version: 66.06
glider: 139
mission: 8
dive: 395
start: 9 8 110 16 54 37
data:
$ID,139
$MISSION,8
$DIVE,395
$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,-2159246.5
$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
$GPS1,164852,2101.194,-15749.230,10,4.9,29,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-70.5
$GPS2,165420,2101.183,-15749.229,13,1.7,13,9.8
$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,42.0,13874,-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,-64.45,0.000,2,0.000,0.000,426,1690,2747,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.2,-3.0,12,110,12.50,2.40,-2.40,0.000,4,0.133,0.036,2753,3107,2873,0,0,0,0,0,0
$GC,175,-1.59,-58.4,25.4,-19.7,30,182,0.00,2.40,0.00,0.000,6,0.000,0.032,2753,1702,2874,0,0,0,0,0,0
$GC,375,-1.51,-58.4,63.9,-19.0,48,377,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1702,2875,0,0,0,0,0,0
$GC,627,-1.51,-58.4,109.0,-14.8,68,631,0.00,2.33,0.00,0.000,4,0.000,0.022,2753,3118,2875,0,0,0,0,0,0
$GC,683,-1.55,-58.4,117.9,-14.9,72,687,0.00,2.40,0.00,0.000,6,0.000,0.031,2753,1691,2875,0,0,0,0,0,0
$GC,943,-1.55,-58.4,154.6,-11.0,92,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1690,2877,0,0,0,0,0,0
$GC,1195,-1.59,-58.4,184.2,-13.5,112,1196,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1690,2877,0,0,0,0,0,0
$GC,1445,-1.65,-58.4,220.6,-16.8,128,1446,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1690,2877,0,0,0,0,0,0
$GC,1756,-1.73,-58.4,268.3,-15.1,143,1761,0.12,2.38,0.00,0.000,4,0.066,0.025,2712,3109,2878,0,0,0,0,0,0
$GC,1785,-1.79,-58.4,273.0,-14.1,144,1789,0.00,2.38,0.00,0.000,6,0.000,0.033,2711,1696,2878,0,0,0,0,0,0
$GC,2105,-1.79,-58.4,309.2,-9.8,158,2109,0.00,2.35,0.00,0.000,4,0.000,0.027,2711,3111,2877,0,0,0,0,0,0
$GC,2299,-1.84,-58.4,327.1,-11.1,162,2303,0.00,2.38,0.00,0.000,6,0.000,0.035,2711,1699,2877,0,0,0,0,0,0
$GC,2621,-1.84,-58.4,360.8,-10.7,170,2622,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1699,2875,0,0,0,0,0,0
$GC,2942,-1.84,-58.4,396.8,-11.5,178,2946,0.00,2.38,0.00,0.000,4,0.000,0.030,2711,3112,2874,0,0,0,0,0,0
$GC,3022,-1.91,-58.4,405.9,-10.8,179,3027,0.12,2.40,0.00,0.000,6,0.069,0.039,2676,1702,2873,0,0,0,0,0,0
$STATE,3356,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3356,begin apogee
$GC,3362,-0.31,0.0,450.5,13.8,188,3416,1.70,0.00,49.47,0.824,6,0.084,0.000,3030,1702,2630,0,0,0,0,0,0
$STATE,3416,end apogee,CONTROL_FINISHED_OK
$STATE,3417,begin climb
$GC,3419,1.56,58.4,452.3,0.0,189,3477,1.77,2.53,50.03,0.805,4,0.030,0.054,3450,295,2390,0,0,0,0,0,0
$GC,3741,1.16,78.4,441.0,6.1,196,3766,0.50,2.35,17.10,0.764,6,0.105,0.025,3354,1724,2310,0,0,0,0,0,0
$GC,4109,1.07,82.0,412.0,7.6,205,4119,0.12,2.55,3.85,0.489,4,0.117,0.054,3331,293,2295,0,0,0,0,0,0
$GC,4222,0.94,102.2,404.1,6.1,207,4247,0.12,2.35,19.17,0.773,6,0.120,0.028,3309,1711,2213,0,0,0,0,0,0
$GC,4575,0.99,139.2,385.1,4.6,216,4614,0.00,0.00,34.15,0.794,6,0.000,0.000,3309,1713,2061,0,0,0,0,0,0
$GC,4941,1.02,139.2,356.0,9.6,225,4946,0.00,2.50,0.00,0.000,4,0.000,0.055,3308,296,2055,0,0,0,0,0,0
$GC,5016,0.96,139.2,346.6,12.4,226,5020,0.00,2.33,0.00,0.000,6,0.000,0.028,3308,1694,2052,0,0,0,0,0,0
$GC,5353,1.00,139.2,308.0,11.1,235,5357,0.00,2.33,0.00,0.000,4,0.000,0.031,3308,3085,2051,0,0,0,0,0,0
$GC,5391,1.08,139.2,304.4,8.2,235,5397,0.12,2.40,0.00,0.000,6,0.070,0.039,3344,1698,2050,0,0,0,0,0,0
$GC,5706,1.13,184.3,284.1,3.8,249,5748,0.00,0.00,39.50,0.748,6,0.000,0.000,3343,1698,1878,0,0,0,0,0,0
$GC,6056,1.14,190.5,260.9,7.3,266,6068,0.00,2.55,6.00,0.570,4,0.000,0.054,3344,293,1853,0,0,0,0,0,0
$GC,6102,1.04,190.5,256.3,11.2,268,6106,0.00,2.33,0.00,0.000,6,0.000,0.026,3344,1707,1851,0,0,0,0,0,0
$GC,6437,1.04,190.5,218.9,11.1,284,6441,0.00,2.47,0.00,0.000,4,0.000,0.051,3344,294,1849,0,0,0,0,0,0
$GC,6519,0.96,190.5,207.7,15.5,287,6526,0.17,2.30,0.00,0.000,6,0.104,0.025,3310,1710,1847,0,0,0,0,0,0
$GC,6844,1.06,190.5,172.3,8.5,311,6845,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,1714,1847,0,0,0,0,0,0
$GC,7094,1.17,191.7,154.7,7.8,331,7096,0.20,0.00,0.00,0.000,6,0.051,0.000,3366,1714,1846,0,0,0,0,0,0
$GC,7346,1.17,191.7,122.1,15.0,351,7347,0.00,0.00,0.00,0.000,6,0.000,0.000,3366,1715,1846,0,0,0,0,0,0
$GC,7598,1.17,191.7,93.8,10.2,371,7599,0.00,0.00,0.00,0.000,6,0.000,0.000,3366,1715,1846,0,0,0,0,0,0
$GC,7851,1.24,213.0,75.3,6.0,391,7880,0.00,2.53,19.90,0.545,4,0.000,0.047,3366,301,1760,0,0,0,0,0,0
$GC,7925,1.24,213.0,70.1,8.0,396,7929,0.00,2.25,0.00,0.000,6,0.000,0.020,3366,1715,1758,0,0,0,0,0,0
$GC,8191,1.32,215.7,51.3,7.6,417,8196,0.00,2.45,0.00,0.000,4,0.000,0.045,3366,291,1757,0,0,0,0,0,0
$GC,8225,1.28,215.7,48.1,9.8,419,8231,0.00,2.28,0.00,0.000,6,0.000,0.020,3367,1714,1756,0,0,0,0,0,0
$GC,8488,1.35,215.7,25.7,8.9,446,8495,0.12,2.50,0.00,0.000,4,0.063,0.045,3407,294,1756,0,0,0,0,0,0
$GC,8530,1.25,215.7,21.1,10.8,454,8537,0.12,2.22,0.00,0.000,6,0.082,0.018,3378,1703,1756,0,0,0,0,0,0
$STATE,8713,end climb,SURFACE_DEPTH_REACHED
$STATE,8713,begin surface coast
$FINISH,0.9,1.022692
$STATE,8749,end surface coast,CONTROL_FINISHED_OK
$STATE,8749,begin surface
$SM_CCo,8772,109.68,0.487,0,0,957,410.14
$SM_GC,1.67,0.00,0.00,109.68,0.000,0.000,0.487,430,1703,957,-12.28,0.08,410.14
$IRIDIUM_FIX,2052.52,-15747.49,031299,141449
$TT8_MAMPS,0.029146
$HUMID,54.68
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.5,34.065
$10V_AH,10.3,28.499
$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,30.400,66.975,239.175,109.675,0.000,25.996,31.917,144.441,4.500,0.000,13.759,965.876,5915.766,415.818,1477.595,433.092,0.000,1046.919,0.000,1470.250,0.000,29.248,0.000
$DEVICE_MAMPS,133.458,55.224,823.758,487.045,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,339.414,324.321,744.811,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,28701,504
$CAP_FILE_SIZE,88358,0
$CFSIZE,260165632,192921600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080910,192406,2101.410,-15748.901,47,1.0,47,9.8