version: 66.06
glider: 139
mission: 8
dive: 261
start: 8 24 110 9 17 11
data:
$ID,139
$MISSION,8
$DIVE,261
$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,-2156081.8
$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
$GPS1,091137,2106.114,-15754.725,34,1.4,34,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-72.7
$GPS2,091655,2106.107,-15754.735,16,2.0,22,9.8
$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,81.7,20426,-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,-64.60,0.000,2,0.000,0.000,424,1684,2784,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.7,-4.4,12,105,12.50,2.47,-1.55,0.000,4,0.135,0.058,2751,289,2872,0,0,0,0,0,0
$GC,130,-0.72,-58.4,20.6,-36.5,20,138,0.88,2.35,0.00,0.000,6,0.093,0.018,2939,1733,2874,0,0,0,0,0,0
$GC,337,-1.08,-58.4,41.3,-6.1,43,342,0.30,2.47,0.00,0.000,4,0.036,0.042,2845,289,2874,0,0,0,0,0,0
$GC,384,-1.17,-58.4,46.4,-12.4,46,391,0.00,2.28,0.00,0.000,6,0.000,0.018,2845,1710,2875,0,0,0,0,0,0
$GC,644,-1.31,-58.4,79.7,-13.2,67,646,0.15,0.00,0.00,0.000,6,0.056,0.000,2795,1716,2875,0,0,0,0,0,0
$GC,899,-1.41,-58.4,109.9,-11.5,87,904,0.00,2.45,0.00,0.000,4,0.000,0.046,2795,289,2876,0,0,0,0,0,0
$GC,937,-1.41,-58.4,115.2,-13.5,90,942,0.00,2.22,0.00,0.000,6,0.000,0.018,2795,1713,2877,0,0,0,0,0,0
$GC,1206,-1.54,-58.4,141.7,-9.8,111,1212,0.15,0.00,0.00,0.000,6,0.058,0.000,2747,1719,2878,0,0,0,0,0,0
$GC,1468,-1.59,-58.4,175.1,-12.2,132,1472,0.00,2.45,0.00,0.000,4,0.000,0.046,2747,290,2878,0,0,0,0,0,0
$GC,1525,-1.59,-58.4,183.0,-13.0,136,1529,0.00,2.20,0.00,0.000,6,0.000,0.018,2747,1699,2878,0,0,0,0,0,0
$GC,1788,-1.65,-58.4,212.9,-11.8,153,1792,0.00,2.22,0.00,0.000,4,0.000,0.023,2747,3065,2878,0,0,0,0,0,0
$GC,1887,-1.75,-58.4,224.4,-10.6,157,1892,0.12,2.30,0.00,0.000,6,0.065,0.032,2706,1685,2878,0,0,0,0,0,0
$GC,2211,-1.75,-58.4,263.5,-11.4,173,2212,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1684,2878,0,0,0,0,0,0
$GC,2517,-1.75,-58.4,297.7,-11.9,188,2521,0.00,2.28,0.00,0.000,4,0.000,0.025,2706,3061,2878,0,0,0,0,0,0
$GC,2628,-1.79,-58.4,311.0,-11.9,191,2632,0.00,2.30,0.00,0.000,6,0.000,0.035,2706,1689,2878,0,0,0,0,0,0
$GC,2941,-1.79,-58.4,350.8,-13.1,199,2942,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1689,2877,0,0,0,0,0,0
$GC,3267,-1.79,-58.4,384.1,-9.7,207,3271,0.00,2.28,0.00,0.000,4,0.000,0.028,2706,3064,2875,0,0,0,0,0,0
$GC,3377,-1.85,-58.4,394.4,-9.7,209,3381,0.00,2.33,0.00,0.000,6,0.000,0.038,2706,1690,2874,0,0,0,0,0,0
$GC,3726,-1.85,-58.4,427.0,-9.4,218,3730,0.00,2.45,0.00,0.000,4,0.000,0.055,2706,288,2871,0,0,0,0,0,0
$GC,3751,-1.82,-58.4,429.6,-11.2,218,3755,0.00,2.25,0.00,0.000,6,0.000,0.025,2706,1675,2871,0,0,0,0,0,0
$STATE,3967,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3967,begin apogee
$GC,3973,-0.31,0.0,451.6,10.1,224,4027,1.55,0.00,49.47,0.834,6,0.081,0.000,3031,1778,2630,0,0,0,0,0,0
$STATE,4027,end apogee,CONTROL_FINISHED_OK
$STATE,4027,begin climb
$GC,4031,1.56,58.4,452.9,0.0,225,4092,1.75,2.53,50.67,0.818,4,0.031,0.051,3448,360,2388,0,0,0,0,0,0
$GC,4100,1.34,163.3,453.9,-1.6,226,4202,0.28,2.35,92.22,0.821,6,0.110,0.026,3397,1751,1964,0,0,0,0,0,0
$GC,4524,1.18,163.3,399.0,15.2,237,4529,0.20,2.47,0.00,0.000,4,0.109,0.054,3359,364,1954,0,0,0,0,0,0
$GC,4544,0.99,163.3,395.8,14.7,237,4549,0.22,2.35,0.00,0.000,6,0.107,0.028,3317,1769,1951,0,0,0,0,0,0
$GC,4890,0.99,163.3,361.2,9.7,246,4895,0.00,2.50,0.00,0.000,4,0.000,0.055,3317,363,1948,0,0,0,0,0,0
$GC,4942,0.92,163.3,355.2,12.2,247,4946,0.00,2.38,0.00,0.000,6,0.000,0.028,3317,1772,1946,0,0,0,0,0,0
$GC,5261,0.92,163.3,320.5,11.0,255,5265,0.00,2.50,0.00,0.000,4,0.000,0.055,3317,360,1945,0,0,0,0,0,0
$GC,5335,0.86,163.3,310.6,13.3,256,5340,0.15,2.35,0.00,0.000,6,0.117,0.028,3290,1777,1943,0,0,0,0,0,0
$GC,5656,0.96,163.3,281.3,8.5,269,5660,0.00,2.47,0.00,0.000,4,0.000,0.054,3289,362,1942,0,0,0,0,0,0
$GC,5783,0.96,163.3,267.8,10.5,274,5787,0.00,2.33,0.00,0.000,6,0.000,0.026,3289,1776,1939,0,0,0,0,0,0
$GC,6100,1.07,163.3,236.7,10.1,289,6105,0.20,2.50,0.00,0.000,4,0.055,0.051,3343,356,1939,0,0,0,0,0,0
$GC,6147,0.99,163.3,231.9,11.2,291,6152,0.15,2.35,0.00,0.000,6,0.108,0.026,3314,1786,1938,0,0,0,0,0,0
$GC,6481,1.11,206.6,212.6,4.0,307,6525,0.12,2.58,34.72,0.693,4,0.070,0.051,3350,369,1787,0,0,0,0,0,0
$GC,6568,1.03,206.6,203.5,15.0,310,6575,0.10,2.35,0.00,0.000,6,0.087,0.024,3327,1764,1783,0,0,0,0,0,0
$GC,6898,1.10,206.6,159.9,12.7,336,6902,0.00,2.42,0.00,0.000,4,0.000,0.049,3327,362,1781,0,0,0,0,0,0
$GC,6996,1.10,206.6,147.3,13.0,343,7001,0.00,2.33,0.00,0.000,6,0.000,0.022,3327,1793,1778,0,0,0,0,0,0
$GC,7263,1.21,222.4,123.9,6.5,364,7284,0.17,2.50,13.77,0.577,4,0.054,0.046,3376,362,1723,0,0,0,0,0,0
$GC,7353,1.10,222.4,114.2,11.3,370,7360,0.15,2.33,0.00,0.000,6,0.083,0.021,3342,1768,1719,0,0,0,0,0,0
$GC,7616,1.20,222.4,91.3,9.2,391,7617,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,1774,1719,0,0,0,0,0,0
$GC,7866,1.34,226.7,71.9,7.5,411,7877,0.22,0.00,5.22,0.421,6,0.046,0.000,3405,1774,1704,0,0,0,0,0,0
$GC,8132,1.35,231.0,51.8,7.5,432,8147,0.00,2.42,5.32,0.395,4,0.000,0.043,3405,357,1687,0,0,0,0,0,0
$GC,8153,1.29,231.0,49.4,9.3,433,8158,0.12,2.28,0.00,0.000,6,0.109,0.019,3382,1797,1686,0,0,0,0,0,0
$GC,8416,1.33,231.0,23.7,11.6,461,8423,0.00,2.47,0.00,0.000,4,0.000,0.043,3381,366,1686,0,0,0,0,0,0
$GC,8486,1.28,231.0,16.4,9.2,476,8492,0.00,2.25,0.00,0.000,6,0.000,0.018,3382,1762,1685,0,0,0,0,0,0
$STATE,8613,end climb,SURFACE_DEPTH_REACHED
$STATE,8613,begin surface coast
$FINISH,0.9,1.019977
$STATE,8640,end surface coast,CONTROL_FINISHED_OK
$STATE,8640,begin surface
$SM_CCo,8664,99.18,0.486,0,0,957,410.14
$SM_GC,1.51,0.00,0.00,99.18,0.000,0.000,0.486,430,1674,957,-12.29,-0.59,410.14
$IRIDIUM_FIX,2057.14,-15756.04,181199,060619
$TT8_MAMPS,0.029146
$HUMID,54.13
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.5,23.033
$10V_AH,10.3,18.649
$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,32.125,90.525,251.425,99.175,0.000,31.509,27.692,130.659,4.500,0.000,22.206,997.532,5722.962,406.509,1522.556,428.227,0.000,1083.662,0.000,1498.639,0.000,29.254,0.000
$DEVICE_MAMPS,134.992,77.467,834.496,486.278,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,343.590,330.264,772.465,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355724
$DATA_FILE_SIZE,28644,511
$CAP_FILE_SIZE,97163,0
$CFSIZE,260165632,199909376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240810,114422,2105.916,-15754.640,10,3.6,29,9.8