version: 66.06
glider: 139
mission: 8
dive: 362
start: 9 4 110 21 56 22
data:
$ID,139
$MISSION,8
$DIVE,362
$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,534.75397
$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,-2158514.8
$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,31
$R_STBD_OVSHOOT,81
$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
$GPS1,214036,2058.132,-15752.453,36,1.0,36,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-68.2
$GPS2,215602,2057.986,-15752.607,13,1.5,13,9.8
$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,39.3,22146,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.56,-58.4,0.0,0.0,0,104,0.00,0.00,-84.60,0.000,6,0.000,0.000,427,1694,2870,0,0,0,0,0,0
$GC,107,-1.56,-58.4,3.9,-4.3,16,125,12.43,0.00,0.00,0.000,6,0.133,0.000,2751,1695,2872,0,0,0,0,0,0
$GC,325,-1.47,-58.4,52.3,-19.6,47,330,0.12,2.25,0.00,0.000,4,0.114,0.021,2774,3066,2872,0,0,0,0,0,0
$GC,371,-1.54,-58.4,61.6,-16.2,50,378,0.00,2.33,0.00,0.000,6,0.000,0.033,2774,1703,2872,0,0,0,0,0,0
$GC,632,-1.54,-58.4,108.7,-17.5,71,636,0.00,2.40,0.00,0.000,4,0.000,0.047,2774,296,2873,0,0,0,0,0,0
$GC,665,-1.46,-58.4,115.6,-19.6,73,671,0.00,2.20,0.00,0.000,6,0.000,0.018,2774,1698,2873,0,0,0,0,0,0
$GC,926,-1.51,-58.4,152.3,-13.4,94,930,0.00,2.20,0.00,0.000,4,0.000,0.021,2774,3066,2874,0,0,0,0,0,0
$GC,986,-1.64,-58.4,159.2,-10.2,98,993,0.10,2.30,0.00,0.000,6,0.035,0.031,2733,1702,2874,0,0,0,0,0,0
$GC,1246,-1.64,-58.4,191.7,-12.5,119,1247,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1702,2874,0,0,0,0,0,0
$GC,1507,-1.64,-58.4,220.0,-10.4,134,1508,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1702,2874,0,0,0,0,0,0
$GC,1817,-1.67,-58.4,249.8,-10.0,149,1821,0.00,2.28,0.00,0.000,4,0.000,0.025,2733,3065,2874,0,0,0,0,0,0
$GC,1862,-1.75,-58.4,254.5,-10.7,151,1867,0.00,2.30,0.00,0.000,6,0.000,0.032,2733,1695,2874,0,0,0,0,0,0
$GC,2195,-1.79,-58.4,295.0,-12.2,167,2200,0.10,2.25,0.00,0.000,4,0.077,0.025,2699,3061,2873,0,0,0,0,0,0
$GC,2215,-1.79,-58.4,297.8,-11.7,168,2220,0.00,2.28,0.00,0.000,6,0.000,0.034,2699,1699,2873,0,0,0,0,0,0
$GC,2561,-1.79,-58.4,336.0,-10.8,177,2565,0.00,2.25,0.00,0.000,4,0.000,0.026,2699,3065,2872,0,0,0,0,0,0
$GC,2770,-1.82,-58.4,359.9,-11.4,181,2775,0.00,2.30,0.00,0.000,6,0.000,0.037,2699,1700,2871,0,0,0,0,0,0
$GC,3115,-1.82,-58.4,396.7,-9.8,190,3116,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1701,2869,0,0,0,0,0,0
$GC,3440,-1.82,-58.4,427.1,-9.4,198,3441,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1700,2866,0,0,0,0,0,0
$STATE,3683,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3683,begin apogee
$GC,3690,-0.31,0.0,451.9,10.1,204,3742,1.58,0.00,47.95,0.822,6,0.080,0.000,3030,1701,2630,0,0,0,0,0,0
$STATE,3742,end apogee,CONTROL_FINISHED_OK
$STATE,3743,begin climb
$GC,3745,1.56,58.4,453.2,0.0,205,3803,1.75,2.53,50.35,0.807,4,0.029,0.051,3449,298,2391,0,0,0,0,0,0
$GC,3872,1.21,119.7,452.8,2.4,207,3934,0.45,2.28,53.95,0.807,6,0.106,0.025,3363,1686,2141,0,0,0,0,0,0
$GC,4250,1.10,119.7,420.3,10.0,217,4255,0.12,2.38,0.00,0.000,4,0.117,0.032,3341,3079,2131,0,0,0,0,0,0
$GC,4300,1.10,119.7,415.5,9.3,218,4304,0.00,2.40,0.00,0.000,6,0.000,0.041,3340,1698,2131,0,0,0,0,0,0
$GC,4623,1.05,119.7,384.4,10.3,226,4627,0.00,2.50,0.00,0.000,4,0.000,0.055,3340,287,2127,0,0,0,0,0,0
$GC,4748,0.90,119.7,369.3,11.9,228,4753,0.22,2.33,0.00,0.000,6,0.106,0.027,3298,1693,2124,0,0,0,0,0,0
$GC,5085,0.96,122.0,341.3,7.7,237,5086,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,1698,2122,0,0,0,0,0,0
$GC,5411,1.03,130.8,319.0,7.1,245,5424,0.12,2.38,7.43,0.648,4,0.071,0.031,3333,3084,2096,0,0,0,0,0,0
$GC,5605,1.07,164.7,306.6,4.8,249,5642,0.00,2.40,31.60,0.755,6,0.000,0.038,3333,1690,1958,0,0,0,0,0,0
$GC,5964,1.07,164.7,277.7,8.4,264,5965,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,1690,1952,0,0,0,0,0,0
$GC,6275,1.07,164.7,247.3,9.7,279,6276,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,1690,1950,0,0,0,0,0,0
$GC,6584,1.07,164.7,218.4,8.2,294,6588,0.00,2.33,0.00,0.000,4,0.000,0.028,3333,3082,1948,0,0,0,0,0,0
$GC,6685,1.17,186.3,211.7,5.9,298,6711,0.10,2.35,18.62,0.664,6,0.077,0.035,3363,1697,1870,0,0,0,0,0,0
$GC,7029,1.17,186.3,174.8,11.9,321,7033,0.00,2.45,0.00,0.000,4,0.000,0.050,3363,295,1866,0,0,0,0,0,0
$GC,7145,1.06,186.3,158.2,14.0,329,7151,0.15,2.30,0.00,0.000,6,0.105,0.022,3334,1714,1863,0,0,0,0,0,0
$GC,7407,1.13,188.7,136.6,7.7,350,7411,0.00,2.47,0.00,0.000,4,0.000,0.048,3333,294,1863,0,0,0,0,0,0
$GC,7549,1.13,188.7,125.1,8.0,360,7556,0.00,2.28,0.00,0.000,6,0.000,0.021,3333,1707,1861,0,0,0,0,0,0
$GC,7810,1.23,188.7,107.5,8.2,381,7814,0.15,2.47,0.00,0.000,4,0.058,0.046,3378,289,1861,0,0,0,0,0,0
$GC,7864,1.14,188.7,101.7,10.8,385,7869,0.15,2.22,0.00,0.000,6,0.104,0.020,3350,1701,1861,0,0,0,0,0,0
$GC,8131,1.26,215.7,84.3,5.5,406,8162,0.10,2.50,25.67,0.548,4,0.075,0.044,3384,289,1749,0,0,0,0,0,0
$GC,8362,1.19,215.7,64.5,10.8,423,8367,0.12,2.25,0.00,0.000,6,0.108,0.019,3360,1711,1745,0,0,0,0,0,0
$GC,8630,1.27,215.7,41.9,8.4,444,8634,0.00,2.42,0.00,0.000,4,0.000,0.044,3360,296,1745,0,0,0,0,0,0
$GC,8689,1.27,215.7,35.9,10.1,448,8695,0.00,2.22,0.00,0.000,6,0.000,0.018,3360,1704,1745,0,0,0,0,0,0
$GC,8951,1.33,215.7,13.7,8.8,499,8959,0.12,2.25,0.00,0.000,4,0.063,0.021,3403,3060,1745,0,0,0,0,0,0
$GC,8972,1.38,215.7,11.7,9.1,502,8979,0.00,2.30,0.00,0.000,6,0.000,0.029,3402,1699,1745,0,0,0,0,0,0
$STATE,9044,end climb,SURFACE_DEPTH_REACHED
$STATE,9044,begin surface coast
$FINISH,1.2,1.023379
$STATE,9069,end surface coast,CONTROL_FINISHED_OK
$STATE,9070,begin surface
$SM_CCo,9092,179.57,0.476,0,0,450,534.75
$SM_GC,1.59,0.00,0.00,179.57,0.000,0.000,0.476,429,1695,450,-12.29,-0.14,534.75
$IRIDIUM_FIX,2052.52,-15749.62,291199,222208
$TT8_MAMPS,0.029146
$HUMID,52.83
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,22.60
$XPDR_PINGS,1
$24V_AH,23.5,31.276
$10V_AH,10.2,26.059
$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,30.675,79.325,235.575,179.575,0.000,158.171,400.417,0.000,4.750,0.000,14.001,1020.412,6259.865,473.361,1640.916,804.198,0.000,1195.655,0.000,1618.408,0.000,29.266,0.000
$DEVICE_MAMPS,132.691,55.224,822.224,476.307,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,351.394,332.629,764.932,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355680
$DATA_FILE_SIZE,28665,523
$CAP_FILE_SIZE,96767,0
$CFSIZE,260165632,194592768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050910,003207,2057.945,-15752.619,35,1.5,35,9.8