version: 66.06
glider: 139
mission: 8
dive: 205
start: 8 17 110 22 15 0
data:
$ID,139
$MISSION,8
$DIVE,205
$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,-2154762.5
$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
$GPS1,220937,2106.123,-15746.864,30,1.1,30,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-72.8
$GPS2,221443,2106.159,-15746.828,11,1.3,16,9.8
$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,85.6,6786,-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,-64.70,0.000,2,0.000,0.000,424,1670,2779,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.5,-3.9,12,105,12.50,2.45,-1.65,0.000,4,0.134,0.035,2751,3109,2871,0,0,0,0,0,0
$GC,155,-1.56,-58.4,22.8,-18.8,26,162,0.00,2.42,0.00,0.000,6,0.000,0.035,2750,1700,2873,0,0,0,0,0,0
$GC,359,-1.47,-58.4,61.7,-19.1,47,363,0.15,2.35,0.00,0.000,4,0.108,0.022,2779,3116,2874,0,0,0,0,0,0
$GC,482,-1.62,-58.4,78.9,-12.0,56,487,0.15,2.42,0.00,0.000,6,0.056,0.034,2732,1689,2874,0,0,0,0,0,0
$GC,751,-1.57,-58.4,120.6,-14.8,77,756,0.12,2.38,0.00,0.000,4,0.104,0.023,2757,3112,2875,0,0,0,0,0,0
$GC,930,-1.66,-58.4,144.8,-12.1,90,934,0.00,2.35,0.00,0.000,6,0.000,0.031,2757,1691,2875,0,0,0,0,0,0
$GC,1192,-1.72,-58.4,176.8,-11.6,110,1197,0.15,2.42,0.00,0.000,4,0.058,0.046,2710,291,2876,0,0,0,0,0,0
$GC,1217,-1.63,-58.4,181.0,-15.5,112,1222,0.15,2.30,0.00,0.000,6,0.101,0.018,2740,1729,2876,0,0,0,0,0,0
$GC,1486,-1.67,-58.4,212.2,-11.5,130,1487,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1730,2876,0,0,0,0,0,0
$GC,1794,-1.72,-58.4,246.1,-10.3,145,1795,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1731,2877,0,0,0,0,0,0
$GC,2102,-1.79,-58.4,278.5,-10.9,160,2104,0.15,0.00,0.00,0.000,6,0.058,0.000,2694,1731,2877,0,0,0,0,0,0
$GC,2410,-1.79,-58.4,317.3,-12.8,172,2412,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1732,2876,0,0,0,0,0,0
$GC,2734,-1.79,-58.4,357.3,-12.3,180,2735,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1732,2875,0,0,0,0,0,0
$GC,3059,-1.79,-58.4,399.5,-13.2,188,3066,0.00,2.22,0.00,0.000,4,0.000,0.030,2694,3079,2874,0,0,0,0,0,0
$GC,3072,-1.79,-58.4,401.1,-12.9,188,3077,0.00,2.35,0.00,0.000,6,0.000,0.038,2694,1699,2874,0,0,0,0,0,0
$GC,3390,-1.79,-58.4,439.4,-11.6,196,3397,0.00,2.35,0.00,0.000,4,0.000,0.032,2694,3077,2870,0,0,0,0,0,0
$STATE,3484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3484,begin apogee
$GC,3494,-0.31,0.0,450.2,10.4,198,3547,1.62,0.00,49.38,0.828,6,0.084,0.000,3031,1776,2630,0,0,0,0,0,0
$STATE,3548,end apogee,CONTROL_FINISHED_OK
$STATE,3548,begin climb
$GC,3551,1.56,58.4,451.6,0.0,199,3610,1.77,2.42,50.60,0.813,4,0.028,0.033,3449,3144,2390,0,0,0,0,0,0
$GC,3727,1.32,89.3,447.5,5.1,203,3760,0.32,2.38,27.00,0.796,6,0.104,0.037,3387,1768,2266,0,0,0,0,0,0
$GC,4075,1.14,89.3,418.6,8.9,212,4079,0.20,2.38,0.00,0.000,4,0.106,0.033,3350,3146,2259,0,0,0,0,0,0
$GC,4321,1.09,94.5,400.0,7.4,217,4332,0.00,2.38,4.55,0.555,6,0.000,0.040,3349,1770,2244,0,0,0,0,0,0
$GC,4674,1.03,112.7,376.1,6.3,226,4699,0.12,2.40,17.20,0.775,4,0.116,0.033,3326,3153,2169,0,0,0,0,0,0
$GC,4714,1.05,130.4,373.4,6.3,226,4738,0.00,2.42,17.30,0.763,6,0.000,0.038,3326,1765,2098,0,0,0,0,0,0
$GC,5048,1.05,130.4,342.0,9.9,235,5052,0.00,2.50,0.00,0.000,4,0.000,0.056,3326,354,2091,0,0,0,0,0,0
$GC,5168,0.95,130.4,329.3,10.5,237,5172,0.00,2.33,0.00,0.000,6,0.000,0.027,3326,1751,2088,0,0,0,0,0,0
$GC,5508,0.96,136.4,301.9,7.4,246,5515,0.00,0.00,5.03,0.568,6,0.000,0.000,3326,1751,2073,0,0,0,0,0,0
$GC,5818,0.98,152.1,282.5,6.5,260,5841,0.00,2.55,15.57,0.722,4,0.000,0.053,3326,355,2008,0,0,0,0,0,0
$GC,5899,0.91,160.4,276.2,7.1,263,5914,0.15,2.38,8.73,0.654,6,0.110,0.026,3299,1776,1975,0,0,0,0,0,0
$GC,6227,1.01,160.4,251.3,9.2,279,6232,0.00,2.47,0.00,0.000,4,0.000,0.053,3298,358,1971,0,0,0,0,0,0
$GC,6405,1.01,160.4,233.3,9.2,286,6411,0.00,2.38,0.00,0.000,6,0.000,0.025,3298,1768,1968,0,0,0,0,0,0
$GC,6720,1.14,187.0,211.6,5.5,302,6751,0.22,2.58,23.77,0.683,4,0.050,0.050,3359,352,1867,0,0,0,0,0,0
$GC,6782,1.01,187.0,206.6,10.8,304,6787,0.20,2.38,0.00,0.000,6,0.099,0.024,3320,1785,1864,0,0,0,0,0,0
$GC,7112,1.08,187.0,175.0,9.8,327,7116,0.00,2.50,0.00,0.000,4,0.000,0.048,3320,354,1863,0,0,0,0,0,0
$GC,7193,1.08,187.0,166.9,9.7,333,7198,0.00,2.33,0.00,0.000,6,0.000,0.022,3321,1772,1861,0,0,0,0,0,0
$GC,7459,1.17,192.1,145.4,7.4,354,7474,0.15,2.47,5.10,0.472,4,0.059,0.046,3365,357,1846,0,0,0,0,0,0
$GC,7514,1.07,192.1,139.2,11.9,357,7520,0.17,2.30,0.00,0.000,6,0.097,0.021,3330,1773,1844,0,0,0,0,0,0
$GC,7775,1.16,194.7,118.3,7.7,378,7784,0.00,2.47,3.78,0.379,4,0.000,0.046,3330,357,1836,0,0,0,0,0,0
$GC,7814,1.16,194.7,114.8,9.0,380,7818,0.00,2.33,0.00,0.000,6,0.000,0.021,3330,1789,1835,0,0,0,0,0,0
$GC,8084,1.26,194.7,93.0,8.5,401,8086,0.20,0.00,0.00,0.000,6,0.048,0.000,3388,1795,1835,0,0,0,0,0,0
$GC,8335,1.26,194.7,68.3,10.3,421,8339,0.00,2.45,0.00,0.000,4,0.000,0.044,3388,352,1835,0,0,0,0,0,0
$GC,8355,1.19,194.7,66.1,10.8,422,8361,0.10,2.30,0.00,0.000,6,0.084,0.020,3364,1768,1835,0,0,0,0,0,0
$GC,8616,1.25,194.7,46.2,8.3,443,8620,0.00,2.42,0.00,0.000,4,0.000,0.044,3364,345,1835,0,0,0,0,0,0
$GC,8702,1.26,203.2,39.1,7.1,449,8717,0.00,2.30,9.30,0.475,6,0.000,0.018,3364,1791,1801,0,0,0,0,0,0
$GC,8973,1.37,223.1,22.4,6.1,488,8998,0.15,2.50,18.70,0.495,4,0.056,0.041,3411,348,1719,0,0,0,0,0,0
$GC,9036,1.26,223.1,17.1,9.4,500,9043,0.15,2.30,0.00,0.000,6,0.078,0.018,3376,1756,1716,0,0,0,0,0,0
$STATE,9181,end climb,SURFACE_DEPTH_REACHED
$STATE,9181,begin surface coast
$FINISH,0.6,1.009964
$STATE,9212,end surface coast,CONTROL_FINISHED_OK
$STATE,9212,begin surface
$SM_CCo,9235,105.28,0.492,0,0,957,410.14
$SM_GC,1.39,0.00,0.00,105.28,0.000,0.000,0.492,428,1672,957,-12.30,-0.65,410.14
$IRIDIUM_FIX,2059.45,-15746.61,111199,191930
$TT8_MAMPS,0.029146
$HUMID,52.40
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,18.060
$10V_AH,10.4,14.445
$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,31.550,91.025,256.000,105.275,0.000,25.241,29.476,129.736,4.500,0.000,16.411,1065.657,6056.797,432.559,1656.908,434.354,0.000,1149.576,0.000,1643.229,0.000,30.914,0.000
$DEVICE_MAMPS,134.225,77.467,827.593,492.414,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,363.394,349.370,807.404,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,28670,540
$CAP_FILE_SIZE,101760,0
$CFSIZE,260165632,202833920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180810,005152,2106.013,-15746.148,13,2.5,32,9.8