version: 66.06
glider: 139
mission: 8
dive: 399
start: 9 9 110 3 36 25
data:
$ID,139
$MISSION,8
$DIVE,399
$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,-2159303.5
$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
$GPS1,033024,2101.067,-15750.643,25,1.0,43,9.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-69.1
$GPS2,033608,2101.063,-15750.731,11,1.3,11,9.8
$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,47.1,16114,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.56,-58.4,0.0,0.0,0,88,0.00,0.00,-68.65,0.000,6,0.000,0.000,426,1713,2870,0,0,0,0,0,0
$GC,91,-1.56,-58.4,3.9,-3.9,13,110,12.48,2.33,0.00,0.000,4,0.133,0.022,2751,3115,2872,0,0,0,0,0,0
$GC,144,-1.24,-58.4,20.2,-27.8,23,151,0.32,2.42,0.00,0.000,6,0.081,0.034,2830,1700,2873,0,0,0,0,0,0
$GC,345,-1.33,-58.4,47.8,-14.0,49,347,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1699,2874,0,0,0,0,0,0
$GC,597,-1.43,-58.4,84.1,-15.0,69,602,0.17,2.42,0.00,0.000,4,0.051,0.047,2777,295,2875,0,0,0,0,0,0
$GC,674,-1.37,-58.4,99.5,-18.7,74,682,0.08,2.33,0.00,0.000,6,0.081,0.018,2797,1734,2875,0,0,0,0,0,0
$GC,937,-1.45,-58.4,134.5,-11.6,95,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1735,2876,0,0,0,0,0,0
$GC,1186,-1.56,-58.4,158.6,-8.7,115,1191,0.17,2.20,0.00,0.000,4,0.051,0.022,2743,3082,2877,0,0,0,0,0,0
$GC,1220,-1.65,-58.4,162.5,-11.3,117,1226,0.00,2.33,0.00,0.000,6,0.000,0.031,2743,1696,2877,0,0,0,0,0,0
$GC,1479,-1.65,-58.4,196.6,-13.8,138,1480,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1695,2878,0,0,0,0,0,0
$GC,1734,-1.69,-58.4,226.2,-10.5,151,1738,0.00,2.28,0.00,0.000,4,0.000,0.024,2743,3085,2878,0,0,0,0,0,0
$GC,1762,-1.78,-58.4,229.2,-9.5,152,1767,0.15,2.33,0.00,0.000,6,0.056,0.032,2695,1701,2878,0,0,0,0,0,0
$GC,2084,-1.74,-58.4,271.6,-13.7,168,2089,0.12,2.30,0.00,0.000,4,0.108,0.025,2720,3080,2878,0,0,0,0,0,0
$GC,2301,-1.81,-58.4,294.7,-9.3,177,2305,0.00,2.33,0.00,0.000,6,0.000,0.034,2720,1701,2878,0,0,0,0,0,0
$GC,2614,-1.84,-58.4,329.1,-11.6,186,2618,0.00,2.33,0.00,0.000,4,0.000,0.027,2720,3080,2877,0,0,0,0,0,0
$GC,2680,-1.92,-58.4,337.3,-12.7,187,2685,0.17,2.33,0.00,0.000,6,0.053,0.036,2669,1700,2877,0,0,0,0,0,0
$GC,3029,-1.84,-58.4,384.3,-13.0,196,3034,0.15,2.30,0.00,0.000,4,0.104,0.028,2698,3078,2875,0,0,0,0,0,0
$GC,3096,-1.88,-58.4,392.7,-11.0,197,3100,0.00,2.33,0.00,0.000,6,0.000,0.038,2698,1700,2874,0,0,0,0,0,0
$GC,3441,-1.88,-58.4,431.3,-11.3,206,3445,0.00,2.35,0.00,0.000,4,0.000,0.031,2698,3078,2873,0,0,0,0,0,0
$STATE,3586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3586,begin apogee
$GC,3595,-0.31,0.0,450.0,11.8,209,3648,1.58,0.00,49.30,0.819,6,0.082,0.000,3030,1703,2630,0,0,0,0,0,0
$STATE,3649,end apogee,CONTROL_FINISHED_OK
$STATE,3649,begin climb
$GC,3653,1.56,58.4,451.8,0.0,210,3711,1.75,2.53,50.12,0.805,4,0.030,0.054,3445,294,2390,0,0,0,0,0,0
$GC,3719,1.38,175.6,453.2,-2.7,211,3833,0.22,2.33,102.25,0.808,6,0.112,0.025,3404,1712,1912,0,0,0,0,0,0
$GC,4151,1.21,175.6,398.7,14.8,222,4153,0.20,0.00,0.00,0.000,6,0.105,0.000,3366,1713,1903,0,0,0,0,0,0
$GC,4477,1.13,175.6,358.6,11.9,230,4482,0.00,2.33,0.00,0.000,4,0.000,0.031,3365,3079,1899,0,0,0,0,0,0
$GC,4579,1.13,175.6,345.1,13.5,232,4583,0.00,2.40,0.00,0.000,6,0.000,0.041,3365,1700,1899,0,0,0,0,0,0
$GC,4894,1.04,175.6,299.8,15.4,240,4899,0.20,2.35,0.00,0.000,4,0.101,0.031,3327,3079,1896,0,0,0,0,0,0
$GC,4962,1.10,175.6,291.4,12.5,243,4966,0.00,2.40,0.00,0.000,6,0.000,0.038,3327,1693,1896,0,0,0,0,0,0
$GC,5292,1.10,175.6,252.0,9.9,259,5296,0.00,2.47,0.00,0.000,4,0.000,0.054,3327,288,1893,0,0,0,0,0,0
$GC,5410,1.03,175.6,238.6,10.7,264,5414,0.00,2.30,0.00,0.000,6,0.000,0.025,3327,1703,1890,0,0,0,0,0,0
$GC,5735,1.07,175.6,211.9,9.0,280,5739,0.00,2.47,0.00,0.000,4,0.000,0.052,3327,294,1890,0,0,0,0,0,0
$GC,5757,1.07,175.6,210.2,8.5,281,5761,0.00,2.28,0.00,0.000,6,0.000,0.025,3327,1693,1888,0,0,0,0,0,0
$GC,6084,1.13,175.6,182.7,9.1,302,6088,0.00,2.30,0.00,0.000,4,0.000,0.028,3327,3085,1887,0,0,0,0,0,0
$GC,6112,1.21,175.6,179.6,10.7,304,6117,0.15,2.35,0.00,0.000,6,0.060,0.035,3369,1696,1888,0,0,0,0,0,0
$GC,6380,1.17,175.6,150.1,9.7,325,6382,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,1696,1888,0,0,0,0,0,0
$GC,6629,1.17,175.6,130.8,8.8,345,6633,0.00,2.30,0.00,0.000,4,0.000,0.025,3370,3092,1888,0,0,0,0,0,0
$GC,6644,1.17,175.6,129.1,10.2,346,6648,0.00,2.35,0.00,0.000,6,0.000,0.032,3369,1699,1888,0,0,0,0,0,0
$GC,6903,1.17,175.6,99.8,10.8,366,6904,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,1699,1888,0,0,0,0,0,0
$GC,7157,1.26,228.7,81.6,3.1,386,7204,0.00,2.47,41.75,0.563,4,0.000,0.048,3369,292,1696,0,0,0,0,0,0
$GC,7242,1.23,244.6,78.1,6.5,392,7263,0.00,2.28,14.55,0.520,6,0.000,0.020,3370,1725,1631,0,0,0,0,0,0
$GC,7523,1.29,244.6,56.0,9.2,414,7528,0.00,2.45,0.00,0.000,4,0.000,0.045,3369,297,1628,0,0,0,0,0,0
$GC,7576,1.26,244.6,50.2,11.9,418,7580,0.00,2.22,0.00,0.000,6,0.000,0.018,3370,1712,1626,0,0,0,0,0,0
$GC,7839,1.31,244.6,19.9,11.6,450,7846,0.00,2.45,0.00,0.000,4,0.000,0.041,3369,302,1626,0,0,0,0,0,0
$GC,7857,1.31,244.6,17.0,13.0,453,7864,0.00,2.22,0.00,0.000,6,0.000,0.019,3370,1712,1626,0,0,0,0,0,0
$STATE,7957,end climb,SURFACE_DEPTH_REACHED
$STATE,7957,begin surface coast
$FINISH,1.0,1.005036
$STATE,7983,end surface coast,CONTROL_FINISHED_OK
$STATE,7983,begin surface
$SM_CCo,8005,86.90,0.483,0,0,958,410.14
$SM_GC,1.67,0.00,0.00,86.90,0.000,0.000,0.483,428,1712,958,-12.30,0.34,410.14
$IRIDIUM_FIX,2052.52,-15751.76,041299,010141
$TT8_MAMPS,0.029146
$HUMID,55.15
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.5,34.398
$10V_AH,10.4,28.776
$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,30.525,84.525,257.975,86.900,0.000,25.014,27.134,175.049,4.500,0.000,11.665,940.861,5193.728,375.034,1472.947,453.419,0.000,1041.169,0.000,1455.122,0.000,29.259,0.000
$DEVICE_MAMPS,133.458,54.457,819.156,483.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,323.417,317.298,722.404,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,25537,481
$CAP_FILE_SIZE,92776,0
$CFSIZE,260165632,192729088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090910,055227,2101.115,-15751.091,10,2.5,29,9.8