version: 66.06
glider: 139
mission: 8
dive: 173
start: 8 14 110 6 7 49
data:
$ID,139
$MISSION,8
$DIVE,173
$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,-2154084.8
$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,1695
$C_ROLL_CLIMB,1770
$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,2630
$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
$GPS1,060230,2106.136,-15755.275,44,0.9,44,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-70.1
$GPS2,060732,2106.169,-15755.358,16,1.2,16,9.8
$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,82.0,21505,-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,-64.47,0.000,2,0.000,0.000,428,1676,2790,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.7,-4.4,12,105,12.55,2.45,-1.42,0.000,4,0.137,0.037,2753,3108,2872,0,0,0,0,0,0
$GC,192,-1.56,-58.4,31.2,-18.3,34,196,0.00,2.40,0.00,0.000,6,0.000,0.034,2753,1693,2873,0,0,0,0,0,0
$GC,451,-1.56,-58.4,74.3,-15.9,54,453,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1692,2874,0,0,0,0,0,0
$GC,703,-1.56,-58.4,111.9,-14.4,74,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1692,2875,0,0,0,0,0,0
$GC,955,-1.56,-58.4,141.7,-11.9,94,956,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1692,2876,0,0,0,0,0,0
$GC,1209,-1.60,-58.4,174.9,-13.4,114,1213,0.00,2.35,0.00,0.000,4,0.000,0.024,2753,3110,2876,0,0,0,0,0,0
$GC,1282,-1.70,-58.4,184.2,-12.4,119,1288,0.10,2.38,0.00,0.000,6,0.077,0.032,2720,1690,2877,0,0,0,0,0,0
$GC,1549,-1.70,-58.4,222.7,-14.9,136,1553,0.00,2.35,0.00,0.000,4,0.000,0.023,2720,3111,2877,0,0,0,0,0,0
$GC,1674,-1.76,-58.4,238.9,-11.5,141,1679,0.00,2.38,0.00,0.000,6,0.000,0.032,2720,1687,2877,0,0,0,0,0,0
$GC,1990,-1.76,-58.4,275.6,-10.3,156,1995,0.00,2.35,0.00,0.000,4,0.000,0.025,2720,3115,2877,0,0,0,0,0,0
$GC,2089,-1.83,-58.4,285.6,-10.2,160,2094,0.00,2.38,0.00,0.000,6,0.000,0.034,2720,1697,2877,0,0,0,0,0,0
$GC,2429,-1.83,-58.4,323.2,-11.5,172,2433,0.00,2.38,0.00,0.000,4,0.000,0.027,2720,3104,2877,0,0,0,0,0,0
$GC,2519,-1.92,-58.4,333.2,-10.8,174,2524,0.17,2.38,0.00,0.000,6,0.055,0.035,2671,1692,2876,0,0,0,0,0,0
$GC,2849,-1.86,-58.4,375.1,-13.4,182,2854,0.12,2.40,0.00,0.000,4,0.106,0.028,2695,3113,2875,0,0,0,0,0,0
$GC,2971,-1.89,-58.4,389.5,-10.4,184,2975,0.00,2.42,0.00,0.000,6,0.000,0.037,2695,1692,2875,0,0,0,0,0,0
$GC,3306,-1.89,-58.4,425.1,-10.3,193,3310,0.00,2.38,0.00,0.000,4,0.000,0.031,2695,3102,2873,0,0,0,0,0,0
$GC,3363,-1.94,-58.4,430.8,-10.1,194,3367,0.00,2.40,0.00,0.000,6,0.000,0.040,2695,1688,2873,0,0,0,0,0,0
$STATE,3552,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3552,begin apogee
$GC,3559,-0.31,0.0,451.3,10.8,199,3612,1.60,0.00,49.70,0.828,6,0.083,0.000,3029,1816,2630,0,0,0,0,0,0
$STATE,3613,end apogee,CONTROL_FINISHED_OK
$STATE,3613,begin climb
$GC,3617,1.56,58.4,452.6,0.0,200,3675,1.77,2.33,50.12,0.813,4,0.029,0.035,3454,3151,2391,0,0,0,0,0,0
$GC,3813,1.33,111.4,450.9,3.1,204,3866,0.32,2.38,46.65,0.815,6,0.108,0.037,3393,1771,2175,0,0,0,0,0,0
$GC,4207,1.15,111.4,416.1,11.4,214,4209,0.20,0.00,0.00,0.000,6,0.110,0.000,3354,1771,2165,0,0,0,0,0,0
$GC,4532,1.06,111.4,384.9,8.7,222,4537,0.12,2.38,0.00,0.000,4,0.118,0.035,3332,3150,2161,0,0,0,0,0,0
$GC,4652,1.07,125.1,376.7,6.7,224,4670,0.00,2.38,11.07,0.730,6,0.000,0.038,3332,1770,2118,0,0,0,0,0,0
$GC,4996,1.10,150.6,355.7,5.6,233,5024,0.00,2.40,23.42,0.782,4,0.000,0.031,3331,3142,2016,0,0,0,0,0,0
$GC,5076,1.10,150.6,350.2,8.0,234,5080,0.00,2.38,0.00,0.000,6,0.000,0.038,3331,1770,2015,0,0,0,0,0,0
$GC,5411,1.10,150.6,320.4,9.7,243,5415,0.00,2.53,0.00,0.000,4,0.000,0.055,3331,351,2010,0,0,0,0,0,0
$GC,5487,1.01,150.6,312.2,11.1,244,5491,0.00,2.33,0.00,0.000,6,0.000,0.027,3331,1752,2008,0,0,0,0,0,0
$GC,5806,1.01,150.6,279.6,10.2,257,5807,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,1752,2006,0,0,0,0,0,0
$GC,6115,1.01,150.6,252.5,8.9,272,6119,0.00,2.45,0.00,0.000,4,0.000,0.051,3331,356,2006,0,0,0,0,0,0
$GC,6171,0.93,150.6,247.3,9.4,274,6176,0.15,2.35,0.00,0.000,6,0.113,0.025,3304,1775,2004,0,0,0,0,0,0
$GC,6490,1.03,165.9,226.2,6.5,289,6505,0.00,0.00,13.00,0.665,6,0.000,0.000,3304,1780,1953,0,0,0,0,0,0
$GC,6822,1.13,166.4,196.6,7.9,306,6827,0.17,2.47,0.00,0.000,4,0.057,0.049,3352,356,1951,0,0,0,0,0,0
$GC,6897,1.04,166.4,190.3,8.0,311,6903,0.12,2.33,0.00,0.000,6,0.110,0.023,3329,1799,1948,0,0,0,0,0,0
$GC,7159,1.11,177.5,173.0,6.9,332,7177,0.00,2.58,11.10,0.601,4,0.000,0.048,3328,356,1906,0,0,0,0,0,0
$GC,7209,1.11,177.5,168.4,9.2,335,7215,0.00,2.33,0.00,0.000,6,0.000,0.022,3328,1765,1904,0,0,0,0,0,0
$GC,7471,1.18,177.5,148.4,7.9,356,7476,0.12,2.47,0.00,0.000,4,0.067,0.047,3366,351,1903,0,0,0,0,0,0
$GC,7551,1.09,177.5,139.0,11.5,362,7556,0.15,2.30,0.00,0.000,6,0.105,0.021,3337,1778,1902,0,0,0,0,0,0
$GC,7819,1.14,177.5,116.8,8.8,383,7823,0.00,2.45,0.00,0.000,4,0.000,0.044,3337,355,1902,0,0,0,0,0,0
$GC,7845,1.14,177.5,114.0,10.1,385,7849,0.00,2.30,0.00,0.000,6,0.000,0.020,3337,1773,1902,0,0,0,0,0,0
$GC,8111,1.22,177.5,90.3,9.0,406,8116,0.12,2.45,0.00,0.000,4,0.066,0.044,3376,348,1902,0,0,0,0,0,0
$GC,8375,1.14,177.5,62.8,8.9,425,8382,0.10,2.33,0.00,0.000,6,0.082,0.019,3352,1775,1902,0,0,0,0,0,0
$GC,8637,1.28,218.4,53.7,4.2,446,8681,0.12,2.50,36.38,0.535,4,0.065,0.043,3392,354,1739,0,0,0,0,0,0
$GC,8887,1.20,218.4,28.6,12.6,464,8894,0.12,2.33,0.00,0.000,6,0.083,0.018,3363,1779,1733,0,0,0,0,0,0
$GC,9091,1.27,218.4,10.3,9.0,510,9097,0.00,2.28,0.00,0.000,4,0.000,0.023,3363,3154,1732,0,0,0,0,0,0
$GC,9161,1.40,218.4,4.1,9.1,525,9168,0.15,2.38,0.00,0.000,6,0.031,0.029,3415,1760,1733,0,0,0,0,0,0
$STATE,9173,end climb,SURFACE_DEPTH_REACHED
$STATE,9173,begin surface coast
$FINISH,0.7,1.010174
$STATE,9209,end surface coast,CONTROL_FINISHED_OK
$STATE,9209,begin surface
$SM_CCo,9232,109.30,0.492,0,0,957,410.14
$SM_GC,1.63,0.00,0.00,109.30,0.000,0.000,0.492,428,1682,957,-12.29,-0.34,410.14
$IRIDIUM_FIX,2059.45,-15756.04,081199,030302
$TT8_MAMPS,0.029146
$HUMID,50.98
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.5,15.487
$10V_AH,10.4,12.074
$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,31.175,90.975,241.450,109.300,0.000,25.751,27.751,129.369,4.500,0.000,16.699,1066.887,6040.473,404.949,1705.191,424.859,0.000,1143.425,0.000,1689.247,0.000,29.253,0.000
$DEVICE_MAMPS,136.526,89.739,828.360,492.414,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,360.220,342.937,792.112,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,28622,535
$CAP_FILE_SIZE,102335,0
$CFSIZE,260165632,204517376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140810,084439,2106.121,-15755.002,11,3.5,30,9.8