version: 66.06
glider: 139
mission: 8
dive: 238
start: 8 21 110 17 1 25
data:
$ID,139
$MISSION,8
$DIVE,238
$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,-2155549.8
$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
$GPS1,165226,2108.053,-15800.357,32,1.8,32,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-71.7
$GPS2,170108,2108.050,-15800.383,15,1.7,15,9.8
$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,88.0,30459,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.56,-58.4,0.0,0.0,0,84,0.00,0.00,-64.10,0.000,2,0.000,0.000,430,1683,2742,0,0,0,0,0,0
$GC,87,-1.56,-58.4,3.3,-3.3,12,106,12.45,0.00,-2.42,0.000,6,0.133,0.000,2751,1683,2871,0,0,0,0,0,0
$GC,304,-1.45,-58.4,52.1,-18.2,43,306,0.15,0.00,0.00,0.000,6,0.107,0.000,2780,1683,2873,0,0,0,0,0,0
$GC,555,-1.45,-58.4,91.4,-13.6,63,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1683,2874,0,0,0,0,0,0
$GC,808,-1.52,-58.4,125.7,-14.2,83,812,0.00,2.40,0.00,0.000,4,0.000,0.045,2780,288,2875,0,0,0,0,0,0
$GC,847,-1.52,-58.4,131.4,-14.5,86,851,0.00,2.33,0.00,0.000,6,0.000,0.018,2780,1737,2876,0,0,0,0,0,0
$GC,1118,-1.63,-58.4,166.9,-13.3,107,1123,0.15,2.20,0.00,0.000,4,0.057,0.023,2732,3076,2876,0,0,0,0,0,0
$GC,1184,-1.68,-58.4,176.5,-14.3,112,1188,0.00,2.30,0.00,0.000,6,0.000,0.031,2732,1691,2876,0,0,0,0,0,0
$GC,1443,-1.68,-58.4,212.5,-13.4,130,1447,0.00,2.28,0.00,0.000,4,0.000,0.022,2732,3075,2876,0,0,0,0,0,0
$GC,1511,-1.75,-58.4,220.9,-11.8,133,1515,0.00,2.33,0.00,0.000,6,0.000,0.033,2732,1696,2876,0,0,0,0,0,0
$GC,1843,-1.78,-58.4,256.6,-9.8,149,1847,0.00,2.30,0.00,0.000,4,0.000,0.024,2733,3076,2876,0,0,0,0,0,0
$GC,1882,-1.86,-58.4,260.1,-8.4,150,1890,0.12,2.35,0.00,0.000,6,0.034,0.032,2688,1695,2876,0,0,0,0,0,0
$GC,2198,-1.81,-58.4,297.3,-12.6,166,2202,0.00,2.30,0.00,0.000,4,0.000,0.025,2688,3073,2876,0,0,0,0,0,0
$GC,2329,-1.81,-58.4,313.6,-12.3,169,2333,0.00,2.33,0.00,0.000,6,0.000,0.034,2688,1689,2876,0,0,0,0,0,0
$GC,2664,-1.81,-58.4,359.6,-13.8,178,2665,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1689,2875,0,0,0,0,0,0
$GC,2990,-1.81,-58.4,400.6,-12.7,186,2994,0.00,2.33,0.00,0.000,4,0.000,0.029,2688,3077,2874,0,0,0,0,0,0
$GC,3088,-1.81,-58.4,412.4,-11.6,188,3092,0.00,2.38,0.00,0.000,6,0.000,0.039,2688,1690,2872,0,0,0,0,0,0
$GC,3406,-1.81,-58.4,446.6,-10.5,196,3410,0.00,2.33,0.00,0.000,4,0.000,0.031,2688,3075,2870,0,0,0,0,0,0
$STATE,3436,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3436,begin apogee
$GC,3445,-0.31,0.0,450.2,10.3,196,3499,1.60,0.00,49.17,0.826,6,0.083,0.000,3025,1764,2630,0,0,0,0,0,0
$STATE,3500,end apogee,CONTROL_FINISHED_OK
$STATE,3500,begin climb
$GC,3503,1.56,58.4,451.7,0.0,198,3558,1.80,0.00,50.72,0.811,6,0.029,0.000,3450,1764,2391,0,0,0,0,0,0
$GC,3865,1.32,110.5,442.5,3.2,207,3918,0.28,2.47,45.30,0.818,4,0.107,0.033,3394,3150,2179,0,0,0,0,0,0
$GC,3947,1.19,126.3,438.8,6.5,208,3968,0.17,2.42,15.30,0.758,6,0.114,0.039,3362,1768,2115,0,0,0,0,0,0
$GC,4287,1.09,126.3,409.3,9.5,217,4291,0.12,2.38,0.00,0.000,4,0.115,0.034,3339,3152,2107,0,0,0,0,0,0
$GC,4343,1.09,126.3,403.5,9.3,218,4347,0.00,2.40,0.00,0.000,6,0.000,0.039,3339,1763,2107,0,0,0,0,0,0
$GC,4657,1.05,126.3,373.4,9.9,226,4661,0.00,2.45,0.00,0.000,4,0.000,0.055,3339,359,2103,0,0,0,0,0,0
$GC,4681,0.92,126.3,370.8,11.0,226,4686,0.20,2.33,0.00,0.000,6,0.112,0.028,3302,1748,2101,0,0,0,0,0,0
$GC,5023,0.96,133.6,344.8,7.2,235,5035,0.00,2.47,5.28,0.593,4,0.000,0.053,3301,351,2085,0,0,0,0,0,0
$GC,5208,0.90,133.6,326.7,9.6,239,5212,0.00,2.38,0.00,0.000,6,0.000,0.028,3302,1770,2082,0,0,0,0,0,0
$GC,5536,0.96,137.9,301.4,7.5,247,5542,0.00,0.00,4.62,0.544,6,0.000,0.000,3302,1776,2068,0,0,0,0,0,0
$GC,5846,1.08,178.0,284.4,4.3,261,5891,0.15,2.42,37.30,0.756,4,0.064,0.030,3343,3185,1903,0,0,0,0,0,0
$GC,6034,1.14,178.0,264.1,13.4,269,6038,0.00,2.45,0.00,0.000,6,0.000,0.039,3342,1765,1902,0,0,0,0,0,0
$GC,6364,1.14,178.0,226.4,10.0,285,6368,0.00,2.47,0.00,0.000,4,0.000,0.052,3342,352,1898,0,0,0,0,0,0
$GC,6410,1.05,178.0,221.7,10.5,287,6414,0.00,2.38,0.00,0.000,6,0.000,0.025,3342,1778,1894,0,0,0,0,0,0
$GC,6728,1.05,178.0,193.4,9.3,304,6733,0.00,2.47,0.00,0.000,4,0.000,0.050,3342,352,1894,0,0,0,0,0,0
$GC,6788,0.98,178.0,186.7,10.6,308,6795,0.10,2.38,0.00,0.000,6,0.089,0.023,3319,1777,1892,0,0,0,0,0,0
$GC,7051,1.06,178.0,161.7,10.4,329,7052,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,1783,1892,0,0,0,0,0,0
$GC,7301,1.18,188.1,140.2,7.0,349,7316,0.17,2.33,8.35,0.548,4,0.055,0.025,3370,3184,1862,0,0,0,0,0,0
$GC,7356,1.21,188.9,136.0,7.8,352,7363,0.00,2.45,0.00,0.000,6,0.000,0.033,3369,1762,1862,0,0,0,0,0,0
$GC,7616,1.21,188.9,115.8,10.0,373,7620,0.00,2.42,0.00,0.000,4,0.000,0.046,3369,351,1862,0,0,0,0,0,0
$GC,7782,1.15,188.9,97.1,10.9,385,7786,0.00,2.33,0.00,0.000,6,0.000,0.020,3369,1790,1860,0,0,0,0,0,0
$GC,8044,1.25,216.8,80.6,5.4,405,8077,0.00,2.28,26.17,0.552,4,0.000,0.021,3369,3162,1745,0,0,0,0,0,0
$GC,8088,1.37,245.5,78.0,5.3,408,8120,0.12,2.38,25.83,0.542,6,0.064,0.030,3408,1763,1628,0,0,0,0,0,0
$GC,8381,1.37,245.5,49.5,10.2,431,8385,0.00,2.42,0.00,0.000,4,0.000,0.044,3408,352,1624,0,0,0,0,0,0
$GC,8467,1.25,245.5,38.5,12.0,437,8474,0.15,2.30,0.00,0.000,6,0.081,0.018,3375,1770,1622,0,0,0,0,0,0
$GC,8730,1.31,245.5,9.5,12.5,486,8736,0.00,2.45,0.00,0.000,4,0.000,0.044,3374,365,1622,0,0,0,0,0,0
$STATE,8779,end climb,SURFACE_DEPTH_REACHED
$STATE,8780,begin surface coast
$FINISH,1.4,1.023063
$STATE,8790,end surface coast,CONTROL_FINISHED_OK
$STATE,8790,begin surface
$SM_CCo,8814,90.10,0.487,0,0,958,410.14
$SM_GC,1.41,0.00,0.00,90.10,0.000,0.000,0.487,425,1715,958,-12.31,0.57,410.14
$IRIDIUM_FIX,2101.76,-15801.19,151199,141428
$TT8_MAMPS,0.028379
$HUMID,53.78
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.5,20.824
$10V_AH,10.3,16.884
$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,30.475,89.800,268.050,90.100,0.000,29.743,34.587,337.381,4.500,0.000,16.029,994.164,5851.182,413.275,1542.124,625.764,0.000,1098.798,0.000,1520.164,0.000,29.252,0.000
$DEVICE_MAMPS,133.458,55.224,826.059,487.045,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,335.532,312.552,710.243,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355828
$DATA_FILE_SIZE,28624,499
$CAP_FILE_SIZE,99436,0
$CFSIZE,260165632,201125888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210810,193107,2108.043,-15759.561,38,0.9,38,9.8