version: 66.06
glider: 139
mission: 8
dive: 180
start: 8 15 110 1 10 11
data:
$ID,139
$MISSION,8
$DIVE,180
$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,-2154231
$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
$GPS1,010458,2106.377,-15752.466,14,2.8,33,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-72.9
$GPS2,010955,2106.356,-15752.489,14,1.9,19,9.8
$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,83.7,16568,-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,-64.75,0.000,2,0.000,0.000,426,1667,2792,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.8,-4.5,12,104,12.55,0.00,-1.40,0.000,6,0.137,0.000,2751,1668,2871,0,0,0,0,0,0
$GC,305,-1.52,-58.4,55.7,-19.5,42,306,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1668,2874,0,0,0,0,0,0
$GC,556,-1.52,-58.4,103.4,-18.5,62,560,0.00,2.38,0.00,0.000,4,0.000,0.022,2752,3115,2876,0,0,0,0,0,0
$GC,629,-1.62,-58.4,114.6,-14.8,67,635,0.00,2.38,0.00,0.000,6,0.000,0.033,2751,1693,2876,0,0,0,0,0,0
$GC,890,-1.67,-58.4,146.0,-10.6,88,894,0.00,2.35,0.00,0.000,4,0.000,0.023,2751,3113,2877,0,0,0,0,0,0
$GC,1013,-1.78,-58.4,156.9,-8.6,97,1018,0.17,2.38,0.00,0.000,6,0.053,0.031,2700,1689,2877,0,0,0,0,0,0
$GC,1277,-1.73,-58.4,190.2,-14.1,118,1282,0.10,2.40,0.00,0.000,4,0.118,0.046,2719,290,2878,0,0,0,0,0,0
$GC,1360,-1.65,-58.4,201.9,-14.8,124,1364,0.00,2.28,0.00,0.000,6,0.000,0.019,2719,1725,2878,0,0,0,0,0,0
$GC,1677,-1.65,-58.4,242.4,-12.7,139,1681,0.00,2.22,0.00,0.000,4,0.000,0.025,2719,3078,2878,0,0,0,0,0,0
$GC,1752,-1.73,-58.4,252.3,-12.2,142,1756,0.00,2.30,0.00,0.000,6,0.000,0.034,2719,1695,2878,0,0,0,0,0,0
$GC,2072,-1.77,-58.4,289.3,-10.3,158,2073,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1695,2878,0,0,0,0,0,0
$GC,2400,-1.81,-58.4,321.9,-9.9,169,2402,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1695,2878,0,0,0,0,0,0
$GC,2724,-1.84,-58.4,353.3,-9.4,177,2728,0.00,2.33,0.00,0.000,4,0.000,0.029,2719,3079,2876,0,0,0,0,0,0
$GC,2802,-1.94,-58.4,361.1,-9.8,178,2807,0.17,2.33,0.00,0.000,6,0.057,0.038,2671,1697,2876,0,0,0,0,0,0
$GC,3135,-1.88,-58.4,401.0,-12.3,186,3139,0.00,2.30,0.00,0.000,4,0.000,0.030,2671,3074,2874,0,0,0,0,0,0
$GC,3149,-1.84,-58.4,403.1,-12.1,186,3154,0.12,2.35,0.00,0.000,6,0.107,0.038,2695,1687,2874,0,0,0,0,0,0
$GC,3503,-1.84,-58.4,441.7,-11.3,195,3507,0.00,2.35,0.00,0.000,4,0.000,0.032,2695,3075,2871,0,0,0,0,0,0
$GC,3522,-1.88,-58.4,444.6,-12.5,195,3526,0.00,2.38,0.00,0.000,6,0.000,0.041,2695,1697,2871,0,0,0,0,0,0
$STATE,3580,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3580,begin apogee
$GC,3586,-0.31,0.0,451.9,12.2,197,3640,1.60,0.00,49.62,0.839,6,0.084,0.000,3028,1768,2630,0,0,0,0,0,0
$STATE,3641,end apogee,CONTROL_FINISHED_OK
$STATE,3641,begin climb
$GC,3644,1.56,58.4,453.4,0.0,198,3699,1.77,0.00,50.62,0.823,6,0.030,0.000,3453,1769,2391,0,0,0,0,0,0
$GC,4014,1.30,97.5,443.9,4.4,207,4051,0.32,0.00,34.03,0.821,6,0.107,0.000,3387,1769,2232,0,0,0,0,0,0
$GC,4380,1.13,97.5,411.3,9.8,215,4385,0.20,2.53,0.00,0.000,4,0.110,0.054,3348,352,2225,0,0,0,0,0,0
$GC,4404,0.95,97.5,408.7,9.3,215,4410,0.20,2.35,0.00,0.000,6,0.108,0.028,3311,1757,2222,0,0,0,0,0,0
$GC,4746,0.97,117.5,386.6,6.1,224,4770,0.00,2.53,17.23,0.784,4,0.000,0.054,3310,353,2150,0,0,0,0,0,0
$GC,4863,0.89,117.5,377.2,10.1,226,4868,0.00,2.40,0.00,0.000,6,0.000,0.028,3310,1782,2145,0,0,0,0,0,0
$GC,5205,0.90,130.5,352.7,6.7,235,5219,0.00,0.00,12.43,0.745,6,0.000,0.000,3310,1787,2098,0,0,0,0,0,0
$GC,5529,0.93,131.4,326.2,7.8,243,5533,0.00,2.35,0.00,0.000,4,0.000,0.034,3310,3174,2094,0,0,0,0,0,0
$GC,5585,1.01,147.0,322.0,6.5,244,5606,0.00,2.45,15.77,0.749,6,0.000,0.039,3310,1763,2030,0,0,0,0,0,0
$GC,5941,1.06,153.6,297.6,7.3,253,5953,0.00,2.55,6.90,0.637,4,0.000,0.056,3310,356,2003,0,0,0,0,0,0
$GC,6082,1.02,153.6,285.2,9.2,259,6086,0.00,2.38,0.00,0.000,6,0.000,0.027,3310,1772,1999,0,0,0,0,0,0
$GC,6410,1.07,158.8,261.1,7.4,275,6422,0.10,2.55,5.47,0.570,4,0.081,0.053,3339,362,1982,0,0,0,0,0,0
$GC,6499,0.98,158.8,253.2,8.2,278,6506,0.10,2.38,0.00,0.000,6,0.089,0.026,3317,1766,1980,0,0,0,0,0,0
$GC,6815,1.03,158.8,229.2,7.9,294,6816,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,1771,1980,0,0,0,0,0,0
$GC,7125,1.10,171.8,206.2,6.7,309,7147,0.10,2.38,12.90,0.650,4,0.078,0.027,3347,3181,1928,0,0,0,0,0,0
$GC,7154,1.11,179.0,204.1,7.3,310,7167,0.00,2.42,8.23,0.594,6,0.000,0.034,3347,1764,1900,0,0,0,0,0,0
$GC,7484,1.11,179.0,175.3,9.1,333,7488,0.00,2.45,0.00,0.000,4,0.000,0.049,3347,355,1897,0,0,0,0,0,0
$GC,7513,1.01,179.0,172.3,10.1,335,7518,0.12,2.33,0.00,0.000,6,0.115,0.023,3323,1783,1895,0,0,0,0,0,0
$GC,7775,1.07,179.0,148.6,10.4,355,7779,0.00,2.47,0.00,0.000,4,0.000,0.048,3323,348,1895,0,0,0,0,0,0
$GC,7980,1.07,179.0,124.9,10.0,370,7984,0.00,2.33,0.00,0.000,6,0.000,0.021,3323,1769,1893,0,0,0,0,0,0
$GC,8247,1.21,215.3,107.2,4.6,391,8285,0.17,0.00,32.60,0.595,6,0.054,0.000,3373,1775,1751,0,0,0,0,0,0
$GC,8537,1.21,215.3,79.3,9.9,414,8538,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,1775,1748,0,0,0,0,0,0
$GC,8791,1.26,215.3,55.8,9.5,434,8796,0.00,2.42,0.00,0.000,4,0.000,0.045,3373,353,1747,0,0,0,0,0,0
$GC,8995,1.23,215.3,35.6,9.9,449,8999,0.00,2.30,0.00,0.000,6,0.000,0.019,3373,1794,1745,0,0,0,0,0,0
$GC,9259,1.32,239.7,17.6,5.7,499,9289,0.00,2.30,21.27,0.499,4,0.000,0.022,3374,3158,1651,0,0,0,0,0,0
$GC,9354,1.44,239.7,8.4,10.7,518,9361,0.12,2.40,0.00,0.000,6,0.032,0.031,3419,1762,1651,0,0,0,0,0,0
$STATE,9404,end climb,SURFACE_DEPTH_REACHED
$STATE,9404,begin surface coast
$FINISH,0.6,1.017532
$STATE,9433,end surface coast,CONTROL_FINISHED_OK
$STATE,9433,begin surface
$SM_CCo,9456,93.22,0.495,0,0,958,410.14
$SM_GC,1.33,0.00,0.00,93.22,0.000,0.000,0.495,424,1680,958,-12.31,-0.42,410.14
$IRIDIUM_FIX,2059.45,-15753.03,081199,222219
$TT8_MAMPS,0.029146
$HUMID,52.87
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.5,16.042
$10V_AH,10.3,12.592
$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,30.850,81.150,267.075,93.225,0.000,30.094,29.563,114.874,4.500,0.000,19.397,1036.609,6410.396,411.796,1577.502,409.493,0.000,1096.761,0.000,1556.139,0.000,29.244,0.000
$DEVICE_MAMPS,136.526,88.972,839.098,495.482,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,360.815,339.436,772.517,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,28636,535
$CAP_FILE_SIZE,99029,0
$CFSIZE,260165632,204161024
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150810,035107,2106.200,-15752.260,68,1.0,68,9.8