version: 66.06
glider: 139
mission: 8
dive: 397
start: 9 8 110 22 17 37
data:
$ID,139
$MISSION,8
$DIVE,397
$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,-2159277
$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
$GPS1,220207,2101.550,-15748.915,38,0.9,38,9.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-71.1
$GPS2,221720,2101.384,-15749.105,12,1.7,12,9.8
$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,42.7,13475,-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,-58.4,0.0,0.0,0,87,0.00,0.00,-68.32,0.000,6,0.000,0.000,423,1715,2870,0,0,0,0,0,0
$GC,91,-1.56,-58.4,3.8,-4.2,13,109,12.52,0.00,0.00,0.000,6,0.134,0.000,2754,1715,2872,0,0,0,0,0,0
$GC,308,-1.47,-58.4,50.7,-17.9,44,313,0.12,2.30,0.00,0.000,4,0.117,0.022,2777,3113,2873,0,0,0,0,0,0
$GC,335,-1.47,-58.4,55.6,-16.9,46,339,0.00,2.38,0.00,0.000,6,0.000,0.032,2777,1696,2873,0,0,0,0,0,0
$GC,599,-1.47,-58.4,99.0,-15.5,67,604,0.00,2.40,0.00,0.000,4,0.000,0.047,2777,285,2874,0,0,0,0,0,0
$GC,646,-1.47,-58.4,107.2,-16.4,70,651,0.00,2.33,0.00,0.000,6,0.000,0.018,2777,1738,2874,0,0,0,0,0,0
$GC,915,-1.55,-58.4,140.8,-10.7,91,919,0.00,2.50,0.00,0.000,4,0.000,0.044,2777,289,2875,0,0,0,0,0,0
$GC,934,-1.58,-58.4,143.8,-11.5,92,941,0.08,2.28,0.00,0.000,6,0.041,0.018,2744,1716,2874,0,0,0,0,0,0
$GC,1197,-1.58,-58.4,178.1,-12.9,113,1201,0.00,2.22,0.00,0.000,4,0.000,0.022,2743,3078,2875,0,0,0,0,0,0
$GC,1250,-1.66,-58.4,185.3,-12.6,117,1254,0.00,2.33,0.00,0.000,6,0.000,0.031,2744,1694,2875,0,0,0,0,0,0
$GC,1509,-1.70,-58.4,217.8,-11.6,133,1510,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,1693,2875,0,0,0,0,0,0
$GC,1816,-1.75,-58.4,252.2,-10.4,148,1821,0.12,2.28,0.00,0.000,4,0.067,0.025,2704,3071,2875,0,0,0,0,0,0
$GC,1915,-1.75,-58.4,262.5,-11.0,152,1919,0.00,2.30,0.00,0.000,6,0.000,0.034,2704,1695,2875,0,0,0,0,0,0
$GC,2235,-1.75,-58.4,297.7,-10.4,168,2239,0.00,2.28,0.00,0.000,4,0.000,0.025,2704,3067,2874,0,0,0,0,0,0
$GC,2262,-1.75,-58.4,300.7,-11.0,169,2266,0.00,2.30,0.00,0.000,6,0.000,0.035,2704,1701,2874,0,0,0,0,0,0
$GC,2605,-1.75,-58.4,344.3,-13.1,178,2606,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,1701,2873,0,0,0,0,0,0
$GC,2929,-1.75,-58.4,383.4,-11.8,186,2933,0.00,2.28,0.00,0.000,4,0.000,0.028,2704,3071,2871,0,0,0,0,0,0
$GC,2990,-1.79,-58.4,390.6,-10.8,187,2995,0.00,2.33,0.00,0.000,6,0.000,0.038,2704,1697,2871,0,0,0,0,0,0
$GC,3341,-1.79,-58.4,428.7,-10.9,196,3345,0.00,2.30,0.00,0.000,4,0.000,0.030,2704,3065,2868,0,0,0,0,0,0
$STATE,3552,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3552,begin apogee
$GC,3561,-0.31,0.0,450.1,9.0,200,3615,1.52,0.00,48.62,0.822,6,0.083,0.000,3025,1694,2630,0,0,0,0,0,0
$STATE,3616,end apogee,CONTROL_FINISHED_OK
$STATE,3616,begin climb
$GC,3619,1.56,58.4,451.4,0.0,202,3678,1.83,2.45,50.40,0.806,4,0.031,0.031,3450,3072,2391,0,0,0,0,0,0
$GC,3715,1.36,126.7,450.8,1.7,204,3783,0.28,2.38,59.83,0.808,6,0.107,0.037,3399,1693,2113,0,0,0,0,0,0
$GC,4107,1.19,126.7,410.7,11.0,213,4112,0.20,2.35,0.00,0.000,4,0.107,0.029,3360,3066,2104,0,0,0,0,0,0
$GC,4353,1.14,126.7,386.9,9.2,218,4357,0.00,2.35,0.00,0.000,6,0.000,0.041,3361,1701,2102,0,0,0,0,0,0
$GC,4704,1.04,126.7,356.5,8.7,227,4709,0.17,2.30,0.00,0.000,4,0.109,0.031,3328,3069,2097,0,0,0,0,0,0
$GC,4784,1.05,130.0,350.6,7.6,228,4788,0.00,2.35,0.00,0.000,6,0.000,0.041,3328,1702,2097,0,0,0,0,0,0
$GC,5116,1.07,149.8,328.6,6.1,236,5136,0.00,0.00,18.38,0.746,6,0.000,0.000,3327,1701,2019,0,0,0,0,0,0
$GC,5439,1.07,149.8,301.7,9.4,244,5444,0.00,2.50,0.00,0.000,4,0.000,0.054,3327,289,2014,0,0,0,0,0,0
$GC,5454,1.04,149.8,300.0,9.9,244,5458,0.00,2.33,0.00,0.000,6,0.000,0.027,3328,1694,2013,0,0,0,0,0,0
$GC,5789,1.04,149.8,268.8,8.3,260,5793,0.00,2.33,0.00,0.000,4,0.000,0.029,3328,3079,2011,0,0,0,0,0,0
$GC,5876,1.11,161.7,261.8,6.8,263,5893,0.00,2.38,11.30,0.667,6,0.000,0.038,3328,1697,1969,0,0,0,0,0,0
$GC,6217,1.17,175.8,238.9,6.6,280,6240,0.12,2.38,13.35,0.663,4,0.070,0.026,3363,3087,1912,0,0,0,0,0,0
$GC,6255,1.17,179.6,235.8,7.5,281,6265,0.00,2.40,5.20,0.520,6,0.000,0.036,3362,1699,1897,0,0,0,0,0,0
$GC,6578,1.13,179.6,207.2,9.8,297,6582,0.00,2.33,0.00,0.000,4,0.000,0.027,3363,3079,1894,0,0,0,0,0,0
$GC,6777,1.13,179.6,186.8,10.5,309,6783,0.00,2.35,0.00,0.000,6,0.000,0.035,3363,1694,1894,0,0,0,0,0,0
$GC,7037,1.13,179.6,160.0,9.5,330,7041,0.00,2.42,0.00,0.000,4,0.000,0.048,3363,296,1892,0,0,0,0,0,0
$GC,7055,1.06,179.6,158.1,9.9,331,7060,0.15,2.25,0.00,0.000,6,0.107,0.022,3334,1710,1890,0,0,0,0,0,0
$GC,7318,1.14,190.4,138.1,6.9,351,7335,0.00,2.55,9.75,0.555,4,0.000,0.048,3334,296,1853,0,0,0,0,0,0
$GC,7474,1.14,190.4,125.6,8.7,362,7478,0.00,2.25,0.00,0.000,6,0.000,0.021,3334,1709,1851,0,0,0,0,0,0
$GC,7736,1.28,200.0,105.7,7.0,382,7752,0.20,2.25,10.15,0.524,4,0.050,0.022,3390,3070,1812,0,0,0,0,0,0
$GC,8010,1.32,200.0,82.5,9.6,401,8016,0.00,2.30,0.00,0.000,6,0.000,0.031,3390,1695,1812,0,0,0,0,0,0
$GC,8270,1.32,200.0,60.3,8.1,422,8271,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,1695,1813,0,0,0,0,0,0
$GC,8524,1.33,207.5,40.4,7.2,442,8539,0.00,2.30,8.30,0.446,4,0.000,0.020,3390,3072,1782,0,0,0,0,0,0
$GC,8549,1.35,217.9,38.2,7.0,443,8569,0.00,2.33,10.45,0.463,6,0.000,0.030,3390,1705,1740,0,0,0,0,0,0
$GC,8825,1.35,217.9,11.2,11.0,491,8832,0.00,2.25,0.00,0.000,4,0.000,0.021,3389,3068,1739,0,0,0,0,0,0
$STATE,8892,end climb,SURFACE_DEPTH_REACHED
$STATE,8892,begin surface coast
$FINISH,2.1,1.023263
$STATE,8898,end surface coast,CONTROL_FINISHED_OK
$STATE,8898,begin surface
$SM_CCo,8924,104.70,0.481,0,0,957,410.14
$SM_GC,1.63,0.00,0.00,104.70,0.000,0.000,0.481,428,1693,957,-12.30,-0.20,410.14
$IRIDIUM_FIX,2054.83,-15749.62,031299,222254
$TT8_MAMPS,0.029146
$HUMID,55.07
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.5,34.240
$10V_AH,10.3,28.643
$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,30.050,93.575,245.725,104.700,0.000,113.133,169.040,304.971,4.500,0.000,12.341,1013.148,6030.250,421.652,1620.959,854.782,0.000,1133.493,0.000,1602.285,0.000,29.268,0.000
$DEVICE_MAMPS,134.225,54.457,822.224,480.909,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,340.974,325.952,739.789,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,28707,507
$CAP_FILE_SIZE,103839,0
$CFSIZE,260165632,192811008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090910,004855,2101.415,-15749.842,10,1.7,10,9.8