version: 66.06
glider: 139
mission: 8
dive: 242
start: 8 22 110 3 54 30
data:
$ID,139
$MISSION,8
$DIVE,242
$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,-2155621.5
$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
$GPS1,034506,2108.062,-15758.790,20,1.5,30,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-71.0
$GPS2,035413,2108.094,-15758.812,13,1.5,13,9.8
$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,88.9,27785,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.56,-58.4,0.0,0.0,0,84,0.00,0.00,-64.60,0.000,2,0.000,0.000,429,1679,2797,0,0,0,0,0,0
$GC,87,-1.56,-58.4,3.8,-4.4,12,107,12.55,2.38,-1.27,0.000,4,0.136,0.032,2753,3112,2868,0,0,0,0,0,0
$GC,255,-1.56,-58.4,42.9,-17.3,38,260,0.00,2.40,0.00,0.000,6,0.000,0.034,2753,1686,2870,0,0,0,0,0,0
$GC,521,-1.52,-58.4,92.8,-16.7,59,525,0.00,2.38,0.00,0.000,4,0.000,0.021,2753,3113,2872,0,0,0,0,0,0
$GC,713,-1.60,-58.4,117.9,-13.2,73,717,0.00,2.38,0.00,0.000,6,0.000,0.032,2753,1685,2872,0,0,0,0,0,0
$GC,979,-1.60,-58.4,152.1,-11.3,94,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1685,2873,0,0,0,0,0,0
$GC,1231,-1.64,-58.4,178.6,-9.9,114,1235,0.00,2.35,0.00,0.000,4,0.000,0.023,2753,3107,2874,0,0,0,0,0,0
$GC,1297,-1.76,-58.4,185.1,-10.8,119,1302,0.17,2.38,0.00,0.000,6,0.051,0.034,2700,1689,2874,0,0,0,0,0,0
$GC,1559,-1.71,-58.4,221.0,-14.6,135,1564,0.12,2.35,0.00,0.000,4,0.107,0.024,2725,3106,2874,0,0,0,0,0,0
$GC,1597,-1.77,-58.4,227.2,-13.3,136,1601,0.00,2.38,0.00,0.000,6,0.000,0.031,2725,1693,2874,0,0,0,0,0,0
$GC,1915,-1.77,-58.4,267.7,-12.7,151,1919,0.00,2.40,0.00,0.000,4,0.000,0.048,2725,289,2874,0,0,0,0,0,0
$GC,1929,-1.77,-58.4,270.1,-13.3,151,1934,0.00,2.30,0.00,0.000,6,0.000,0.021,2725,1735,2874,0,0,0,0,0,0
$GC,2243,-1.77,-58.4,306.2,-10.5,166,2247,0.00,2.22,0.00,0.000,4,0.000,0.026,2725,3085,2873,0,0,0,0,0,0
$GC,2287,-1.87,-58.4,310.6,-10.2,167,2292,0.15,2.35,0.00,0.000,6,0.059,0.035,2681,1695,2873,0,0,0,0,0,0
$GC,2619,-1.82,-58.4,352.0,-12.9,175,2623,0.10,2.33,0.00,0.000,4,0.115,0.027,2700,3080,2872,0,0,0,0,0,0
$GC,2690,-1.88,-58.4,361.1,-11.9,176,2694,0.00,2.35,0.00,0.000,6,0.000,0.037,2700,1688,2872,0,0,0,0,0,0
$GC,3037,-1.88,-58.4,404.4,-12.4,185,3041,0.00,2.33,0.00,0.000,4,0.000,0.029,2700,3079,2870,0,0,0,0,0,0
$GC,3204,-1.92,-58.4,426.6,-14.0,188,3208,0.00,2.35,0.00,0.000,6,0.000,0.038,2700,1690,2869,0,0,0,0,0,0
$STATE,3415,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3415,begin apogee
$GC,3421,-0.31,0.0,454.3,12.7,194,3474,1.58,0.00,48.72,0.823,6,0.081,0.000,3031,1769,2631,0,0,0,0,0,0
$STATE,3475,end apogee,CONTROL_FINISHED_OK
$STATE,3475,begin climb
$GC,3479,1.56,58.4,456.2,0.0,195,3537,1.77,0.00,50.70,0.808,6,0.028,0.000,3455,1770,2390,0,0,0,0,0,0
$GC,3863,1.30,98.4,447.3,4.3,205,3906,0.32,2.45,34.55,0.811,4,0.104,0.033,3388,3188,2228,0,0,0,0,0,0
$GC,4165,1.16,98.4,420.9,9.0,211,4170,0.17,2.45,0.00,0.000,6,0.116,0.038,3356,1775,2224,0,0,0,0,0,0
$GC,4506,1.07,98.4,392.8,8.5,220,4511,0.12,2.35,0.00,0.000,4,0.119,0.033,3334,3156,2219,0,0,0,0,0,0
$GC,4540,1.08,107.0,390.1,7.1,220,4552,0.00,2.40,7.30,0.674,6,0.000,0.038,3334,1769,2193,0,0,0,0,0,0
$GC,4882,1.09,142.9,369.5,4.7,229,4924,0.00,2.40,32.85,0.795,4,0.000,0.031,3334,3158,2046,0,0,0,0,0,0
$GC,5054,1.12,160.4,359.1,6.3,232,5077,0.00,2.42,16.60,0.751,6,0.000,0.038,3334,1766,1976,0,0,0,0,0,0
$GC,5392,1.12,160.4,331.3,8.9,241,5393,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,1767,1970,0,0,0,0,0,0
$GC,5716,1.12,160.4,297.8,10.9,249,5720,0.00,2.45,0.00,0.000,4,0.000,0.054,3333,358,1967,0,0,0,0,0,0
$GC,5736,1.06,160.4,295.4,12.0,250,5740,0.00,2.33,0.00,0.000,6,0.000,0.026,3334,1755,1965,0,0,0,0,0,0
$GC,6066,1.06,160.4,263.6,8.8,266,6070,0.00,2.45,0.00,0.000,4,0.000,0.052,3334,358,1965,0,0,0,0,0,0
$GC,6117,0.98,160.4,258.5,9.4,268,6121,0.00,2.33,0.00,0.000,6,0.000,0.025,3334,1772,1963,0,0,0,0,0,0
$GC,6438,0.98,160.4,229.4,8.9,284,6442,0.00,2.47,0.00,0.000,4,0.000,0.051,3333,355,1962,0,0,0,0,0,0
$GC,6506,0.92,160.4,223.7,9.2,287,6511,0.17,2.33,0.00,0.000,6,0.107,0.024,3300,1782,1961,0,0,0,0,0,0
$GC,6840,1.02,160.6,199.9,7.9,303,6845,0.10,2.47,0.00,0.000,4,0.077,0.049,3331,357,1961,0,0,0,0,0,0
$GC,6951,0.97,160.6,189.8,8.3,311,6956,0.00,2.30,0.00,0.000,6,0.000,0.023,3332,1775,1960,0,0,0,0,0,0
$GC,7218,1.03,164.6,169.3,7.5,332,7222,0.00,2.30,0.00,0.000,4,0.000,0.026,3331,3171,1960,0,0,0,0,0,0
$GC,7247,1.11,175.0,166.8,7.0,334,7264,0.00,2.35,11.62,0.591,6,0.000,0.031,3332,1765,1915,0,0,0,0,0,0
$GC,7529,1.17,175.0,144.4,9.1,356,7531,0.10,0.00,0.00,0.000,6,0.077,0.000,3364,1765,1914,0,0,0,0,0,0
$GC,7780,1.17,175.0,120.5,10.2,376,7784,0.00,2.40,0.00,0.000,4,0.000,0.045,3363,361,1914,0,0,0,0,0,0
$GC,7909,1.07,175.0,108.2,9.4,385,7914,0.15,2.30,0.00,0.000,6,0.101,0.021,3334,1786,1912,0,0,0,0,0,0
$GC,8175,1.15,175.0,86.5,8.2,406,8179,0.00,2.42,0.00,0.000,4,0.000,0.044,3334,359,1912,0,0,0,0,0,0
$GC,8193,1.15,175.0,84.7,8.2,407,8199,0.00,2.25,0.00,0.000,6,0.000,0.020,3334,1772,1911,0,0,0,0,0,0
$GC,8456,1.29,209.2,69.5,4.8,428,8493,0.20,2.45,30.73,0.546,4,0.048,0.042,3392,360,1776,0,0,0,0,0,0
$GC,8505,1.26,224.7,66.8,6.5,430,8526,0.00,2.33,14.43,0.509,6,0.000,0.019,3393,1780,1713,0,0,0,0,0,0
$GC,8779,1.27,225.7,43.0,7.8,452,8783,0.00,2.45,0.00,0.000,4,0.000,0.042,3392,353,1710,0,0,0,0,0,0
$GC,8793,1.27,231.0,41.8,7.4,453,8804,0.00,2.28,6.53,0.428,6,0.000,0.019,3392,1779,1688,0,0,0,0,0,0
$GC,9059,1.27,231.0,14.0,11.2,494,9065,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1779,1687,0,0,0,0,0,0
$STATE,9162,end climb,SURFACE_DEPTH_REACHED
$STATE,9162,begin surface coast
$FINISH,0.8,1.023065
$STATE,9191,end surface coast,CONTROL_FINISHED_OK
$STATE,9192,begin surface
$SM_CCo,9216,96.20,0.487,0,0,957,410.14
$SM_GC,1.58,0.00,0.00,96.20,0.000,0.000,0.487,430,1672,957,-12.28,-0.65,410.14
$IRIDIUM_FIX,2101.76,-15758.18,161199,010141
$TT8_MAMPS,0.029146
$HUMID,53.18
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.5,21.213
$10V_AH,10.4,17.180
$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,30.525,94.950,254.025,96.200,0.000,30.679,25.965,373.713,4.500,0.000,13.249,1048.869,6068.106,413.013,1648.372,681.677,0.000,1136.277,0.000,1629.892,0.000,29.253,0.000
$DEVICE_MAMPS,135.759,89.739,822.991,487.045,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,352.723,333.276,755.301,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355852
$DATA_FILE_SIZE,28594,524
$CAP_FILE_SIZE,104705,0
$CFSIZE,260165632,200921088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220810,063136,2107.905,-15758.073,67,1.5,76,9.8