version: 66.06
glider: 139
mission: 8
dive: 257
start: 8 23 110 22 3 22
data:
$ID,139
$MISSION,8
$DIVE,257
$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,-2155971.5
$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
$GPS1,215716,2106.135,-15754.378,13,2.3,32,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-69.7
$GPS2,220306,2106.111,-15754.400,32,1.1,32,9.8
$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,81.8,19848,-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,-64.53,0.000,2,0.000,0.000,428,1672,2768,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.7,-4.1,12,104,12.50,0.00,-1.90,0.000,6,0.134,0.000,2755,1672,2872,0,0,0,0,0,0
$GC,301,-1.47,-58.4,52.8,-20.0,43,306,0.12,2.38,0.00,0.000,4,0.118,0.021,2778,3110,2874,0,0,0,0,0,0
$GC,333,-1.50,-58.4,59.4,-18.0,45,340,0.00,2.42,0.00,0.000,6,0.000,0.034,2778,1693,2874,0,0,0,0,0,0
$GC,593,-1.53,-58.4,102.6,-13.8,66,597,0.00,2.42,0.00,0.000,4,0.000,0.046,2777,285,2875,0,0,0,0,0,0
$GC,635,-1.53,-58.4,110.9,-20.2,69,639,0.00,2.28,0.00,0.000,6,0.000,0.018,2778,1730,2875,0,0,0,0,0,0
$GC,897,-1.62,-58.4,142.8,-9.6,89,902,0.15,2.50,0.00,0.000,4,0.058,0.044,2732,289,2877,0,0,0,0,0,0
$GC,917,-1.62,-58.4,145.5,-10.8,90,923,0.00,2.28,0.00,0.000,6,0.000,0.018,2732,1716,2877,0,0,0,0,0,0
$GC,1176,-1.62,-58.4,172.0,-10.2,111,1180,0.00,2.20,0.00,0.000,4,0.000,0.022,2732,3066,2877,0,0,0,0,0,0
$GC,1313,-1.69,-58.4,187.9,-11.7,121,1317,0.00,2.30,0.00,0.000,6,0.000,0.032,2732,1684,2877,0,0,0,0,0,0
$GC,1575,-1.69,-58.4,223.9,-14.8,136,1576,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1684,2878,0,0,0,0,0,0
$GC,1883,-1.73,-58.4,263.4,-11.6,151,1887,0.00,2.25,0.00,0.000,4,0.000,0.024,2732,3060,2878,0,0,0,0,0,0
$GC,1932,-1.84,-58.4,268.5,-10.9,153,1937,0.15,2.30,0.00,0.000,6,0.058,0.035,2687,1695,2878,0,0,0,0,0,0
$GC,2284,-1.79,-58.4,310.3,-11.2,168,2289,0.10,2.25,0.00,0.000,4,0.114,0.026,2706,3059,2877,0,0,0,0,0,0
$GC,2346,-1.85,-58.4,317.4,-11.2,169,2350,0.00,2.33,0.00,0.000,6,0.000,0.035,2706,1687,2877,0,0,0,0,0,0
$GC,2697,-1.85,-58.4,353.1,-9.8,178,2698,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1687,2876,0,0,0,0,0,0
$GC,3021,-1.85,-58.4,385.5,-10.7,186,3022,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1686,2874,0,0,0,0,0,0
$GC,3347,-1.85,-58.4,423.6,-11.8,194,3351,0.00,2.33,0.00,0.000,4,0.000,0.031,2706,3056,2872,0,0,0,0,0,0
$GC,3441,-1.93,-58.4,434.6,-10.8,196,3446,0.12,2.33,0.00,0.000,6,0.071,0.040,2670,1698,2871,0,0,0,0,0,0
$STATE,3600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3600,begin apogee
$GC,3606,-0.31,0.0,453.1,11.5,200,3659,1.75,0.00,49.55,0.834,6,0.087,0.000,3031,1698,2630,0,0,0,0,0,0
$STATE,3660,end apogee,CONTROL_FINISHED_OK
$STATE,3660,begin climb
$GC,3664,1.56,58.4,454.4,0.0,201,3722,1.77,0.00,50.90,0.818,6,0.029,0.000,3451,1698,2390,0,0,0,0,0,0
$GC,4048,1.28,84.1,439.3,5.6,211,4077,0.32,2.55,21.98,0.795,4,0.110,0.034,3385,3131,2287,0,0,0,0,0,0
$GC,4341,1.14,84.4,414.6,7.9,217,4346,0.17,2.38,0.00,0.000,6,0.114,0.038,3352,1767,2284,0,0,0,0,0,0
$GC,4693,1.08,113.9,392.7,5.2,226,4725,0.00,2.42,26.45,0.801,4,0.000,0.034,3352,3130,2165,0,0,0,0,0,0
$GC,4814,1.04,125.0,385.5,6.9,228,4830,0.12,2.38,11.15,0.731,6,0.129,0.038,3330,1761,2120,0,0,0,0,0,0
$GC,5161,1.01,125.0,359.3,8.0,237,5165,0.00,2.38,0.00,0.000,4,0.000,0.033,3330,3133,2115,0,0,0,0,0,0
$GC,5361,1.01,125.0,341.7,8.8,241,5365,0.00,2.35,0.00,0.000,6,0.000,0.039,3330,1768,2115,0,0,0,0,0,0
$GC,5711,1.01,127.2,313.9,7.7,250,5715,0.00,2.47,0.00,0.000,4,0.000,0.054,3330,358,2110,0,0,0,0,0,0
$GC,5735,0.92,127.7,311.9,7.9,250,5740,0.15,2.30,0.00,0.000,6,0.122,0.028,3303,1738,2108,0,0,0,0,0,0
$GC,6060,1.01,151.7,293.1,5.7,261,6085,0.00,0.00,23.00,0.749,6,0.000,0.000,3303,1739,2011,0,0,0,0,0,0
$GC,6395,1.08,151.7,265.8,9.4,277,6400,0.12,2.45,0.00,0.000,4,0.071,0.053,3338,359,2007,0,0,0,0,0,0
$GC,6500,0.98,151.7,253.7,11.2,281,6505,0.12,2.33,0.00,0.000,6,0.114,0.026,3315,1769,2004,0,0,0,0,0,0
$GC,6816,1.06,169.1,230.4,6.3,296,6839,0.00,2.42,15.85,0.682,4,0.000,0.030,3316,3167,1940,0,0,0,0,0,0
$GC,6860,1.19,196.6,227.9,5.4,297,6894,0.20,2.40,26.10,0.694,6,0.054,0.037,3368,1769,1828,0,0,0,0,0,0
$GC,7208,1.16,196.6,191.7,12.1,316,7212,0.00,2.47,0.00,0.000,4,0.000,0.051,3368,351,1823,0,0,0,0,0,0
$GC,7260,1.03,196.6,184.4,14.2,320,7265,0.22,2.35,0.00,0.000,6,0.098,0.023,3325,1773,1821,0,0,0,0,0,0
$GC,7528,1.11,196.6,156.6,9.7,341,7532,0.00,2.30,0.00,0.000,4,0.000,0.026,3325,3174,1820,0,0,0,0,0,0
$GC,7555,1.22,196.6,154.0,9.0,343,7560,0.17,2.40,0.00,0.000,6,0.054,0.035,3373,1761,1820,0,0,0,0,0,0
$GC,7820,1.22,196.6,127.7,9.3,364,7825,0.00,2.42,0.00,0.000,4,0.000,0.048,3372,350,1820,0,0,0,0,0,0
$GC,7888,1.13,196.6,120.3,12.4,369,7893,0.15,2.30,0.00,0.000,6,0.104,0.021,3344,1776,1818,0,0,0,0,0,0
$GC,8154,1.25,223.6,101.7,5.5,390,8185,0.12,2.58,23.20,0.578,4,0.065,0.046,3382,347,1717,0,0,0,0,0,0
$GC,8228,1.16,223.6,95.2,13.2,395,8233,0.15,2.33,0.00,0.000,6,0.103,0.020,3353,1788,1714,0,0,0,0,0,0
$GC,8496,1.25,230.4,74.7,7.3,416,8511,0.00,2.53,6.95,0.464,4,0.000,0.046,3353,358,1690,0,0,0,0,0,0
$GC,8622,1.25,230.4,62.8,10.5,425,8626,0.00,2.28,0.00,0.000,6,0.000,0.019,3353,1777,1687,0,0,0,0,0,0
$GC,8890,1.39,252.1,46.0,5.9,446,8919,0.20,2.33,19.80,0.509,4,0.048,0.021,3412,3159,1601,0,0,0,0,0,0
$GC,8966,1.42,252.1,38.8,10.8,451,8970,0.00,2.35,0.00,0.000,6,0.000,0.030,3412,1763,1601,0,0,0,0,0,0
$GC,9229,1.39,252.1,5.4,14.0,501,9235,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,1763,1601,0,0,0,0,0,0
$STATE,9244,end climb,SURFACE_DEPTH_REACHED
$STATE,9244,begin surface coast
$FINISH,1.2,1.023075
$STATE,9267,end surface coast,CONTROL_FINISHED_OK
$STATE,9267,begin surface
$SM_CCo,9290,87.82,0.487,0,0,957,410.14
$SM_GC,1.51,0.00,0.00,87.82,0.000,0.000,0.487,428,1684,957,-12.30,-0.31,410.14
$IRIDIUM_FIX,2059.45,-15753.90,171199,191948
$TT8_MAMPS,0.029146
$HUMID,53.30
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.5,22.712
$10V_AH,10.4,18.352
$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,31.650,90.100,274.925,87.825,0.000,28.502,27.593,155.366,4.500,0.000,32.488,1029.817,6191.138,424.341,1623.537,458.163,0.000,1141.239,0.000,1585.889,0.000,29.256,0.000
$DEVICE_MAMPS,134.225,94.341,833.729,487.045,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,342.819,317.203,715.247,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355748
$DATA_FILE_SIZE,28590,509
$CAP_FILE_SIZE,103217,0
$CFSIZE,260165632,200118272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240810,004053,2105.956,-15754.599,14,3.1,33,9.8