version: 66.06
glider: 139
mission: 8
dive: 392
start: 9 8 110 8 45 25
data:
$ID,139
$MISSION,8
$DIVE,392
$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,-2159182.2
$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
$GPS1,083536,2100.755,-15747.763,42,1.2,42,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-71.7
$GPS2,084508,2100.710,-15747.849,12,1.7,12,9.8
$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,32.2,12725,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.56,-58.4,0.0,0.0,0,84,0.00,0.00,-64.32,0.000,2,0.000,0.000,429,1689,2748,0,0,0,0,0,0
$GC,88,-1.56,-58.4,3.2,-3.0,12,112,12.40,2.40,-2.33,0.000,4,0.131,0.035,2752,3109,2872,0,0,0,0,0,0
$GC,228,-1.56,-58.4,33.2,-18.4,40,233,0.00,2.38,0.00,0.000,6,0.000,0.035,2753,1699,2873,0,0,0,0,0,0
$GC,493,-1.52,-58.4,82.1,-16.9,61,497,0.00,2.30,0.00,0.000,4,0.000,0.021,2752,3113,2874,0,0,0,0,0,0
$GC,507,-1.52,-58.4,84.6,-15.6,62,511,0.00,2.38,0.00,0.000,6,0.000,0.031,2752,1696,2874,0,0,0,0,0,0
$GC,768,-1.52,-58.4,120.9,-11.9,82,772,0.00,2.33,0.00,0.000,4,0.000,0.022,2753,3111,2875,0,0,0,0,0,0
$GC,792,-1.57,-58.4,124.2,-12.6,84,797,0.00,2.35,0.00,0.000,6,0.000,0.029,2753,1698,2875,0,0,0,0,0,0
$GC,1058,-1.57,-58.4,159.2,-14.5,105,1065,0.00,2.35,0.00,0.000,4,0.000,0.023,2753,3116,2876,0,0,0,0,0,0
$GC,1173,-1.66,-58.4,174.3,-12.1,113,1178,0.00,2.38,0.00,0.000,6,0.000,0.031,2752,1701,2875,0,0,0,0,0,0
$GC,1438,-1.72,-58.4,207.0,-10.1,132,1443,0.12,2.42,0.00,0.000,4,0.065,0.047,2713,290,2877,0,0,0,0,0,0
$GC,1490,-1.61,-58.4,214.7,-15.3,134,1495,0.17,2.33,0.00,0.000,6,0.097,0.019,2747,1734,2876,0,0,0,0,0,0
$GC,1814,-1.66,-58.4,249.1,-9.5,150,1818,0.00,2.28,0.00,0.000,4,0.000,0.027,2747,3096,2876,0,0,0,0,0,0
$GC,1846,-1.77,-58.4,252.3,-9.0,151,1851,0.15,2.33,0.00,0.000,6,0.058,0.032,2702,1701,2876,0,0,0,0,0,0
$GC,2166,-1.77,-58.4,287.2,-11.8,166,2167,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,1700,2875,0,0,0,0,0,0
$GC,2489,-1.77,-58.4,324.2,-11.5,177,2493,0.00,2.35,0.00,0.000,4,0.000,0.027,2702,3089,2874,0,0,0,0,0,0
$GC,2536,-1.82,-58.4,329.8,-11.6,178,2540,0.00,2.35,0.00,0.000,6,0.000,0.037,2702,1698,2874,0,0,0,0,0,0
$GC,2861,-1.82,-58.4,368.3,-12.0,186,2865,0.00,2.33,0.00,0.000,4,0.000,0.028,2702,3084,2873,0,0,0,0,0,0
$GC,2922,-1.86,-58.4,376.0,-12.1,187,2926,0.00,2.35,0.00,0.000,6,0.000,0.037,2702,1699,2873,0,0,0,0,0,0
$GC,3271,-1.86,-58.4,413.0,-10.2,196,3275,0.00,2.33,0.00,0.000,4,0.000,0.030,2702,3085,2871,0,0,0,0,0,0
$GC,3419,-1.91,-58.4,428.3,-11.2,199,3423,0.00,2.38,0.00,0.000,6,0.000,0.040,2702,1691,2869,0,0,0,0,0,0
$STATE,3655,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3655,begin apogee
$GC,3661,-0.31,0.0,454.2,10.9,205,3714,1.58,0.00,48.95,0.828,6,0.081,0.000,3030,1691,2630,0,0,0,0,0,0
$STATE,3715,end apogee,CONTROL_FINISHED_OK
$STATE,3715,begin climb
$GC,3718,1.56,58.4,455.2,0.0,206,3776,1.75,2.53,50.15,0.811,4,0.030,0.053,3448,293,2391,0,0,0,0,0,0
$GC,3905,1.18,96.1,450.5,4.5,210,3946,0.45,2.33,32.92,0.800,6,0.104,0.025,3362,1711,2238,0,0,0,0,0,0
$GC,4271,1.08,96.1,419.7,9.0,219,4272,0.15,0.00,0.00,0.000,6,0.109,0.000,3333,1711,2231,0,0,0,0,0,0
$GC,4596,1.05,105.9,395.7,7.0,227,4609,0.00,2.35,8.30,0.687,4,0.000,0.031,3333,3080,2198,0,0,0,0,0,0
$GC,4781,1.09,142.0,384.5,4.6,231,4820,0.00,2.40,33.38,0.792,6,0.000,0.039,3333,1696,2051,0,0,0,0,0,0
$GC,5146,1.09,142.0,350.8,10.8,240,5147,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,1696,2044,0,0,0,0,0,0
$GC,5469,1.10,149.1,323.3,7.3,248,5478,0.00,0.00,6.25,0.614,6,0.000,0.000,3333,1696,2022,0,0,0,0,0,0
$GC,5775,1.10,149.1,294.1,10.6,256,5776,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,1696,2019,0,0,0,0,0,0
$GC,6085,1.11,150.5,265.2,7.8,271,6089,0.00,2.45,0.00,0.000,4,0.000,0.054,3334,292,2018,0,0,0,0,0,0
$GC,6099,1.07,150.5,263.6,8.9,271,6105,0.00,2.33,0.00,0.000,6,0.000,0.026,3333,1710,2016,0,0,0,0,0,0
$GC,6417,1.07,150.5,234.6,8.9,287,6418,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,1715,2016,0,0,0,0,0,0
$GC,6724,1.10,170.5,207.3,6.1,302,6750,0.00,2.35,19.27,0.666,4,0.000,0.027,3333,3075,1935,0,0,0,0,0,0
$GC,6921,1.19,179.5,194.8,7.1,312,6936,0.12,2.33,9.60,0.597,6,0.067,0.035,3370,1699,1898,0,0,0,0,0,0
$GC,7196,1.16,179.5,165.9,12.0,334,7197,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,1699,1894,0,0,0,0,0,0
$GC,7447,1.16,179.5,139.2,10.2,354,7451,0.00,2.42,0.00,0.000,4,0.000,0.048,3369,290,1894,0,0,0,0,0,0
$GC,7466,1.06,179.5,137.1,10.6,355,7472,0.20,2.28,0.00,0.000,6,0.098,0.021,3331,1712,1892,0,0,0,0,0,0
$GC,7727,1.22,228.0,121.6,3.5,376,7776,0.15,2.55,42.72,0.601,4,0.059,0.048,3375,293,1699,0,0,0,0,0,0
$GC,7822,1.15,228.0,113.2,11.1,382,7827,0.12,2.28,0.00,0.000,6,0.107,0.021,3352,1691,1695,0,0,0,0,0,0
$GC,8084,1.28,236.1,93.5,7.2,402,8100,0.12,2.50,7.38,0.479,4,0.064,0.047,3390,295,1667,0,0,0,0,0,0
$GC,8161,1.21,236.1,86.1,10.3,407,8166,0.12,2.25,0.00,0.000,6,0.107,0.020,3365,1714,1664,0,0,0,0,0,0
$GC,8430,1.27,236.1,62.6,9.8,428,8434,0.00,2.47,0.00,0.000,4,0.000,0.045,3365,290,1664,0,0,0,0,0,0
$GC,8448,1.27,236.1,59.9,11.0,429,8455,0.00,2.28,0.00,0.000,6,0.000,0.020,3365,1708,1664,0,0,0,0,0,0
$GC,8709,1.35,236.1,31.6,11.8,450,8714,0.12,2.45,0.00,0.000,4,0.064,0.044,3405,292,1664,0,0,0,0,0,0
$GC,8757,1.25,236.1,24.1,14.4,459,8764,0.12,2.25,0.00,0.000,6,0.082,0.018,3376,1712,1663,0,0,0,0,0,0
$STATE,8927,end climb,SURFACE_DEPTH_REACHED
$STATE,8927,begin surface coast
$FINISH,1.0,1.010903
$STATE,8955,end surface coast,CONTROL_FINISHED_OK
$STATE,8955,begin surface
$SM_CCo,8977,90.90,0.482,0,0,957,410.14
$SM_GC,1.68,0.00,0.00,90.90,0.000,0.000,0.482,424,1714,957,-12.31,0.40,410.14
$IRIDIUM_FIX,2052.52,-15746.61,031299,080823
$TT8_MAMPS,0.029146
$HUMID,54.52
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.5,33.806
$10V_AH,10.2,28.282
$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,30.500,85.050,258.925,90.900,0.000,60.790,68.573,241.009,4.500,0.000,13.031,985.964,6116.983,395.552,1512.554,628.679,0.000,1072.313,0.000,1492.087,0.000,29.259,0.000
$DEVICE_MAMPS,131.157,53.690,827.593,482.443,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,339.377,321.477,715.219,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,28594,504
$CAP_FILE_SIZE,98499,0
$CFSIZE,260165632,193064960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080910,111743,2101.182,-15747.885,13,2.0,30,9.8