version: 66.06
glider: 139
mission: 8
dive: 122
start: 8 8 110 11 53 40
data:
$ID,139
$MISSION,8
$DIVE,122
$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,-2152883.8
$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
$GPS1,114722,2104.974,-15745.965,16,3.8,35,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-71.6
$GPS2,115324,2104.952,-15746.077,38,1.9,42,9.8
$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,63.9,5688,-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,-64.18,0.000,2,0.000,0.000,427,1686,2811,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.8,-4.9,12,104,12.57,0.00,-1.40,0.000,6,0.137,0.000,2754,1686,2891,0,0,0,0,0,0
$GC,301,-1.50,-58.4,50.2,-16.7,43,302,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1687,2894,0,0,0,0,0,0
$GC,554,-1.47,-58.4,92.1,-17.9,63,559,0.12,2.35,0.00,0.000,4,0.110,0.023,2777,3108,2895,0,0,0,0,0,0
$GC,712,-1.59,-58.4,113.7,-11.0,74,719,0.08,2.42,0.00,0.000,6,0.040,0.034,2743,1687,2895,0,0,0,0,0,0
$GC,974,-1.59,-58.4,145.9,-13.2,95,978,0.00,2.40,0.00,0.000,4,0.000,0.046,2743,277,2896,0,0,0,0,0,0
$GC,989,-1.59,-58.4,148.5,-12.9,96,993,0.00,2.30,0.00,0.000,6,0.000,0.019,2743,1731,2897,0,0,0,0,0,0
$GC,1250,-1.63,-58.4,182.9,-13.3,116,1254,0.00,2.20,0.00,0.000,4,0.000,0.024,2743,3076,2897,0,0,0,0,0,0
$GC,1374,-1.74,-58.4,197.0,-11.4,125,1379,0.10,2.35,0.00,0.000,6,0.077,0.033,2709,1684,2897,0,0,0,0,0,0
$GC,1648,-1.74,-58.4,236.8,-15.9,139,1652,0.00,2.28,0.00,0.000,4,0.000,0.024,2709,3075,2897,0,0,0,0,0,0
$GC,1669,-1.74,-58.4,240.2,-15.0,140,1673,0.00,2.33,0.00,0.000,6,0.000,0.032,2709,1689,2898,0,0,0,0,0,0
$GC,2002,-1.74,-58.4,286.2,-13.0,156,2004,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1688,2898,0,0,0,0,0,0
$GC,2331,-1.74,-58.4,320.7,-9.9,167,2335,0.00,2.30,0.00,0.000,4,0.000,0.027,2709,3069,2898,0,0,0,0,0,0
$GC,2420,-1.82,-58.4,329.0,-8.6,169,2424,0.00,2.35,0.00,0.000,6,0.000,0.036,2709,1688,2897,0,0,0,0,0,0
$GC,2750,-1.85,-58.4,362.5,-10.7,177,2754,0.00,2.30,0.00,0.000,4,0.000,0.030,2709,3073,2895,0,0,0,0,0,0
$GC,2802,-1.94,-58.4,368.9,-11.5,178,2807,0.15,2.38,0.00,0.000,6,0.061,0.038,2667,1685,2895,0,0,0,0,0,0
$GC,3123,-1.89,-58.4,411.1,-13.7,186,3128,0.10,2.33,0.00,0.000,4,0.118,0.032,2685,3065,2893,0,0,0,0,0,0
$GC,3194,-1.93,-58.4,419.8,-12.1,187,3199,0.00,2.38,0.00,0.000,6,0.000,0.041,2685,1687,2892,0,0,0,0,0,0
$STATE,3496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3497,begin apogee
$GC,3503,-0.31,0.0,453.8,10.9,195,3557,1.65,0.00,49.53,0.844,6,0.084,0.000,3028,1835,2649,0,0,0,0,0,0
$STATE,3557,end apogee,CONTROL_FINISHED_OK
$STATE,3557,begin climb
$GC,3561,1.56,58.4,454.7,0.0,196,3621,1.77,2.53,50.62,0.828,4,0.031,0.051,3451,422,2409,0,0,0,0,0,0
$GC,3681,1.20,113.0,453.1,3.0,198,3737,0.47,2.33,48.05,0.826,6,0.109,0.028,3361,1838,2189,0,0,0,0,0,0
$GC,4061,1.08,113.0,420.6,9.3,208,4066,0.12,2.35,0.00,0.000,4,0.123,0.038,3339,3203,2180,0,0,0,0,0,0
$GC,4081,1.01,113.0,418.9,8.3,208,4085,0.00,2.40,0.00,0.000,6,0.000,0.040,3339,1831,2179,0,0,0,0,0,0
$GC,4427,0.96,118.2,392.8,7.4,217,4429,0.15,0.00,0.00,0.000,6,0.117,0.000,3311,1831,2176,0,0,0,0,0,0
$GC,4751,0.98,132.0,371.3,6.6,225,4768,0.00,0.00,15.68,0.779,6,0.000,0.000,3311,1831,2110,0,0,0,0,0,0
$GC,5075,0.98,132.0,346.3,8.3,233,5080,0.00,2.47,0.00,0.000,4,0.000,0.054,3311,415,2106,0,0,0,0,0,0
$GC,5137,0.90,132.0,339.9,10.3,234,5141,0.00,2.30,0.00,0.000,6,0.000,0.029,3311,1822,2104,0,0,0,0,0,0
$GC,5450,0.90,132.1,312.7,7.9,242,5455,0.00,2.47,0.00,0.000,4,0.000,0.054,3311,422,2103,0,0,0,0,0,0
$GC,5470,0.87,136.7,311.2,7.5,242,5480,0.00,2.33,4.05,0.514,6,0.000,0.029,3311,1834,2092,0,0,0,0,0,0
$GC,5798,0.91,167.6,292.9,5.1,253,5830,0.00,0.00,29.55,0.773,6,0.000,0.000,3311,1834,1965,0,0,0,0,0,0
$GC,6153,0.97,167.6,263.2,8.7,270,6157,0.00,2.47,0.00,0.000,4,0.000,0.054,3311,422,1960,0,0,0,0,0,0
$GC,6227,0.97,167.6,254.9,10.7,273,6231,0.00,2.30,0.00,0.000,6,0.000,0.027,3311,1833,1957,0,0,0,0,0,0
$GC,6548,1.04,167.6,227.2,8.1,289,6553,0.00,2.50,0.00,0.000,4,0.000,0.051,3311,414,1957,0,0,0,0,0,0
$GC,6703,1.04,167.6,212.4,9.3,295,6708,0.00,2.33,0.00,0.000,6,0.000,0.025,3311,1834,1954,0,0,0,0,0,0
$GC,7026,1.14,178.4,188.6,6.9,316,7043,0.15,2.50,9.07,0.610,4,0.064,0.048,3353,420,1921,0,0,0,0,0,0
$GC,7086,1.04,178.4,182.9,10.6,320,7091,0.15,2.30,0.00,0.000,6,0.108,0.024,3325,1842,1919,0,0,0,0,0,0
$GC,7354,1.10,178.4,160.0,9.0,341,7355,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,1847,1919,0,0,0,0,0,0
$GC,7603,1.17,178.4,137.5,8.7,361,7608,0.12,2.28,0.00,0.000,4,0.068,0.028,3363,3208,1919,0,0,0,0,0,0
$GC,7706,1.17,178.4,128.0,8.1,368,7713,0.00,2.38,0.00,0.000,6,0.000,0.032,3362,1821,1919,0,0,0,0,0,0
$GC,7966,1.20,197.7,109.3,6.2,389,7994,0.00,2.47,18.10,0.582,4,0.000,0.046,3362,427,1843,0,0,0,0,0,0
$GC,8037,1.14,197.7,104.0,8.7,394,8041,0.00,2.25,0.00,0.000,6,0.000,0.021,3362,1840,1840,0,0,0,0,0,0
$GC,8304,1.18,199.6,83.3,7.7,415,8309,0.00,2.42,0.00,0.000,4,0.000,0.042,3362,420,1840,0,0,0,0,0,0
$GC,8364,1.13,199.6,77.6,8.5,419,8371,0.00,2.28,0.00,0.000,6,0.000,0.021,3363,1834,1839,0,0,0,0,0,0
$GC,8625,1.18,199.6,54.1,9.0,440,8629,0.00,2.40,0.00,0.000,4,0.000,0.044,3362,424,1839,0,0,0,0,0,0
$GC,8702,1.18,199.6,45.4,11.4,445,8709,0.00,2.25,0.00,0.000,6,0.000,0.020,3363,1825,1838,0,0,0,0,0,0
$GC,8965,1.26,206.8,27.8,7.2,470,8984,0.00,2.47,9.00,0.467,4,0.000,0.043,3362,424,1807,0,0,0,0,0,0
$GC,9075,1.26,206.8,17.8,9.4,493,9081,0.00,2.28,0.00,0.000,6,0.000,0.019,3362,1854,1805,0,0,0,0,0,0
$STATE,9252,end climb,SURFACE_DEPTH_REACHED
$STATE,9252,begin surface coast
$FINISH,0.7,1.023143
$STATE,9292,end surface coast,CONTROL_FINISHED_OK
$STATE,9292,begin surface
$SM_CCo,9315,120.18,0.502,0,0,977,410.14
$SM_GC,1.27,0.00,0.00,120.18,0.000,0.000,0.502,426,1677,977,-12.30,-0.37,410.14
$IRIDIUM_FIX,2059.45,-15745.74,021199,090904
$TT8_MAMPS,0.029146
$HUMID,51.06
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.5,11.340
$10V_AH,10.4,8.339
$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,30.300,90.175,233.650,120.175,0.000,28.596,29.734,156.710,4.500,0.000,42.461,1052.553,6245.236,415.977,1640.488,442.223,0.000,1118.720,0.000,1594.457,0.000,29.261,0.000
$DEVICE_MAMPS,137.293,55.224,843.700,501.618,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,365.809,344.949,800.038,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,28641,543
$CAP_FILE_SIZE,99513,0
$CFSIZE,260165632,207134720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080810,143206,2104.892,-15746.126,32,1.0,32,9.8