version: 66.06
glider: 139
mission: 8
dive: 118
start: 8 8 110 0 51 22
data:
$ID,139
$MISSION,8
$DIVE,118
$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,-2152752.2
$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
$GPS1,004540,2105.043,-15747.458,12,3.3,31,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-71.0
$GPS2,005106,2105.083,-15747.477,15,1.3,31,9.8
$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,70.5,7992,-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,-64.60,0.000,2,0.000,0.000,427,1674,2786,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.1,-3.3,12,110,12.57,2.42,-1.92,0.000,4,0.137,0.035,2752,3103,2892,0,0,0,0,0,0
$GC,135,-1.05,-58.4,18.6,-30.1,21,142,0.52,2.45,0.00,0.000,6,0.084,0.035,2872,1686,2893,0,0,0,0,0,0
$GC,341,-1.24,-58.4,42.8,-11.1,50,343,0.20,0.00,0.00,0.000,6,0.047,0.000,2808,1685,2895,0,0,0,0,0,0
$GC,592,-1.35,-58.4,76.7,-11.6,70,596,0.00,2.33,0.00,0.000,4,0.000,0.022,2808,3102,2895,0,0,0,0,0,0
$GC,629,-1.54,-58.4,80.8,-9.8,72,637,0.15,2.40,0.00,0.000,6,0.028,0.031,2752,1685,2895,0,0,0,0,0,0
$GC,891,-1.54,-58.4,115.5,-15.6,93,895,0.00,2.33,0.00,0.000,4,0.000,0.023,2753,3106,2897,0,0,0,0,0,0
$GC,1022,-1.65,-58.4,134.4,-13.7,102,1029,0.00,2.40,0.00,0.000,6,0.000,0.033,2753,1696,2897,0,0,0,0,0,0
$GC,1285,-1.72,-58.4,168.2,-12.6,123,1290,0.12,2.42,0.00,0.000,4,0.065,0.047,2712,285,2898,0,0,0,0,0,0
$GC,1327,-1.65,-58.4,175.6,-16.8,126,1332,0.12,2.28,0.00,0.000,6,0.107,0.019,2736,1722,2898,0,0,0,0,0,0
$GC,1601,-1.68,-58.4,208.8,-12.3,145,1603,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1724,2899,0,0,0,0,0,0
$GC,1908,-1.73,-58.4,244.8,-11.4,160,1913,0.00,2.47,0.00,0.000,4,0.000,0.047,2736,279,2898,0,0,0,0,0,0
$GC,1922,-1.73,-58.4,246.9,-12.0,160,1929,0.00,2.30,0.00,0.000,6,0.000,0.021,2737,1704,2898,0,0,0,0,0,0
$GC,2239,-1.80,-58.4,283.6,-10.9,176,2241,0.12,0.00,0.00,0.000,6,0.067,0.000,2697,1709,2898,0,0,0,0,0,0
$GC,2544,-1.80,-58.4,319.1,-11.2,187,2545,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1709,2897,0,0,0,0,0,0
$GC,2870,-1.80,-58.4,352.8,-10.0,195,2874,0.00,2.25,0.00,0.000,4,0.000,0.030,2698,3059,2896,0,0,0,0,0,0
$GC,3008,-1.84,-58.4,366.7,-10.1,198,3013,0.00,2.35,0.00,0.000,6,0.000,0.038,2697,1685,2895,0,0,0,0,0,0
$GC,3334,-1.84,-58.4,403.6,-11.4,206,3338,0.00,2.33,0.00,0.000,4,0.000,0.031,2697,3064,2893,0,0,0,0,0,0
$GC,3427,-1.91,-58.4,415.6,-11.7,208,3432,0.00,2.35,0.00,0.000,6,0.000,0.041,2697,1688,2892,0,0,0,0,0,0
$STATE,3748,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3748,begin apogee
$GC,3755,-0.31,0.0,450.4,10.0,216,3809,1.60,0.00,49.60,0.844,6,0.083,0.000,3031,1818,2649,0,0,0,0,0,0
$STATE,3809,end apogee,CONTROL_FINISHED_OK
$STATE,3810,begin climb
$GC,3812,1.56,58.4,451.5,0.0,217,3867,1.75,0.00,50.70,0.825,6,0.031,0.000,3450,1818,2411,0,0,0,0,0,0
$GC,4182,1.33,115.0,444.9,2.8,226,4240,0.28,2.58,49.35,0.835,4,0.110,0.055,3394,421,2180,0,0,0,0,0,0
$GC,4386,1.04,115.0,425.5,13.0,230,4391,0.35,2.35,0.00,0.000,6,0.107,0.028,3327,1832,2173,0,0,0,0,0,0
$GC,4733,1.01,119.3,397.2,7.5,239,4737,0.00,2.50,0.00,0.000,4,0.000,0.054,3327,424,2170,0,0,0,0,0,0
$GC,4776,0.87,119.3,393.1,9.3,240,4781,0.20,2.35,0.00,0.000,6,0.111,0.029,3290,1839,2167,0,0,0,0,0,0
$GC,5108,0.95,140.2,372.0,6.0,248,5131,0.00,0.00,21.62,0.795,6,0.000,0.000,3290,1843,2078,0,0,0,0,0,0
$GC,5430,1.01,140.2,344.1,9.4,256,5435,0.12,2.55,0.00,0.000,4,0.072,0.055,3324,414,2074,0,0,0,0,0,0
$GC,5535,0.92,140.2,332.2,11.0,258,5540,0.12,2.35,0.00,0.000,6,0.119,0.029,3301,1834,2070,0,0,0,0,0,0
$GC,5850,0.99,152.0,307.6,6.8,266,5866,0.00,2.58,10.55,0.716,4,0.000,0.054,3301,422,2030,0,0,0,0,0,0
$GC,5901,0.96,156.1,304.2,7.5,267,5913,0.00,2.35,5.28,0.582,6,0.000,0.028,3301,1841,2013,0,0,0,0,0,0
$GC,6234,1.02,156.1,279.1,8.6,281,6238,0.00,2.47,0.00,0.000,4,0.000,0.054,3301,423,2011,0,0,0,0,0,0
$GC,6294,1.02,156.1,273.1,9.5,283,6300,0.00,2.33,0.00,0.000,6,0.000,0.028,3301,1834,2009,0,0,0,0,0,0
$GC,6611,1.12,178.8,251.1,5.8,299,6640,0.20,2.53,21.23,0.729,4,0.056,0.051,3353,420,1920,0,0,0,0,0,0
$GC,6697,1.01,178.8,243.5,10.7,302,6704,0.12,2.35,0.00,0.000,6,0.090,0.027,3326,1825,1918,0,0,0,0,0,0
$GC,7012,1.06,178.8,215.8,9.1,318,7016,0.00,2.45,0.00,0.000,4,0.000,0.051,3325,420,1916,0,0,0,0,0,0
$GC,7114,1.02,178.8,205.6,10.6,322,7119,0.00,2.33,0.00,0.000,6,0.000,0.025,3326,1840,1914,0,0,0,0,0,0
$GC,7438,1.08,179.7,177.4,7.8,345,7440,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,1845,1913,0,0,0,0,0,0
$GC,7689,1.15,179.7,155.0,9.4,365,7694,0.10,2.50,0.00,0.000,4,0.079,0.048,3356,416,1913,0,0,0,0,0,0
$GC,7908,1.07,179.7,133.7,7.9,381,7913,0.12,2.28,0.00,0.000,6,0.109,0.022,3333,1845,1912,0,0,0,0,0,0
$GC,8175,1.17,202.6,119.1,5.8,402,8203,0.10,2.53,20.98,0.601,4,0.077,0.046,3364,421,1823,0,0,0,0,0,0
$GC,8282,1.09,202.6,109.4,10.5,409,8289,0.12,2.28,0.00,0.000,6,0.108,0.021,3340,1832,1820,0,0,0,0,0,0
$GC,8543,1.18,202.6,83.5,10.5,430,8547,0.00,2.28,0.00,0.000,4,0.000,0.026,3340,3208,1820,0,0,0,0,0,0
$GC,8666,1.31,202.6,70.5,11.1,439,8671,0.20,2.33,0.00,0.000,6,0.050,0.032,3397,1825,1819,0,0,0,0,0,0
$GC,8934,1.31,202.6,41.5,9.9,460,8938,0.00,2.38,0.00,0.000,4,0.000,0.044,3397,424,1819,0,0,0,0,0,0
$GC,9074,1.23,202.6,28.0,8.0,473,9081,0.12,2.28,0.00,0.000,6,0.084,0.019,3368,1852,1819,0,0,0,0,0,0
$GC,9277,1.32,223.5,15.4,6.0,519,9300,0.00,0.00,19.33,0.505,6,0.000,0.000,3368,1852,1736,0,0,0,0,0,0
$STATE,9437,end climb,SURFACE_DEPTH_REACHED
$STATE,9437,begin surface coast
$FINISH,0.6,1.023008
$STATE,9469,end surface coast,CONTROL_FINISHED_OK
$STATE,9469,begin surface
$SM_CCo,9493,106.95,0.506,0,0,977,410.14
$SM_GC,1.29,0.00,0.00,106.95,0.000,0.000,0.506,431,1680,977,-12.28,-0.37,410.14
$IRIDIUM_FIX,2054.83,-15748.75,011199,222259
$TT8_MAMPS,0.029146
$HUMID,52.24
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.5,11.016
$10V_AH,10.4,8.045
$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,32.050,86.400,248.625,106.950,0.000,23.759,28.322,141.554,4.500,0.000,31.704,1102.471,6211.032,420.852,1760.915,429.090,0.000,1163.180,0.000,1718.356,0.000,29.247,0.000
$DEVICE_MAMPS,137.293,56.758,843.700,506.220,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,378.507,356.530,847.401,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,31849,562
$CAP_FILE_SIZE,104150,0
$CFSIZE,260165632,207347712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080810,033232,2105.130,-15747.034,32,1.8,32,9.8