version: 66.06
glider: 139
mission: 8
dive: 49
start: 7 31 110 9 23 38
data:
$ID,139
$MISSION,8
$DIVE,49
$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,80
$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,430
$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,-2151184.2
$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,3070
$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,1950
$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,2695
$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
$GPS1,091458,2105.570,-15754.283,14,9.7,33,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-69.8
$GPS2,092322,2105.583,-15754.453,17,4.0,36,9.8
$SPEED_LIMITS,0.137,0.183
$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,79.0,19935,-20.5,-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,16,-1.38,-77.9,0.0,0.0,0,83,0.00,0.00,-64.20,0.000,2,0.000,0.000,430,1722,2750,0,0,0,0,0,0
$GC,86,-1.38,-77.9,3.2,-4.0,12,110,12.70,2.47,-4.68,0.000,4,0.140,0.054,2763,295,3014,0,0,0,0,0,0
$GC,192,-1.21,-77.9,33.1,-20.0,33,199,0.17,2.35,0.00,0.000,6,0.093,0.019,2801,1727,3015,0,0,0,0,0,0
$GC,452,-1.21,-77.9,70.4,-11.5,54,455,0.00,2.22,0.00,0.000,4,0.000,0.023,2801,3093,3016,0,0,0,0,0,0
$GC,501,-1.28,-77.9,75.4,-8.8,57,508,0.00,2.38,0.00,0.000,6,0.000,0.032,2801,1698,3016,0,0,0,0,0,0
$GC,761,-1.31,-77.9,101.9,-11.5,78,765,0.00,2.42,0.00,0.000,4,0.000,0.045,2801,290,3017,0,0,0,0,0,0
$GC,820,-1.31,-77.9,109.5,-12.3,82,827,0.00,2.30,0.00,0.000,6,0.000,0.018,2801,1715,3017,0,0,0,0,0,0
$GC,1083,-1.35,-77.9,143.9,-13.3,103,1088,0.12,2.45,0.00,0.000,4,0.064,0.045,2761,298,3017,0,0,0,0,0,0
$GC,1109,-1.26,-77.9,148.0,-15.6,105,1114,0.15,2.25,0.00,0.000,6,0.100,0.019,2791,1713,3017,0,0,0,0,0,0
$GC,1376,-1.31,-77.9,179.6,-11.1,126,1377,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1716,3018,0,0,0,0,0,0
$GC,1626,-1.37,-77.9,206.5,-10.3,144,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1717,3018,0,0,0,0,0,0
$GC,1936,-1.45,-77.9,230.5,-7.7,159,1941,0.17,2.45,0.00,0.000,4,0.053,0.048,2740,297,3019,0,0,0,0,0,0
$GC,2018,-1.34,-77.9,240.5,-14.0,162,2023,0.17,2.22,0.00,0.000,6,0.096,0.021,2775,1690,3018,0,0,0,0,0,0
$GC,2337,-1.40,-77.9,273.4,-9.5,177,2342,0.00,2.40,0.00,0.000,4,0.000,0.050,2775,298,3018,0,0,0,0,0,0
$GC,2410,-1.40,-77.9,281.4,-11.4,180,2414,0.00,2.25,0.00,0.000,6,0.000,0.021,2775,1704,3018,0,0,0,0,0,0
$GC,2728,-1.47,-77.9,312.9,-9.6,193,2733,0.12,2.33,0.00,0.000,4,0.067,0.030,2737,3087,3016,0,0,0,0,0,0
$GC,2763,-1.50,-77.9,316.3,-9.9,193,2767,0.00,2.33,0.00,0.000,6,0.000,0.035,2737,1702,3016,0,0,0,0,0,0
$GC,3094,-1.50,-77.9,351.0,-9.8,201,3098,0.00,2.45,0.00,0.000,4,0.000,0.053,2737,297,3015,0,0,0,0,0,0
$GC,3150,-1.45,-77.9,356.2,-9.3,202,3154,0.00,2.28,0.00,0.000,6,0.000,0.024,2737,1700,3015,0,0,0,0,0,0
$GC,3465,-1.45,-77.9,387.3,-10.4,210,3469,0.00,2.33,0.00,0.000,4,0.000,0.032,2737,3082,3013,0,0,0,0,0,0
$GC,3483,-1.45,-77.9,389.5,-10.9,210,3488,0.00,2.38,0.00,0.000,6,0.000,0.039,2737,1697,3013,0,0,0,0,0,0
$GC,3832,-1.45,-77.9,427.3,-11.0,219,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1697,3011,0,0,0,0,0,0
$STATE,4069,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4070,begin apogee
$GC,4076,-0.31,0.0,452.3,10.1,225,4144,1.25,0.00,64.70,0.850,6,0.077,0.000,3002,1949,2695,0,0,0,0,0,0
$STATE,4145,end apogee,CONTROL_FINISHED_OK
$STATE,4145,begin climb
$GC,4147,1.38,77.9,453.5,0.0,226,4227,1.60,2.45,67.43,0.835,4,0.034,0.041,3376,3336,2376,0,0,0,0,0,0
$GC,4340,1.22,149.7,455.3,3.0,230,4414,0.20,2.42,63.47,0.836,6,0.110,0.038,3339,1947,2083,0,0,0,0,0,0
$GC,4735,1.07,149.7,418.4,10.8,240,4741,0.17,2.50,0.00,0.000,4,0.109,0.055,3305,542,2074,0,0,0,0,0,0
$GC,4828,0.90,149.7,407.6,12.7,242,4833,0.20,2.38,0.00,0.000,6,0.111,0.030,3268,1944,2069,0,0,0,0,0,0
$GC,5156,0.90,149.7,374.7,9.8,250,5161,0.00,2.47,0.00,0.000,4,0.000,0.054,3267,545,2068,0,0,0,0,0,0
$GC,5208,0.84,149.7,369.6,9.7,251,5212,0.00,2.35,0.00,0.000,6,0.000,0.030,3268,1957,2066,0,0,0,0,0,0
$GC,5527,0.87,176.0,347.7,6.1,259,5555,0.00,2.60,21.45,0.785,4,0.000,0.054,3267,548,1976,0,0,0,0,0,0
$GC,5649,0.84,185.6,338.7,7.2,261,5663,0.00,2.35,9.38,0.703,6,0.000,0.029,3268,1960,1938,0,0,0,0,0,0
$GC,5989,0.87,185.6,312.1,8.1,270,5993,0.00,2.50,0.00,0.000,4,0.000,0.054,3268,540,1935,0,0,0,0,0,0
$GC,6253,0.87,185.6,287.9,8.7,277,6257,0.00,2.35,0.00,0.000,6,0.000,0.028,3267,1954,1930,0,0,0,0,0,0
$GC,6568,0.93,185.6,262.5,8.1,292,6573,0.00,2.50,0.00,0.000,4,0.000,0.052,3267,539,1930,0,0,0,0,0,0
$GC,6675,0.93,185.6,253.4,8.1,296,6682,0.00,2.38,0.00,0.000,6,0.000,0.028,3268,1949,1929,0,0,0,0,0,0
$GC,6991,1.05,229.9,234.8,4.9,312,7038,0.12,2.58,39.28,0.725,4,0.070,0.051,3304,544,1756,0,0,0,0,0,0
$GC,7213,0.98,229.9,208.5,12.9,321,7218,0.00,2.33,0.00,0.000,6,0.000,0.026,3304,1950,1750,0,0,0,0,0,0
$GC,7543,0.98,229.9,169.6,10.5,345,7548,0.00,2.47,0.00,0.000,4,0.000,0.049,3304,544,1749,0,0,0,0,0,0
$GC,7701,0.95,229.9,151.5,11.5,356,7708,0.10,2.35,0.00,0.000,6,0.086,0.024,3280,1954,1747,0,0,0,0,0,0
$GC,7963,1.06,237.6,129.3,7.4,377,7977,0.00,2.53,6.45,0.517,4,0.000,0.048,3280,541,1726,0,0,0,0,0,0
$GC,8140,1.09,237.6,114.2,9.0,389,8146,0.12,2.30,0.00,0.000,6,0.068,0.021,3319,1962,1724,0,0,0,0,0,0
$GC,8400,1.09,237.6,90.2,10.0,410,8404,0.00,2.47,0.00,0.000,4,0.000,0.045,3318,538,1724,0,0,0,0,0,0
$GC,8564,1.05,237.6,68.0,11.4,422,8568,0.00,2.30,0.00,0.000,6,0.000,0.021,3319,1958,1723,0,0,0,0,0,0
$GC,8831,1.15,269.0,47.5,5.8,443,8866,0.00,2.55,28.25,0.545,4,0.000,0.044,3318,538,1597,0,0,0,0,0,0
$GC,8961,1.16,279.1,37.0,7.2,452,8975,0.00,2.30,9.30,0.479,6,0.000,0.020,3318,1947,1557,0,0,0,0,0,0
$GC,9234,1.23,279.1,16.7,8.9,497,9240,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,1946,1556,0,0,0,0,0,0
$STATE,9362,end climb,SURFACE_DEPTH_REACHED
$STATE,9362,begin surface coast
$FINISH,0.4,1.023073
$STATE,9395,end surface coast,CONTROL_FINISHED_OK
$STATE,9395,begin surface
$SM_CCo,9418,87.05,0.505,0,0,941,430.01
$SM_GC,1.01,0.00,0.00,87.05,0.000,0.000,0.505,427,1690,941,-12.16,-0.28,430.01
$IRIDIUM_FIX,2057.14,-15753.90,251099,060615
$TT8_MAMPS,0.029146
$HUMID,52.83
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.4,5.114
$10V_AH,10.4,2.989
$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,29.725,96.475,309.700,87.050,0.000,27.945,35.141,298.312,4.500,0.000,37.904,1069.136,6095.829,435.341,1806.229,599.259,0.000,1230.366,0.000,1760.021,0.000,29.251,0.000
$DEVICE_MAMPS,139.594,55.224,849.836,504.686,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,359.477,339.553,787.764,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355748
$DATA_FILE_SIZE,28646,534
$CAP_FILE_SIZE,108200,0
$CFSIZE,260165632,210882560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,310710,120324,2105.479,-15753.728,43,1.7,43,9.8