version: 66.06
glider: 139
mission: 8
dive: 401
start: 9 9 110 8 37 31
data:
$ID,139
$MISSION,8
$DIVE,401
$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,-2159358.5
$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
$GPS1,083106,2101.318,-15751.016,39,1.0,39,9.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-72.6
$GPS2,083714,2101.252,-15751.069,16,1.1,16,9.8
$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,49.2,16424,-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,17,-1.56,-58.4,0.0,0.0,0,83,0.00,0.00,-64.15,0.000,2,0.000,0.000,428,1715,2767,0,0,0,0,0,0
$GC,86,-1.56,-58.4,3.9,-4.2,12,105,12.48,0.00,-1.90,0.000,6,0.133,0.000,2754,1715,2872,0,0,0,0,0,0
$GC,306,-1.47,-58.4,51.1,-18.6,44,311,0.12,2.35,0.00,0.000,4,0.114,0.024,2778,3120,2874,0,0,0,0,0,0
$GC,346,-1.52,-58.4,57.6,-14.9,47,350,0.00,2.42,0.00,0.000,6,0.000,0.033,2778,1691,2875,0,0,0,0,0,0
$GC,610,-1.58,-58.4,84.4,-8.5,68,614,0.00,2.33,0.00,0.000,4,0.000,0.021,2778,3112,2876,0,0,0,0,0,0
$GC,661,-1.70,-58.4,88.8,-8.5,71,667,0.22,2.35,0.00,0.000,6,0.044,0.031,2712,1699,2876,0,0,0,0,0,0
$GC,924,-1.64,-58.4,122.5,-14.2,92,929,0.15,2.42,0.00,0.000,4,0.100,0.047,2742,288,2877,0,0,0,0,0,0
$GC,1012,-1.58,-58.4,135.5,-13.8,98,1018,0.00,2.33,0.00,0.000,6,0.000,0.018,2742,1730,2877,0,0,0,0,0,0
$GC,1274,-1.58,-58.4,173.2,-15.2,119,1275,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1731,2877,0,0,0,0,0,0
$GC,1534,-1.58,-58.4,208.2,-11.7,138,1538,0.00,2.20,0.00,0.000,4,0.000,0.023,2742,3078,2878,0,0,0,0,0,0
$GC,1609,-1.67,-58.4,216.6,-11.5,141,1613,0.00,2.30,0.00,0.000,6,0.000,0.032,2742,1697,2878,0,0,0,0,0,0
$GC,1930,-1.70,-58.4,254.5,-12.4,157,1934,0.00,2.28,0.00,0.000,4,0.000,0.024,2742,3077,2878,0,0,0,0,0,0
$GC,1964,-1.79,-58.4,258.5,-11.5,158,1969,0.15,2.33,0.00,0.000,6,0.058,0.033,2697,1698,2878,0,0,0,0,0,0
$GC,2283,-1.75,-58.4,294.1,-10.4,173,2284,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1698,2877,0,0,0,0,0,0
$GC,2587,-1.75,-58.4,325.5,-9.7,182,2591,0.00,2.28,0.00,0.000,4,0.000,0.026,2697,3076,2877,0,0,0,0,0,0
$GC,2714,-1.75,-58.4,338.3,-9.4,184,2718,0.00,2.35,0.00,0.000,6,0.000,0.035,2697,1694,2877,0,0,0,0,0,0
$GC,3045,-1.75,-58.4,372.4,-10.0,192,3049,0.00,2.33,0.00,0.000,4,0.000,0.028,2697,3080,2875,0,0,0,0,0,0
$GC,3300,-1.80,-58.4,399.8,-10.4,197,3307,0.00,2.35,0.00,0.000,6,0.000,0.038,2697,1691,2874,0,0,0,0,0,0
$GC,3648,-1.80,-58.4,431.9,-9.9,206,3652,0.00,2.33,0.00,0.000,4,0.000,0.031,2697,3072,2872,0,0,0,0,0,0
$GC,3709,-1.85,-58.4,438.0,-9.0,207,3713,0.00,2.33,0.00,0.000,6,0.000,0.040,2697,1702,2871,0,0,0,0,0,0
$STATE,3854,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3854,begin apogee
$GC,3860,-0.31,0.0,451.8,9.6,211,3913,1.60,0.00,49.33,0.828,6,0.082,0.000,3031,1702,2630,0,0,0,0,0,0
$STATE,3914,end apogee,CONTROL_FINISHED_OK
$STATE,3914,begin climb
$GC,3918,1.56,58.4,452.5,0.0,212,3976,1.75,2.55,50.08,0.812,4,0.029,0.054,3445,286,2391,0,0,0,0,0,0
$GC,4072,1.20,109.4,448.3,3.3,215,4125,0.43,2.33,44.70,0.808,6,0.105,0.026,3365,1702,2184,0,0,0,0,0,0
$GC,4461,1.11,127.5,422.7,6.3,225,4480,0.10,0.00,16.12,0.764,6,0.122,0.000,3346,1703,2110,0,0,0,0,0,0
$GC,4787,1.04,127.5,394.3,10.1,233,4791,0.00,2.33,0.00,0.000,4,0.000,0.032,3346,3080,2104,0,0,0,0,0,0
$GC,4830,1.01,127.5,390.4,8.4,234,4835,0.12,2.40,0.00,0.000,6,0.120,0.041,3323,1699,2103,0,0,0,0,0,0
$GC,5159,1.02,137.0,365.2,7.0,242,5169,0.00,0.00,8.55,0.693,6,0.000,0.000,3323,1699,2070,0,0,0,0,0,0
$GC,5485,1.06,169.3,345.6,5.0,250,5521,0.00,2.45,30.02,0.783,4,0.000,0.031,3323,3078,1939,0,0,0,0,0,0
$GC,5566,1.15,185.2,341.0,6.5,251,5587,0.12,2.40,15.50,0.736,6,0.069,0.041,3359,1699,1875,0,0,0,0,0,0
$GC,5905,1.09,185.2,309.7,9.4,260,5906,0.00,0.00,0.00,0.000,6,0.000,0.000,3358,1700,1868,0,0,0,0,0,0
$GC,6209,1.06,185.2,272.9,13.8,272,6214,0.15,2.50,0.00,0.000,4,0.103,0.057,3329,290,1867,0,0,0,0,0,0
$GC,6394,1.01,185.2,247.5,13.3,280,6398,0.00,2.33,0.00,0.000,6,0.000,0.025,3329,1701,1863,0,0,0,0,0,0
$GC,6719,1.06,185.2,208.4,11.6,296,6723,0.00,2.33,0.00,0.000,4,0.000,0.028,3330,3089,1862,0,0,0,0,0,0
$GC,6809,1.14,185.2,198.8,9.8,300,6816,0.00,2.40,0.00,0.000,6,0.000,0.038,3329,1703,1862,0,0,0,0,0,0
$GC,7069,1.19,185.2,175.2,8.4,321,7074,0.12,2.45,0.00,0.000,4,0.067,0.051,3366,296,1862,0,0,0,0,0,0
$GC,7090,1.12,185.2,172.9,10.7,322,7097,0.08,2.33,0.00,0.000,6,0.088,0.023,3349,1715,1860,0,0,0,0,0,0
$GC,7351,1.12,185.2,149.9,8.9,343,7352,0.00,0.00,0.00,0.000,6,0.000,0.000,3349,1720,1860,0,0,0,0,0,0
$GC,7603,1.13,192.6,130.7,7.2,363,7617,0.00,2.50,5.60,0.478,4,0.000,0.048,3348,283,1843,0,0,0,0,0,0
$GC,7641,1.05,192.6,127.3,9.0,365,7646,0.00,2.28,0.00,0.000,6,0.000,0.021,3348,1705,1842,0,0,0,0,0,0
$GC,7903,1.11,204.4,108.6,6.8,386,7921,0.00,2.53,11.90,0.545,4,0.000,0.047,3348,293,1796,0,0,0,0,0,0
$GC,8003,1.11,204.4,99.4,9.4,393,8007,0.00,2.28,0.00,0.000,6,0.000,0.020,3349,1704,1793,0,0,0,0,0,0
$GC,8270,1.22,233.1,79.1,5.3,414,8302,0.00,2.33,25.90,0.551,4,0.000,0.023,3349,3073,1678,0,0,0,0,0,0
$GC,8343,1.41,258.0,75.4,5.6,419,8373,0.25,2.35,22.40,0.535,6,0.042,0.034,3416,1697,1578,0,0,0,0,0,0
$GC,8625,1.36,258.0,43.9,12.5,441,8629,0.00,2.40,0.00,0.000,4,0.000,0.047,3416,297,1575,0,0,0,0,0,0
$GC,8666,1.23,258.0,37.6,17.0,444,8671,0.25,2.25,0.00,0.000,6,0.088,0.018,3366,1715,1572,0,0,0,0,0,0
$GC,8931,1.28,258.0,8.1,13.4,494,8937,0.00,2.47,0.00,0.000,4,0.000,0.044,3366,301,1572,0,0,0,0,0,0
$STATE,8967,end climb,SURFACE_DEPTH_REACHED
$STATE,8967,begin surface coast
$FINISH,2.2,1.023330
$STATE,8973,end surface coast,CONTROL_FINISHED_OK
$STATE,8974,begin surface
$SM_CCo,8999,83.28,0.486,0,0,958,410.14
$SM_GC,1.61,0.00,0.00,83.28,0.000,0.000,0.486,428,1694,958,-12.29,-0.17,410.14
$IRIDIUM_FIX,2052.52,-15749.62,041299,060603
$TT8_MAMPS,0.029146
$HUMID,55.63
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.5,34.562
$10V_AH,10.3,28.915
$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,30.700,89.650,280.100,83.275,0.000,28.394,29.036,186.814,4.500,0.000,16.951,1004.560,5969.772,411.479,1575.625,487.784,0.000,1118.728,0.000,1550.762,0.000,29.258,0.000
$DEVICE_MAMPS,133.458,56.758,827.593,486.278,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,338.693,319.366,712.743,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,28649,503
$CAP_FILE_SIZE,99983,0
$CFSIZE,260165632,192626688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090910,110949,2101.225,-15751.243,12,1.9,17,9.8