version: 66.06
glider: 139
mission: 8
dive: 197
start: 8 17 110 0 2 20
data:
$ID,139
$MISSION,8
$DIVE,197
$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,-2154574.5
$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
$GPS1,235630,2106.468,-15749.173,36,1.8,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-73.5
$GPS2,000204,2106.471,-15749.148,15,2.5,34,9.8
$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,86.6,10833,-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,-59.15,0.000,2,0.000,0.000,428,1721,2622,0,0,0,0,0,0
$GC,80,-1.56,-58.4,3.2,-3.5,11,103,12.48,0.00,-4.75,0.000,6,0.133,0.000,2755,1725,2871,0,0,0,0,0,0
$GC,296,-1.49,-58.4,50.3,-18.6,44,300,0.00,2.30,0.00,0.000,4,0.000,0.024,2755,3112,2873,0,0,0,0,0,0
$GC,350,-1.57,-58.4,59.4,-14.2,48,355,0.00,2.40,0.00,0.000,6,0.000,0.035,2754,1693,2873,0,0,0,0,0,0
$GC,610,-1.57,-58.4,94.7,-13.6,68,611,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1693,2874,0,0,0,0,0,0
$GC,861,-1.57,-58.4,128.4,-14.1,88,865,0.00,2.42,0.00,0.000,4,0.000,0.045,2754,282,2874,0,0,0,0,0,0
$GC,873,-1.57,-58.4,129.9,-14.1,89,877,0.00,2.30,0.00,0.000,6,0.000,0.019,2755,1740,2875,0,0,0,0,0,0
$GC,1139,-1.62,-58.4,163.8,-12.6,110,1143,0.00,2.15,0.00,0.000,4,0.000,0.022,2755,3071,2875,0,0,0,0,0,0
$GC,1191,-1.72,-58.4,170.1,-11.3,114,1196,0.12,2.30,0.00,0.000,6,0.064,0.031,2714,1689,2875,0,0,0,0,0,0
$GC,1467,-1.72,-58.4,208.5,-13.5,134,1468,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1689,2876,0,0,0,0,0,0
$GC,1777,-1.72,-58.4,250.6,-13.7,149,1781,0.00,2.25,0.00,0.000,4,0.000,0.025,2714,3066,2876,0,0,0,0,0,0
$GC,2011,-1.78,-58.4,278.9,-10.0,159,2015,0.00,2.30,0.00,0.000,6,0.000,0.034,2714,1689,2876,0,0,0,0,0,0
$GC,2351,-1.78,-58.4,315.2,-10.8,173,2355,0.00,2.28,0.00,0.000,4,0.000,0.025,2714,3064,2876,0,0,0,0,0,0
$GC,2388,-1.84,-58.4,319.4,-10.8,173,2393,0.00,2.33,0.00,0.000,6,0.000,0.035,2714,1689,2876,0,0,0,0,0,0
$GC,2719,-1.88,-58.4,358.5,-12.2,182,2724,0.10,2.30,0.00,0.000,4,0.077,0.028,2682,3070,2875,0,0,0,0,0,0
$GC,2781,-1.88,-58.4,366.3,-12.9,183,2785,0.00,2.33,0.00,0.000,6,0.000,0.036,2682,1690,2875,0,0,0,0,0,0
$GC,3131,-1.84,-58.4,408.3,-11.4,192,3135,0.00,2.30,0.00,0.000,4,0.000,0.030,2682,3061,2872,0,0,0,0,0,0
$GC,3315,-1.84,-58.4,428.6,-10.9,196,3319,0.00,2.33,0.00,0.000,6,0.000,0.040,2681,1689,2871,0,0,0,0,0,0
$STATE,3554,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3554,begin apogee
$GC,3560,-0.31,0.0,453.2,10.2,202,3614,1.67,0.00,49.25,0.836,6,0.084,0.000,3030,1762,2630,0,0,0,0,0,0
$STATE,3615,end apogee,CONTROL_FINISHED_OK
$STATE,3615,begin climb
$GC,3618,1.56,58.4,453.9,0.0,203,3676,1.77,2.42,50.30,0.820,4,0.030,0.033,3451,3161,2391,0,0,0,0,0,0
$GC,3768,1.34,108.5,450.7,3.4,206,3820,0.30,2.40,44.12,0.817,6,0.106,0.037,3394,1770,2186,0,0,0,0,0,0
$GC,4161,1.16,108.5,412.6,9.9,216,4163,0.20,0.00,0.00,0.000,6,0.108,0.000,3356,1770,2177,0,0,0,0,0,0
$GC,4487,1.06,108.5,385.3,8.2,224,4492,0.12,2.38,0.00,0.000,4,0.117,0.035,3333,3160,2175,0,0,0,0,0,0
$GC,4747,1.06,108.5,361.8,8.2,229,4751,0.00,2.40,0.00,0.000,6,0.000,0.039,3333,1768,2174,0,0,0,0,0,0
$GC,5084,1.07,117.6,336.9,7.1,238,5092,0.00,0.00,6.10,0.630,6,0.000,0.000,3333,1768,2150,0,0,0,0,0,0
$GC,5408,1.09,127.3,315.8,7.0,246,5424,0.00,2.45,9.95,0.706,4,0.000,0.033,3333,3161,2110,0,0,0,0,0,0
$GC,5527,1.10,137.4,307.3,7.0,248,5545,0.00,2.40,10.75,0.706,6,0.000,0.038,3333,1768,2069,0,0,0,0,0,0
$GC,5853,1.10,137.4,281.2,8.0,262,5854,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,1768,2064,0,0,0,0,0,0
$GC,6164,1.12,151.7,258.9,6.6,277,6186,0.00,2.40,13.18,0.696,4,0.000,0.029,3333,3164,2010,0,0,0,0,0,0
$GC,6201,1.16,158.0,256.1,7.3,278,6215,0.00,2.40,7.50,0.619,6,0.000,0.037,3333,1770,1985,0,0,0,0,0,0
$GC,6548,1.16,158.0,227.7,8.4,295,6553,0.00,2.47,0.00,0.000,4,0.000,0.051,3333,356,1981,0,0,0,0,0,0
$GC,6599,1.09,158.0,222.3,10.4,297,6604,0.00,2.33,0.00,0.000,6,0.000,0.025,3333,1768,1979,0,0,0,0,0,0
$GC,6916,1.09,158.0,196.4,8.2,314,6920,0.00,2.47,0.00,0.000,4,0.000,0.049,3333,351,1978,0,0,0,0,0,0
$GC,6930,1.09,158.0,195.0,8.9,315,6934,0.00,2.33,0.00,0.000,6,0.000,0.023,3333,1778,1978,0,0,0,0,0,0
$GC,7190,1.11,169.7,176.5,6.8,335,7203,0.00,0.00,10.82,0.607,6,0.000,0.000,3333,1783,1937,0,0,0,0,0,0
$GC,7454,1.15,169.7,157.1,9.1,356,7459,0.00,2.47,0.00,0.000,4,0.000,0.047,3333,355,1935,0,0,0,0,0,0
$GC,7577,1.11,169.7,144.4,10.1,365,7581,0.00,2.33,0.00,0.000,6,0.000,0.021,3333,1779,1933,0,0,0,0,0,0
$GC,7843,1.18,178.0,122.2,7.1,386,7860,0.10,2.50,8.48,0.534,4,0.077,0.044,3365,348,1903,0,0,0,0,0,0
$GC,7879,1.08,178.0,118.7,9.8,388,7884,0.15,2.30,0.00,0.000,6,0.102,0.021,3336,1772,1902,0,0,0,0,0,0
$GC,8141,1.16,188.8,99.8,6.9,408,8157,0.00,2.53,10.77,0.528,4,0.000,0.045,3336,358,1859,0,0,0,0,0,0
$GC,8216,1.16,188.8,92.8,10.0,413,8220,0.00,2.30,0.00,0.000,6,0.000,0.020,3337,1786,1857,0,0,0,0,0,0
$GC,8479,1.24,188.8,71.1,8.8,433,8484,0.15,2.50,0.00,0.000,4,0.058,0.045,3381,350,1857,0,0,0,0,0,0
$GC,8702,1.17,188.8,48.2,10.8,449,8709,0.10,2.33,0.00,0.000,6,0.082,0.019,3357,1771,1857,0,0,0,0,0,0
$GC,8964,1.29,223.1,32.9,4.8,470,9000,0.10,2.30,30.77,0.519,4,0.075,0.021,3391,3163,1719,0,0,0,0,0,0
$GC,9014,1.33,227.4,29.4,7.5,472,9027,0.00,2.40,5.40,0.394,6,0.000,0.030,3391,1769,1702,0,0,0,0,0,0
$GC,9222,1.36,227.4,9.5,10.3,519,9229,0.00,2.45,0.00,0.000,4,0.000,0.046,3391,361,1700,0,0,0,0,0,0
$STATE,9276,end climb,SURFACE_DEPTH_REACHED
$STATE,9276,begin surface coast
$FINISH,0.9,1.022983
$STATE,9299,end surface coast,CONTROL_FINISHED_OK
$STATE,9299,begin surface
$SM_CCo,9324,104.65,0.495,0,0,958,410.14
$SM_GC,1.43,0.00,0.00,104.65,0.000,0.000,0.495,429,1737,958,-12.29,1.19,410.14
$IRIDIUM_FIX,2059.45,-15750.89,101199,212156
$TT8_MAMPS,0.029146
$HUMID,52.95
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.5,17.430
$10V_AH,10.3,13.850
$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,30.050,89.800,257.400,104.650,0.000,24.533,28.829,139.068,4.500,0.000,35.460,1059.666,6137.147,412.799,1719.877,429.990,0.000,1154.607,0.000,1676.854,0.000,29.254,0.000
$DEVICE_MAMPS,133.458,90.506,836.030,495.482,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,361.196,345.740,782.433,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,28623,536
$CAP_FILE_SIZE,102179,0
$CFSIZE,260165632,203255808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170810,024037,2106.270,-15748.902,18,1.3,29,9.8