version: 66.06
glider: 139
mission: 8
dive: 99
start: 8 5 110 21 32 31
data:
$ID,139
$MISSION,8
$DIVE,99
$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,-2152347.2
$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,1690
$C_ROLL_CLIMB,1830
$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,2660
$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
$GPS1,212706,2108.087,-15759.361,35,1.1,39,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-71.2
$GPS2,213214,2108.097,-15759.388,12,1.1,12,9.8
$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,88.7,28769,-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,-68.32,0.000,6,0.000,0.000,427,1672,2900,0,0,0,0,0,0
$GC,90,-1.56,-58.4,3.9,-4.5,13,108,12.60,2.38,0.00,0.000,4,0.137,0.038,2754,279,2902,0,0,0,0,0,0
$GC,183,-1.44,-58.4,33.2,-21.3,31,190,0.10,2.35,0.00,0.000,6,0.092,0.018,2778,1725,2904,0,0,0,0,0,0
$GC,445,-1.49,-58.4,78.1,-14.1,52,449,0.00,2.20,0.00,0.000,4,0.000,0.022,2778,3077,2904,0,0,0,0,0,0
$GC,482,-1.61,-58.4,83.7,-13.7,54,489,0.10,2.38,0.00,0.000,6,0.035,0.033,2738,1685,2905,0,0,0,0,0,0
$GC,744,-1.61,-58.4,121.4,-13.3,75,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1685,2906,0,0,0,0,0,0
$GC,995,-1.61,-58.4,154.0,-11.6,95,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1684,2907,0,0,0,0,0,0
$GC,1247,-1.61,-58.4,189.6,-15.2,115,1251,0.00,2.30,0.00,0.000,4,0.000,0.024,2738,3078,2907,0,0,0,0,0,0
$GC,1334,-1.70,-58.4,202.6,-15.1,122,1338,0.00,2.33,0.00,0.000,6,0.000,0.033,2738,1687,2907,0,0,0,0,0,0
$GC,1667,-1.75,-58.4,248.1,-12.1,138,1668,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1686,2907,0,0,0,0,0,0
$GC,1974,-1.81,-58.4,279.7,-8.1,153,1981,0.15,2.30,0.00,0.000,4,0.058,0.026,2692,3075,2907,0,0,0,0,0,0
$GC,2003,-1.85,-58.4,282.4,-9.7,154,2007,0.00,2.33,0.00,0.000,6,0.000,0.035,2692,1689,2907,0,0,0,0,0,0
$GC,2350,-1.85,-58.4,320.8,-12.3,167,2354,0.00,2.30,0.00,0.000,4,0.000,0.028,2692,3073,2907,0,0,0,0,0,0
$GC,2511,-1.88,-58.4,340.0,-11.6,170,2515,0.00,2.33,0.00,0.000,6,0.000,0.037,2692,1691,2907,0,0,0,0,0,0
$GC,2861,-1.88,-58.4,380.6,-10.5,179,2865,0.00,2.35,0.00,0.000,4,0.000,0.030,2692,3075,2905,0,0,0,0,0,0
$GC,2979,-1.93,-58.4,393.8,-11.3,181,2983,0.00,2.38,0.00,0.000,6,0.000,0.038,2692,1684,2905,0,0,0,0,0,0
$GC,3324,-1.93,-58.4,435.6,-11.8,190,3325,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1684,2902,0,0,0,0,0,0
$STATE,3484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3484,begin apogee
$GC,3491,-0.31,0.0,452.9,10.6,194,3545,1.62,0.00,49.95,0.837,6,0.081,0.000,3031,1836,2660,0,0,0,0,0,0
$STATE,3546,end apogee,CONTROL_FINISHED_OK
$STATE,3546,begin climb
$GC,3548,1.56,58.4,454.1,0.0,195,3607,1.75,2.40,50.58,0.820,4,0.028,0.036,3453,3211,2420,0,0,0,0,0,0
$GC,3818,1.33,110.5,450.2,3.2,201,3872,0.32,2.40,45.88,0.825,6,0.107,0.038,3391,1821,2208,0,0,0,0,0,0
$GC,4190,1.16,110.5,417.9,9.8,210,4195,0.20,2.50,0.00,0.000,4,0.108,0.054,3353,415,2200,0,0,0,0,0,0
$GC,4219,0.96,110.5,414.6,10.6,210,4224,0.22,2.35,0.00,0.000,6,0.104,0.028,3310,1832,2197,0,0,0,0,0,0
$GC,4557,0.96,113.8,388.0,7.6,219,4561,0.00,2.47,0.00,0.000,4,0.000,0.053,3309,422,2195,0,0,0,0,0,0
$GC,4709,0.87,113.8,372.6,9.8,222,4714,0.00,2.33,0.00,0.000,6,0.000,0.028,3310,1837,2191,0,0,0,0,0,0
$GC,5060,0.90,134.4,347.4,6.0,231,5085,0.00,2.58,19.42,0.775,4,0.000,0.054,3310,422,2112,0,0,0,0,0,0
$GC,5164,0.86,153.4,341.3,6.2,233,5191,0.12,2.38,18.33,0.762,6,0.119,0.028,3288,1847,2033,0,0,0,0,0,0
$GC,5518,0.96,167.3,318.8,6.6,242,5539,0.00,2.55,13.27,0.729,4,0.000,0.051,3287,416,1976,0,0,0,0,0,0
$GC,5576,0.96,167.3,313.9,9.3,243,5581,0.10,2.35,0.00,0.000,6,0.078,0.028,3318,1827,1974,0,0,0,0,0,0
$GC,5893,0.96,167.3,287.5,8.7,254,5897,0.00,2.47,0.00,0.000,4,0.000,0.052,3318,418,1973,0,0,0,0,0,0
$GC,5922,0.90,167.3,284.4,10.7,255,5926,0.00,2.35,0.00,0.000,6,0.000,0.027,3318,1839,1971,0,0,0,0,0,0
$GC,6244,0.97,178.7,258.8,6.9,271,6260,0.00,2.58,10.38,0.673,4,0.000,0.051,3317,417,1931,0,0,0,0,0,0
$GC,6382,0.93,178.7,246.5,8.9,277,6387,0.00,2.33,0.00,0.000,6,0.000,0.026,3317,1831,1927,0,0,0,0,0,0
$GC,6714,1.00,180.7,218.4,7.7,293,6718,0.00,2.47,0.00,0.000,4,0.000,0.048,3317,415,1927,0,0,0,0,0,0
$GC,6825,1.00,180.7,208.7,9.1,298,6830,0.00,2.30,0.00,0.000,6,0.000,0.025,3318,1841,1924,0,0,0,0,0,0
$GC,7153,1.08,183.1,183.0,7.7,320,7168,0.00,2.28,4.57,0.472,4,0.000,0.027,3318,3212,1912,0,0,0,0,0,0
$GC,7174,1.16,183.1,181.0,8.5,321,7179,0.15,2.35,0.00,0.000,6,0.058,0.033,3362,1822,1912,0,0,0,0,0,0
$GC,7435,1.16,183.1,153.6,10.2,341,7439,0.00,2.42,0.00,0.000,4,0.000,0.046,3362,415,1912,0,0,0,0,0,0
$GC,7462,1.08,183.1,150.6,11.6,343,7467,0.15,2.30,0.00,0.000,6,0.102,0.022,3333,1845,1911,0,0,0,0,0,0
$GC,7728,1.16,200.1,128.9,6.4,364,7750,0.00,2.53,16.62,0.591,4,0.000,0.046,3333,404,1844,0,0,0,0,0,0
$GC,7975,1.16,200.1,106.5,9.7,382,7979,0.00,2.28,0.00,0.000,6,0.000,0.021,3333,1833,1840,0,0,0,0,0,0
$GC,8242,1.28,207.9,85.6,7.2,403,8257,0.20,2.45,8.20,0.500,4,0.048,0.042,3392,422,1811,0,0,0,0,0,0
$GC,8286,1.17,207.9,80.6,11.7,406,8291,0.20,2.28,0.00,0.000,6,0.094,0.020,3353,1833,1809,0,0,0,0,0,0
$GC,8554,1.31,239.2,62.9,5.1,427,8586,0.15,0.00,28.48,0.545,6,0.056,0.000,3400,1838,1683,0,0,0,0,0,0
$GC,8835,1.31,239.2,36.6,10.5,449,8839,0.00,2.45,0.00,0.000,4,0.000,0.043,3400,414,1682,0,0,0,0,0,0
$GC,8959,1.21,239.2,20.8,13.7,469,8967,0.15,2.30,0.00,0.000,6,0.078,0.018,3365,1845,1679,0,0,0,0,0,0
$STATE,9117,end climb,SURFACE_DEPTH_REACHED
$STATE,9117,begin surface coast
$FINISH,0.4,1.009806
$STATE,9149,end surface coast,CONTROL_FINISHED_OK
$STATE,9149,begin surface
$SM_CCo,9173,94.60,0.498,0,0,987,410.14
$SM_GC,1.18,0.00,0.00,94.60,0.000,0.000,0.498,430,1684,987,-12.28,-0.17,410.14
$IRIDIUM_FIX,2059.45,-15759.05,301099,181812
$TT8_MAMPS,0.029146
$HUMID,51.89
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,444.3,66.1
$24V_AH,23.5,9.478
$10V_AH,10.4,6.643
$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,30.800,90.800,265.675,94.600,0.000,30.843,29.134,131.451,4.750,0.000,12.624,1038.575,6052.925,405.186,1654.160,423.919,0.000,1143.287,0.000,1627.039,0.000,32.299,0.000
$DEVICE_MAMPS,137.293,62.127,836.797,497.783,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,344.960,321.487,731.572,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,28692,512
$CAP_FILE_SIZE,101762,0
$CFSIZE,260165632,208343040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060810,000837,2107.949,-15758.471,60,1.5,60,9.8