version: 66.06
glider: 139
mission: 8
dive: 179
start: 8 14 110 22 34 43
data:
$ID,139
$MISSION,8
$DIVE,179
$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,-2154210.8
$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
$GPS1,222837,2106.338,-15753.142,68,1.1,68,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-73.5
$GPS2,223426,2106.335,-15753.167,13,1.8,13,9.8
$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,83.3,17736,-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,-58.4,0.0,0.0,0,76,0.00,0.00,-59.00,0.000,2,0.000,0.000,427,1686,2609,0,0,0,0,0,0
$GC,80,-1.56,-58.4,3.1,-3.0,11,104,12.50,2.40,-5.07,0.000,4,0.135,0.051,2752,288,2869,0,0,0,0,0,0
$GC,133,-1.17,-58.4,17.7,-25.4,21,140,0.40,2.35,0.00,0.000,6,0.090,0.018,2838,1726,2871,0,0,0,0,0,0
$GC,341,-1.32,-58.4,47.1,-13.5,49,346,0.12,2.53,0.00,0.000,4,0.061,0.047,2791,285,2872,0,0,0,0,0,0
$GC,368,-1.32,-58.4,51.0,-15.6,51,373,0.10,2.25,0.00,0.000,6,0.111,0.018,2812,1716,2872,0,0,0,0,0,0
$GC,635,-1.43,-58.4,87.7,-11.7,72,637,0.10,0.00,0.00,0.000,6,0.072,0.000,2775,1720,2873,0,0,0,0,0,0
$GC,886,-1.49,-58.4,118.2,-13.0,92,890,0.00,2.20,0.00,0.000,4,0.000,0.021,2775,3069,2873,0,0,0,0,0,0
$GC,927,-1.62,-58.4,122.9,-11.2,95,932,0.12,2.30,0.00,0.000,6,0.064,0.030,2733,1683,2874,0,0,0,0,0,0
$GC,1193,-1.62,-58.4,157.3,-12.5,116,1194,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1682,2874,0,0,0,0,0,0
$GC,1443,-1.62,-58.4,187.2,-11.3,136,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1683,2875,0,0,0,0,0,0
$GC,1701,-1.62,-58.4,219.7,-13.5,152,1706,0.00,2.40,0.00,0.000,4,0.000,0.047,2733,286,2875,0,0,0,0,0,0
$GC,1729,-1.57,-58.4,223.1,-13.9,153,1733,0.12,2.22,0.00,0.000,6,0.104,0.019,2758,1700,2875,0,0,0,0,0,0
$GC,2062,-1.66,-58.4,257.3,-11.2,169,2066,0.00,2.28,0.00,0.000,4,0.000,0.025,2758,3068,2875,0,0,0,0,0,0
$GC,2095,-1.81,-58.4,261.3,-10.9,170,2100,0.22,2.30,0.00,0.000,6,0.045,0.033,2693,1690,2875,0,0,0,0,0,0
$GC,2432,-1.78,-58.4,305.9,-13.0,185,2434,0.10,0.00,0.00,0.000,6,0.114,0.000,2712,1690,2874,0,0,0,0,0,0
$GC,2757,-1.78,-58.4,343.8,-11.6,193,2762,0.00,2.42,0.00,0.000,4,0.000,0.050,2712,290,2873,0,0,0,0,0,0
$GC,2787,-1.72,-58.4,346.8,-10.0,193,2791,0.00,2.22,0.00,0.000,6,0.000,0.022,2712,1684,2873,0,0,0,0,0,0
$GC,3128,-1.72,-58.4,375.0,-8.4,202,3129,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1689,2872,0,0,0,0,0,0
$GC,3454,-1.76,-58.4,407.5,-10.6,210,3455,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1689,2870,0,0,0,0,0,0
$GC,3780,-1.80,-58.4,443.5,-11.1,218,3784,0.00,2.30,0.00,0.000,4,0.000,0.033,2712,3069,2867,0,0,0,0,0,0
$STATE,3833,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3833,begin apogee
$GC,3842,-0.31,0.0,450.2,11.7,219,3894,1.48,0.00,48.55,0.836,6,0.081,0.000,3024,1775,2630,0,0,0,0,0,0
$STATE,3895,end apogee,CONTROL_FINISHED_OK
$STATE,3895,begin climb
$GC,3899,1.56,58.4,451.8,0.0,220,3957,1.77,2.58,50.05,0.821,4,0.031,0.054,3448,363,2390,0,0,0,0,0,0
$GC,4002,1.22,128.9,451.8,1.6,222,4076,0.43,2.33,62.15,0.821,6,0.106,0.026,3368,1749,2104,0,0,0,0,0,0
$GC,4398,1.10,128.9,413.8,10.8,232,4403,0.12,2.45,0.00,0.000,4,0.119,0.035,3344,3181,2094,0,0,0,0,0,0
$GC,4423,1.06,128.9,411.3,9.2,232,4428,0.00,2.47,0.00,0.000,6,0.000,0.041,3344,1770,2094,0,0,0,0,0,0
$GC,4764,1.00,128.9,376.7,10.3,241,4766,0.12,0.00,0.00,0.000,6,0.122,0.000,3322,1770,2090,0,0,0,0,0,0
$GC,5089,1.01,136.7,350.8,7.2,249,5101,0.00,2.40,5.30,0.595,4,0.000,0.033,3322,3174,2071,0,0,0,0,0,0
$GC,5231,1.05,139.0,339.9,7.7,252,5235,0.00,2.45,0.00,0.000,6,0.000,0.039,3322,1766,2071,0,0,0,0,0,0
$GC,5554,1.06,142.8,315.5,7.6,260,5562,0.00,0.00,6.40,0.629,6,0.000,0.000,3322,1766,2047,0,0,0,0,0,0
$GC,5861,1.06,142.8,289.4,8.9,270,5865,0.00,2.47,0.00,0.000,4,0.000,0.054,3322,357,2045,0,0,0,0,0,0
$GC,6045,0.99,142.8,268.5,10.7,278,6049,0.00,2.35,0.00,0.000,6,0.000,0.026,3322,1774,2041,0,0,0,0,0,0
$GC,6376,1.08,187.9,251.2,3.8,294,6422,0.00,2.55,40.65,0.732,4,0.000,0.052,3321,351,1862,0,0,0,0,0,0
$GC,6437,1.09,195.8,247.9,7.2,296,6451,0.00,2.42,8.45,0.617,6,0.000,0.025,3322,1780,1830,0,0,0,0,0,0
$GC,6780,1.15,195.8,216.1,10.7,313,6785,0.12,2.50,0.00,0.000,4,0.069,0.051,3358,354,1826,0,0,0,0,0,0
$GC,6932,1.04,195.8,193.0,15.5,321,6937,0.15,2.33,0.00,0.000,6,0.107,0.023,3329,1776,1823,0,0,0,0,0,0
$GC,7194,1.09,195.8,162.5,11.8,341,7198,0.00,2.50,0.00,0.000,4,0.000,0.050,3329,348,1823,0,0,0,0,0,0
$GC,7347,1.09,195.8,139.0,14.6,352,7351,0.00,2.35,0.00,0.000,6,0.000,0.022,3329,1779,1821,0,0,0,0,0,0
$GC,7608,1.19,202.7,112.7,7.3,372,7619,0.12,0.00,6.05,0.490,6,0.066,0.000,3367,1784,1802,0,0,0,0,0,0
$GC,7872,1.19,202.7,90.4,9.1,393,7877,0.00,2.47,0.00,0.000,4,0.000,0.045,3367,348,1802,0,0,0,0,0,0
$GC,7926,1.12,202.7,84.2,13.5,397,7931,0.12,2.33,0.00,0.000,6,0.107,0.021,3343,1776,1800,0,0,0,0,0,0
$GC,8195,1.22,202.7,57.4,9.3,418,8199,0.00,2.45,0.00,0.000,4,0.000,0.044,3343,353,1800,0,0,0,0,0,0
$GC,8461,1.22,202.7,27.5,10.1,441,8468,0.00,2.33,0.00,0.000,6,0.000,0.019,3343,1789,1800,0,0,0,0,0,0
$GC,8663,1.32,202.7,11.5,8.8,487,8670,0.20,2.47,0.00,0.000,4,0.048,0.043,3402,356,1800,0,0,0,0,0,0
$GC,8679,1.41,202.7,10.4,8.5,489,8686,0.00,2.28,0.00,0.000,6,0.000,0.019,3402,1761,1800,0,0,0,0,0,0
$STATE,8759,end climb,SURFACE_DEPTH_REACHED
$STATE,8759,begin surface coast
$FINISH,0.8,1.023155
$STATE,8798,end surface coast,CONTROL_FINISHED_OK
$STATE,8798,begin surface
$SM_CCo,8821,121.05,0.502,0,0,957,410.14
$SM_GC,1.53,0.00,0.00,121.05,0.000,0.000,0.502,427,1666,957,-12.30,-0.82,410.14
$IRIDIUM_FIX,2059.45,-15746.61,081199,191901
$TT8_MAMPS,0.029146
$HUMID,53.22
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.5,15.963
$10V_AH,10.3,12.522
$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,31.175,81.050,227.600,121.050,0.000,24.782,37.596,167.168,4.750,0.000,13.418,1009.697,5890.197,391.357,1542.413,456.141,0.000,1065.641,0.000,1523.253,0.000,32.077,0.000
$DEVICE_MAMPS,134.992,74.399,836.030,502.385,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,347.236,329.043,767.728,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,28646,515
$CAP_FILE_SIZE,95549,0
$CFSIZE,260165632,204218368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150810,010458,2106.377,-15752.466,14,2.8,33,9.8