version: 66.06
glider: 139
mission: 8
dive: 400
start: 9 9 110 5 58 37
data:
$ID,139
$MISSION,8
$DIVE,400
$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,-2159340.8
$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
$GPS1,055227,2101.115,-15751.091,10,2.5,29,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-73.0
$GPS2,055822,2101.096,-15751.146,16,2.7,35,9.8
$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,48.6,16687,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.56,-58.4,0.0,0.0,0,82,0.00,0.00,-64.18,0.000,2,0.000,0.000,427,1711,2733,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.3,-3.0,12,110,12.45,2.38,-2.65,0.000,4,0.133,0.038,2751,3110,2871,0,0,0,0,0,0
$GC,152,-1.56,-58.4,20.0,-18.7,25,159,0.00,2.42,0.00,0.000,6,0.000,0.032,2751,1696,2872,0,0,0,0,0,0
$GC,352,-1.47,-58.4,56.7,-19.5,49,357,0.12,2.38,0.00,0.000,4,0.116,0.021,2775,3119,2873,0,0,0,0,0,0
$GC,372,-1.47,-58.4,60.8,-18.4,50,378,0.00,2.42,0.00,0.000,6,0.000,0.033,2774,1699,2873,0,0,0,0,0,0
$GC,632,-1.51,-58.4,98.0,-11.8,71,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1699,2874,0,0,0,0,0,0
$GC,885,-1.55,-58.4,125.8,-11.4,91,889,0.00,2.33,0.00,0.000,4,0.000,0.021,2775,3112,2876,0,0,0,0,0,0
$GC,923,-1.67,-58.4,130.3,-11.6,94,928,0.17,2.38,0.00,0.000,6,0.051,0.031,2721,1689,2876,0,0,0,0,0,0
$GC,1189,-1.63,-58.4,163.2,-12.4,115,1191,0.12,0.00,0.00,0.000,6,0.106,0.000,2746,1689,2876,0,0,0,0,0,0
$GC,1442,-1.63,-58.4,188.5,-9.5,135,1446,0.00,2.35,0.00,0.000,4,0.000,0.024,2746,3121,2877,0,0,0,0,0,0
$GC,1551,-1.71,-58.4,197.6,-8.4,143,1556,0.00,2.40,0.00,0.000,6,0.000,0.031,2746,1689,2877,0,0,0,0,0,0
$GC,1817,-1.75,-58.4,219.1,-7.7,157,1822,0.12,2.35,0.00,0.000,4,0.064,0.025,2705,3111,2876,0,0,0,0,0,0
$GC,1862,-1.75,-58.4,222.9,-9.0,159,1866,0.00,2.35,0.00,0.000,6,0.000,0.032,2705,1700,2877,0,0,0,0,0,0
$GC,2193,-1.75,-58.4,264.5,-14.9,175,2198,0.00,2.33,0.00,0.000,4,0.000,0.025,2705,3114,2876,0,0,0,0,0,0
$GC,2226,-1.79,-58.4,269.5,-13.8,176,2230,0.00,2.40,0.00,0.000,6,0.000,0.034,2705,1694,2876,0,0,0,0,0,0
$GC,2562,-1.79,-58.4,313.0,-13.5,190,2563,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1693,2876,0,0,0,0,0,0
$GC,2886,-1.79,-58.4,354.2,-12.0,198,2890,0.00,2.35,0.00,0.000,4,0.000,0.028,2705,3109,2875,0,0,0,0,0,0
$GC,3076,-1.83,-58.4,378.7,-13.6,202,3081,0.00,2.38,0.00,0.000,6,0.000,0.036,2705,1701,2874,0,0,0,0,0,0
$GC,3395,-1.83,-58.4,420.2,-13.0,210,3399,0.00,2.38,0.00,0.000,4,0.000,0.031,2705,3108,2873,0,0,0,0,0,0
$GC,3535,-1.90,-58.4,437.4,-12.9,213,3539,0.00,2.42,0.00,0.000,6,0.000,0.040,2705,1695,2871,0,0,0,0,0,0
$STATE,3657,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3657,begin apogee
$GC,3663,-0.31,0.0,452.9,12.1,216,3716,1.55,0.00,49.42,0.821,6,0.079,0.000,3031,1695,2631,0,0,0,0,0,0
$STATE,3717,end apogee,CONTROL_FINISHED_OK
$STATE,3717,begin climb
$GC,3720,1.56,58.4,455.0,0.0,217,3774,1.77,0.00,50.70,0.807,6,0.028,0.000,3449,1694,2391,0,0,0,0,0,0
$GC,4067,1.33,112.8,450.5,3.0,226,4121,0.28,2.45,47.30,0.814,4,0.104,0.032,3393,3107,2170,0,0,0,0,0,0
$GC,4137,1.18,112.8,446.0,8.4,227,4142,0.17,2.47,0.00,0.000,6,0.110,0.040,3361,1699,2169,0,0,0,0,0,0
$GC,4475,1.09,115.9,417.0,7.6,236,4480,0.12,2.42,0.00,0.000,4,0.117,0.032,3338,3113,2162,0,0,0,0,0,0
$GC,4504,1.13,144.3,415.1,5.3,236,4538,0.00,2.47,28.05,0.792,6,0.000,0.039,3338,1690,2040,0,0,0,0,0,0
$GC,4887,1.15,164.8,391.2,6.0,246,4912,0.00,2.50,18.70,0.769,4,0.000,0.031,3338,3102,1958,0,0,0,0,0,0
$GC,4932,1.16,171.8,387.8,7.3,247,4945,0.00,2.45,8.05,0.670,6,0.000,0.041,3338,1692,1929,0,0,0,0,0,0
$GC,5260,1.16,171.8,353.9,10.9,255,5264,0.00,2.42,0.00,0.000,4,0.000,0.031,3338,3107,1923,0,0,0,0,0,0
$GC,5316,1.16,171.8,348.1,10.1,256,5320,0.00,2.45,0.00,0.000,6,0.000,0.041,3338,1699,1923,0,0,0,0,0,0
$GC,5629,1.17,180.1,323.2,7.1,264,5639,0.00,0.00,7.53,0.649,6,0.000,0.000,3338,1699,1895,0,0,0,0,0,0
$GC,5937,1.17,180.1,291.2,12.2,273,5942,0.00,2.50,0.00,0.000,4,0.000,0.056,3338,288,1892,0,0,0,0,0,0
$GC,6151,1.10,180.1,261.2,13.1,282,6155,0.00,2.35,0.00,0.000,6,0.000,0.025,3338,1729,1888,0,0,0,0,0,0
$GC,6472,1.10,180.1,227.5,9.7,298,6476,0.00,2.25,0.00,0.000,4,0.000,0.028,3338,3084,1888,0,0,0,0,0,0
$GC,6564,1.17,180.1,217.5,11.1,302,6569,0.00,2.38,0.00,0.000,6,0.000,0.037,3338,1696,1888,0,0,0,0,0,0
$GC,6884,1.17,180.1,185.5,9.7,322,6885,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,1697,1888,0,0,0,0,0,0
$GC,7136,1.17,180.1,160.0,10.2,342,7140,0.00,2.33,0.00,0.000,4,0.000,0.025,3338,3089,1888,0,0,0,0,0,0
$GC,7231,1.24,180.1,150.6,9.1,349,7236,0.15,2.38,0.00,0.000,6,0.060,0.035,3381,1693,1887,0,0,0,0,0,0
$GC,7497,1.20,180.1,121.2,10.4,370,7501,0.00,2.40,0.00,0.000,4,0.000,0.048,3381,293,1887,0,0,0,0,0,0
$GC,7527,1.04,180.1,118.2,10.2,372,7532,0.25,2.28,0.00,0.000,6,0.091,0.021,3331,1722,1885,0,0,0,0,0,0
$GC,7787,1.13,180.1,97.9,7.9,392,7792,0.00,2.47,0.00,0.000,4,0.000,0.048,3330,291,1885,0,0,0,0,0,0
$GC,7833,1.13,180.1,93.9,8.6,395,7838,0.00,2.25,0.00,0.000,6,0.000,0.021,3330,1708,1885,0,0,0,0,0,0
$GC,8096,1.26,196.9,74.7,6.4,416,8118,0.20,2.28,14.60,0.531,4,0.048,0.022,3389,3078,1826,0,0,0,0,0,0
$GC,8323,1.33,215.0,54.5,6.3,432,8346,0.00,2.35,17.20,0.518,6,0.000,0.030,3389,1697,1752,0,0,0,0,0,0
$GC,8613,1.33,215.0,32.7,10.0,455,8614,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,1698,1749,0,0,0,0,0,0
$GC,8866,1.33,215.0,6.3,9.7,509,8872,0.00,2.42,0.00,0.000,4,0.000,0.043,3389,296,1749,0,0,0,0,0,0
$GC,8894,1.28,215.0,3.5,10.2,514,8901,0.00,2.25,0.00,0.000,6,0.000,0.018,3389,1712,1747,0,0,0,0,0,0
$STATE,8906,end climb,SURFACE_DEPTH_REACHED
$STATE,8906,begin surface coast
$FINISH,0.9,1.023409
$STATE,8937,end surface coast,CONTROL_FINISHED_OK
$STATE,8937,begin surface
$SM_CCo,8960,111.12,0.488,0,0,958,410.14
$SM_GC,1.75,0.00,0.00,111.12,0.000,0.000,0.488,428,1714,958,-12.29,0.40,410.14
$IRIDIUM_FIX,2052.52,-15821.78,041299,030300
$TT8_MAMPS,0.029146
$HUMID,55.23
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.5,34.478
$10V_AH,10.2,28.847
$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,30.200,90.525,241.550,111.125,0.000,25.695,27.151,161.988,4.500,0.000,36.485,1029.456,5898.763,423.559,1625.832,447.963,0.000,1114.773,0.000,1581.556,0.000,29.254,0.000
$DEVICE_MAMPS,133.458,55.991,820.690,487.812,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,352.507,335.219,767.741,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,28637,523
$CAP_FILE_SIZE,98352,0
$CFSIZE,260165632,192675840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090910,083106,2101.318,-15751.016,39,1.0,39,9.8