version: 66.06
glider: 139
mission: 8
dive: 216
start: 8 19 110 4 26 18
data:
$ID,139
$MISSION,8
$DIVE,216
$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,-2155013.5
$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,1695
$C_ROLL_CLIMB,1770
$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
$GPS1,042106,2103.024,-15746.962,38,1.1,43,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-71.0
$GPS2,042601,2103.031,-15746.943,12,1.1,17,9.8
$SPEED_LIMITS,0.137,0.159
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$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,198.2,10728,-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,-58.4,0.0,0.0,0,82,0.00,0.00,-64.50,0.000,2,0.000,0.000,427,1676,2775,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.5,-3.7,12,110,12.55,2.45,-1.75,0.000,4,0.136,0.055,2755,288,2873,0,0,0,0,0,0
$GC,232,-1.43,-58.4,42.6,-19.3,34,239,0.12,2.33,0.00,0.000,6,0.096,0.018,2783,1723,2874,0,0,0,0,0,0
$GC,492,-1.43,-58.4,82.4,-13.4,55,496,0.00,2.22,0.00,0.000,4,0.000,0.021,2782,3087,2875,0,0,0,0,0,0
$GC,573,-1.57,-58.4,92.0,-12.3,61,578,0.10,2.33,0.00,0.000,6,0.073,0.032,2747,1692,2876,0,0,0,0,0,0
$GC,838,-1.57,-58.4,127.9,-13.5,82,842,0.00,2.28,0.00,0.000,4,0.000,0.021,2748,3079,2876,0,0,0,0,0,0
$GC,986,-1.68,-58.4,147.0,-12.9,93,990,0.00,2.30,0.00,0.000,6,0.000,0.030,2747,1694,2876,0,0,0,0,0,0
$GC,1256,-1.72,-58.4,177.3,-10.6,114,1260,0.00,2.40,0.00,0.000,4,0.000,0.046,2747,285,2877,0,0,0,0,0,0
$GC,1282,-1.72,-58.4,180.4,-12.0,116,1286,0.00,2.28,0.00,0.000,6,0.000,0.019,2747,1715,2877,0,0,0,0,0,0
$GC,1549,-1.78,-58.4,212.0,-11.3,134,1554,0.17,2.45,0.00,0.000,4,0.054,0.046,2696,292,2878,0,0,0,0,0,0
$GC,1606,-1.65,-58.4,220.0,-14.7,136,1611,0.20,2.20,0.00,0.000,6,0.095,0.020,2735,1697,2878,0,0,0,0,0,0
$GC,1929,-1.69,-58.4,255.6,-11.6,152,1933,0.00,2.25,0.00,0.000,4,0.000,0.025,2735,3068,2878,0,0,0,0,0,0
$GC,1967,-1.79,-58.4,259.8,-11.0,153,1974,0.12,2.30,0.00,0.000,6,0.065,0.033,2696,1689,2878,0,0,0,0,0,0
$GC,2284,-1.79,-58.4,298.0,-12.3,169,2288,0.00,2.28,0.00,0.000,4,0.000,0.025,2696,3065,2877,0,0,0,0,0,0
$GC,2402,-1.79,-58.4,312.3,-12.1,172,2406,0.00,2.30,0.00,0.000,6,0.000,0.035,2696,1696,2877,0,0,0,0,0,0
$GC,2742,-1.79,-58.4,349.5,-10.6,181,2743,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,1695,2876,0,0,0,0,0,0
$GC,3068,-1.79,-58.4,381.6,-10.0,189,3072,0.00,2.45,0.00,0.000,4,0.000,0.054,2696,291,2874,0,0,0,0,0,0
$GC,3124,-1.71,-58.4,388.6,-13.9,190,3129,0.15,2.28,0.00,0.000,6,0.103,0.025,2726,1688,2874,0,0,0,0,0,0
$GC,3443,-1.78,-58.4,421.3,-10.0,198,3444,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1693,2871,0,0,0,0,0,0
$STATE,3763,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3763,begin apogee
$GC,3770,-0.31,0.0,453.1,9.8,206,3823,1.45,0.00,49.22,0.846,6,0.079,0.000,3030,1765,2630,0,0,0,0,0,0
$STATE,3824,end apogee,CONTROL_FINISHED_OK
$STATE,3824,begin climb
$GC,3826,1.56,58.4,454.6,0.0,207,3887,1.75,2.53,50.58,0.829,4,0.029,0.051,3450,364,2389,0,0,0,0,0,0
$GC,3952,1.21,125.6,455.2,1.8,209,4019,0.45,2.35,58.90,0.831,6,0.107,0.027,3363,1765,2117,0,0,0,0,0,0
$GC,4333,1.10,125.6,419.9,10.8,219,4338,0.12,2.40,0.00,0.000,4,0.118,0.035,3342,3174,2107,0,0,0,0,0,0
$GC,4533,1.07,125.6,397.1,10.4,223,4537,0.00,2.42,0.00,0.000,6,0.000,0.041,3342,1773,2107,0,0,0,0,0,0
$GC,4884,1.01,125.6,362.3,9.5,232,4889,0.12,2.50,0.00,0.000,4,0.118,0.057,3319,348,2103,0,0,0,0,0,0
$GC,5103,0.91,125.6,339.6,10.0,236,5107,0.00,2.38,0.00,0.000,6,0.000,0.028,3319,1769,2098,0,0,0,0,0,0
$GC,5434,0.94,148.5,318.5,5.8,244,5459,0.00,2.45,17.98,0.759,4,0.000,0.034,3319,3168,2024,0,0,0,0,0,0
$GC,5469,0.96,170.0,316.2,6.0,244,5497,0.00,2.42,20.80,0.755,6,0.000,0.039,3319,1766,1937,0,0,0,0,0,0
$GC,5808,0.96,170.0,283.1,10.5,256,5812,0.00,2.47,0.00,0.000,4,0.000,0.054,3319,351,1931,0,0,0,0,0,0
$GC,5939,0.91,170.0,268.4,10.5,261,5945,0.00,2.38,0.00,0.000,6,0.000,0.027,3319,1770,1928,0,0,0,0,0,0
$GC,6256,0.96,170.0,240.3,10.4,277,6261,0.00,2.50,0.00,0.000,4,0.000,0.053,3319,355,1927,0,0,0,0,0,0
$GC,6307,0.91,170.0,233.7,13.3,279,6312,0.00,2.38,0.00,0.000,6,0.000,0.026,3319,1780,1925,0,0,0,0,0,0
$GC,6630,0.96,170.0,203.8,8.8,295,6634,0.00,2.50,0.00,0.000,4,0.000,0.051,3319,355,1925,0,0,0,0,0,0
$GC,6731,0.96,170.0,193.4,10.3,301,6736,0.00,2.33,0.00,0.000,6,0.000,0.025,3319,1780,1923,0,0,0,0,0,0
$GC,6991,1.05,183.8,173.7,6.7,322,7009,0.00,2.55,11.38,0.621,4,0.000,0.049,3319,361,1880,0,0,0,0,0,0
$GC,7123,1.05,183.8,161.9,9.4,331,7129,0.00,2.33,0.00,0.000,6,0.000,0.023,3319,1782,1876,0,0,0,0,0,0
$GC,7385,1.16,196.3,145.0,6.8,352,7404,0.15,2.55,12.25,0.598,4,0.061,0.048,3363,359,1828,0,0,0,0,0,0
$GC,7430,1.08,196.3,141.2,9.6,355,7435,0.15,2.33,0.00,0.000,6,0.104,0.022,3334,1772,1826,0,0,0,0,0,0
$GC,7697,1.17,197.8,119.6,7.8,376,7701,0.00,2.33,0.00,0.000,4,0.000,0.025,3335,3178,1826,0,0,0,0,0,0
$GC,7820,1.31,197.8,110.1,8.0,385,7825,0.22,2.40,0.00,0.000,6,0.047,0.033,3396,1768,1826,0,0,0,0,0,0
$GC,8087,1.29,202.1,87.0,7.5,406,8103,0.00,2.38,6.20,0.465,4,0.000,0.024,3396,3173,1806,0,0,0,0,0,0
$GC,8221,1.33,206.1,76.2,7.5,415,8232,0.00,2.40,5.62,0.439,6,0.000,0.031,3396,1769,1789,0,0,0,0,0,0
$GC,8494,1.33,206.1,56.6,8.0,437,8495,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1769,1789,0,0,0,0,0,0
$GC,8745,1.33,206.1,36.2,8.4,457,8749,0.00,2.28,0.00,0.000,4,0.000,0.021,3396,3172,1789,0,0,0,0,0,0
$GC,8839,1.38,208.5,28.8,7.7,466,8852,0.00,2.38,3.92,0.338,6,0.000,0.029,3396,1771,1779,0,0,0,0,0,0
$GC,9047,1.38,208.5,11.6,8.3,513,9053,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1771,1779,0,0,0,0,0,0
$STATE,9142,end climb,SURFACE_DEPTH_REACHED
$STATE,9142,begin surface coast
$FINISH,0.8,1.008844
$STATE,9180,end surface coast,CONTROL_FINISHED_OK
$STATE,9180,begin surface
$SM_CCo,9203,119.22,0.489,0,0,957,410.14
$SM_GC,1.54,0.00,0.00,119.22,0.000,0.000,0.489,430,1678,957,-12.28,-0.48,410.14
$IRIDIUM_FIX,2054.83,-15744.48,131199,010150
$TT8_MAMPS,0.028379
$HUMID,52.16
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,23.5,18.929
$10V_AH,10.3,15.263
$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,30.525,95.175,236.850,119.225,0.000,28.636,28.502,118.008,4.500,0.000,17.436,1080.664,5933.460,415.837,1772.846,415.136,0.000,1186.289,0.000,1741.577,0.000,29.264,0.000
$DEVICE_MAMPS,135.759,92.040,846.001,489.346,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,365.456,347.822,809.967,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,31723,543
$CAP_FILE_SIZE,104897,0
$CFSIZE,260165632,202252288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190810,070249,2102.335,-15747.627,13,2.0,30,9.8