version: 66.06
glider: 139
mission: 8
dive: 360
start: 9 4 110 16 17 55
data:
$ID,139
$MISSION,8
$DIVE,360
$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,-2158452.8
$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
$GPS1,161237,2058.256,-15752.746,32,1.4,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-71.9
$GPS2,161738,2058.204,-15752.763,15,1.4,15,9.8
$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,40.6,22090,-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,-64.50,0.000,2,0.000,0.000,429,1689,2752,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.4,-3.7,12,104,12.45,0.00,-2.22,0.000,6,0.133,0.000,2754,1690,2871,0,0,0,0,0,0
$GC,301,-1.48,-58.4,50.1,-17.8,43,306,0.12,2.35,0.00,0.000,4,0.117,0.021,2776,3112,2874,0,0,0,0,0,0
$GC,381,-1.54,-58.4,62.5,-15.1,49,385,0.00,2.38,0.00,0.000,6,0.000,0.033,2776,1697,2874,0,0,0,0,0,0
$GC,647,-1.57,-58.4,103.4,-14.4,70,651,0.00,2.40,0.00,0.000,4,0.000,0.045,2776,294,2875,0,0,0,0,0,0
$GC,714,-1.57,-58.4,115.7,-16.9,75,718,0.00,2.30,0.00,0.000,6,0.000,0.018,2776,1739,2875,0,0,0,0,0,0
$GC,980,-1.63,-58.4,151.1,-12.6,96,985,0.15,2.20,0.00,0.000,4,0.057,0.022,2731,3086,2876,0,0,0,0,0,0
$GC,997,-1.69,-58.4,153.2,-11.5,97,1001,0.00,2.33,0.00,0.000,6,0.000,0.031,2731,1700,2876,0,0,0,0,0,0
$GC,1265,-1.69,-58.4,180.7,-10.1,118,1269,0.00,2.30,0.00,0.000,4,0.000,0.022,2731,3087,2877,0,0,0,0,0,0
$GC,1284,-1.72,-58.4,183.3,-10.9,119,1289,0.00,2.30,0.00,0.000,6,0.000,0.031,2731,1698,2877,0,0,0,0,0,0
$GC,1553,-1.72,-58.4,216.3,-12.7,137,1554,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1697,2878,0,0,0,0,0,0
$GC,1862,-1.72,-58.4,251.7,-11.3,152,1866,0.00,2.30,0.00,0.000,4,0.000,0.024,2731,3085,2878,0,0,0,0,0,0
$GC,1877,-1.76,-58.4,253.7,-11.9,152,1884,0.00,2.35,0.00,0.000,6,0.000,0.031,2731,1697,2878,0,0,0,0,0,0
$GC,2194,-1.80,-58.4,294.0,-11.5,168,2198,0.10,2.30,0.00,0.000,4,0.076,0.025,2697,3081,2878,0,0,0,0,0,0
$GC,2374,-1.80,-58.4,313.1,-10.8,173,2379,0.00,2.33,0.00,0.000,6,0.000,0.035,2697,1703,2878,0,0,0,0,0,0
$GC,2706,-1.80,-58.4,355.6,-13.8,182,2710,0.00,2.30,0.00,0.000,4,0.000,0.027,2697,3088,2878,0,0,0,0,0,0
$GC,2725,-1.80,-58.4,358.3,-12.9,182,2729,0.00,2.35,0.00,0.000,6,0.000,0.035,2697,1690,2877,0,0,0,0,0,0
$GC,3070,-1.80,-58.4,403.9,-13.4,191,3074,0.00,2.33,0.00,0.000,4,0.000,0.029,2697,3085,2875,0,0,0,0,0,0
$GC,3218,-1.84,-58.4,420.5,-10.7,194,3223,0.00,2.35,0.00,0.000,6,0.000,0.038,2697,1699,2875,0,0,0,0,0,0
$STATE,3529,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3529,begin apogee
$GC,3535,-0.31,0.0,453.2,10.5,202,3589,1.60,0.00,49.67,0.820,6,0.081,0.000,3032,1699,2630,0,0,0,0,0,0
$STATE,3590,end apogee,CONTROL_FINISHED_OK
$STATE,3590,begin climb
$GC,3594,1.56,58.4,454.3,0.0,203,3653,1.77,2.42,50.45,0.807,4,0.028,0.031,3453,3084,2390,0,0,0,0,0,0
$GC,3670,1.38,143.9,453.9,0.2,205,3754,0.28,2.40,75.07,0.808,6,0.106,0.037,3402,1693,2043,0,0,0,0,0,0
$GC,4073,1.19,143.9,403.6,14.1,215,4078,0.20,2.38,0.00,0.000,4,0.110,0.032,3363,3081,2033,0,0,0,0,0,0
$GC,4098,1.12,143.9,400.3,11.6,215,4102,0.00,2.40,0.00,0.000,6,0.000,0.041,3362,1698,2033,0,0,0,0,0,0
$GC,4439,1.04,143.9,361.1,11.9,224,4441,0.17,0.00,0.00,0.000,6,0.117,0.000,3331,1698,2028,0,0,0,0,0,0
$GC,4763,1.04,143.9,328.9,9.2,232,4767,0.00,2.50,0.00,0.000,4,0.000,0.056,3330,287,2025,0,0,0,0,0,0
$GC,4778,0.98,143.9,327.5,8.8,232,4782,0.00,2.35,0.00,0.000,6,0.000,0.028,3330,1707,2024,0,0,0,0,0,0
$GC,5109,0.98,143.9,297.3,9.2,241,5113,0.00,2.33,0.00,0.000,4,0.000,0.031,3331,3083,2022,0,0,0,0,0,0
$GC,5147,1.03,143.9,293.8,8.5,242,5153,0.00,2.42,0.00,0.000,6,0.000,0.039,3330,1695,2022,0,0,0,0,0,0
$GC,5463,1.03,148.9,269.0,7.4,258,5467,0.00,2.33,0.00,0.000,4,0.000,0.030,3331,3078,2020,0,0,0,0,0,0
$GC,5556,1.09,148.9,261.4,8.1,262,5561,0.00,2.35,0.00,0.000,6,0.000,0.038,3331,1697,2020,0,0,0,0,0,0
$GC,5887,1.10,151.1,234.1,7.7,278,5891,0.00,2.45,0.00,0.000,4,0.000,0.052,3330,296,2018,0,0,0,0,0,0
$GC,6127,1.04,151.1,211.2,10.2,288,6131,0.00,2.25,0.00,0.000,6,0.000,0.024,3331,1706,2015,0,0,0,0,0,0
$GC,6459,1.11,171.9,190.1,6.0,309,6486,0.00,2.38,20.58,0.651,4,0.000,0.026,3331,3079,1929,0,0,0,0,0,0
$GC,6508,1.19,178.6,186.6,7.3,313,6523,0.12,2.35,7.82,0.561,6,0.067,0.034,3367,1698,1901,0,0,0,0,0,0
$GC,6774,1.19,178.6,159.8,9.3,334,6775,0.00,0.00,0.00,0.000,6,0.000,0.000,3367,1698,1897,0,0,0,0,0,0
$GC,7027,1.20,192.7,142.2,6.6,354,7045,0.00,2.47,13.15,0.577,4,0.000,0.047,3367,294,1843,0,0,0,0,0,0
$GC,7137,1.13,192.7,134.9,8.6,362,7142,0.12,2.25,0.00,0.000,6,0.109,0.021,3343,1707,1840,0,0,0,0,0,0
$GC,7404,1.19,192.7,112.7,10.3,383,7408,0.00,2.22,0.00,0.000,4,0.000,0.023,3343,3076,1839,0,0,0,0,0,0
$GC,7514,1.32,192.7,101.5,10.1,391,7519,0.20,2.33,0.00,0.000,6,0.050,0.031,3399,1698,1839,0,0,0,0,0,0
$GC,7783,1.32,198.1,77.1,7.4,412,7798,0.00,2.47,5.80,0.436,4,0.000,0.045,3399,292,1821,0,0,0,0,0,0
$GC,7898,1.21,198.1,67.1,8.9,420,7903,0.17,2.22,0.00,0.000,6,0.099,0.019,3365,1703,1819,0,0,0,0,0,0
$GC,8166,1.31,225.7,52.8,5.4,441,8193,0.00,0.00,24.92,0.515,6,0.000,0.000,3365,1709,1710,0,0,0,0,0,0
$GC,8448,1.38,225.7,27.4,9.8,467,8456,0.15,2.47,0.00,0.000,4,0.057,0.044,3410,297,1709,0,0,0,0,0,0
$GC,8465,1.41,225.7,25.7,8.9,469,8472,0.00,2.25,0.00,0.000,6,0.000,0.018,3410,1714,1707,0,0,0,0,0,0
$STATE,8651,end climb,SURFACE_DEPTH_REACHED
$STATE,8651,begin surface coast
$FINISH,0.9,1.008899
$STATE,8674,end surface coast,CONTROL_FINISHED_OK
$STATE,8674,begin surface
$SM_CCo,8697,101.32,0.480,0,0,956,410.14
$SM_GC,1.66,0.00,0.00,101.32,0.000,0.000,0.480,428,1715,956,-12.29,0.42,410.14
$IRIDIUM_FIX,2050.21,-15602.02,291199,131317
$TT8_MAMPS,0.028379
$HUMID,54.05
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,31.081
$10V_AH,10.4,25.905
$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,30.400,89.150,247.475,101.325,0.000,30.113,26.869,120.044,4.500,0.000,15.430,1002.337,5705.452,403.671,1565.525,422.055,0.000,1089.656,0.000,1547.313,0.000,29.251,0.000
$DEVICE_MAMPS,132.691,55.991,819.923,480.142,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,347.549,337.821,767.774,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355656
$DATA_FILE_SIZE,28625,517
$CAP_FILE_SIZE,95852,0
$CFSIZE,260165632,194736128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040910,184546,2058.280,-15752.469,14,2.2,33,9.8