version: 66.06
glider: 139
mission: 8
dive: 375
start: 9 6 110 9 44 43
data:
$ID,139
$MISSION,8
$DIVE,375
$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,-2158795.8
$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
$GPS1,093903,2056.277,-15751.966,18,1.7,18,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-71.0
$GPS2,094426,2056.210,-15752.021,14,1.7,14,9.8
$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,31.7,23744,-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,-64.40,0.000,2,0.000,0.000,427,1716,2739,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.2,-3.3,12,110,12.45,2.35,-2.53,0.000,4,0.133,0.036,2753,3106,2872,0,0,0,0,0,0
$GC,191,-1.56,-58.4,27.4,-17.8,34,198,0.00,2.38,0.00,0.000,6,0.000,0.028,2752,1700,2873,0,0,0,0,0,0
$GC,395,-1.48,-58.4,62.4,-16.4,51,400,0.12,2.35,0.00,0.000,4,0.112,0.021,2775,3121,2874,0,0,0,0,0,0
$GC,437,-1.55,-58.4,68.3,-13.8,54,441,0.00,2.40,0.00,0.000,6,0.000,0.032,2775,1700,2874,0,0,0,0,0,0
$GC,702,-1.55,-58.4,109.6,-15.8,75,704,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1700,2875,0,0,0,0,0,0
$GC,956,-1.62,-58.4,144.9,-12.6,95,961,0.12,2.40,0.00,0.000,4,0.064,0.044,2735,299,2876,0,0,0,0,0,0
$GC,1017,-1.55,-58.4,154.4,-15.9,99,1023,0.12,2.30,0.00,0.000,6,0.105,0.018,2760,1733,2877,0,0,0,0,0,0
$GC,1278,-1.60,-58.4,183.7,-9.7,120,1282,0.00,2.20,0.00,0.000,4,0.000,0.023,2760,3086,2877,0,0,0,0,0,0
$GC,1386,-1.73,-58.4,193.6,-9.2,128,1391,0.17,2.30,0.00,0.000,6,0.051,0.031,2705,1702,2877,0,0,0,0,0,0
$GC,1658,-1.68,-58.4,226.7,-12.5,143,1660,0.12,0.00,0.00,0.000,6,0.107,0.000,2731,1701,2877,0,0,0,0,0,0
$GC,1964,-1.68,-58.4,264.4,-11.8,158,1968,0.00,2.30,0.00,0.000,4,0.000,0.025,2730,3084,2877,0,0,0,0,0,0
$GC,2134,-1.75,-58.4,283.6,-10.7,165,2138,0.00,2.33,0.00,0.000,6,0.000,0.033,2730,1694,2877,0,0,0,0,0,0
$GC,2447,-1.79,-58.4,319.5,-11.1,176,2448,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1693,2877,0,0,0,0,0,0
$GC,2775,-1.83,-58.4,349.8,-8.8,184,2780,0.12,2.35,0.00,0.000,4,0.066,0.027,2691,3084,2876,0,0,0,0,0,0
$GC,2789,-1.83,-58.4,351.7,-8.9,184,2794,0.00,2.33,0.00,0.000,6,0.000,0.035,2691,1701,2875,0,0,0,0,0,0
$GC,3139,-1.83,-58.4,388.3,-9.9,193,3143,0.00,2.30,0.00,0.000,4,0.000,0.028,2691,3083,2874,0,0,0,0,0,0
$GC,3241,-1.83,-58.4,398.3,-9.4,195,3246,0.00,2.35,0.00,0.000,6,0.000,0.038,2692,1703,2874,0,0,0,0,0,0
$GC,3554,-1.83,-58.4,430.4,-10.4,203,3555,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,1702,2872,0,0,0,0,0,0
$STATE,3755,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3755,begin apogee
$GC,3761,-0.31,0.0,452.8,11.1,208,3814,1.62,0.00,49.38,0.821,6,0.083,0.000,3030,1702,2630,0,0,0,0,0,0
$STATE,3815,end apogee,CONTROL_FINISHED_OK
$STATE,3815,begin climb
$GC,3819,1.56,58.4,454.0,0.0,209,3878,1.80,2.40,50.17,0.805,4,0.028,0.031,3455,3079,2391,0,0,0,0,0,0
$GC,3982,1.36,125.9,452.5,1.8,213,4050,0.30,2.38,59.15,0.809,6,0.105,0.037,3398,1697,2116,0,0,0,0,0,0
$GC,4382,1.19,125.9,415.7,10.2,223,4384,0.20,0.00,0.00,0.000,6,0.106,0.000,3360,1697,2107,0,0,0,0,0,0
$GC,4708,1.10,125.9,386.8,8.8,231,4709,0.00,0.00,0.00,0.000,6,0.000,0.000,3360,1697,2103,0,0,0,0,0,0
$GC,5032,1.03,125.9,356.2,9.8,239,5037,0.17,2.33,0.00,0.000,4,0.106,0.032,3325,3078,2100,0,0,0,0,0,0
$GC,5076,1.06,125.9,352.3,8.5,240,5080,0.00,2.38,0.00,0.000,6,0.000,0.039,3326,1700,2101,0,0,0,0,0,0
$GC,5404,1.06,131.1,326.2,7.4,248,5408,0.00,2.47,0.00,0.000,4,0.000,0.055,3326,297,2097,0,0,0,0,0,0
$GC,5433,0.99,144.2,324.2,6.7,248,5453,0.00,2.33,14.00,0.723,6,0.000,0.027,3326,1713,2041,0,0,0,0,0,0
$GC,5779,0.99,144.2,298.1,8.2,257,5783,0.00,2.50,0.00,0.000,4,0.000,0.052,3326,292,2037,0,0,0,0,0,0
$GC,5793,0.99,144.2,296.5,8.4,257,5798,0.00,2.33,0.00,0.000,6,0.000,0.025,3326,1703,2035,0,0,0,0,0,0
$GC,6110,0.99,144.2,267.5,9.5,273,6114,0.00,2.47,0.00,0.000,4,0.000,0.051,3326,297,2035,0,0,0,0,0,0
$GC,6217,0.92,144.2,256.2,10.2,277,6223,0.12,2.30,0.00,0.000,6,0.115,0.025,3303,1705,2033,0,0,0,0,0,0
$GC,6534,1.02,152.5,234.3,7.2,293,6546,0.00,2.33,7.25,0.591,4,0.000,0.029,3303,3078,2008,0,0,0,0,0,0
$GC,6652,1.13,152.5,225.2,8.2,298,6657,0.20,2.35,0.00,0.000,6,0.053,0.035,3357,1699,2007,0,0,0,0,0,0
$GC,6982,1.14,161.6,197.3,7.1,315,6995,0.00,0.00,9.65,0.598,6,0.000,0.000,3357,1699,1971,0,0,0,0,0,0
$GC,7250,1.15,169.6,179.1,7.2,336,7261,0.00,0.00,8.52,0.567,6,0.000,0.000,3357,1699,1938,0,0,0,0,0,0
$GC,7514,1.15,169.6,158.6,9.1,357,7515,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,1699,1936,0,0,0,0,0,0
$GC,7767,1.17,186.0,139.9,6.4,377,7788,0.00,2.47,15.73,0.578,4,0.000,0.048,3356,296,1870,0,0,0,0,0,0
$GC,7957,1.12,186.0,120.6,10.3,390,7961,0.00,2.28,0.00,0.000,6,0.000,0.020,3357,1712,1866,0,0,0,0,0,0
$GC,8219,1.21,209.7,101.7,5.8,410,8246,0.00,2.50,21.65,0.555,4,0.000,0.044,3356,289,1774,0,0,0,0,0,0
$GC,8263,1.21,209.7,97.9,8.6,413,8267,0.00,2.28,0.00,0.000,6,0.000,0.020,3357,1707,1771,0,0,0,0,0,0
$GC,8530,1.32,223.2,80.7,6.7,434,8548,0.12,2.53,12.65,0.507,4,0.064,0.044,3397,267,1720,0,0,0,0,0,0
$GC,8616,1.21,223.2,71.6,12.0,440,8621,0.17,2.28,0.00,0.000,6,0.096,0.019,3363,1712,1716,0,0,0,0,0,0
$GC,8884,1.27,223.2,48.1,10.6,461,8886,0.00,0.00,0.00,0.000,6,0.000,0.000,3363,1718,1716,0,0,0,0,0,0
$GC,9137,1.33,223.2,19.2,10.1,495,9144,0.12,0.00,0.00,0.000,6,0.063,0.000,3405,1718,1716,0,0,0,0,0,0
$STATE,9273,end climb,SURFACE_DEPTH_REACHED
$STATE,9274,begin surface coast
$FINISH,1.1,1.023384
$STATE,9296,end surface coast,CONTROL_FINISHED_OK
$STATE,9296,begin surface
$SM_CCo,9319,97.80,0.477,0,0,956,410.14
$SM_GC,1.60,0.00,0.00,97.80,0.000,0.000,0.477,431,1717,956,-12.28,0.48,410.14
$IRIDIUM_FIX,2050.21,-15752.63,011299,070711
$TT8_MAMPS,0.029146
$HUMID,53.62
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.5,32.394
$10V_AH,10.3,27.026
$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,30.775,75.500,248.150,97.800,0.000,28.836,30.625,136.112,4.500,0.000,15.038,1017.980,6329.834,398.135,1553.440,439.942,0.000,1074.187,0.000,1536.525,0.000,29.254,0.000
$DEVICE_MAMPS,132.691,55.224,821.457,477.074,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,357.176,339.704,752.768,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,28568,531
$CAP_FILE_SIZE,95449,0
$CFSIZE,260165632,193957888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060910,122300,2056.079,-15751.985,41,1.6,41,9.8