version: 66.06
glider: 139
mission: 8
dive: 389
start: 9 8 110 0 25 0
data:
$ID,139
$MISSION,8
$DIVE,389
$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,-2159105.2
$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
$GPS1,001936,2058.806,-15748.490,43,1.3,43,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-70.9
$GPS2,002443,2058.772,-15748.551,11,1.4,16,9.8
$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,26.9,16272,-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,-64.50,0.000,2,0.000,0.000,431,1692,2735,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.0,-3.0,12,110,12.43,2.42,-2.67,0.000,4,0.133,0.038,2751,3109,2871,0,0,0,0,0,0
$GC,179,-1.56,-58.4,22.6,-16.2,31,185,0.00,2.42,0.00,0.000,6,0.000,0.034,2750,1699,2873,0,0,0,0,0,0
$GC,386,-1.47,-58.4,62.0,-20.6,53,388,0.15,0.00,0.00,0.000,6,0.107,0.000,2780,1698,2873,0,0,0,0,0,0
$GC,639,-1.47,-58.4,106.5,-16.0,73,643,0.00,2.33,0.00,0.000,4,0.000,0.021,2779,3117,2874,0,0,0,0,0,0
$GC,706,-1.54,-58.4,115.9,-14.1,78,710,0.00,2.38,0.00,0.000,6,0.000,0.032,2779,1697,2875,0,0,0,0,0,0
$GC,975,-1.61,-58.4,149.5,-10.4,99,980,0.12,2.40,0.00,0.000,4,0.064,0.045,2739,295,2876,0,0,0,0,0,0
$GC,1041,-1.55,-58.4,158.6,-14.0,104,1046,0.12,2.33,0.00,0.000,6,0.105,0.018,2764,1741,2876,0,0,0,0,0,0
$GC,1307,-1.63,-58.4,185.9,-10.6,125,1311,0.00,2.47,0.00,0.000,4,0.000,0.044,2763,290,2876,0,0,0,0,0,0
$GC,1353,-1.63,-58.4,191.8,-12.9,128,1359,0.00,2.28,0.00,0.000,6,0.000,0.019,2764,1708,2877,0,0,0,0,0,0
$GC,1611,-1.70,-58.4,220.6,-10.7,143,1616,0.15,2.25,0.00,0.000,4,0.058,0.025,2719,3071,2877,0,0,0,0,0,0
$GC,1827,-1.75,-58.4,245.1,-10.7,152,1831,0.00,2.30,0.00,0.000,6,0.000,0.032,2718,1690,2877,0,0,0,0,0,0
$GC,2146,-1.75,-58.4,281.1,-12.1,167,2150,0.00,2.28,0.00,0.000,4,0.000,0.025,2718,3071,2876,0,0,0,0,0,0
$GC,2343,-1.81,-58.4,300.0,-7.9,175,2347,0.00,2.33,0.00,0.000,6,0.000,0.035,2718,1693,2876,0,0,0,0,0,0
$GC,2680,-1.81,-58.4,331.9,-10.3,184,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1692,2875,0,0,0,0,0,0
$GC,3005,-1.81,-58.4,371.9,-13.0,192,3009,0.00,2.30,0.00,0.000,4,0.000,0.028,2718,3068,2874,0,0,0,0,0,0
$GC,3110,-1.89,-58.4,383.3,-10.3,194,3114,0.12,2.33,0.00,0.000,6,0.068,0.037,2681,1700,2873,0,0,0,0,0,0
$GC,3424,-1.84,-58.4,419.4,-10.9,202,3425,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1700,2870,0,0,0,0,0,0
$STATE,3746,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3746,begin apogee
$GC,3753,-0.31,0.0,454.0,10.9,210,3807,1.67,0.00,49.10,0.825,6,0.084,0.000,3030,1700,2630,0,0,0,0,0,0
$STATE,3807,end apogee,CONTROL_FINISHED_OK
$STATE,3807,begin climb
$GC,3810,1.56,58.4,455.4,0.0,211,3871,1.77,2.53,50.53,0.811,4,0.030,0.051,3450,290,2389,0,0,0,0,0,0
$GC,3880,1.33,152.5,455.1,-0.6,212,3971,0.32,2.33,82.62,0.811,6,0.107,0.025,3389,1699,2006,0,0,0,0,0,0
$GC,4308,1.18,152.5,405.6,13.1,223,4313,0.15,2.50,0.00,0.000,4,0.112,0.055,3361,290,1997,0,0,0,0,0,0
$GC,4324,1.01,152.5,403.5,13.0,223,4329,0.20,2.33,0.00,0.000,6,0.107,0.027,3324,1698,1994,0,0,0,0,0,0
$GC,4675,1.01,152.5,369.4,9.5,232,4679,0.00,2.47,0.00,0.000,4,0.000,0.054,3323,295,1992,0,0,0,0,0,0
$GC,4689,0.95,152.5,367.9,9.2,232,4693,0.00,2.30,0.00,0.000,6,0.000,0.028,3323,1701,1990,0,0,0,0,0,0
$GC,5040,0.95,152.5,339.7,8.8,241,5041,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,1706,1988,0,0,0,0,0,0
$GC,5365,0.95,152.5,309.8,9.2,249,5369,0.00,2.47,0.00,0.000,4,0.000,0.054,3323,290,1987,0,0,0,0,0,0
$GC,5384,0.91,152.5,307.7,9.9,249,5389,0.15,2.30,0.00,0.000,6,0.113,0.027,3296,1702,1985,0,0,0,0,0,0
$GC,5716,0.98,152.5,279.3,9.1,263,5720,0.00,2.45,0.00,0.000,4,0.000,0.052,3296,297,1984,0,0,0,0,0,0
$GC,5730,1.03,152.5,277.7,8.8,263,5736,0.12,2.30,0.00,0.000,6,0.071,0.026,3331,1704,1983,0,0,0,0,0,0
$GC,6048,1.03,154.9,249.8,7.7,279,6052,0.00,2.30,0.00,0.000,4,0.000,0.029,3332,3080,1983,0,0,0,0,0,0
$GC,6131,1.09,155.8,243.3,7.8,282,6138,0.00,2.38,0.00,0.000,6,0.000,0.037,3332,1705,1983,0,0,0,0,0,0
$GC,6448,1.13,167.7,221.6,6.8,298,6465,0.00,2.53,9.65,0.624,4,0.000,0.052,3331,297,1946,0,0,0,0,0,0
$GC,6502,1.08,167.7,216.3,10.2,300,6507,0.00,2.30,0.00,0.000,6,0.000,0.025,3331,1712,1944,0,0,0,0,0,0
$GC,6822,1.13,167.7,189.5,8.9,319,6823,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,1716,1943,0,0,0,0,0,0
$GC,7076,1.18,167.7,167.5,8.7,339,7077,0.10,0.00,0.00,0.000,6,0.077,0.000,3363,1717,1943,0,0,0,0,0,0
$GC,7326,1.18,167.7,146.1,10.3,359,7330,0.00,2.47,0.00,0.000,4,0.000,0.048,3363,291,1943,0,0,0,0,0,0
$GC,7342,1.13,167.7,144.5,9.8,360,7346,0.00,2.28,0.00,0.000,6,0.000,0.021,3363,1714,1942,0,0,0,0,0,0
$GC,7600,1.13,167.7,120.2,9.0,380,7604,0.00,2.47,0.00,0.000,4,0.000,0.046,3363,289,1942,0,0,0,0,0,0
$GC,7867,1.07,177.6,98.4,7.0,399,7888,0.15,2.25,9.60,0.521,6,0.103,0.021,3334,1719,1905,0,0,0,0,0,0
$GC,8140,1.24,209.7,83.8,5.0,421,8176,0.15,2.25,29.27,0.554,4,0.057,0.024,3380,3066,1774,0,0,0,0,0,0
$GC,8239,1.31,209.7,76.6,8.2,428,8244,0.00,2.30,0.00,0.000,6,0.000,0.031,3380,1695,1774,0,0,0,0,0,0
$GC,8502,1.34,209.7,53.0,9.4,448,8506,0.00,2.22,0.00,0.000,4,0.000,0.021,3380,3065,1773,0,0,0,0,0,0
$GC,8582,1.41,209.7,45.9,8.3,454,8587,0.12,2.30,0.00,0.000,6,0.064,0.031,3419,1701,1773,0,0,0,0,0,0
$GC,8847,1.36,209.7,19.5,10.2,490,8853,0.12,0.00,0.00,0.000,6,0.106,0.000,3395,1701,1772,0,0,0,0,0,0
$STATE,9019,end climb,SURFACE_DEPTH_REACHED
$STATE,9020,begin surface coast
$FINISH,0.9,1.006075
$STATE,9051,end surface coast,CONTROL_FINISHED_OK
$STATE,9051,begin surface
$SM_CCo,9074,108.03,0.483,0,0,956,410.14
$SM_GC,1.51,0.00,0.00,108.03,0.000,0.000,0.483,426,1698,956,-12.31,-0.03,410.14
$IRIDIUM_FIX,2050.21,-15752.63,021299,212126
$TT8_MAMPS,0.029146
$HUMID,54.88
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.5,33.557
$10V_AH,10.3,28.062
$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,30.825,84.825,230.775,108.025,0.000,25.352,25.803,131.740,5.000,0.000,16.351,1038.435,6024.437,398.818,1604.678,421.500,0.000,1092.211,0.000,1581.258,0.000,35.011,0.000
$DEVICE_MAMPS,132.691,55.224,824.525,483.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,361.542,350.613,790.258,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,28618,537
$CAP_FILE_SIZE,97298,0
$CFSIZE,260165632,193228800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080910,025924,2059.250,-15748.603,26,1.2,43,9.8