version: 66.06
glider: 139
mission: 8
dive: 346
start: 9 3 110 2 21 25
data:
$ID,139
$MISSION,8
$DIVE,346
$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,-2158135.8
$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,1700
$C_ROLL_CLIMB,1700
$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
$GPS1,021607,2101.416,-15753.070,36,1.1,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-71.5
$GPS2,022108,2101.314,-15753.031,15,1.1,15,9.8
$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,54.7,19360,-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,-64.22,0.000,2,0.000,0.000,429,1713,2743,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.4,-3.3,12,110,12.50,2.38,-2.38,0.000,4,0.135,0.037,2753,3112,2872,0,0,0,0,0,0
$GC,148,-1.49,-58.4,20.7,-21.3,24,155,0.08,2.42,0.00,0.000,6,0.089,0.034,2770,1698,2873,0,0,0,0,0,0
$GC,356,-1.49,-58.4,53.6,-14.6,48,360,0.00,2.40,0.00,0.000,4,0.000,0.045,2770,293,2874,0,0,0,0,0,0
$GC,425,-1.41,-58.4,65.5,-18.1,53,430,0.10,2.33,0.00,0.000,6,0.119,0.018,2790,1737,2874,0,0,0,0,0,0
$GC,687,-1.48,-58.4,103.8,-14.2,73,691,0.00,2.47,0.00,0.000,4,0.000,0.044,2789,290,2875,0,0,0,0,0,0
$GC,713,-1.48,-58.4,107.8,-14.8,75,717,0.00,2.25,0.00,0.000,6,0.000,0.018,2790,1720,2875,0,0,0,0,0,0
$GC,979,-1.59,-58.4,145.5,-13.1,96,983,0.15,2.47,0.00,0.000,4,0.057,0.045,2742,294,2877,0,0,0,0,0,0
$GC,1095,-1.53,-58.4,164.8,-15.8,104,1102,0.08,2.25,0.00,0.000,6,0.083,0.018,2762,1701,2877,0,0,0,0,0,0
$GC,1356,-1.59,-58.4,195.4,-9.7,125,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1706,2877,0,0,0,0,0,0
$GC,1605,-1.66,-58.4,215.9,-7.5,139,1607,0.12,0.00,0.00,0.000,6,0.065,0.000,2722,1707,2878,0,0,0,0,0,0
$GC,1913,-1.66,-58.4,251.4,-13.8,154,1914,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1707,2878,0,0,0,0,0,0
$GC,2223,-1.66,-58.4,287.5,-10.7,169,2224,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1707,2878,0,0,0,0,0,0
$GC,2550,-1.66,-58.4,317.9,-8.7,180,2554,0.00,2.25,0.00,0.000,4,0.000,0.027,2722,3072,2877,0,0,0,0,0,0
$GC,2735,-1.75,-58.4,339.2,-11.6,184,2739,0.00,2.35,0.00,0.000,6,0.000,0.037,2722,1691,2876,0,0,0,0,0,0
$GC,3063,-1.79,-58.4,372.6,-9.4,192,3067,0.00,2.40,0.00,0.000,4,0.000,0.052,2722,296,2875,0,0,0,0,0,0
$GC,3091,-1.79,-58.4,375.8,-11.3,192,3095,0.00,2.25,0.00,0.000,6,0.000,0.024,2722,1687,2875,0,0,0,0,0,0
$GC,3428,-1.83,-58.4,404.4,-8.3,201,3432,0.00,2.33,0.00,0.000,4,0.000,0.031,2722,3078,2872,0,0,0,0,0,0
$GC,3444,-1.88,-58.4,405.8,-8.3,201,3449,0.15,2.35,0.00,0.000,6,0.061,0.039,2680,1694,2872,0,0,0,0,0,0
$GC,3794,-1.85,-58.4,438.7,-9.3,210,3799,0.00,2.33,0.00,0.000,4,0.000,0.031,2679,3082,2869,0,0,0,0,0,0
$STATE,3917,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3917,begin apogee
$GC,3925,-0.31,0.0,450.2,10.1,212,3979,1.67,0.00,48.60,0.838,6,0.085,0.000,3035,1697,2630,0,0,0,0,0,0
$STATE,3980,end apogee,CONTROL_FINISHED_OK
$STATE,3980,begin climb
$GC,3983,1.56,58.4,451.7,0.0,214,4038,1.77,0.00,50.58,0.818,6,0.029,0.000,3456,1697,2391,0,0,0,0,0,0
$GC,4346,1.32,120.0,444.5,2.3,223,4408,0.32,2.58,53.45,0.827,4,0.106,0.055,3390,301,2139,0,0,0,0,0,0
$GC,4468,1.04,120.0,435.9,11.6,225,4474,0.32,2.33,0.00,0.000,6,0.105,0.027,3328,1693,2133,0,0,0,0,0,0
$GC,4806,1.01,124.7,409.4,7.5,234,4807,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,1697,2129,0,0,0,0,0,0
$GC,5131,0.99,137.0,387.0,6.8,242,5151,0.00,2.45,14.15,0.761,4,0.000,0.033,3328,3084,2071,0,0,0,0,0,0
$GC,5253,0.99,137.0,376.9,7.9,244,5257,0.00,2.42,0.00,0.000,6,0.000,0.041,3328,1693,2070,0,0,0,0,0,0
$GC,5589,0.99,137.0,347.7,9.2,253,5593,0.00,2.47,0.00,0.000,4,0.000,0.056,3328,293,2066,0,0,0,0,0,0
$GC,5729,0.88,137.0,329.0,13.0,256,5734,0.17,2.33,0.00,0.000,6,0.114,0.028,3296,1708,2063,0,0,0,0,0,0
$GC,6053,0.98,160.6,302.2,5.8,264,6081,0.00,2.55,21.00,0.749,4,0.000,0.053,3296,293,1974,0,0,0,0,0,0
$GC,6098,1.01,185.9,299.8,5.6,265,6128,0.10,2.33,23.73,0.741,6,0.081,0.027,3325,1710,1872,0,0,0,0,0,0
$GC,6448,1.05,185.9,269.8,9.1,282,6453,0.00,2.53,0.00,0.000,4,0.000,0.054,3324,288,1866,0,0,0,0,0,0
$GC,6523,1.00,185.9,261.9,12.4,285,6527,0.00,2.33,0.00,0.000,6,0.000,0.027,3324,1692,1864,0,0,0,0,0,0
$GC,6849,1.05,185.9,223.2,11.4,301,6850,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1698,1862,0,0,0,0,0,0
$GC,7158,1.10,185.9,199.0,7.9,316,7159,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1697,1862,0,0,0,0,0,0
$GC,7410,1.17,185.9,173.1,9.7,336,7415,0.12,2.45,0.00,0.000,4,0.068,0.050,3362,290,1862,0,0,0,0,0,0
$GC,7514,1.06,185.9,162.9,11.0,343,7520,0.15,2.28,0.00,0.000,6,0.105,0.022,3332,1711,1859,0,0,0,0,0,0
$GC,7774,1.15,207.8,146.4,5.9,364,7796,0.00,0.00,18.67,0.605,6,0.000,0.000,3332,1717,1782,0,0,0,0,0,0
$GC,8050,1.24,207.8,119.3,11.1,386,8055,0.17,2.47,0.00,0.000,4,0.054,0.048,3382,293,1780,0,0,0,0,0,0
$GC,8133,1.12,207.8,107.5,14.3,392,8138,0.20,2.28,0.00,0.000,6,0.097,0.021,3342,1712,1778,0,0,0,0,0,0
$GC,8395,1.22,212.0,84.5,7.5,412,8411,0.10,2.45,4.88,0.415,4,0.076,0.044,3375,293,1763,0,0,0,0,0,0
$GC,8416,1.22,212.0,82.2,9.1,413,8420,0.00,2.25,0.00,0.000,6,0.000,0.020,3376,1705,1762,0,0,0,0,0,0
$GC,8677,1.23,221.1,62.1,7.1,433,8693,0.00,2.47,9.20,0.482,4,0.000,0.044,3376,288,1729,0,0,0,0,0,0
$GC,8899,1.18,221.1,42.3,9.6,449,8903,0.00,2.25,0.00,0.000,6,0.000,0.018,3376,1714,1726,0,0,0,0,0,0
$GC,9164,1.25,221.1,20.5,9.5,485,9171,0.00,2.47,0.00,0.000,4,0.000,0.046,3376,296,1726,0,0,0,0,0,0
$GC,9268,1.21,221.1,9.1,11.4,508,9275,0.00,2.22,0.00,0.000,6,0.000,0.018,3376,1706,1725,0,0,0,0,0,0
$STATE,9330,end climb,SURFACE_DEPTH_REACHED
$STATE,9330,begin surface coast
$FINISH,0.9,1.023117
$STATE,9371,end surface coast,CONTROL_FINISHED_OK
$STATE,9371,begin surface
$SM_CCo,9394,107.20,0.485,0,0,957,410.14
$SM_GC,1.55,0.00,0.00,107.20,0.000,0.000,0.485,422,1710,957,-12.32,0.28,410.14
$IRIDIUM_FIX,2052.52,-15759.92,281199,000053
$TT8_MAMPS,0.028379
$HUMID,54.05
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,29.904
$10V_AH,10.3,24.901
$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,30.850,85.550,244.250,107.200,0.000,25.863,28.126,124.159,4.500,0.000,15.652,1045.964,6306.795,422.322,1605.593,421.424,0.000,1116.507,0.000,1586.149,0.000,29.248,0.000
$DEVICE_MAMPS,134.992,55.991,837.564,484.744,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,357.701,338.293,772.832,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,28681,531
$CAP_FILE_SIZE,98946,0
$CFSIZE,260165632,195436544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030910,050057,2101.184,-15752.837,11,3.3,30,9.8