version: 66.06
glider: 139
mission: 8
dive: 117
start: 8 7 110 22 15 1
data:
$ID,139
$MISSION,8
$DIVE,117
$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,-2152719.8
$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
$GPS1,220925,2105.140,-15747.766,44,1.2,44,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-73.9
$GPS2,221444,2105.173,-15747.852,15,1.2,15,9.8
$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,72.3,8607,-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,-64.55,0.000,2,0.000,0.000,427,1675,2811,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.7,-4.8,12,104,12.60,2.42,-1.40,0.000,4,0.138,0.035,2753,3102,2892,0,0,0,0,0,0
$GC,177,-1.56,-58.4,27.1,-17.8,31,184,0.00,2.42,0.00,0.000,6,0.000,0.034,2753,1691,2894,0,0,0,0,0,0
$GC,385,-1.52,-58.4,65.2,-16.4,49,389,0.00,2.33,0.00,0.000,4,0.000,0.022,2753,3104,2894,0,0,0,0,0,0
$GC,519,-1.61,-58.4,83.9,-13.3,58,526,0.00,2.40,0.00,0.000,6,0.000,0.032,2753,1691,2895,0,0,0,0,0,0
$GC,779,-1.61,-58.4,121.8,-14.9,79,782,0.00,2.33,0.00,0.000,4,0.000,0.023,2753,3103,2897,0,0,0,0,0,0
$GC,880,-1.69,-58.4,135.1,-11.5,86,884,0.00,2.38,0.00,0.000,6,0.000,0.031,2753,1687,2896,0,0,0,0,0,0
$GC,1142,-1.74,-58.4,164.8,-10.1,106,1147,0.15,2.40,0.00,0.000,4,0.059,0.046,2708,285,2897,0,0,0,0,0,0
$GC,1162,-1.68,-58.4,167.4,-10.8,107,1169,0.12,2.28,0.00,0.000,6,0.109,0.019,2732,1724,2898,0,0,0,0,0,0
$GC,1422,-1.68,-58.4,198.7,-13.2,128,1426,0.00,2.17,0.00,0.000,4,0.000,0.023,2732,3073,2899,0,0,0,0,0,0
$GC,1470,-1.74,-58.4,204.3,-12.1,131,1474,0.00,2.30,0.00,0.000,6,0.000,0.032,2732,1690,2898,0,0,0,0,0,0
$GC,1803,-1.79,-58.4,246.8,-12.9,147,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1690,2899,0,0,0,0,0,0
$GC,2108,-1.84,-58.4,285.1,-11.4,162,2113,0.15,2.30,0.00,0.000,4,0.060,0.027,2688,3073,2899,0,0,0,0,0,0
$GC,2179,-1.84,-58.4,293.0,-11.0,165,2183,0.00,2.33,0.00,0.000,6,0.000,0.034,2688,1684,2898,0,0,0,0,0,0
$GC,2524,-1.84,-58.4,338.3,-13.8,175,2528,0.00,2.33,0.00,0.000,4,0.000,0.028,2688,3075,2897,0,0,0,0,0,0
$GC,2594,-1.84,-58.4,347.1,-11.7,176,2599,0.00,2.35,0.00,0.000,6,0.000,0.037,2688,1692,2897,0,0,0,0,0,0
$GC,2935,-1.84,-58.4,389.2,-12.1,185,2936,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1692,2895,0,0,0,0,0,0
$GC,3260,-1.84,-58.4,424.5,-11.1,193,3264,0.00,2.33,0.00,0.000,4,0.000,0.033,2688,3066,2893,0,0,0,0,0,0
$GC,3442,-1.89,-58.4,442.9,-10.0,197,3447,0.00,2.35,0.00,0.000,6,0.000,0.041,2687,1692,2892,0,0,0,0,0,0
$STATE,3523,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3523,begin apogee
$GC,3531,-0.31,0.0,451.2,9.8,199,3585,1.65,0.00,49.90,0.840,6,0.084,0.000,3031,1830,2649,0,0,0,0,0,0
$STATE,3585,end apogee,CONTROL_FINISHED_OK
$STATE,3585,begin climb
$GC,3588,1.56,58.4,452.2,0.0,200,3646,1.75,2.40,50.60,0.823,4,0.030,0.035,3449,3209,2410,0,0,0,0,0,0
$GC,3678,1.36,137.0,451.7,0.8,202,3759,0.28,2.38,69.47,0.825,6,0.112,0.038,3397,1829,2090,0,0,0,0,0,0
$GC,4082,1.18,137.0,406.0,12.5,212,4087,0.20,2.47,0.00,0.000,4,0.112,0.053,3359,424,2079,0,0,0,0,0,0
$GC,4130,0.99,137.0,400.0,12.4,213,4135,0.22,2.33,0.00,0.000,6,0.106,0.028,3318,1820,2077,0,0,0,0,0,0
$GC,4454,0.99,137.0,367.1,10.0,221,4455,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,1825,2074,0,0,0,0,0,0
$GC,4779,0.99,137.0,339.1,8.5,229,4783,0.00,2.47,0.00,0.000,4,0.000,0.054,3317,423,2072,0,0,0,0,0,0
$GC,4826,0.91,137.0,334.9,9.1,230,4831,0.00,2.35,0.00,0.000,6,0.000,0.028,3318,1845,2070,0,0,0,0,0,0
$GC,5149,0.92,142.3,311.4,7.4,238,5153,0.00,2.53,0.00,0.000,4,0.000,0.054,3317,413,2069,0,0,0,0,0,0
$GC,5257,0.85,142.3,302.0,9.0,240,5262,0.17,2.35,0.00,0.000,6,0.114,0.028,3285,1837,2067,0,0,0,0,0,0
$GC,5594,0.98,166.0,279.8,5.8,256,5624,0.12,2.53,22.83,0.746,4,0.071,0.051,3319,428,1972,0,0,0,0,0,0
$GC,5669,0.92,166.0,274.7,8.6,259,5673,0.00,2.33,0.00,0.000,6,0.000,0.028,3319,1841,1968,0,0,0,0,0,0
$GC,5999,0.96,166.0,248.3,8.4,275,6004,0.00,2.50,0.00,0.000,4,0.000,0.051,3319,423,1966,0,0,0,0,0,0
$GC,6122,0.92,166.0,236.6,10.2,280,6126,0.00,2.33,0.00,0.000,6,0.000,0.025,3319,1842,1964,0,0,0,0,0,0
$GC,6442,0.98,166.0,209.7,8.2,296,6446,0.00,2.47,0.00,0.000,4,0.000,0.049,3319,414,1963,0,0,0,0,0,0
$GC,6489,0.98,166.0,204.5,11.4,298,6493,0.00,2.30,0.00,0.000,6,0.000,0.025,3319,1838,1963,0,0,0,0,0,0
$GC,6813,1.05,170.6,175.2,7.5,322,6817,0.00,2.45,0.00,0.000,4,0.000,0.048,3319,420,1963,0,0,0,0,0,0
$GC,6866,1.05,170.6,170.2,9.8,326,6870,0.00,2.30,0.00,0.000,6,0.000,0.024,3319,1833,1961,0,0,0,0,0,0
$GC,7133,1.14,171.1,150.3,7.9,347,7143,0.12,2.45,4.07,0.429,4,0.068,0.045,3356,414,1951,0,0,0,0,0,0
$GC,7306,1.06,171.1,132.7,9.4,358,7312,0.10,2.30,0.00,0.000,6,0.085,0.022,3333,1832,1950,0,0,0,0,0,0
$GC,7568,1.16,197.3,116.4,5.5,379,7598,0.00,2.35,24.65,0.600,4,0.000,0.027,3333,3199,1845,0,0,0,0,0,0
$GC,7610,1.26,204.2,113.4,7.3,382,7626,0.17,2.35,7.75,0.512,6,0.054,0.031,3382,1825,1817,0,0,0,0,0,0
$GC,7878,1.26,204.2,84.4,11.4,403,7882,0.00,2.40,0.00,0.000,4,0.000,0.046,3382,421,1814,0,0,0,0,0,0
$GC,8125,1.19,208.4,58.4,7.5,421,8137,0.12,2.22,4.40,0.390,6,0.109,0.020,3358,1847,1800,0,0,0,0,0,0
$GC,8391,1.32,240.4,47.6,5.0,442,8428,0.12,2.30,28.90,0.536,4,0.066,0.025,3397,3194,1669,0,0,0,0,0,0
$GC,8435,1.33,244.9,44.3,7.5,445,8447,0.00,2.30,5.65,0.415,6,0.000,0.028,3397,1824,1650,0,0,0,0,0,0
$GC,8702,1.33,244.9,16.5,10.6,484,8707,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1824,1648,0,0,0,0,0,0
$STATE,8822,end climb,SURFACE_DEPTH_REACHED
$STATE,8822,begin surface coast
$FINISH,0.7,1.010006
$STATE,8855,end surface coast,CONTROL_FINISHED_OK
$STATE,8855,begin surface
$SM_CCo,8878,90.82,0.502,0,0,977,410.14
$SM_GC,1.29,0.00,0.00,90.82,0.000,0.000,0.502,427,1674,977,-12.30,-0.45,410.14
$IRIDIUM_FIX,2059.45,-15748.75,011199,191932
$TT8_MAMPS,0.029146
$HUMID,52.36
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.5,10.935
$10V_AH,10.4,7.969
$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,30.900,94.950,268.225,90.825,0.000,27.692,29.219,144.049,4.500,0.000,15.546,1034.303,5755.001,404.427,1660.521,434.036,0.000,1143.934,0.000,1638.243,0.000,29.250,0.000
$DEVICE_MAMPS,138.060,59.826,839.865,501.618,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,349.337,331.795,767.423,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,28635,519
$CAP_FILE_SIZE,101502,0
$CFSIZE,260165632,207405056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080810,004540,2105.043,-15747.458,12,3.3,31,9.8