version: 66.06
glider: 139
mission: 8
dive: 276
start: 8 26 110 2 26 37
data:
$ID,139
$MISSION,8
$DIVE,276
$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,-2156465.2
$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,1700
$C_ROLL_CLIMB,1740
$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
$GPS1,022107,2105.718,-15754.863,39,1.1,39,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-73.1
$GPS2,022620,2105.721,-15754.955,12,1.7,12,9.8
$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,79.7,20800,-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,-64.45,0.000,2,0.000,0.000,428,1681,2764,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.5,-3.9,12,104,12.48,0.00,-1.92,0.000,6,0.134,0.000,2753,1681,2871,0,0,0,0,0,0
$GC,305,-1.47,-58.4,50.2,-16.9,44,307,0.12,0.00,0.00,0.000,6,0.114,0.000,2777,1681,2873,0,0,0,0,0,0
$GC,556,-1.47,-58.4,88.6,-12.9,64,560,0.00,2.38,0.00,0.000,4,0.000,0.022,2777,3117,2874,0,0,0,0,0,0
$GC,623,-1.58,-58.4,97.2,-12.4,69,627,0.00,2.40,0.00,0.000,6,0.000,0.033,2777,1698,2874,0,0,0,0,0,0
$GC,889,-1.64,-58.4,136.9,-15.2,90,894,0.15,2.40,0.00,0.000,4,0.058,0.047,2731,297,2875,0,0,0,0,0,0
$GC,1004,-1.55,-58.4,156.5,-15.4,98,1011,0.10,2.33,0.00,0.000,6,0.081,0.018,2756,1733,2876,0,0,0,0,0,0
$GC,1266,-1.60,-58.4,184.5,-10.1,119,1267,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1734,2877,0,0,0,0,0,0
$GC,1518,-1.66,-58.4,213.6,-12.1,136,1522,0.00,2.20,0.00,0.000,4,0.000,0.023,2756,3088,2877,0,0,0,0,0,0
$GC,1550,-1.78,-58.4,217.7,-11.6,137,1555,0.20,2.30,0.00,0.000,6,0.048,0.030,2699,1698,2877,0,0,0,0,0,0
$GC,1869,-1.73,-58.4,260.9,-12.5,152,1874,0.12,2.33,0.00,0.000,4,0.106,0.025,2724,3092,2877,0,0,0,0,0,0
$GC,1954,-1.80,-58.4,270.8,-10.8,155,1959,0.00,2.30,0.00,0.000,6,0.000,0.032,2724,1701,2877,0,0,0,0,0,0
$GC,2289,-1.80,-58.4,311.4,-12.5,170,2293,0.00,2.30,0.00,0.000,4,0.000,0.026,2724,3085,2877,0,0,0,0,0,0
$GC,2341,-1.89,-58.4,318.0,-12.1,171,2346,0.15,2.30,0.00,0.000,6,0.059,0.034,2679,1702,2876,0,0,0,0,0,0
$GC,2662,-1.84,-58.4,356.8,-12.2,179,2667,0.10,2.33,0.00,0.000,4,0.117,0.028,2697,3091,2876,0,0,0,0,0,0
$GC,2797,-1.88,-58.4,371.8,-10.2,181,2803,0.00,2.33,0.00,0.000,6,0.000,0.036,2698,1701,2875,0,0,0,0,0,0
$GC,3129,-1.88,-58.4,405.0,-10.1,190,3133,0.00,2.33,0.00,0.000,4,0.000,0.030,2698,3086,2874,0,0,0,0,0,0
$GC,3194,-1.88,-58.4,411.8,-9.7,191,3198,0.00,2.35,0.00,0.000,6,0.000,0.038,2698,1697,2873,0,0,0,0,0,0
$GC,3539,-1.88,-58.4,447.3,-10.2,200,3543,0.00,2.35,0.00,0.000,4,0.000,0.031,2697,3089,2871,0,0,0,0,0,0
$STATE,3564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3564,begin apogee
$GC,3574,-0.31,0.0,450.4,11.2,200,3628,1.58,0.00,49.42,0.821,6,0.082,0.000,3030,1743,2630,0,0,0,0,0,0
$STATE,3629,end apogee,CONTROL_FINISHED_OK
$STATE,3629,begin climb
$GC,3631,1.56,58.4,451.7,0.0,202,3690,1.75,2.53,50.45,0.805,4,0.030,0.051,3447,324,2389,0,0,0,0,0,0
$GC,3957,1.17,95.3,440.5,4.6,209,3995,0.47,2.33,31.95,0.802,6,0.106,0.025,3356,1733,2241,0,0,0,0,0,0
$GC,4319,1.10,115.7,418.0,6.1,218,4343,0.00,2.45,18.33,0.775,4,0.000,0.035,3356,3121,2158,0,0,0,0,0,0
$GC,4609,1.04,115.7,392.2,8.7,224,4614,0.15,2.40,0.00,0.000,6,0.114,0.040,3329,1739,2155,0,0,0,0,0,0
$GC,4924,1.04,115.7,365.2,8.5,232,4928,0.00,2.35,0.00,0.000,4,0.000,0.032,3329,3129,2151,0,0,0,0,0,0
$GC,5192,1.06,134.1,346.1,6.2,237,5213,0.00,2.42,16.40,0.754,6,0.000,0.039,3329,1728,2083,0,0,0,0,0,0
$GC,5523,1.06,134.1,322.2,8.0,246,5528,0.00,2.38,0.00,0.000,4,0.000,0.032,3329,3132,2078,0,0,0,0,0,0
$GC,5646,1.10,134.1,311.2,8.8,248,5650,0.00,2.40,0.00,0.000,6,0.000,0.039,3329,1733,2078,0,0,0,0,0,0
$GC,5965,1.11,143.6,286.9,7.0,260,5980,0.00,2.50,8.82,0.663,4,0.000,0.052,3329,327,2043,0,0,0,0,0,0
$GC,6057,1.02,143.6,279.4,10.1,264,6061,0.00,2.33,0.00,0.000,6,0.000,0.026,3329,1739,2040,0,0,0,0,0,0
$GC,6387,1.02,143.6,251.1,8.0,280,6391,0.00,2.35,0.00,0.000,4,0.000,0.031,3329,3134,2039,0,0,0,0,0,0
$GC,6474,1.10,157.9,245.0,6.6,283,6495,0.00,2.40,13.50,0.671,6,0.000,0.035,3329,1731,1985,0,0,0,0,0,0
$GC,6813,1.14,157.9,218.5,8.7,300,6815,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1731,1983,0,0,0,0,0,0
$GC,7132,1.18,157.9,188.1,8.9,319,7137,0.12,2.45,0.00,0.000,4,0.068,0.050,3365,331,1982,0,0,0,0,0,0
$GC,7187,1.04,157.9,182.7,9.8,323,7192,0.20,2.30,0.00,0.000,6,0.100,0.022,3327,1748,1980,0,0,0,0,0,0
$GC,7453,1.10,159.9,161.7,7.7,344,7457,0.00,2.45,0.00,0.000,4,0.000,0.047,3326,334,1980,0,0,0,0,0,0
$GC,7554,1.11,169.4,153.5,7.0,351,7574,0.00,2.30,10.90,0.574,6,0.000,0.021,3327,1751,1938,0,0,0,0,0,0
$GC,7827,1.20,169.4,132.8,7.9,373,7829,0.15,0.00,0.00,0.000,6,0.059,0.000,3371,1751,1937,0,0,0,0,0,0
$GC,8080,1.21,180.6,114.3,6.9,393,8093,0.00,0.00,11.32,0.541,6,0.000,0.000,3371,1751,1892,0,0,0,0,0,0
$GC,8342,1.21,180.6,93.9,8.6,414,8346,0.00,2.42,0.00,0.000,4,0.000,0.044,3370,330,1892,0,0,0,0,0,0
$GC,8356,1.21,180.6,92.9,8.5,415,8360,0.00,2.28,0.00,0.000,6,0.000,0.020,3371,1750,1889,0,0,0,0,0,0
$GC,8623,1.27,187.9,74.8,7.2,436,8638,0.00,2.50,7.78,0.472,4,0.000,0.044,3371,330,1862,0,0,0,0,0,0
$GC,8644,1.34,214.4,73.5,5.5,437,8675,0.00,2.25,24.55,0.535,6,0.000,0.019,3371,1749,1754,0,0,0,0,0,0
$GC,8936,1.41,214.4,51.2,8.3,460,8941,0.15,2.47,0.00,0.000,4,0.057,0.043,3415,328,1752,0,0,0,0,0,0
$GC,8951,1.41,214.4,49.3,9.1,461,8955,0.00,2.22,0.00,0.000,6,0.000,0.018,3416,1744,1750,0,0,0,0,0,0
$GC,9214,1.37,214.4,22.8,10.9,491,9220,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,1749,1750,0,0,0,0,0,0
$STATE,9366,end climb,SURFACE_DEPTH_REACHED
$STATE,9366,begin surface coast
$FINISH,0.8,1.023101
$STATE,9389,end surface coast,CONTROL_FINISHED_OK
$STATE,9389,begin surface
$SM_CCo,9412,109.22,0.484,0,0,957,410.14
$SM_GC,1.56,0.00,0.00,109.22,0.000,0.000,0.484,431,1691,957,-12.28,-0.28,410.14
$IRIDIUM_FIX,2059.45,-15756.04,191199,232314
$TT8_MAMPS,0.028379
$HUMID,53.18
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.5,24.272
$10V_AH,10.3,19.752
$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,30.725,89.800,243.425,109.225,0.000,22.176,32.912,136.868,4.500,0.000,12.490,1074.965,6139.331,405.044,1773.517,439.626,0.000,1183.736,0.000,1749.041,0.000,29.256,0.000
$DEVICE_MAMPS,134.225,107.380,821.457,483.977,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,357.279,338.579,755.277,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,28608,531
$CAP_FILE_SIZE,105569,0
$CFSIZE,260165632,199110656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260810,050630,2105.664,-15755.404,13,2.5,32,9.8