version: 66.06
glider: 139
mission: 8
dive: 357
start: 9 4 110 8 3 24
data:
$ID,139
$MISSION,8
$DIVE,357
$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,534.75397
$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,-2158406
$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,29
$R_STBD_OVSHOOT,72
$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
$GPS1,074728,2059.025,-15752.133,11,3.5,30,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-68.8
$GPS2,080306,2058.901,-15752.300,45,0.9,51,9.8
$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,41.9,20656,-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,16,-1.56,-58.4,0.0,0.0,0,99,0.00,0.00,-80.62,0.000,2,0.000,0.000,425,1698,2720,0,0,0,0,0,0
$GC,102,-1.56,-58.4,3.1,-3.0,15,127,12.43,2.30,-3.03,0.000,4,0.133,0.035,2753,3070,2871,0,0,0,0,0,0
$GC,235,-1.56,-58.4,31.4,-18.9,43,242,0.00,2.33,0.00,0.000,6,0.000,0.032,2753,1703,2872,0,0,0,0,0,0
$GC,495,-1.49,-58.4,78.8,-17.4,64,500,0.10,2.28,0.00,0.000,4,0.121,0.021,2771,3073,2872,0,0,0,0,0,0
$GC,536,-1.56,-58.4,84.7,-13.5,67,540,0.00,2.33,0.00,0.000,6,0.000,0.033,2771,1691,2872,0,0,0,0,0,0
$GC,809,-1.60,-58.4,120.2,-12.3,88,813,0.00,2.38,0.00,0.000,4,0.000,0.045,2771,293,2873,0,0,0,0,0,0
$GC,833,-1.60,-58.4,123.8,-13.6,90,837,0.00,2.22,0.00,0.000,6,0.000,0.018,2771,1706,2873,0,0,0,0,0,0
$GC,1100,-1.66,-58.4,155.1,-11.4,111,1105,0.15,2.22,0.00,0.000,4,0.058,0.021,2726,3073,2874,0,0,0,0,0,0
$GC,1138,-1.71,-58.4,160.7,-14.7,114,1142,0.00,2.30,0.00,0.000,6,0.000,0.032,2726,1692,2873,0,0,0,0,0,0
$GC,1403,-1.71,-58.4,199.1,-15.4,135,1409,0.00,2.22,0.00,0.000,4,0.000,0.021,2726,3065,2873,0,0,0,0,0,0
$GC,1525,-1.76,-58.4,214.8,-12.4,141,1529,0.00,2.28,0.00,0.000,6,0.000,0.031,2726,1692,2874,0,0,0,0,0,0
$GC,1856,-1.76,-58.4,248.6,-9.3,157,1860,0.00,2.28,0.00,0.000,4,0.000,0.025,2726,3066,2874,0,0,0,0,0,0
$GC,1912,-1.81,-58.4,254.3,-10.4,159,1916,0.00,2.30,0.00,0.000,6,0.000,0.032,2726,1699,2873,0,0,0,0,0,0
$GC,2228,-1.81,-58.4,291.3,-12.8,174,2232,0.00,2.25,0.00,0.000,4,0.000,0.025,2727,3061,2873,0,0,0,0,0,0
$GC,2255,-1.89,-58.4,295.1,-11.8,175,2260,0.17,2.28,0.00,0.000,6,0.053,0.032,2676,1694,2874,0,0,0,0,0,0
$GC,2594,-1.82,-58.4,340.1,-13.6,185,2599,0.12,2.30,0.00,0.000,4,0.107,0.026,2700,3065,2872,0,0,0,0,0,0
$GC,2638,-1.86,-58.4,345.3,-11.0,186,2642,0.00,2.30,0.00,0.000,6,0.000,0.035,2700,1699,2872,0,0,0,0,0,0
$GC,2971,-1.86,-58.4,380.2,-10.9,194,2972,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1699,2870,0,0,0,0,0,0
$GC,3296,-1.86,-58.4,415.1,-10.7,202,3300,0.00,2.28,0.00,0.000,4,0.000,0.029,2700,3058,2867,0,0,0,0,0,0
$GC,3345,-1.91,-58.4,420.4,-11.2,203,3349,0.00,2.30,0.00,0.000,6,0.000,0.038,2700,1700,2867,0,0,0,0,0,0
$STATE,3667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3667,begin apogee
$GC,3674,-0.31,0.0,454.0,10.2,211,3726,1.58,0.00,48.08,0.826,6,0.081,0.000,3030,1700,2630,0,0,0,0,0,0
$STATE,3726,end apogee,CONTROL_FINISHED_OK
$STATE,3726,begin climb
$GC,3729,1.56,58.4,455.2,0.0,212,3784,1.75,0.00,50.45,0.809,6,0.030,0.000,3447,1700,2391,0,0,0,0,0,0
$GC,4099,1.33,109.3,444.5,3.3,221,4146,0.30,0.00,44.83,0.815,6,0.107,0.000,3390,1700,2184,0,0,0,0,0,0
$GC,4463,1.16,109.3,410.8,10.5,230,4467,0.20,2.30,0.00,0.000,4,0.108,0.030,3352,3058,2175,0,0,0,0,0,0
$GC,4588,1.11,109.3,399.0,8.6,232,4593,0.00,2.35,0.00,0.000,6,0.000,0.039,3352,1691,2175,0,0,0,0,0,0
$GC,4921,1.03,109.3,369.2,9.0,240,4926,0.12,2.45,0.00,0.000,4,0.119,0.055,3328,294,2171,0,0,0,0,0,0
$GC,5056,0.91,109.3,355.1,10.7,243,5061,0.15,2.30,0.00,0.000,6,0.117,0.027,3301,1685,2167,0,0,0,0,0,0
$GC,5388,0.99,134.1,332.9,5.7,251,5413,0.00,2.38,20.17,0.756,4,0.000,0.030,3301,3081,2082,0,0,0,0,0,0
$GC,5473,1.10,142.2,327.3,7.2,252,5490,0.17,2.40,8.93,0.673,6,0.059,0.038,3347,1699,2050,0,0,0,0,0,0
$GC,5813,1.06,142.2,299.1,8.4,261,5817,0.00,2.45,0.00,0.000,4,0.000,0.054,3347,294,2045,0,0,0,0,0,0
$GC,5923,0.93,142.2,287.9,9.9,265,5929,0.22,2.33,0.00,0.000,6,0.100,0.026,3304,1699,2041,0,0,0,0,0,0
$GC,6240,1.04,176.5,268.7,4.8,281,6277,0.00,2.40,30.62,0.730,4,0.000,0.029,3304,3075,1909,0,0,0,0,0,0
$GC,6522,1.17,176.5,241.7,12.5,293,6527,0.22,2.38,0.00,0.000,6,0.051,0.038,3363,1698,1907,0,0,0,0,0,0
$GC,6845,1.17,176.5,207.1,9.3,309,6846,0.00,0.00,0.00,0.000,6,0.000,0.000,3363,1698,1905,0,0,0,0,0,0
$GC,7165,1.17,176.5,176.7,10.1,332,7169,0.00,2.45,0.00,0.000,4,0.000,0.048,3363,290,1903,0,0,0,0,0,0
$GC,7206,1.05,176.5,171.9,12.4,335,7211,0.17,2.30,0.00,0.000,6,0.100,0.022,3329,1711,1901,0,0,0,0,0,0
$GC,7469,1.14,182.4,147.4,7.4,355,7483,0.00,2.28,4.97,0.457,4,0.000,0.023,3329,3086,1886,0,0,0,0,0,0
$GC,7539,1.29,195.0,142.2,6.8,360,7558,0.22,2.35,12.82,0.579,6,0.048,0.034,3390,1693,1835,0,0,0,0,0,0
$GC,7817,1.26,195.0,115.8,10.1,382,7822,0.00,2.40,0.00,0.000,4,0.000,0.046,3390,291,1833,0,0,0,0,0,0
$GC,7857,1.13,195.0,111.1,12.1,385,7862,0.22,2.28,0.00,0.000,6,0.095,0.020,3346,1722,1830,0,0,0,0,0,0
$GC,8124,1.24,198.6,86.0,7.6,406,8139,0.10,2.47,4.45,0.395,4,0.075,0.043,3379,297,1819,0,0,0,0,0,0
$GC,8145,1.24,198.9,84.0,7.9,407,8149,0.00,2.22,0.00,0.000,6,0.000,0.019,3379,1712,1818,0,0,0,0,0,0
$GC,8408,1.28,203.7,64.1,7.5,427,8423,0.00,2.25,6.18,0.436,4,0.000,0.022,3379,3062,1798,0,0,0,0,0,0
$GC,8449,1.37,217.5,61.1,6.7,429,8470,0.00,2.33,13.70,0.502,6,0.000,0.030,3379,1694,1741,0,0,0,0,0,0
$GC,8724,1.37,217.5,36.0,10.1,451,8725,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,1694,1740,0,0,0,0,0,0
$GC,8979,1.37,217.5,11.8,9.1,501,8985,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,1693,1740,0,0,0,0,0,0
$STATE,9069,end climb,SURFACE_DEPTH_REACHED
$STATE,9069,begin surface coast
$FINISH,1.4,1.023338
$STATE,9102,end surface coast,CONTROL_FINISHED_OK
$STATE,9102,begin surface
$SM_CCo,9125,180.20,0.482,0,0,449,534.75
$SM_GC,1.53,0.00,0.00,180.20,0.000,0.000,0.482,430,1690,449,-12.29,-0.28,534.75
$IRIDIUM_FIX,2052.52,-15754.77,291199,080835
$TT8_MAMPS,0.028379
$HUMID,53.03
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.5,30.828
$10V_AH,10.3,25.689
$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,31.100,88.175,245.200,180.200,0.000,136.245,400.400,0.000,4.750,0.000,51.388,1033.811,6278.569,506.889,1643.226,782.797,0.000,1208.408,0.000,1580.786,0.000,32.084,0.000
$DEVICE_MAMPS,132.691,55.224,826.059,481.676,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,355.626,335.819,785.237,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,28787,529
$CAP_FILE_SIZE,99071,0
$CFSIZE,260165632,194834432
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040910,103920,2058.570,-15752.585,12,1.5,12,9.8