139
$MISSION,8
$DIVE,116
$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,-2152703.5
$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
$GPS1,193601,2105.087,-15748.327,69,0.9,69,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-72.7
$GPS2,194120,2105.077,-15748.397,17,1.6,17,9.8
$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,72.0,9566,-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,-64.57,0.000,2,0.000,0.000,430,1668,2783,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.2,-3.4,12,110,12.60,2.45,-1.98,0.000,4,0.139,0.037,2751,3103,2893,0,0,0,0,0,0
$GC,174,-1.56,-58.4,25.7,-18.0,30,181,0.00,2.42,0.00,0.000,6,0.000,0.034,2751,1690,2895,0,0,0,0,0,0
$GC,374,-1.56,-58.4,59.9,-14.2,48,378,0.00,2.33,0.00,0.000,4,0.000,0.023,2751,3106,2894,0,0,0,0,0,0
$GC,401,-1.63,-58.4,64.1,-14.6,50,405,0.00,2.38,0.00,0.000,6,0.000,0.033,2751,1688,2895,0,0,0,0,0,0
$GC,660,-1.63,-58.4,102.1,-15.0,70,664,0.00,2.40,0.00,0.000,4,0.000,0.045,2751,281,2896,0,0,0,0,0,0
$GC,685,-1.57,-58.4,106.1,-15.9,72,689,0.00,2.30,0.00,0.000,6,0.000,0.018,2751,1728,2897,0,0,0,0,0,0
$GC,952,-1.61,-58.4,143.4,-13.4,93,953,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1729,2898,0,0,0,0,0,0
$GC,1202,-1.67,-58.4,174.1,-11.0,113,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1730,2898,0,0,0,0,0,0
$GC,1458,-1.73,-58.4,205.3,-12.3,132,1460,0.12,0.00,0.00,0.000,6,0.068,0.000,2712,1730,2899,0,0,0,0,0,0
$GC,1766,-1.73,-58.4,248.0,-13.6,147,1770,0.00,2.17,0.00,0.000,4,0.000,0.025,2713,3067,2899,0,0,0,0,0,0
$GC,1900,-1.80,-58.4,264.1,-12.4,152,1904,0.00,2.30,0.00,0.000,6,0.000,0.034,2712,1687,2899,0,0,0,0,0,0
$GC,2235,-1.80,-58.4,305.5,-12.8,167,2239,0.00,2.28,0.00,0.000,4,0.000,0.026,2713,3071,2898,0,0,0,0,0,0
$GC,2310,-1.85,-58.4,314.2,-11.8,168,2314,0.00,2.33,0.00,0.000,6,0.000,0.035,2713,1692,2899,0,0,0,0,0,0
$GC,2645,-1.85,-58.4,354.8,-11.8,177,2649,0.00,2.28,0.00,0.000,4,0.000,0.028,2712,3066,2897,0,0,0,0,0,0
$GC,2729,-1.93,-58.4,363.3,-9.8,178,2734,0.15,2.35,0.00,0.000,6,0.062,0.038,2670,1691,2896,0,0,0,0,0,0
$GC,3061,-1.88,-58.4,397.8,-9.7,186,3062,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1690,2895,0,0,0,0,0,0
$GC,3385,-1.82,-58.4,430.8,-10.3,194,3390,0.15,2.35,0.00,0.000,4,0.104,0.033,2699,3069,2893,0,0,0,0,0,0
$GC,3539,-1.90,-58.4,444.5,-8.2,197,3543,0.00,2.38,0.00,0.000,6,0.000,0.041,2699,1692,2892,0,0,0,0,0,0
$STATE,3601,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3601,begin apogee
$GC,3608,-0.31,0.0,450.3,8.9,199,3662,1.58,0.00,49.95,0.841,6,0.083,0.000,3028,1826,2649,0,0,0,0,0,0
$STATE,3662,end apogee,CONTROL_FINISHED_OK
$STATE,3663,begin climb
$GC,3666,1.56,58.4,450.8,0.0,200,3727,1.77,2.42,50.67,0.825,4,0.030,0.036,3451,3217,2410,0,0,0,0,0,0
$GC,3743,1.37,146.8,450.0,-0.1,201,3832,0.28,2.40,77.82,0.828,6,0.110,0.037,3400,1829,2051,0,0,0,0,0,0
$GC,4163,1.19,146.8,399.6,14.0,212,4168,0.20,2.53,0.00,0.000,4,0.111,0.055,3361,414,2041,0,0,0,0,0,0
$GC,4198,0.98,146.8,394.7,13.8,212,4203,0.25,2.33,0.00,0.000,6,0.104,0.028,3313,1827,2037,0,0,0,0,0,0
$GC,4530,0.98,146.8,362.8,8.9,220,4534,0.00,2.47,0.00,0.000,4,0.000,0.054,3313,423,2035,0,0,0,0,0,0
$GC,4637,0.92,146.8,351.0,11.0,222,4641,0.00,2.35,0.00,0.000,6,0.000,0.028,3313,1836,2031,0,0,0,0,0,0
$GC,4987,0.92,146.8,316.7,9.6,231,4991,0.00,2.50,0.00,0.000,4,0.000,0.054,3313,414,2030,0,0,0,0,0,0
$GC,5062,0.86,146.8,309.8,8.6,232,5067,0.12,2.33,0.00,0.000,6,0.119,0.028,3290,1835,2028,0,0,0,0,0,0
$GC,5381,0.98,164.6,288.5,6.3,244,5401,0.10,0.00,13.30,0.718,6,0.082,0.000,3318,1839,1977,0,0,0,0,0,0
$GC,5709,1.02,164.6,261.4,8.4,260,5711,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,1840,1974,0,0,0,0,0,0
$GC,6021,1.07,169.5,237.4,7.5,275,6033,0.00,2.50,5.12,0.542,4,0.000,0.050,3318,423,1958,0,0,0,0,0,0
$GC,6128,1.05,179.6,229.1,7.0,279,6145,0.00,2.33,10.73,0.652,6,0.000,0.025,3318,1846,1916,0,0,0,0,0,0
$GC,6465,1.12,179.6,199.0,9.1,296,6470,0.10,2.50,0.00,0.000,4,0.079,0.049,3348,413,1913,0,0,0,0,0,0
$GC,6505,1.02,179.6,195.0,10.9,299,6510,0.12,2.30,0.00,0.000,6,0.112,0.025,3325,1832,1911,0,0,0,0,0,0
$GC,6772,1.08,179.6,172.7,8.0,320,6773,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,1837,1911,0,0,0,0,0,0
$GC,7022,1.16,179.6,153.2,8.3,340,7027,0.12,2.47,0.00,0.000,4,0.068,0.047,3362,418,1911,0,0,0,0,0,0
$GC,7135,1.06,179.6,140.5,11.7,348,7140,0.15,2.28,0.00,0.000,6,0.107,0.022,3333,1835,1910,0,0,0,0,0,0
$GC,7396,1.14,187.1,117.3,7.2,368,7411,0.00,2.33,6.95,0.512,4,0.000,0.027,3333,3206,1886,0,0,0,0,0,0
$GC,7428,1.25,192.1,114.8,7.4,370,7444,0.17,2.35,6.32,0.489,6,0.054,0.031,3382,1821,1866,0,0,0,0,0,0
$GC,7696,1.25,192.1,89.1,9.8,391,7700,0.00,2.38,0.00,0.000,4,0.000,0.045,3382,426,1865,0,0,0,0,0,0
$GC,7918,1.16,192.1,63.3,12.2,407,7925,0.12,2.28,0.00,0.000,6,0.084,0.021,3353,1837,1863,0,0,0,0,0,0
$GC,8182,1.32,241.3,48.8,3.5,428,8231,0.15,2.30,43.28,0.545,4,0.058,0.025,3399,3211,1665,0,0,0,0,0,0
$GC,8299,1.36,241.3,39.7,9.3,436,8305,0.00,2.38,0.00,0.000,6,0.000,0.029,3399,1825,1664,0,0,0,0,0,0
$GC,8561,1.36,241.3,12.1,10.9,481,8567,0.00,2.30,0.00,0.000,4,0.000,0.024,3399,3203,1663,0,0,0,0,0,0
$GC,8627,1.40,241.3,4.7,11.1,495,8633,0.00,2.33,0.00,0.000,6,0.000,0.029,3399,1835,1663,0,0,0,0,0,0
$STATE,8642,end climb,SURFACE_DEPTH_REACHED
$STATE,8642,begin surface coast
$FINISH,0.9,1.023090
$STATE,8669,end surface coast,CONTROL_FINISHED_OK
$STATE,8670,begin surface
$SM_CCo,8693,91.93,0.502,0,0,978,410.14
$SM_GC,1.42,0.00,0.00,91.93,0.000,0.000,0.502,428,1675,978,-12.30,-0.42,410.14
$IRIDIUM_FIX,2057.14,-15751.76,011199,171701
$TT8_MAMPS,0.029146
$HUMID,52.75
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.4,10.854
$10V_AH,10.4,7.898
$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,31.050,85.425,264.150,91.925,0.000,24.900,28.491,141.792,4.500,0.000,17.991,995.879,5731.121,405.811,1548.608,422.898,0.000,1098.038,0.000,1527.939,0.000,29.246,0.000
$DEVICE_MAMPS,138.827,55.991,841.399,501.618,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,339.234,322.705,745.240,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,28605,504
$CAP_FILE_SIZE,97393,0
$CFSIZE,260165632,207458304
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070810,220925,2105.140,-15747.766,44,1.2,44,9.8