version: 66.06
glider: 139
mission: 8
dive: 202
start: 8 17 110 13 59 37
data:
$ID,139
$MISSION,8
$DIVE,202
$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,-2154698.5
$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
$GPS1,135400,2105.843,-15748.062,43,1.1,43,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-72.3
$GPS2,135920,2105.836,-15748.045,16,1.0,16,9.8
$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,80.5,8859,-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,-64.55,0.000,2,0.000,0.000,428,1669,2773,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.6,-4.2,12,110,12.55,2.47,-1.75,0.000,4,0.136,0.036,2754,3114,2872,0,0,0,0,0,0
$GC,160,-1.56,-58.4,24.7,-18.7,27,167,0.00,2.45,0.00,0.000,6,0.000,0.035,2754,1693,2873,0,0,0,0,0,0
$GC,368,-1.56,-58.4,62.5,-17.9,47,369,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1693,2874,0,0,0,0,0,0
$GC,621,-1.56,-58.4,102.0,-14.6,67,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1693,2875,0,0,0,0,0,0
$GC,873,-1.59,-58.4,137.9,-12.8,87,877,0.00,2.35,0.00,0.000,4,0.000,0.022,2754,3112,2876,0,0,0,0,0,0
$GC,919,-1.71,-58.4,144.0,-12.3,90,926,0.10,2.42,0.00,0.000,6,0.036,0.033,2713,1689,2876,0,0,0,0,0,0
$GC,1180,-1.71,-58.4,178.3,-12.6,111,1185,0.00,2.38,0.00,0.000,4,0.000,0.023,2713,3109,2876,0,0,0,0,0,0
$GC,1282,-1.76,-58.4,191.6,-12.3,118,1289,0.00,2.40,0.00,0.000,6,0.000,0.033,2713,1700,2876,0,0,0,0,0,0
$GC,1539,-1.76,-58.4,225.0,-13.0,133,1543,0.00,2.33,0.00,0.000,4,0.000,0.024,2713,3107,2877,0,0,0,0,0,0
$GC,1596,-1.81,-58.4,232.7,-13.6,135,1600,0.00,2.38,0.00,0.000,6,0.000,0.032,2713,1685,2876,0,0,0,0,0,0
$GC,1912,-1.81,-58.4,272.9,-11.4,150,1916,0.00,2.38,0.00,0.000,4,0.000,0.025,2713,3115,2877,0,0,0,0,0,0
$GC,2059,-1.88,-58.4,288.2,-10.1,156,2063,0.00,2.38,0.00,0.000,6,0.000,0.033,2714,1695,2877,0,0,0,0,0,0
$GC,2393,-1.88,-58.4,322.1,-10.1,167,2397,0.00,2.35,0.00,0.000,4,0.000,0.027,2713,3104,2876,0,0,0,0,0,0
$GC,2458,-1.95,-58.4,329.6,-10.8,168,2463,0.17,2.38,0.00,0.000,6,0.055,0.035,2664,1692,2876,0,0,0,0,0,0
$GC,2805,-1.88,-58.4,374.1,-13.3,177,2807,0.12,0.00,0.00,0.000,6,0.108,0.000,2688,1692,2874,0,0,0,0,0,0
$GC,3129,-1.88,-58.4,406.2,-9.5,185,3130,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1691,2873,0,0,0,0,0,0
$GC,3454,-1.88,-58.4,437.3,-10.1,193,3455,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1691,2870,0,0,0,0,0,0
$STATE,3573,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3573,begin apogee
$GC,3581,-0.31,0.0,451.8,11.7,196,3634,1.65,0.00,49.50,0.837,6,0.082,0.000,3032,1815,2630,0,0,0,0,0,0
$STATE,3635,end apogee,CONTROL_FINISHED_OK
$STATE,3635,begin climb
$GC,3638,1.56,58.4,453.4,0.0,197,3698,1.75,2.60,50.53,0.822,4,0.029,0.051,3451,359,2389,0,0,0,0,0,0
$GC,3707,1.35,162.1,454.3,-1.4,198,3809,0.30,2.35,90.85,0.825,6,0.106,0.026,3395,1748,1969,0,0,0,0,0,0
$GC,4131,1.19,162.1,404.1,14.3,209,4133,0.20,0.00,0.00,0.000,6,0.103,0.000,3357,1748,1960,0,0,0,0,0,0
$GC,4457,1.12,162.1,363.5,12.0,217,4462,0.00,2.47,0.00,0.000,4,0.000,0.056,3356,360,1956,0,0,0,0,0,0
$GC,4501,0.95,162.1,357.7,13.0,218,4506,0.25,2.35,0.00,0.000,6,0.101,0.028,3309,1767,1953,0,0,0,0,0,0
$GC,4830,1.00,162.1,325.9,9.4,226,4834,0.00,2.50,0.00,0.000,4,0.000,0.055,3309,359,1951,0,0,0,0,0,0
$GC,4905,0.96,162.1,317.9,11.2,227,4909,0.00,2.35,0.00,0.000,6,0.000,0.028,3308,1774,1948,0,0,0,0,0,0
$GC,5222,1.01,162.1,289.9,8.1,238,5226,0.00,2.50,0.00,0.000,4,0.000,0.054,3308,359,1948,0,0,0,0,0,0
$GC,5246,1.01,162.1,287.7,9.7,239,5250,0.00,2.35,0.00,0.000,6,0.000,0.027,3309,1773,1946,0,0,0,0,0,0
$GC,5576,1.07,162.1,259.9,8.7,255,5581,0.10,2.47,0.00,0.000,4,0.080,0.052,3338,362,1946,0,0,0,0,0,0
$GC,5661,0.99,162.1,250.1,11.7,258,5668,0.08,2.38,0.00,0.000,6,0.092,0.026,3320,1775,1944,0,0,0,0,0,0
$GC,5977,1.05,162.1,221.0,9.0,274,5981,0.00,2.45,0.00,0.000,4,0.000,0.050,3320,359,1944,0,0,0,0,0,0
$GC,5991,1.05,162.1,219.6,8.8,274,5998,0.00,2.35,0.00,0.000,6,0.000,0.025,3320,1766,1943,0,0,0,0,0,0
$GC,6308,1.10,162.1,194.0,8.2,292,6312,0.00,2.33,0.00,0.000,4,0.000,0.028,3320,3172,1943,0,0,0,0,0,0
$GC,6337,1.20,162.1,191.5,8.0,294,6342,0.17,2.40,0.00,0.000,6,0.056,0.035,3368,1764,1943,0,0,0,0,0,0
$GC,6605,1.16,162.1,166.9,9.3,315,6606,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,1764,1943,0,0,0,0,0,0
$GC,6854,1.16,162.1,144.3,8.4,335,6858,0.00,2.40,0.00,0.000,4,0.000,0.047,3368,353,1943,0,0,0,0,0,0
$GC,6924,1.05,162.1,137.9,8.2,340,6929,0.20,2.33,0.00,0.000,6,0.096,0.021,3329,1788,1941,0,0,0,0,0,0
$GC,7185,1.13,172.3,120.9,7.0,360,7200,0.00,2.50,5.25,0.458,4,0.000,0.044,3328,350,1926,0,0,0,0,0,0
$GC,7252,1.13,172.3,115.0,8.4,364,7258,0.00,2.33,0.00,0.000,6,0.000,0.021,3329,1766,1925,0,0,0,0,0,0
$GC,7513,1.24,186.1,98.6,6.6,385,7533,0.17,2.50,13.68,0.548,4,0.053,0.045,3380,360,1870,0,0,0,0,0,0
$GC,7544,1.15,186.1,95.5,10.3,387,7549,0.15,2.28,0.00,0.000,6,0.101,0.020,3351,1771,1869,0,0,0,0,0,0
$GC,7807,1.22,187.4,73.7,7.8,407,7808,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,1776,1869,0,0,0,0,0,0
$GC,8058,1.32,203.9,58.0,6.4,427,8081,0.15,2.47,16.83,0.520,4,0.058,0.044,3396,358,1798,0,0,0,0,0,0
$GC,8337,1.24,203.9,34.3,7.9,447,8342,0.15,2.28,0.00,0.000,6,0.100,0.018,3367,1776,1794,0,0,0,0,0,0
$GC,8600,1.34,222.2,14.6,6.2,499,8624,0.10,2.50,16.52,0.481,4,0.074,0.043,3402,358,1723,0,0,0,0,0,0
$GC,8685,1.24,222.2,5.7,11.8,516,8692,0.12,2.30,0.00,0.000,6,0.076,0.018,3373,1777,1720,0,0,0,0,0,0
$STATE,8710,end climb,SURFACE_DEPTH_REACHED
$STATE,8710,begin surface coast
$FINISH,0.8,1.012444
$STATE,8737,end surface coast,CONTROL_FINISHED_OK
$STATE,8737,begin surface
$SM_CCo,8761,108.00,0.491,0,0,957,410.14
$SM_GC,1.50,0.00,0.00,108.00,0.000,0.000,0.491,428,1675,957,-12.29,-0.57,410.14
$IRIDIUM_FIX,2059.45,-15750.89,111199,111108
$TT8_MAMPS,0.029146
$HUMID,51.45
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,17.825
$10V_AH,10.3,14.222
$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,31.075,86.675,243.150,108.000,0.000,28.781,28.746,142.379,4.500,0.000,16.790,1003.103,5819.241,404.324,1535.881,425.147,0.000,1082.910,0.000,1518.941,0.000,29.250,0.000
$DEVICE_MAMPS,135.759,69.797,836.797,490.880,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,354.331,342.557,797.562,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,28581,527
$CAP_FILE_SIZE,96562,0
$CFSIZE,260165632,202985472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170810,162836,2105.773,-15747.559,32,0.9,32,9.8