version: 66.06
glider: 139
mission: 8
dive: 263
start: 8 24 110 14 33 1
data:
$ID,139
$MISSION,8
$DIVE,263
$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,-2156135.5
$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
$GPS1,142736,2105.851,-15755.209,35,0.9,35,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-73.8
$GPS2,143244,2105.874,-15755.255,17,1.8,17,9.8
$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,80.5,21316,-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,-64.30,0.000,2,0.000,0.000,427,1678,2778,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.7,-4.3,12,105,12.50,2.45,-1.65,0.000,4,0.135,0.053,2753,285,2871,0,0,0,0,0,0
$GC,182,-1.41,-58.4,30.9,-21.9,32,189,0.15,2.35,0.00,0.000,6,0.096,0.018,2786,1728,2873,0,0,0,0,0,0
$GC,442,-1.41,-58.4,74.9,-13.5,53,443,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1733,2874,0,0,0,0,0,0
$GC,697,-1.47,-58.4,107.7,-11.7,73,701,0.00,2.20,0.00,0.000,4,0.000,0.021,2786,3091,2875,0,0,0,0,0,0
$GC,724,-1.58,-58.4,111.2,-11.4,75,729,0.12,2.33,0.00,0.000,6,0.063,0.030,2745,1690,2875,0,0,0,0,0,0
$GC,989,-1.58,-58.4,151.9,-16.5,96,993,0.00,2.30,0.00,0.000,4,0.000,0.021,2745,3090,2876,0,0,0,0,0,0
$GC,1220,-1.67,-58.4,181.0,-11.3,113,1224,0.00,2.33,0.00,0.000,6,0.000,0.032,2744,1697,2876,0,0,0,0,0,0
$GC,1480,-1.67,-58.4,209.6,-10.7,131,1484,0.00,2.28,0.00,0.000,4,0.000,0.023,2745,3081,2877,0,0,0,0,0,0
$GC,1563,-1.76,-58.4,218.4,-10.2,134,1571,0.10,2.35,0.00,0.000,6,0.035,0.032,2704,1698,2876,0,0,0,0,0,0
$GC,1882,-1.73,-58.4,259.6,-14.4,150,1887,0.00,2.28,0.00,0.000,4,0.000,0.024,2704,3081,2877,0,0,0,0,0,0
$GC,1924,-1.73,-58.4,265.7,-13.0,151,1929,0.00,2.30,0.00,0.000,6,0.000,0.032,2704,1694,2877,0,0,0,0,0,0
$GC,2260,-1.73,-58.4,306.1,-11.1,167,2261,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,1693,2876,0,0,0,0,0,0
$GC,2584,-1.73,-58.4,338.8,-9.7,175,2585,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,1693,2876,0,0,0,0,0,0
$GC,2909,-1.73,-58.4,371.9,-10.5,183,2913,0.00,2.30,0.00,0.000,4,0.000,0.028,2704,3081,2874,0,0,0,0,0,0
$GC,2956,-1.78,-58.4,376.5,-9.6,184,2961,0.00,2.33,0.00,0.000,6,0.000,0.037,2704,1697,2874,0,0,0,0,0,0
$GC,3279,-1.78,-58.4,411.7,-11.2,192,3283,0.00,2.30,0.00,0.000,4,0.000,0.030,2704,3078,2872,0,0,0,0,0,0
$GC,3322,-1.86,-58.4,416.6,-11.4,193,3326,0.00,2.35,0.00,0.000,6,0.000,0.040,2704,1695,2872,0,0,0,0,0,0
$GC,3650,-1.86,-58.4,448.7,-9.6,201,3654,0.00,2.33,0.00,0.000,4,0.000,0.032,2704,3080,2869,0,0,0,0,0,0
$STATE,3661,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3661,begin apogee
$GC,3670,-0.31,0.0,450.2,9.5,201,3723,1.52,0.00,49.17,0.829,6,0.084,0.000,3025,1767,2630,0,0,0,0,0,0
$STATE,3724,end apogee,CONTROL_FINISHED_OK
$STATE,3724,begin climb
$GC,3728,1.56,58.4,451.3,0.0,202,3788,1.77,2.53,50.50,0.813,4,0.031,0.051,3442,348,2388,0,0,0,0,0,0
$GC,3796,1.34,149.2,450.9,-0.3,203,3885,0.25,2.38,79.60,0.813,6,0.114,0.025,3396,1759,2021,0,0,0,0,0,0
$GC,4221,1.17,149.2,401.2,13.3,214,4226,0.20,2.40,0.00,0.000,4,0.110,0.032,3358,3178,2011,0,0,0,0,0,0
$GC,4270,1.14,149.2,395.2,11.7,215,4274,0.00,2.45,0.00,0.000,6,0.000,0.041,3358,1762,2009,0,0,0,0,0,0
$GC,4593,1.07,149.2,357.8,11.7,223,4598,0.12,2.40,0.00,0.000,4,0.118,0.033,3336,3182,2007,0,0,0,0,0,0
$GC,4612,1.07,149.2,355.2,11.9,223,4617,0.00,2.47,0.00,0.000,6,0.000,0.041,3335,1761,2007,0,0,0,0,0,0
$GC,4958,1.07,149.2,317.8,10.8,232,4962,0.00,2.47,0.00,0.000,4,0.000,0.055,3335,356,2003,0,0,0,0,0,0
$GC,5056,0.96,149.2,306.6,11.3,234,5061,0.12,2.35,0.00,0.000,6,0.122,0.027,3314,1776,2000,0,0,0,0,0,0
$GC,5382,1.03,159.6,283.0,7.0,247,5394,0.00,2.40,6.30,0.601,4,0.000,0.032,3314,3171,1979,0,0,0,0,0,0
$GC,5464,1.12,159.6,276.3,8.3,250,5469,0.15,2.40,0.00,0.000,6,0.063,0.038,3354,1768,1979,0,0,0,0,0,0
$GC,5782,1.12,159.6,245.5,10.2,265,5786,0.00,2.38,0.00,0.000,4,0.000,0.029,3354,3180,1979,0,0,0,0,0,0
$GC,5809,1.12,159.6,242.2,10.4,266,5813,0.00,2.42,0.00,0.000,6,0.000,0.037,3354,1762,1978,0,0,0,0,0,0
$GC,6129,1.12,161.2,214.2,7.8,282,6134,0.00,2.42,0.00,0.000,4,0.000,0.049,3354,349,1976,0,0,0,0,0,0
$GC,6145,1.07,162.5,212.9,7.8,282,6155,0.08,2.38,3.65,0.416,6,0.093,0.024,3336,1772,1966,0,0,0,0,0,0
$GC,6475,1.11,172.3,192.8,7.0,302,6491,0.00,2.50,10.57,0.607,4,0.000,0.048,3336,351,1926,0,0,0,0,0,0
$GC,6523,1.05,172.3,188.7,10.6,305,6527,0.00,2.35,0.00,0.000,6,0.000,0.022,3336,1790,1923,0,0,0,0,0,0
$GC,6788,1.09,172.3,163.3,9.4,326,6792,0.00,2.47,0.00,0.000,4,0.000,0.047,3336,351,1923,0,0,0,0,0,0
$GC,6919,1.05,172.3,147.7,13.2,335,6924,0.00,2.30,0.00,0.000,6,0.000,0.021,3336,1773,1921,0,0,0,0,0,0
$GC,7179,1.12,173.8,121.6,7.8,356,7184,0.00,2.42,0.00,0.000,4,0.000,0.045,3336,356,1921,0,0,0,0,0,0
$GC,7208,1.12,173.8,119.3,8.2,358,7212,0.00,2.28,0.00,0.000,6,0.000,0.020,3336,1777,1921,0,0,0,0,0,0
$GC,7469,1.24,209.4,103.4,4.7,378,7510,0.15,2.35,33.00,0.578,4,0.058,0.025,3381,3153,1775,0,0,0,0,0,0
$GC,7589,1.27,237.7,96.7,5.3,386,7622,0.00,2.38,25.67,0.558,6,0.000,0.031,3381,1772,1658,0,0,0,0,0,0
$GC,7874,1.27,237.7,70.2,12.5,409,7875,0.00,0.00,0.00,0.000,6,0.000,0.000,3380,1773,1655,0,0,0,0,0,0
$GC,8128,1.33,237.7,39.7,12.8,429,8132,0.00,2.30,0.00,0.000,4,0.000,0.022,3381,3166,1654,0,0,0,0,0,0
$GC,8168,1.43,237.7,34.8,12.2,432,8173,0.12,2.35,0.00,0.000,6,0.064,0.031,3419,1762,1655,0,0,0,0,0,0
$STATE,8407,end climb,SURFACE_DEPTH_REACHED
$STATE,8408,begin surface coast
$FINISH,0.8,1.009333
$STATE,8432,end surface coast,CONTROL_FINISHED_OK
$STATE,8432,begin surface
$SM_CCo,8455,92.68,0.488,0,0,957,410.14
$SM_GC,1.51,0.00,0.00,92.68,0.000,0.000,0.488,431,1678,957,-12.28,-0.48,410.14
$IRIDIUM_FIX,2057.14,-15753.90,181199,111108
$TT8_MAMPS,0.029146
$HUMID,54.17
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.5,23.188
$10V_AH,10.3,18.786
$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,30.200,94.700,258.475,92.675,0.000,31.134,28.299,125.125,4.500,0.000,17.656,956.437,5622.493,387.930,1475.813,413.238,0.000,1058.860,0.000,1452.810,0.000,29.258,0.000
$DEVICE_MAMPS,134.992,88.205,829.127,487.812,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,328.238,312.999,697.741,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355740
$DATA_FILE_SIZE,25503,488
$CAP_FILE_SIZE,94738,0
$CFSIZE,260165632,199811072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240810,165640,2105.844,-15755.252,12,4.4,31,9.8