version: 66.06
glider: 139
mission: 8
dive: 384
start: 9 7 110 10 42 41
data:
$ID,139
$MISSION,8
$DIVE,384
$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,-2159010.2
$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
$GPS1,103607,2056.425,-15749.210,31,1.5,31,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-73.2
$GPS2,104225,2056.384,-15749.275,13,1.5,19,9.8
$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,22.4,20632,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.56,-58.4,0.0,0.0,0,88,0.00,0.00,-68.70,0.000,6,0.000,0.000,425,1690,2871,0,0,0,0,0,0
$GC,91,-1.56,-58.4,3.7,-3.9,13,110,12.48,2.40,0.00,0.000,4,0.133,0.038,2753,286,2873,0,0,0,0,0,0
$GC,165,-1.43,-58.4,26.3,-22.0,28,172,0.12,2.35,0.00,0.000,6,0.091,0.018,2782,1730,2874,0,0,0,0,0,0
$GC,373,-1.40,-58.4,63.0,-16.9,46,377,0.00,2.22,0.00,0.000,4,0.000,0.022,2782,3085,2875,0,0,0,0,0,0
$GC,454,-1.49,-58.4,74.8,-14.3,52,458,0.00,2.35,0.00,0.000,6,0.000,0.031,2782,1694,2875,0,0,0,0,0,0
$GC,720,-1.49,-58.4,115.3,-13.8,73,724,0.00,2.38,0.00,0.000,4,0.000,0.044,2782,296,2875,0,0,0,0,0,0
$GC,739,-1.49,-58.4,118.4,-14.1,74,746,0.00,2.28,0.00,0.000,6,0.000,0.018,2782,1722,2875,0,0,0,0,0,0
$GC,1003,-1.59,-58.4,145.5,-9.5,95,1008,0.12,2.45,0.00,0.000,4,0.063,0.044,2740,297,2876,0,0,0,0,0,0
$GC,1103,-1.54,-58.4,159.5,-14.2,102,1108,0.12,2.20,0.00,0.000,6,0.105,0.018,2765,1704,2877,0,0,0,0,0,0
$GC,1370,-1.61,-58.4,190.6,-12.3,123,1374,0.00,2.20,0.00,0.000,4,0.000,0.022,2765,3069,2878,0,0,0,0,0,0
$GC,1426,-1.74,-58.4,197.2,-11.1,127,1431,0.20,2.28,0.00,0.000,6,0.048,0.031,2706,1699,2878,0,0,0,0,0,0
$GC,1686,-1.69,-58.4,235.5,-14.6,140,1691,0.12,2.25,0.00,0.000,4,0.106,0.023,2730,3068,2878,0,0,0,0,0,0
$GC,1696,-1.69,-58.4,237.2,-13.3,140,1701,0.00,2.28,0.00,0.000,6,0.000,0.031,2730,1696,2878,0,0,0,0,0,0
$GC,2015,-1.72,-58.4,269.1,-9.1,155,2019,0.00,2.28,0.00,0.000,4,0.000,0.024,2730,3071,2878,0,0,0,0,0,0
$GC,2105,-1.80,-58.4,277.8,-10.2,159,2110,0.10,2.30,0.00,0.000,6,0.075,0.033,2697,1695,2878,0,0,0,0,0,0
$GC,2436,-1.77,-58.4,315.4,-11.1,172,2440,0.00,2.28,0.00,0.000,4,0.000,0.025,2697,3072,2877,0,0,0,0,0,0
$GC,2613,-1.77,-58.4,337.2,-11.0,175,2617,0.00,2.30,0.00,0.000,6,0.000,0.035,2697,1700,2876,0,0,0,0,0,0
$GC,2944,-1.77,-58.4,378.0,-12.6,183,2948,0.00,2.25,0.00,0.000,4,0.000,0.028,2697,3064,2875,0,0,0,0,0,0
$GC,2981,-1.81,-58.4,382.6,-11.8,183,2987,0.00,2.33,0.00,0.000,6,0.000,0.039,2697,1693,2875,0,0,0,0,0,0
$GC,3313,-1.81,-58.4,425.7,-13.0,192,3317,0.00,2.30,0.00,0.000,4,0.000,0.030,2697,3063,2873,0,0,0,0,0,0
$GC,3346,-1.85,-58.4,430.0,-11.8,192,3350,0.00,2.33,0.00,0.000,6,0.000,0.039,2697,1693,2873,0,0,0,0,0,0
$STATE,3557,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3557,begin apogee
$GC,3563,-0.31,0.0,454.6,11.5,198,3617,1.60,0.00,49.58,0.821,6,0.081,0.000,3032,1693,2630,0,0,0,0,0,0
$STATE,3617,end apogee,CONTROL_FINISHED_OK
$STATE,3617,begin climb
$GC,3621,1.56,58.4,455.9,0.0,199,3679,1.75,2.53,50.08,0.806,4,0.029,0.053,3450,287,2390,0,0,0,0,0,0
$GC,3728,1.22,123.7,455.5,2.0,201,3792,0.43,2.30,57.10,0.807,6,0.106,0.025,3369,1688,2125,0,0,0,0,0,0
$GC,4116,1.10,123.7,420.6,10.3,211,4121,0.15,2.38,0.00,0.000,4,0.113,0.032,3341,3079,2116,0,0,0,0,0,0
$GC,4316,1.10,123.7,402.7,9.0,215,4320,0.00,2.40,0.00,0.000,6,0.000,0.041,3341,1697,2115,0,0,0,0,0,0
$GC,4666,1.05,123.7,371.9,9.1,224,4667,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,1697,2111,0,0,0,0,0,0
$GC,4992,1.02,123.7,345.2,8.3,232,4996,0.00,2.47,0.00,0.000,4,0.000,0.055,3340,296,2107,0,0,0,0,0,0
$GC,5135,0.89,123.7,330.4,10.4,235,5140,0.25,2.30,0.00,0.000,6,0.104,0.027,3292,1698,2104,0,0,0,0,0,0
$GC,5456,0.99,142.3,308.4,6.2,243,5473,0.10,0.00,14.02,0.719,6,0.080,0.000,3322,1704,2049,0,0,0,0,0,0
$GC,5761,1.04,181.2,293.2,4.4,254,5805,0.00,2.42,35.72,0.749,4,0.000,0.029,3322,3084,1890,0,0,0,0,0,0
$GC,5816,1.12,199.0,289.8,6.3,256,5840,0.10,2.42,17.52,0.704,6,0.079,0.038,3351,1699,1818,0,0,0,0,0,0
$GC,6161,1.12,199.0,250.8,12.7,273,6165,0.00,2.35,0.00,0.000,4,0.000,0.028,3351,3085,1812,0,0,0,0,0,0
$GC,6189,1.12,199.0,247.0,12.9,274,6193,0.00,2.38,0.00,0.000,6,0.000,0.038,3350,1699,1811,0,0,0,0,0,0
$GC,6510,1.12,199.0,204.4,12.6,290,6514,0.00,2.33,0.00,0.000,4,0.000,0.027,3351,3086,1809,0,0,0,0,0,0
$GC,6568,1.17,199.0,197.2,11.5,293,6572,0.00,2.40,0.00,0.000,6,0.000,0.036,3351,1691,1809,0,0,0,0,0,0
$GC,6832,1.17,199.0,166.1,13.0,314,6836,0.00,2.45,0.00,0.000,4,0.000,0.050,3351,289,1808,0,0,0,0,0,0
$GC,6845,1.17,199.0,163.7,13.1,315,6850,0.00,2.30,0.00,0.000,6,0.000,0.023,3351,1719,1806,0,0,0,0,0,0
$GC,7107,1.20,199.0,131.7,11.6,335,7108,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,1724,1806,0,0,0,0,0,0
$GC,7359,1.26,199.0,106.0,9.5,355,7364,0.10,2.47,0.00,0.000,4,0.076,0.048,3384,293,1806,0,0,0,0,0,0
$GC,7627,1.18,199.0,78.0,10.3,374,7634,0.10,2.28,0.00,0.000,6,0.081,0.020,3360,1706,1803,0,0,0,0,0,0
$GC,7889,1.28,216.0,59.1,6.4,395,7908,0.00,2.47,13.50,0.514,4,0.000,0.045,3359,286,1748,0,0,0,0,0,0
$GC,7999,1.28,219.1,50.5,7.6,403,8008,0.00,2.25,3.92,0.348,6,0.000,0.019,3360,1711,1736,0,0,0,0,0,0
$GC,8273,1.36,223.8,31.2,7.5,424,8290,0.17,2.50,5.90,0.409,4,0.051,0.044,3412,294,1716,0,0,0,0,0,0
$GC,8302,1.36,223.8,28.1,9.0,427,8308,0.00,2.25,0.00,0.000,6,0.000,0.018,3412,1706,1715,0,0,0,0,0,0
$GC,8504,1.31,223.8,6.1,9.8,473,8511,0.12,0.00,0.00,0.000,6,0.107,0.000,3387,1714,1715,0,0,0,0,0,0
$STATE,8528,end climb,SURFACE_DEPTH_REACHED
$STATE,8528,begin surface coast
$FINISH,1.0,1.023325
$STATE,8555,end surface coast,CONTROL_FINISHED_OK
$STATE,8555,begin surface
$SM_CCo,8578,103.15,0.486,0,0,957,410.14
$SM_GC,1.66,0.00,0.00,103.15,0.000,0.000,0.486,425,1712,957,-12.31,0.34,410.14
$IRIDIUM_FIX,2050.21,-15735.06,021299,070732
$TT8_MAMPS,0.029146
$HUMID,54.92
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.5,33.159
$10V_AH,10.3,27.691
$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,30.800,93.625,247.350,103.150,0.000,29.604,34.084,186.186,5.000,0.000,19.320,968.828,5634.625,407.774,1541.294,505.401,0.000,1100.854,0.000,1519.050,0.000,34.982,0.000
$DEVICE_MAMPS,133.458,55.224,820.690,486.278,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,325.489,314.305,712.361,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,25382,484
$CAP_FILE_SIZE,98627,0
$CFSIZE,260165632,193482752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070910,130837,2056.567,-15749.265,35,1.1,35,9.8