version: 66.06
glider: 139
mission: 8
dive: 221
start: 8 19 110 18 7 59
data:
$ID,139
$MISSION,8
$DIVE,221
$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,-2155143.2
$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,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
$GPS1,180225,2058.942,-15749.565,42,1.1,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-73.6
$GPS2,180743,2058.969,-15749.569,19,1.1,30,9.8
$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,184.7,2010,-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,-64.47,0.000,2,0.000,0.000,425,1669,2790,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.6,-4.3,12,105,12.50,2.45,-1.45,0.000,4,0.134,0.058,2754,288,2871,0,0,0,0,0,0
$GC,257,-1.40,-58.4,49.2,-22.2,37,264,0.15,2.33,0.00,0.000,6,0.090,0.018,2788,1728,2874,0,0,0,0,0,0
$GC,519,-1.44,-58.4,92.8,-16.3,58,520,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1732,2874,0,0,0,0,0,0
$GC,769,-1.49,-58.4,128.1,-13.0,78,773,0.00,2.20,0.00,0.000,4,0.000,0.021,2789,3075,2875,0,0,0,0,0,0
$GC,825,-1.64,-58.4,135.4,-11.8,82,830,0.20,2.30,0.00,0.000,6,0.047,0.031,2730,1689,2876,0,0,0,0,0,0
$GC,1083,-1.64,-58.4,171.0,-13.6,102,1087,0.00,2.25,0.00,0.000,4,0.000,0.022,2730,3074,2876,0,0,0,0,0,0
$GC,1127,-1.70,-58.4,176.3,-12.0,105,1131,0.00,2.30,0.00,0.000,6,0.000,0.031,2730,1690,2876,0,0,0,0,0,0
$GC,1397,-1.70,-58.4,212.2,-12.8,124,1401,0.00,2.25,0.00,0.000,4,0.000,0.022,2730,3074,2877,0,0,0,0,0,0
$GC,1440,-1.77,-58.4,217.3,-11.5,126,1444,0.00,2.30,0.00,0.000,6,0.000,0.031,2730,1689,2876,0,0,0,0,0,0
$GC,1770,-1.77,-58.4,255.4,-11.4,142,1774,0.00,2.28,0.00,0.000,4,0.000,0.024,2730,3074,2877,0,0,0,0,0,0
$GC,1808,-1.86,-58.4,260.4,-13.2,143,1813,0.15,2.30,0.00,0.000,6,0.058,0.034,2684,1697,2877,0,0,0,0,0,0
$GC,2128,-1.80,-58.4,302.2,-11.9,158,2133,0.10,2.30,0.00,0.000,4,0.118,0.025,2703,3071,2876,0,0,0,0,0,0
$GC,2157,-1.85,-58.4,306.2,-11.5,158,2161,0.00,2.33,0.00,0.000,6,0.000,0.035,2703,1688,2876,0,0,0,0,0,0
$GC,2499,-1.85,-58.4,343.8,-11.3,167,2503,0.00,2.30,0.00,0.000,4,0.000,0.027,2704,3070,2875,0,0,0,0,0,0
$GC,2768,-1.89,-58.4,373.6,-10.3,172,2774,0.00,2.35,0.00,0.000,6,0.000,0.037,2703,1692,2874,0,0,0,0,0,0
$GC,3100,-1.89,-58.4,409.9,-11.2,181,3104,0.00,2.33,0.00,0.000,4,0.000,0.031,2703,3074,2872,0,0,0,0,0,0
$GC,3218,-1.96,-58.4,422.0,-9.8,183,3223,0.12,2.35,0.00,0.000,6,0.071,0.041,2667,1695,2871,0,0,0,0,0,0
$STATE,3477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3477,begin apogee
$GC,3484,-0.31,0.0,453.6,12.0,190,3537,1.75,0.00,49.10,0.834,6,0.086,0.000,3030,1773,2630,0,0,0,0,0,0
$STATE,3538,end apogee,CONTROL_FINISHED_OK
$STATE,3538,begin climb
$GC,3541,1.56,58.4,455.1,0.0,191,3601,1.75,2.55,50.60,0.818,4,0.030,0.051,3447,358,2388,0,0,0,0,0,0
$GC,3868,1.19,101.8,442.3,4.0,198,3913,0.45,2.33,37.83,0.817,6,0.108,0.026,3361,1751,2212,0,0,0,0,0,0
$GC,4232,1.08,101.8,412.9,8.8,207,4233,0.12,0.00,0.00,0.000,6,0.120,0.000,3338,1751,2205,0,0,0,0,0,0
$GC,4557,1.05,123.9,390.6,5.9,215,4578,0.00,0.00,19.10,0.785,6,0.000,0.000,3338,1751,2123,0,0,0,0,0,0
$GC,4883,1.01,123.9,362.8,9.3,223,4887,0.00,2.42,0.00,0.000,4,0.000,0.034,3338,3181,2118,0,0,0,0,0,0
$GC,4949,1.01,123.9,356.8,9.2,224,4953,0.00,2.42,0.00,0.000,6,0.000,0.039,3338,1772,2118,0,0,0,0,0,0
$GC,5294,0.98,133.4,331.1,7.0,233,5310,0.12,2.53,8.48,0.690,4,0.121,0.055,3316,352,2085,0,0,0,0,0,0
$GC,5371,0.90,134.0,325.3,7.8,234,5375,0.00,2.38,0.00,0.000,6,0.000,0.028,3316,1775,2082,0,0,0,0,0,0
$GC,5711,0.92,152.1,304.9,6.3,243,5736,0.00,2.45,17.85,0.746,4,0.000,0.032,3316,3178,2009,0,0,0,0,0,0
$GC,5805,0.99,152.9,298.0,7.8,245,5810,0.00,2.42,0.00,0.000,6,0.000,0.039,3316,1770,2008,0,0,0,0,0,0
$GC,6136,1.03,152.9,270.6,8.4,261,6137,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,1769,2005,0,0,0,0,0,0
$GC,6445,1.08,162.1,246.9,7.1,276,6462,0.00,2.53,9.55,0.653,4,0.000,0.052,3316,364,1968,0,0,0,0,0,0
$GC,6659,1.08,162.1,229.5,9.9,285,6664,0.00,2.33,0.00,0.000,6,0.000,0.025,3316,1775,1964,0,0,0,0,0,0
$GC,6981,1.18,183.2,208.5,6.0,301,7006,0.17,2.40,19.38,0.670,4,0.057,0.028,3364,3183,1882,0,0,0,0,0,0
$GC,7030,1.18,183.2,204.5,8.5,303,7035,0.00,2.45,0.00,0.000,6,0.000,0.035,3364,1768,1882,0,0,0,0,0,0
$GC,7355,1.18,183.2,170.6,10.7,327,7360,0.00,2.42,0.00,0.000,4,0.000,0.049,3363,358,1880,0,0,0,0,0,0
$GC,7472,1.08,183.2,156.8,11.6,335,7479,0.15,2.33,0.00,0.000,6,0.108,0.022,3336,1790,1877,0,0,0,0,0,0
$GC,7733,1.18,194.8,138.2,6.8,356,7749,0.00,2.58,11.15,0.572,4,0.000,0.047,3335,356,1835,0,0,0,0,0,0
$GC,7882,1.18,194.8,124.3,9.4,366,7888,0.00,2.33,0.00,0.000,6,0.000,0.021,3335,1764,1831,0,0,0,0,0,0
$GC,8142,1.30,210.4,105.0,6.5,387,8163,0.20,2.50,14.85,0.555,4,0.050,0.046,3391,362,1772,0,0,0,0,0,0
$GC,8265,1.21,210.4,91.7,12.7,396,8270,0.15,2.30,0.00,0.000,6,0.105,0.019,3362,1780,1768,0,0,0,0,0,0
$GC,8533,1.28,210.4,69.9,8.2,417,8537,0.00,2.47,0.00,0.000,4,0.000,0.045,3362,348,1768,0,0,0,0,0,0
$GC,8633,1.28,210.4,60.0,10.1,424,8639,0.00,2.33,0.00,0.000,6,0.000,0.019,3363,1775,1767,0,0,0,0,0,0
$GC,8894,1.40,227.9,42.4,6.3,445,8917,0.17,2.50,16.25,0.500,4,0.053,0.044,3413,348,1700,0,0,0,0,0,0
$GC,8951,1.29,227.9,37.1,11.0,449,8956,0.17,2.28,0.00,0.000,6,0.100,0.018,3379,1772,1697,0,0,0,0,0,0
$GC,9217,1.34,227.9,13.6,9.1,497,9223,0.00,2.45,0.00,0.000,4,0.000,0.044,3379,361,1697,0,0,0,0,0,0
$GC,9303,1.26,227.9,4.4,10.7,516,9309,0.00,2.28,0.00,0.000,6,0.000,0.018,3379,1770,1696,0,0,0,0,0,0
$STATE,9318,end climb,SURFACE_DEPTH_REACHED
$STATE,9319,begin surface coast
$FINISH,0.7,1.022516
$STATE,9350,end surface coast,CONTROL_FINISHED_OK
$STATE,9350,begin surface
$SM_CCo,9374,110.90,0.489,0,0,957,410.14
$SM_GC,1.35,0.00,0.00,110.90,0.000,0.000,0.489,429,1657,957,-12.29,-1.07,410.14
$IRIDIUM_FIX,2050.21,-15747.49,131199,151553
$TT8_MAMPS,0.029146
$HUMID,52.24
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.60
$XPDR_PINGS,1
$24V_AH,23.5,19.327
$10V_AH,10.3,15.626
$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,31.125,95.075,254.125,110.900,0.000,25.644,31.361,119.385,4.750,0.000,31.032,1075.772,6121.273,420.550,1760.498,421.673,0.000,1184.976,0.000,1721.139,0.000,29.257,0.000
$DEVICE_MAMPS,134.225,88.972,833.729,488.579,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,354.225,331.455,759.951,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,28646,526
$CAP_FILE_SIZE,105751,0
$CFSIZE,260165632,202002432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190810,204716,2058.463,-15749.841,13,2.7,32,9.8