version: 66.06
glider: 139
mission: 8
dive: 262
start: 8 24 110 11 50 8
data:
$ID,139
$MISSION,8
$DIVE,262
$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,-2156117
$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
$GPS1,114422,2105.916,-15754.640,10,3.6,29,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-71.3
$GPS2,114952,2105.924,-15754.673,14,3.6,33,9.8
$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,80.8,20311,-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,14,-1.56,-58.4,0.0,0.0,0,81,0.00,0.00,-64.10,0.000,2,0.000,0.000,429,1675,2759,0,0,0,0,0,0
$GC,84,-1.56,-58.4,3.5,-3.9,12,103,12.52,0.00,-2.03,0.000,6,0.136,0.000,2755,1675,2872,0,0,0,0,0,0
$GC,300,-1.46,-58.4,53.1,-21.0,43,305,0.12,2.38,0.00,0.000,4,0.123,0.021,2777,3118,2874,0,0,0,0,0,0
$GC,326,-1.46,-58.4,58.5,-19.4,45,330,0.00,2.42,0.00,0.000,6,0.000,0.037,2777,1688,2874,0,0,0,0,0,0
$GC,590,-1.50,-58.4,99.2,-11.7,66,595,0.00,2.33,0.00,0.000,4,0.000,0.021,2777,3109,2875,0,0,0,0,0,0
$GC,772,-1.63,-58.4,119.8,-11.0,79,777,0.12,2.38,0.00,0.000,6,0.064,0.031,2735,1681,2876,0,0,0,0,0,0
$GC,1043,-1.63,-58.4,154.9,-12.5,100,1045,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1680,2877,0,0,0,0,0,0
$GC,1295,-1.63,-58.4,185.8,-12.1,120,1299,0.00,2.38,0.00,0.000,4,0.000,0.046,2735,285,2877,0,0,0,0,0,0
$GC,1355,-1.58,-58.4,194.2,-14.4,124,1362,0.00,2.33,0.00,0.000,6,0.000,0.019,2735,1725,2877,0,0,0,0,0,0
$GC,1619,-1.58,-58.4,224.9,-11.5,139,1624,0.10,2.22,0.00,0.000,4,0.114,0.024,2755,3082,2877,0,0,0,0,0,0
$GC,1728,-1.71,-58.4,236.1,-9.7,143,1733,0.12,2.35,0.00,0.000,6,0.065,0.032,2714,1684,2877,0,0,0,0,0,0
$GC,2044,-1.71,-58.4,269.2,-9.4,158,2048,0.00,2.30,0.00,0.000,4,0.000,0.025,2715,3075,2878,0,0,0,0,0,0
$GC,2128,-1.78,-58.4,277.0,-9.1,161,2133,0.00,2.33,0.00,0.000,6,0.000,0.034,2714,1686,2878,0,0,0,0,0,0
$GC,2443,-1.78,-58.4,305.1,-8.6,176,2447,0.00,2.28,0.00,0.000,4,0.000,0.026,2714,3072,2877,0,0,0,0,0,0
$GC,2471,-1.85,-58.4,307.3,-7.7,176,2475,0.00,2.33,0.00,0.000,6,0.000,0.035,2714,1695,2877,0,0,0,0,0,0
$GC,2814,-1.85,-58.4,333.8,-7.6,185,2815,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1694,2875,0,0,0,0,0,0
$GC,3137,-1.85,-58.4,367.8,-11.5,193,3141,0.00,2.30,0.00,0.000,4,0.000,0.029,2715,3071,2874,0,0,0,0,0,0
$GC,3175,-1.93,-58.4,373.0,-13.2,193,3181,0.15,2.33,0.00,0.000,6,0.062,0.038,2673,1698,2873,0,0,0,0,0,0
$GC,3509,-1.88,-58.4,420.2,-14.2,202,3513,0.00,2.33,0.00,0.000,4,0.000,0.031,2672,3076,2871,0,0,0,0,0,0
$GC,3615,-1.88,-58.4,433.4,-11.0,204,3620,0.00,2.38,0.00,0.000,6,0.000,0.039,2672,1692,2871,0,0,0,0,0,0
$STATE,3759,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3759,begin apogee
$GC,3767,-0.31,0.0,450.0,11.6,208,3820,1.73,0.00,49.30,0.830,6,0.084,0.000,3030,1770,2630,0,0,0,0,0,0
$STATE,3821,end apogee,CONTROL_FINISHED_OK
$STATE,3821,begin climb
$GC,3823,1.56,58.4,451.2,0.0,209,3879,1.75,0.00,50.58,0.814,6,0.031,0.000,3449,1770,2391,0,0,0,0,0,0
$GC,4194,1.29,83.7,434.9,5.6,218,4223,0.30,2.45,21.85,0.788,4,0.108,0.033,3388,3157,2287,0,0,0,0,0,0
$GC,4233,1.15,103.9,432.3,6.1,218,4259,0.17,2.42,19.48,0.775,6,0.116,0.036,3354,1768,2206,0,0,0,0,0,0
$GC,4571,1.06,103.9,398.2,10.5,227,4573,0.12,0.00,0.00,0.000,6,0.119,0.000,3332,1768,2198,0,0,0,0,0,0
$GC,4894,1.06,123.7,376.1,6.1,235,4913,0.00,0.00,17.23,0.765,6,0.000,0.000,3332,1768,2125,0,0,0,0,0,0
$GC,5219,1.06,123.7,348.3,9.5,243,5223,0.00,2.38,0.00,0.000,4,0.000,0.032,3332,3160,2120,0,0,0,0,0,0
$GC,5356,1.06,123.7,335.5,8.3,246,5360,0.00,2.40,0.00,0.000,6,0.000,0.038,3332,1762,2120,0,0,0,0,0,0
$GC,5684,1.06,127.3,310.7,7.6,254,5688,0.00,2.45,0.00,0.000,4,0.000,0.051,3331,358,2117,0,0,0,0,0,0
$GC,5699,1.01,129.5,309.4,7.7,254,5711,0.00,2.35,4.95,0.562,6,0.000,0.026,3332,1772,2102,0,0,0,0,0,0
$GC,6037,1.02,140.2,284.3,6.9,267,6054,0.00,2.50,11.18,0.693,4,0.000,0.052,3332,359,2058,0,0,0,0,0,0
$GC,6155,0.94,140.2,273.5,9.1,272,6160,0.15,2.35,0.00,0.000,6,0.116,0.026,3305,1764,2054,0,0,0,0,0,0
$GC,6483,1.02,140.2,246.5,8.1,288,6487,0.00,2.35,0.00,0.000,4,0.000,0.030,3305,3178,2053,0,0,0,0,0,0
$GC,6592,1.13,146.1,238.2,7.4,292,6606,0.12,2.45,5.97,0.571,6,0.039,0.036,3346,1765,2034,0,0,0,0,0,0
$GC,6934,1.20,203.3,220.0,2.7,309,6988,0.00,0.00,52.00,0.700,6,0.000,0.000,3347,1765,1801,0,0,0,0,0,0
$GC,7294,1.20,203.3,188.1,13.5,329,7295,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,1765,1794,0,0,0,0,0,0
$GC,7546,1.20,203.3,153.3,12.3,349,7550,0.00,2.45,0.00,0.000,4,0.000,0.048,3346,354,1793,0,0,0,0,0,0
$GC,7633,1.13,203.3,141.6,13.1,355,7639,0.00,2.35,0.00,0.000,6,0.000,0.021,3346,1797,1791,0,0,0,0,0,0
$GC,7892,1.19,203.3,117.8,9.8,376,7893,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,1803,1791,0,0,0,0,0,0
$GC,8145,1.26,203.3,91.5,8.9,396,8150,0.12,2.47,0.00,0.000,4,0.066,0.044,3384,357,1791,0,0,0,0,0,0
$GC,8185,1.16,203.3,87.4,10.2,399,8190,0.15,2.28,0.00,0.000,6,0.104,0.020,3356,1778,1790,0,0,0,0,0,0
$GC,8454,1.27,205.9,67.3,7.7,420,8458,0.10,2.25,0.00,0.000,4,0.076,0.022,3389,3160,1790,0,0,0,0,0,0
$GC,8513,1.33,205.9,61.2,10.1,424,8520,0.00,2.38,0.00,0.000,6,0.000,0.029,3389,1760,1790,0,0,0,0,0,0
$GC,8774,1.37,205.9,36.3,8.6,445,8779,0.00,2.38,0.00,0.000,4,0.000,0.043,3388,362,1790,0,0,0,0,0,0
$GC,8854,1.30,205.9,28.6,10.1,453,8861,0.00,2.28,0.00,0.000,6,0.000,0.018,3389,1770,1789,0,0,0,0,0,0
$GC,9056,1.30,209.8,13.3,7.5,499,9068,0.00,0.00,5.53,0.388,6,0.000,0.000,3388,1776,1774,0,0,0,0,0,0
$STATE,9200,end climb,SURFACE_DEPTH_REACHED
$STATE,9200,begin surface coast
$FINISH,0.8,1.012977
$STATE,9236,end surface coast,CONTROL_FINISHED_OK
$STATE,9236,begin surface
$SM_CCo,9260,114.03,0.487,0,0,957,410.14
$SM_GC,1.48,0.00,0.00,114.03,0.000,0.000,0.487,428,1677,957,-12.29,-0.51,410.14
$IRIDIUM_FIX,2059.45,-15750.89,181199,090920
$TT8_MAMPS,0.029146
$HUMID,52.99
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.5,23.110
$10V_AH,10.3,18.721
$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,30.475,80.450,238.050,114.025,0.000,29.645,34.984,125.326,4.500,0.000,34.534,1046.535,6191.549,415.166,1626.504,423.020,0.000,1099.926,0.000,1588.924,0.000,29.272,0.000
$DEVICE_MAMPS,135.759,89.739,829.894,487.045,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,363.763,347.451,807.746,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,28622,540
$CAP_FILE_SIZE,97378,0
$CFSIZE,260165632,199860224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240810,142736,2105.851,-15755.209,35,0.9,35,9.8