version: 66.06
glider: 139
mission: 8
dive: 388
start: 9 7 110 21 40 50
data:
$ID,139
$MISSION,8
$DIVE,388
$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,-2159088.2
$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
$GPS1,213428,2058.399,-15748.354,14,4.1,33,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-71.6
$GPS2,214034,2058.346,-15748.414,13,4.7,32,9.8
$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,24.7,16776,-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,-64.25,0.000,2,0.000,0.000,426,1705,2743,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.2,-3.0,12,110,12.50,2.38,-2.45,0.000,4,0.133,0.037,2754,3106,2871,0,0,0,0,0,0
$GC,156,-1.56,-58.4,20.4,-17.0,26,163,0.00,2.40,0.00,0.000,6,0.000,0.031,2754,1701,2872,0,0,0,0,0,0
$GC,364,-1.47,-58.4,57.8,-18.2,50,366,0.12,0.00,0.00,0.000,6,0.111,0.000,2777,1702,2873,0,0,0,0,0,0
$GC,616,-1.47,-58.4,98.8,-16.3,70,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1702,2874,0,0,0,0,0,0
$GC,868,-1.52,-58.4,131.8,-11.7,90,872,0.00,2.40,0.00,0.000,4,0.000,0.044,2778,297,2875,0,0,0,0,0,0
$GC,942,-1.52,-58.4,142.5,-14.8,95,947,0.00,2.30,0.00,0.000,6,0.000,0.018,2778,1738,2876,0,0,0,0,0,0
$GC,1202,-1.61,-58.4,171.9,-10.9,116,1207,0.12,2.20,0.00,0.000,4,0.064,0.023,2737,3082,2876,0,0,0,0,0,0
$GC,1369,-1.68,-58.4,189.5,-10.6,128,1373,0.00,2.30,0.00,0.000,6,0.000,0.031,2737,1699,2876,0,0,0,0,0,0
$GC,1641,-1.68,-58.4,219.5,-11.5,144,1648,0.00,2.28,0.00,0.000,4,0.000,0.023,2737,3088,2876,0,0,0,0,0,0
$GC,1695,-1.76,-58.4,225.5,-10.6,146,1699,0.00,2.33,0.00,0.000,6,0.000,0.032,2737,1693,2876,0,0,0,0,0,0
$GC,2023,-1.81,-58.4,261.9,-10.9,162,2027,0.15,2.30,0.00,0.000,4,0.058,0.025,2692,3080,2876,0,0,0,0,0,0
$GC,2044,-1.81,-58.4,264.5,-11.4,163,2048,0.00,2.30,0.00,0.000,6,0.000,0.032,2691,1700,2876,0,0,0,0,0,0
$GC,2376,-1.77,-58.4,306.2,-12.1,178,2381,0.12,2.30,0.00,0.000,4,0.108,0.026,2715,3081,2876,0,0,0,0,0,0
$GC,2471,-1.82,-58.4,316.4,-9.8,180,2475,0.00,2.33,0.00,0.000,6,0.000,0.034,2715,1695,2875,0,0,0,0,0,0
$GC,2795,-1.82,-58.4,351.3,-11.2,188,2799,0.00,2.33,0.00,0.000,4,0.000,0.028,2715,3082,2874,0,0,0,0,0,0
$GC,2913,-1.89,-58.4,362.9,-9.0,190,2918,0.12,2.33,0.00,0.000,6,0.068,0.036,2678,1698,2874,0,0,0,0,0,0
$GC,3258,-1.84,-58.4,401.6,-11.3,199,3263,0.10,2.33,0.00,0.000,4,0.116,0.030,2697,3079,2872,0,0,0,0,0,0
$GC,3422,-1.88,-58.4,419.0,-10.8,202,3426,0.00,2.35,0.00,0.000,6,0.000,0.040,2697,1697,2870,0,0,0,0,0,0
$STATE,3718,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3718,begin apogee
$GC,3724,-0.31,0.0,452.2,11.3,210,3777,1.60,0.00,49.25,0.828,6,0.084,0.000,3031,1696,2630,0,0,0,0,0,0
$STATE,3778,end apogee,CONTROL_FINISHED_OK
$STATE,3778,begin climb
$GC,3781,1.56,58.4,453.3,0.0,211,3836,1.77,0.00,50.50,0.812,6,0.030,0.000,3451,1696,2391,0,0,0,0,0,0
$GC,4152,1.31,92.8,441.1,4.8,220,4188,0.30,2.45,29.62,0.803,4,0.109,0.032,3390,3075,2251,0,0,0,0,0,0
$GC,4199,1.17,113.3,438.5,6.1,221,4224,0.17,2.42,19.60,0.773,6,0.120,0.039,3358,1693,2168,0,0,0,0,0,0
$GC,4568,1.08,113.3,405.4,8.2,230,4573,0.12,2.40,0.00,0.000,4,0.122,0.032,3336,3083,2159,0,0,0,0,0,0
$GC,4653,1.10,132.3,399.4,6.2,231,4677,0.00,2.40,17.05,0.766,6,0.000,0.040,3336,1691,2090,0,0,0,0,0,0
$GC,4989,1.09,153.4,377.0,6.0,240,5014,0.00,2.40,19.52,0.772,4,0.000,0.032,3336,3078,2004,0,0,0,0,0,0
$GC,5091,1.10,156.6,369.5,7.6,242,5102,0.00,2.42,4.47,0.537,6,0.000,0.041,3336,1692,1991,0,0,0,0,0,0
$GC,5448,1.10,156.6,336.0,10.3,251,5452,0.00,2.35,0.00,0.000,4,0.000,0.031,3336,3082,1987,0,0,0,0,0,0
$GC,5495,1.10,156.6,331.3,9.9,252,5499,0.00,2.42,0.00,0.000,6,0.000,0.041,3336,1690,1987,0,0,0,0,0,0
$GC,5823,1.10,156.6,300.2,9.5,260,5827,0.00,2.47,0.00,0.000,4,0.000,0.055,3336,291,1984,0,0,0,0,0,0
$GC,5920,1.00,156.6,290.0,11.0,263,5924,0.00,2.33,0.00,0.000,6,0.000,0.026,3336,1695,1981,0,0,0,0,0,0
$GC,6243,1.00,156.6,262.2,8.3,279,6247,0.00,2.35,0.00,0.000,4,0.000,0.031,3336,3091,1981,0,0,0,0,0,0
$GC,6512,1.05,156.6,241.5,9.2,290,6519,0.00,2.42,0.00,0.000,6,0.000,0.038,3336,1694,1980,0,0,0,0,0,0
$GC,6828,1.06,163.2,218.2,7.3,306,6835,0.00,0.00,5.35,0.529,6,0.000,0.000,3336,1695,1963,0,0,0,0,0,0
$GC,7161,1.06,163.2,190.5,8.6,325,7165,0.00,2.33,0.00,0.000,4,0.000,0.026,3336,3097,1962,0,0,0,0,0,0
$GC,7194,1.12,163.2,187.5,8.6,327,7199,0.00,2.35,0.00,0.000,6,0.000,0.035,3336,1698,1962,0,0,0,0,0,0
$GC,7452,1.17,163.2,164.2,8.3,348,7454,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,1698,1962,0,0,0,0,0,0
$GC,7706,1.23,172.6,144.1,7.0,368,7718,0.12,0.00,9.48,0.558,6,0.068,0.000,3374,1698,1926,0,0,0,0,0,0
$GC,7972,1.29,217.3,128.9,3.9,389,8019,0.00,2.53,40.22,0.605,4,0.000,0.048,3374,294,1743,0,0,0,0,0,0
$GC,8203,1.25,217.3,107.1,10.8,406,8207,0.00,2.30,0.00,0.000,6,0.000,0.021,3374,1718,1737,0,0,0,0,0,0
$GC,8475,1.31,217.3,84.1,8.5,427,8476,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,1725,1736,0,0,0,0,0,0
$GC,8724,1.36,217.3,60.9,10.3,447,8729,0.10,2.50,0.00,0.000,4,0.075,0.046,3406,291,1736,0,0,0,0,0,0
$GC,8785,1.24,217.3,53.0,13.2,451,8792,0.15,2.28,0.00,0.000,6,0.083,0.019,3372,1715,1735,0,0,0,0,0,0
$GC,9048,1.29,217.3,25.9,9.3,478,9055,0.00,2.47,0.00,0.000,4,0.000,0.044,3372,297,1735,0,0,0,0,0,0
$GC,9120,1.26,217.3,18.8,9.8,493,9126,0.00,2.22,0.00,0.000,6,0.000,0.018,3372,1686,1734,0,0,0,0,0,0
$STATE,9288,end climb,SURFACE_DEPTH_REACHED
$STATE,9289,begin surface coast
$FINISH,0.8,1.023282
$STATE,9320,end surface coast,CONTROL_FINISHED_OK
$STATE,9320,begin surface
$SM_CCo,9343,101.43,0.481,0,0,957,410.14
$SM_GC,1.53,0.00,0.00,101.43,0.000,0.000,0.481,431,1692,957,-12.28,-0.25,410.14
$IRIDIUM_FIX,2050.21,-15749.62,021299,191936
$TT8_MAMPS,0.029146
$HUMID,54.92
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,33.482
$10V_AH,10.3,27.991
$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,30.175,84.950,245.075,101.425,0.000,39.520,29.738,149.563,4.500,0.000,33.882,1061.697,6156.874,402.280,1719.653,466.393,0.000,1140.709,0.000,1679.598,0.000,29.261,0.000
$DEVICE_MAMPS,133.458,55.224,828.360,480.909,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,362.923,344.689,777.406,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,28667,539
$CAP_FILE_SIZE,100214,0
$CFSIZE,260165632,193273856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080910,001936,2058.806,-15748.490,43,1.3,43,9.8