version: 66.06
glider: 139
mission: 8
dive: 398
start: 9 9 110 0 54 26
data:
$ID,139
$MISSION,8
$DIVE,398
$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,-2159291
$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
$GPS1,004855,2101.415,-15749.842,10,1.7,10,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-70.9
$GPS2,005409,2101.435,-15749.946,13,1.7,13,9.8
$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,46.5,14603,-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,-64.65,0.000,2,0.000,0.000,428,1694,2744,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.2,-3.1,12,104,12.50,0.00,-2.42,0.000,6,0.134,0.000,2754,1694,2871,0,0,0,0,0,0
$GC,305,-1.47,-58.4,51.7,-21.1,46,310,0.12,2.38,0.00,0.000,4,0.116,0.021,2777,3117,2874,0,0,0,0,0,0
$GC,414,-1.53,-58.4,71.3,-17.6,54,418,0.00,2.40,0.00,0.000,6,0.000,0.034,2777,1690,2874,0,0,0,0,0,0
$GC,679,-1.53,-58.4,114.1,-14.0,75,683,0.00,2.33,0.00,0.000,4,0.000,0.021,2777,3112,2875,0,0,0,0,0,0
$GC,760,-1.63,-58.4,123.3,-10.0,81,765,0.15,2.40,0.00,0.000,6,0.057,0.031,2732,1688,2875,0,0,0,0,0,0
$GC,1027,-1.63,-58.4,159.6,-13.2,102,1032,0.00,2.35,0.00,0.000,4,0.000,0.023,2732,3115,2876,0,0,0,0,0,0
$GC,1181,-1.70,-58.4,178.0,-11.1,113,1185,0.00,2.38,0.00,0.000,6,0.000,0.031,2732,1700,2877,0,0,0,0,0,0
$GC,1447,-1.70,-58.4,216.3,-14.2,131,1449,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1700,2878,0,0,0,0,0,0
$GC,1756,-1.70,-58.4,248.0,-8.8,146,1760,0.00,2.35,0.00,0.000,4,0.000,0.025,2732,3110,2878,0,0,0,0,0,0
$GC,1904,-1.79,-58.4,259.7,-8.0,152,1908,0.00,2.38,0.00,0.000,6,0.000,0.034,2732,1695,2877,0,0,0,0,0,0
$GC,2226,-1.82,-58.4,298.5,-14.0,168,2227,0.12,0.00,0.00,0.000,6,0.066,0.000,2694,1694,2877,0,0,0,0,0,0
$GC,2529,-1.78,-58.4,339.7,-12.9,176,2536,0.00,2.38,0.00,0.000,4,0.000,0.027,2694,3112,2876,0,0,0,0,0,0
$GC,2551,-1.78,-58.4,342.3,-11.6,176,2555,0.00,2.40,0.00,0.000,6,0.000,0.035,2693,1699,2876,0,0,0,0,0,0
$GC,2901,-1.78,-58.4,379.0,-9.7,185,2905,0.00,2.35,0.00,0.000,4,0.000,0.029,2694,3109,2874,0,0,0,0,0,0
$GC,2961,-1.78,-58.4,385.1,-9.9,186,2966,0.00,2.38,0.00,0.000,6,0.000,0.037,2694,1700,2874,0,0,0,0,0,0
$GC,3275,-1.78,-58.4,419.0,-11.1,194,3279,0.00,2.38,0.00,0.000,4,0.000,0.031,2694,3107,2872,0,0,0,0,0,0
$GC,3341,-1.81,-58.4,426.3,-10.9,195,3345,0.00,2.40,0.00,0.000,6,0.000,0.038,2694,1694,2872,0,0,0,0,0,0
$STATE,3602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3602,begin apogee
$GC,3608,-0.31,0.0,452.3,9.6,202,3661,1.62,0.00,49.38,0.815,6,0.083,0.000,3031,1693,2630,0,0,0,0,0,0
$STATE,3662,end apogee,CONTROL_FINISHED_OK
$STATE,3662,begin climb
$GC,3666,1.56,58.4,452.5,0.0,203,3723,1.75,0.00,50.12,0.800,6,0.030,0.000,3446,1693,2391,0,0,0,0,0,0
$GC,4037,1.32,93.1,436.9,4.8,212,4074,0.28,2.58,30.00,0.792,4,0.108,0.054,3390,291,2250,0,0,0,0,0,0
$GC,4191,1.04,93.1,426.3,8.5,215,4196,0.32,2.38,0.00,0.000,6,0.104,0.025,3328,1723,2244,0,0,0,0,0,0
$GC,4542,1.04,115.4,404.8,5.9,224,4567,0.00,2.35,19.75,0.771,4,0.000,0.033,3327,3088,2159,0,0,0,0,0,0
$GC,4644,1.06,134.6,398.7,6.2,226,4669,0.00,2.42,18.60,0.760,6,0.000,0.040,3328,1696,2081,0,0,0,0,0,0
$GC,5000,1.06,134.6,369.8,8.2,235,5004,0.00,2.40,0.00,0.000,4,0.000,0.032,3328,3093,2074,0,0,0,0,0,0
$GC,5118,1.06,134.6,359.3,8.7,237,5122,0.00,2.42,0.00,0.000,6,0.000,0.041,3327,1698,2074,0,0,0,0,0,0
$GC,5458,1.06,134.6,329.7,8.9,246,5459,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,1698,2071,0,0,0,0,0,0
$GC,5784,1.06,134.6,301.2,8.1,254,5788,0.00,2.38,0.00,0.000,4,0.000,0.031,3328,3096,2069,0,0,0,0,0,0
$GC,5966,1.13,159.0,289.1,5.7,261,5994,0.00,2.38,20.92,0.727,6,0.000,0.038,3327,1699,1981,0,0,0,0,0,0
$GC,6319,1.14,169.3,265.6,7.0,278,6335,0.00,2.47,9.90,0.650,4,0.000,0.052,3327,297,1939,0,0,0,0,0,0
$GC,6402,1.10,169.3,257.1,10.8,281,6406,0.00,2.33,0.00,0.000,6,0.000,0.025,3328,1714,1936,0,0,0,0,0,0
$GC,6724,1.14,169.3,229.8,8.2,297,6726,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,1718,1935,0,0,0,0,0,0
$GC,7031,1.19,169.3,206.1,8.0,312,7036,0.15,2.50,0.00,0.000,4,0.062,0.050,3369,294,1935,0,0,0,0,0,0
$GC,7066,1.04,169.3,202.7,11.1,313,7071,0.22,2.30,0.00,0.000,6,0.099,0.023,3326,1708,1932,0,0,0,0,0,0
$GC,7396,1.11,172.5,173.0,7.6,338,7401,0.00,2.47,0.00,0.000,4,0.000,0.049,3326,291,1932,0,0,0,0,0,0
$GC,7448,1.11,172.5,168.5,9.4,342,7453,0.00,2.28,0.00,0.000,6,0.000,0.022,3326,1718,1931,0,0,0,0,0,0
$GC,7715,1.20,177.4,147.1,7.5,363,7730,0.15,2.50,7.60,0.529,4,0.060,0.048,3369,294,1906,0,0,0,0,0,0
$GC,7735,1.20,177.4,145.0,8.5,364,7739,0.00,2.25,0.00,0.000,6,0.000,0.021,3370,1708,1905,0,0,0,0,0,0
$GC,7995,1.25,217.3,130.4,4.3,384,8036,0.00,2.53,35.92,0.594,4,0.000,0.044,3370,287,1743,0,0,0,0,0,0
$GC,8042,1.27,233.3,127.5,6.5,387,8066,0.00,2.30,15.57,0.557,6,0.000,0.021,3370,1722,1676,0,0,0,0,0,0
$GC,8318,1.32,233.3,96.1,9.8,409,8322,0.00,2.22,0.00,0.000,4,0.000,0.022,3370,3072,1673,0,0,0,0,0,0
$GC,8360,1.44,233.3,91.6,10.3,412,8365,0.20,2.33,0.00,0.000,6,0.049,0.031,3425,1697,1673,0,0,0,0,0,0
$GC,8623,1.37,233.3,61.6,10.7,432,8625,0.12,0.00,0.00,0.000,6,0.107,0.000,3401,1697,1673,0,0,0,0,0,0
$GC,8872,1.37,233.3,34.3,11.1,452,8876,0.00,2.40,0.00,0.000,4,0.000,0.045,3401,296,1672,0,0,0,0,0,0
$GC,8888,1.31,233.3,32.2,11.5,453,8893,0.00,2.20,0.00,0.000,6,0.000,0.018,3401,1711,1671,0,0,0,0,0,0
$STATE,9135,end climb,SURFACE_DEPTH_REACHED
$STATE,9136,begin surface coast
$FINISH,0.9,1.012507
$STATE,9161,end surface coast,CONTROL_FINISHED_OK
$STATE,9161,begin surface
$SM_CCo,9184,92.18,0.482,0,0,958,410.14
$SM_GC,1.58,0.00,0.00,92.18,0.000,0.000,0.482,427,1714,958,-12.30,0.42,410.14
$IRIDIUM_FIX,2057.14,-15751.76,031299,222243
$TT8_MAMPS,0.029146
$HUMID,55.00
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.5,34.317
$10V_AH,10.4,28.710
$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,30.450,85.600,257.775,92.175,0.000,27.358,33.507,131.622,4.500,0.000,13.184,1016.384,6163.114,387.329,1582.774,439.460,0.000,1094.180,0.000,1568.122,0.000,29.269,0.000
$DEVICE_MAMPS,134.225,54.457,814.554,481.676,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,345.934,328.408,722.804,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,28700,513
$CAP_FILE_SIZE,96705,0
$CFSIZE,260165632,192770048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090910,033024,2101.067,-15750.643,25,1.0,43,9.8