version: 66.06
glider: 139
mission: 8
dive: 177
start: 8 14 110 17 9 42
data:
$ID,139
$MISSION,8
$DIVE,177
$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,-2154182.8
$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
$GPS1,170356,2105.965,-15753.846,9,1.3,9,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-72.8
$GPS2,170925,2105.970,-15753.920,11,1.9,16,9.8
$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,81.1,19012,-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,-64.53,0.000,2,0.000,0.000,422,1678,2769,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.4,-3.7,12,110,12.55,2.45,-1.88,0.000,4,0.135,0.037,2753,3109,2872,0,0,0,0,0,0
$GC,269,-1.56,-58.4,42.4,-15.4,41,273,0.00,2.38,0.00,0.000,6,0.000,0.034,2753,1693,2873,0,0,0,0,0,0
$GC,528,-1.56,-58.4,87.0,-16.5,61,530,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1693,2874,0,0,0,0,0,0
$GC,782,-1.56,-58.4,124.0,-15.0,81,786,0.00,2.33,0.00,0.000,4,0.000,0.022,2753,3112,2876,0,0,0,0,0,0
$GC,856,-1.65,-58.4,134.0,-13.1,86,862,0.00,2.42,0.00,0.000,6,0.000,0.032,2753,1686,2876,0,0,0,0,0,0
$GC,1119,-1.69,-58.4,168.3,-14.4,107,1123,0.00,2.33,0.00,0.000,4,0.000,0.022,2753,3108,2877,0,0,0,0,0,0
$GC,1151,-1.81,-58.4,172.8,-12.0,109,1158,0.17,2.35,0.00,0.000,6,0.031,0.031,2696,1697,2876,0,0,0,0,0,0
$GC,1425,-1.75,-58.4,211.2,-15.4,129,1427,0.12,0.00,0.00,0.000,6,0.107,0.000,2720,1696,2877,0,0,0,0,0,0
$GC,1730,-1.75,-58.4,253.2,-13.0,144,1734,0.00,2.33,0.00,0.000,4,0.000,0.025,2721,3110,2877,0,0,0,0,0,0
$GC,1872,-1.82,-58.4,271.2,-12.5,150,1877,0.00,2.40,0.00,0.000,6,0.000,0.033,2720,1689,2877,0,0,0,0,0,0
$GC,2192,-1.82,-58.4,305.1,-9.9,165,2193,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1689,2877,0,0,0,0,0,0
$GC,2517,-1.82,-58.4,335.4,-9.0,173,2522,0.00,2.38,0.00,0.000,4,0.000,0.028,2720,3107,2876,0,0,0,0,0,0
$GC,2712,-1.91,-58.4,356.8,-11.6,177,2717,0.17,2.40,0.00,0.000,6,0.054,0.036,2671,1692,2876,0,0,0,0,0,0
$GC,3030,-1.86,-58.4,400.2,-13.5,185,3035,0.12,2.45,0.00,0.000,4,0.106,0.054,2695,288,2874,0,0,0,0,0,0
$GC,3054,-1.78,-58.4,404.0,-13.0,185,3059,0.00,2.33,0.00,0.000,6,0.000,0.024,2695,1720,2874,0,0,0,0,0,0
$GC,3395,-1.78,-58.4,439.9,-10.0,194,3400,0.00,2.28,0.00,0.000,4,0.000,0.031,2695,3082,2871,0,0,0,0,0,0
$GC,3457,-1.82,-58.4,445.7,-9.1,195,3461,0.00,2.38,0.00,0.000,6,0.000,0.040,2694,1697,2871,0,0,0,0,0,0
$STATE,3524,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3524,begin apogee
$GC,3530,-0.31,0.0,452.8,10.3,197,3584,1.60,0.00,49.70,0.833,6,0.084,0.000,3028,1789,2630,0,0,0,0,0,0
$STATE,3585,end apogee,CONTROL_FINISHED_OK
$STATE,3585,begin climb
$GC,3588,1.56,58.4,454.0,0.0,198,3643,1.77,0.00,50.53,0.816,6,0.028,0.000,3454,1789,2391,0,0,0,0,0,0
$GC,3958,1.28,84.5,437.1,5.5,207,3987,0.35,2.40,22.48,0.796,4,0.106,0.034,3384,3140,2285,0,0,0,0,0,0
$GC,4253,1.17,107.1,418.7,5.9,213,4280,0.15,2.38,20.80,0.791,6,0.116,0.038,3356,1772,2193,0,0,0,0,0,0
$GC,4606,1.07,107.1,387.9,9.2,222,4611,0.12,2.38,0.00,0.000,4,0.116,0.035,3333,3158,2186,0,0,0,0,0,0
$GC,4764,1.07,107.1,374.3,8.0,225,4768,0.00,2.40,0.00,0.000,6,0.000,0.040,3333,1770,2186,0,0,0,0,0,0
$GC,5110,1.07,136.4,353.9,5.3,234,5142,0.00,2.58,25.42,0.787,4,0.000,0.055,3333,366,2073,0,0,0,0,0,0
$GC,5286,0.95,136.4,339.2,10.5,237,5292,0.12,2.33,0.00,0.000,6,0.117,0.027,3310,1752,2067,0,0,0,0,0,0
$GC,5617,0.99,136.4,311.6,8.7,246,5621,0.00,2.40,0.00,0.000,4,0.000,0.032,3310,3187,2066,0,0,0,0,0,0
$GC,5679,1.06,136.4,305.8,9.6,247,5683,0.00,2.45,0.00,0.000,6,0.000,0.038,3310,1761,2066,0,0,0,0,0,0
$GC,6012,1.10,136.4,276.1,8.3,262,6017,0.12,2.38,0.00,0.000,4,0.070,0.031,3346,3178,2064,0,0,0,0,0,0
$GC,6172,1.12,151.1,264.6,6.6,269,6193,0.00,2.42,12.57,0.694,6,0.000,0.037,3345,1770,2014,0,0,0,0,0,0
$GC,6506,1.12,151.2,239.8,7.9,285,6510,0.00,2.40,0.00,0.000,4,0.000,0.030,3346,3179,2011,0,0,0,0,0,0
$GC,6576,1.12,152.3,234.0,7.8,288,6580,0.00,2.42,0.00,0.000,6,0.000,0.038,3345,1761,2011,0,0,0,0,0,0
$GC,6901,1.14,166.4,214.2,6.6,304,6924,0.00,2.45,14.68,0.662,4,0.000,0.028,3346,3180,1951,0,0,0,0,0,0
$GC,6934,1.14,166.4,211.6,8.2,305,6938,0.00,2.45,0.00,0.000,6,0.000,0.035,3345,1762,1950,0,0,0,0,0,0
$GC,7260,1.14,166.4,179.3,11.5,327,7264,0.00,2.42,0.00,0.000,4,0.000,0.049,3345,352,1948,0,0,0,0,0,0
$GC,7404,1.06,166.4,161.1,11.9,337,7410,0.00,2.33,0.00,0.000,6,0.000,0.021,3346,1789,1945,0,0,0,0,0,0
$GC,7662,1.06,166.4,137.4,8.3,358,7667,0.00,2.45,0.00,0.000,4,0.000,0.047,3345,359,1946,0,0,0,0,0,0
$GC,7702,1.00,168.1,134.2,7.7,361,7707,0.15,2.30,0.00,0.000,6,0.106,0.021,3317,1778,1945,0,0,0,0,0,0
$GC,7969,1.15,206.0,122.6,4.5,382,8011,0.15,2.50,35.20,0.604,4,0.059,0.044,3362,359,1789,0,0,0,0,0,0
$GC,8070,1.07,206.0,114.0,12.2,389,8075,0.15,2.30,0.00,0.000,6,0.100,0.020,3333,1778,1786,0,0,0,0,0,0
$GC,8336,1.16,206.0,88.6,9.3,410,8340,0.00,2.47,0.00,0.000,4,0.000,0.045,3333,349,1785,0,0,0,0,0,0
$GC,8375,1.16,206.0,84.8,9.4,413,8379,0.00,2.33,0.00,0.000,6,0.000,0.020,3333,1780,1784,0,0,0,0,0,0
$GC,8646,1.30,230.2,65.9,5.7,434,8676,0.22,2.30,21.58,0.536,4,0.045,0.022,3396,3162,1689,0,0,0,0,0,0
$GC,8817,1.36,230.2,46.4,11.4,446,8821,0.00,2.35,0.00,0.000,6,0.000,0.031,3396,1765,1689,0,0,0,0,0,0
$GC,9079,1.36,230.2,19.7,9.9,480,9085,0.00,2.42,0.00,0.000,4,0.000,0.041,3396,358,1687,0,0,0,0,0,0
$GC,9098,1.36,230.2,17.8,9.9,483,9105,0.00,2.30,0.00,0.000,6,0.000,0.018,3396,1765,1686,0,0,0,0,0,0
$STATE,9229,end climb,SURFACE_DEPTH_REACHED
$STATE,9229,begin surface coast
$FINISH,0.8,1.023170
$STATE,9256,end surface coast,CONTROL_FINISHED_OK
$STATE,9256,begin surface
$SM_CCo,9279,101.35,0.497,0,0,957,410.14
$SM_GC,1.55,0.00,0.00,101.35,0.000,0.000,0.497,427,1684,957,-12.30,-0.31,410.14
$IRIDIUM_FIX,2059.45,-15753.03,081199,141416
$TT8_MAMPS,0.028379
$HUMID,52.04
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.10
$XPDR_PINGS,1
$24V_AH,23.5,15.805
$10V_AH,10.4,12.372
$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,30.825,95.700,252.950,101.350,0.000,28.542,35.675,141.706,4.750,0.000,17.026,1049.253,6068.994,413.203,1735.051,441.163,0.000,1181.862,0.000,1707.054,0.000,29.262,0.000
$DEVICE_MAMPS,134.992,79.001,832.962,497.016,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,349.388,327.270,740.250,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,28643,519
$CAP_FILE_SIZE,103796,0
$CFSIZE,260165632,204308480
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140810,194724,2106.198,-15753.809,43,1.4,43,9.8