version: 66.06
glider: 139
mission: 8
dive: 281
start: 8 26 110 15 55 24
data:
$ID,139
$MISSION,8
$DIVE,281
$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,-2156587.5
$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,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
$GPS1,154954,2105.516,-15755.561,26,1.0,43,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-71.6
$GPS2,155507,2105.533,-15755.611,12,1.4,12,9.8
$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,78.8,21938,-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,-64.32,0.000,2,0.000,0.000,426,1685,2744,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.2,-3.1,12,110,12.50,2.45,-2.40,0.000,4,0.133,0.055,2754,289,2872,0,0,0,0,0,0
$GC,119,-0.36,-58.4,14.8,-25.6,17,126,1.25,2.35,0.00,0.000,6,0.088,0.019,3020,1738,2873,0,0,0,0,0,0
$GC,321,-0.91,-58.4,27.4,-4.9,63,329,0.50,2.50,0.00,0.000,4,0.029,0.041,2882,288,2874,0,0,0,0,0,0
$GC,373,-1.12,-58.4,32.9,-11.3,70,380,0.08,2.25,0.00,0.000,6,0.037,0.018,2843,1699,2875,0,0,0,0,0,0
$GC,635,-1.24,-58.4,69.7,-14.7,91,639,0.00,2.42,0.00,0.000,4,0.000,0.045,2843,295,2875,0,0,0,0,0,0
$GC,662,-1.28,-58.4,73.7,-15.3,93,666,0.00,2.22,0.00,0.000,6,0.000,0.018,2843,1690,2874,0,0,0,0,0,0
$GC,927,-1.47,-58.4,102.0,-8.0,114,929,0.28,0.00,0.00,0.000,6,0.039,0.000,2765,1695,2875,0,0,0,0,0,0
$GC,1178,-1.47,-58.4,130.0,-9.9,134,1182,0.00,2.30,0.00,0.000,4,0.000,0.022,2765,3085,2876,0,0,0,0,0,0
$GC,1265,-1.58,-58.4,140.0,-10.9,140,1272,0.00,2.35,0.00,0.000,6,0.000,0.031,2764,1697,2876,0,0,0,0,0,0
$GC,1527,-1.65,-58.4,167.9,-9.7,161,1532,0.12,2.40,0.00,0.000,4,0.064,0.045,2723,293,2877,0,0,0,0,0,0
$GC,1581,-1.57,-58.4,175.1,-13.3,165,1586,0.17,2.22,0.00,0.000,6,0.098,0.018,2757,1713,2877,0,0,0,0,0,0
$GC,1850,-1.63,-58.4,204.7,-10.8,185,1854,0.00,2.22,0.00,0.000,4,0.000,0.023,2758,3078,2877,0,0,0,0,0,0
$GC,1924,-1.75,-58.4,212.2,-10.2,188,1929,0.17,2.30,0.00,0.000,6,0.053,0.031,2704,1690,2877,0,0,0,0,0,0
$GC,2248,-1.71,-58.4,254.9,-13.0,204,2252,0.10,2.28,0.00,0.000,4,0.115,0.024,2724,3075,2877,0,0,0,0,0,0
$GC,2299,-1.78,-58.4,261.1,-10.7,206,2303,0.00,2.30,0.00,0.000,6,0.000,0.032,2725,1693,2877,0,0,0,0,0,0
$GC,2624,-1.81,-58.4,300.5,-11.5,222,2628,0.00,2.25,0.00,0.000,4,0.000,0.025,2725,3071,2877,0,0,0,0,0,0
$GC,2732,-1.91,-58.4,311.6,-9.7,224,2737,0.17,2.30,0.00,0.000,6,0.053,0.034,2673,1692,2877,0,0,0,0,0,0
$GC,3048,-1.86,-58.4,347.8,-11.4,232,3053,0.10,2.30,0.00,0.000,4,0.120,0.027,2693,3068,2877,0,0,0,0,0,0
$GC,3179,-1.86,-58.4,361.5,-9.8,234,3185,0.00,2.33,0.00,0.000,6,0.000,0.035,2693,1697,2876,0,0,0,0,0,0
$GC,3511,-1.86,-58.4,397.5,-10.8,243,3515,0.00,2.30,0.00,0.000,4,0.000,0.029,2693,3069,2874,0,0,0,0,0,0
$GC,3646,-1.89,-58.4,412.3,-10.6,246,3650,0.00,2.35,0.00,0.000,6,0.000,0.039,2693,1697,2873,0,0,0,0,0,0
$STATE,3971,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3971,begin apogee
$GC,3977,-0.31,0.0,450.2,11.2,254,4031,1.62,0.00,49.58,0.825,6,0.082,0.000,3032,1697,2630,0,0,0,0,0,0
$STATE,4032,end apogee,CONTROL_FINISHED_OK
$STATE,4032,begin climb
$GC,4034,1.56,58.4,452.3,0.0,255,4093,1.75,2.45,50.53,0.808,4,0.030,0.051,3448,334,2390,0,0,0,0,0,0
$GC,4102,1.37,168.5,453.4,-2.0,256,4209,0.25,2.30,96.40,0.812,6,0.110,0.025,3402,1721,1943,0,0,0,0,0,0
$GC,4533,1.20,168.5,406.7,12.8,267,4538,0.20,2.40,0.00,0.000,4,0.105,0.031,3363,3122,1933,0,0,0,0,0,0
$GC,4604,1.16,168.5,398.5,11.7,268,4608,0.00,2.42,0.00,0.000,6,0.000,0.041,3363,1736,1932,0,0,0,0,0,0
$GC,4946,1.07,168.5,356.0,13.6,277,4950,0.15,2.38,0.00,0.000,4,0.110,0.031,3335,3131,1928,0,0,0,0,0,0
$GC,4998,1.10,168.5,348.8,12.8,278,5002,0.00,2.40,0.00,0.000,6,0.000,0.040,3335,1737,1928,0,0,0,0,0,0
$GC,5316,1.10,168.5,309.0,13.0,286,5320,0.00,2.45,0.00,0.000,4,0.000,0.054,3335,332,1925,0,0,0,0,0,0
$GC,5336,1.03,168.5,306.2,13.9,286,5340,0.00,2.33,0.00,0.000,6,0.000,0.026,3335,1736,1922,0,0,0,0,0,0
$GC,5666,1.03,168.5,270.9,8.8,301,5667,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,1737,1922,0,0,0,0,0,0
$GC,5973,1.03,168.5,245.2,8.6,316,5978,0.00,2.33,0.00,0.000,4,0.000,0.030,3336,3137,1920,0,0,0,0,0,0
$GC,6017,1.11,168.5,241.0,9.9,318,6022,0.00,2.40,0.00,0.000,6,0.000,0.037,3335,1727,1920,0,0,0,0,0,0
$GC,6347,1.11,168.5,204.5,9.9,334,6348,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,1727,1920,0,0,0,0,0,0
$GC,6664,1.17,179.9,178.3,6.9,357,6678,0.00,2.47,6.68,0.535,4,0.000,0.049,3335,329,1895,0,0,0,0,0,0
$GC,6780,1.17,179.9,167.7,9.6,365,6785,0.00,2.30,0.00,0.000,6,0.000,0.021,3335,1752,1893,0,0,0,0,0,0
$GC,7043,1.27,199.1,149.0,6.2,385,7071,0.17,2.53,18.12,0.597,4,0.054,0.045,3384,336,1816,0,0,0,0,0,0
$GC,7102,1.15,199.1,144.1,9.9,389,7107,0.17,2.28,0.00,0.000,6,0.101,0.021,3351,1746,1815,0,0,0,0,0,0
$GC,7369,1.22,212.3,125.2,6.7,410,7387,0.00,2.53,12.60,0.550,4,0.000,0.045,3351,330,1764,0,0,0,0,0,0
$GC,7399,1.23,215.9,122.8,7.6,412,7408,0.00,2.28,4.50,0.407,6,0.000,0.020,3351,1747,1750,0,0,0,0,0,0
$GC,7663,1.32,215.9,98.5,10.1,432,7668,0.15,2.45,0.00,0.000,4,0.058,0.044,3395,328,1749,0,0,0,0,0,0
$GC,7785,1.24,215.9,79.6,16.1,441,7790,0.12,2.25,0.00,0.000,6,0.108,0.019,3372,1748,1746,0,0,0,0,0,0
$GC,8053,1.31,215.9,52.4,9.0,462,8054,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,1754,1746,0,0,0,0,0,0
$GC,8303,1.39,226.7,35.0,6.9,482,8322,0.12,2.47,11.05,0.466,4,0.064,0.043,3412,338,1704,0,0,0,0,0,0
$GC,8355,1.26,226.7,29.6,11.7,485,8362,0.17,2.28,0.00,0.000,6,0.080,0.018,3373,1751,1702,0,0,0,0,0,0
$STATE,8604,end climb,SURFACE_DEPTH_REACHED
$STATE,8604,begin surface coast
$FINISH,0.9,1.023126
$STATE,8639,end surface coast,CONTROL_FINISHED_OK
$STATE,8639,begin surface
$SM_CCo,8662,105.85,0.482,0,0,957,410.14
$SM_GC,1.57,0.00,0.00,105.85,0.000,0.000,0.482,430,1688,957,-12.28,-0.37,410.14
$IRIDIUM_FIX,2059.45,-15756.04,201199,131317
$TT8_MAMPS,0.029146
$HUMID,52.99
$INTERNAL_PRESSURE,9.30354
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,23.5,24.668
$10V_AH,10.4,20.115
$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,33.050,94.175,249.450,105.850,0.000,24.316,32.603,140.181,4.500,0.000,12.202,1067.284,5504.486,409.591,1668.087,431.983,0.000,1131.338,0.000,1650.203,0.000,32.016,0.000
$DEVICE_MAMPS,133.458,95.108,824.525,481.676,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,369.441,362.109,861.700,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,31780,550
$CAP_FILE_SIZE,102486,0
$CFSIZE,260165632,198852608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260810,182255,2105.585,-15755.557,43,1.6,43,9.8