version: 66.06
glider: 139
mission: 8
dive: 292
start: 8 27 110 22 11 31
data:
$ID,139
$MISSION,8
$DIVE,292
$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,-2156885.5
$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
$GPS1,220225,2105.492,-15754.654,41,1.5,41,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-72.7
$GPS2,221114,2105.366,-15754.676,16,1.2,16,9.8
$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,77.9,20333,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.56,-58.4,0.0,0.0,0,84,0.00,0.00,-64.20,0.000,2,0.000,0.000,426,1678,2764,0,0,0,0,0,0
$GC,88,-1.56,-58.4,3.5,-4.1,12,106,12.50,0.00,-2.00,0.000,6,0.134,0.000,2753,1679,2871,0,0,0,0,0,0
$GC,303,-1.46,-58.4,50.0,-19.0,45,308,0.15,2.38,0.00,0.000,4,0.108,0.021,2781,3120,2873,0,0,0,0,0,0
$GC,331,-1.52,-58.4,55.8,-18.2,47,335,0.00,2.40,0.00,0.000,6,0.000,0.035,2781,1699,2873,0,0,0,0,0,0
$GC,591,-1.57,-58.4,91.7,-12.2,67,596,0.10,2.40,0.00,0.000,4,0.074,0.044,2747,295,2874,0,0,0,0,0,0
$GC,683,-1.47,-58.4,106.4,-16.4,73,689,0.15,2.28,0.00,0.000,6,0.103,0.018,2776,1738,2875,0,0,0,0,0,0
$GC,946,-1.53,-58.4,143.1,-13.8,94,950,0.00,2.17,0.00,0.000,4,0.000,0.021,2776,3081,2875,0,0,0,0,0,0
$GC,1057,-1.68,-58.4,159.1,-13.0,102,1062,0.20,2.33,0.00,0.000,6,0.048,0.030,2717,1689,2876,0,0,0,0,0,0
$GC,1315,-1.68,-58.4,195.0,-13.0,122,1319,0.00,2.28,0.00,0.000,4,0.000,0.022,2717,3085,2876,0,0,0,0,0,0
$GC,1334,-1.68,-58.4,197.4,-12.2,123,1339,0.00,2.33,0.00,0.000,6,0.000,0.030,2717,1689,2876,0,0,0,0,0,0
$GC,1594,-1.68,-58.4,227.8,-10.7,137,1599,0.00,2.30,0.00,0.000,4,0.000,0.024,2718,3084,2876,0,0,0,0,0,0
$GC,1661,-1.73,-58.4,234.3,-9.9,140,1665,0.00,2.33,0.00,0.000,6,0.000,0.031,2718,1696,2876,0,0,0,0,0,0
$GC,1995,-1.73,-58.4,271.8,-11.8,156,1999,0.00,2.30,0.00,0.000,4,0.000,0.025,2718,3083,2876,0,0,0,0,0,0
$GC,2171,-1.79,-58.4,291.4,-10.9,163,2176,0.00,2.33,0.00,0.000,6,0.000,0.033,2717,1693,2875,0,0,0,0,0,0
$GC,2503,-1.79,-58.4,327.9,-11.3,174,2507,0.00,2.40,0.00,0.000,4,0.000,0.050,2717,294,2875,0,0,0,0,0,0
$GC,2533,-1.73,-58.4,331.8,-13.1,174,2537,0.00,2.25,0.00,0.000,6,0.000,0.022,2717,1704,2874,0,0,0,0,0,0
$GC,2869,-1.76,-58.4,373.9,-12.7,183,2870,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1709,2873,0,0,0,0,0,0
$GC,3193,-1.80,-58.4,410.1,-10.7,191,3198,0.00,2.45,0.00,0.000,4,0.000,0.054,2717,297,2870,0,0,0,0,0,0
$GC,3209,-1.80,-58.4,411.5,-9.6,191,3213,0.00,2.25,0.00,0.000,6,0.000,0.025,2717,1693,2870,0,0,0,0,0,0
$GC,3559,-1.84,-58.4,443.3,-8.5,200,3563,0.00,2.33,0.00,0.000,4,0.000,0.031,2717,3080,2867,0,0,0,0,0,0
$STATE,3636,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3636,begin apogee
$GC,3645,-0.31,0.0,450.1,7.7,201,3698,1.48,0.00,48.85,0.828,6,0.081,0.000,3029,1735,2630,0,0,0,0,0,0
$STATE,3699,end apogee,CONTROL_FINISHED_OK
$STATE,3699,begin climb
$GC,3702,1.56,58.4,450.6,0.0,203,3757,1.80,0.00,51.10,0.813,6,0.029,0.000,3452,1735,2391,0,0,0,0,0,0
$GC,4061,1.31,100.3,438.9,4.1,212,4104,0.32,2.40,36.55,0.811,4,0.107,0.031,3386,3117,2220,0,0,0,0,0,0
$GC,4157,1.18,100.7,433.0,7.9,214,4162,0.15,2.40,0.00,0.000,6,0.120,0.039,3360,1731,2219,0,0,0,0,0,0
$GC,4481,1.07,103.0,407.0,7.7,222,4486,0.12,2.38,0.00,0.000,4,0.122,0.034,3338,3116,2212,0,0,0,0,0,0
$GC,4525,1.08,110.5,404.0,7.2,223,4540,0.00,2.38,9.02,0.706,6,0.000,0.039,3338,1740,2179,0,0,0,0,0,0
$GC,4856,1.06,133.3,382.2,5.8,231,4880,0.00,0.00,21.45,0.782,6,0.000,0.000,3338,1740,2086,0,0,0,0,0,0
$GC,5181,1.02,133.3,352.3,9.7,239,5185,0.00,2.53,0.00,0.000,4,0.000,0.056,3337,328,2081,0,0,0,0,0,0
$GC,5329,0.89,133.3,334.4,12.5,242,5334,0.22,2.35,0.00,0.000,6,0.107,0.027,3295,1735,2077,0,0,0,0,0,0
$GC,5645,0.96,133.3,304.0,8.9,250,5649,0.00,2.45,0.00,0.000,4,0.000,0.054,3295,334,2076,0,0,0,0,0,0
$GC,5804,0.96,133.3,289.2,9.6,256,5808,0.00,2.35,0.00,0.000,6,0.000,0.027,3295,1740,2074,0,0,0,0,0,0
$GC,6135,1.07,165.3,270.2,5.0,272,6166,0.17,0.00,28.00,0.739,6,0.058,0.000,3343,1741,1956,0,0,0,0,0,0
$GC,6463,1.07,165.3,243.7,8.8,288,6464,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,1741,1951,0,0,0,0,0,0
$GC,6775,1.07,165.3,218.5,8.1,303,6779,0.00,2.45,0.00,0.000,4,0.000,0.051,3342,334,1950,0,0,0,0,0,0
$GC,6798,0.98,165.3,215.8,10.4,304,6803,0.15,2.35,0.00,0.000,6,0.107,0.025,3314,1752,1948,0,0,0,0,0,0
$GC,7126,1.05,165.3,190.9,9.2,323,7130,0.00,2.47,0.00,0.000,4,0.000,0.050,3314,325,1947,0,0,0,0,0,0
$GC,7199,1.05,165.3,182.0,12.2,328,7206,0.00,2.38,0.00,0.000,6,0.000,0.024,3314,1748,1946,0,0,0,0,0,0
$GC,7463,1.13,166.8,158.6,7.8,349,7468,0.15,2.47,0.00,0.000,4,0.061,0.048,3357,324,1946,0,0,0,0,0,0
$GC,7505,1.03,166.8,154.5,9.7,352,7510,0.17,2.33,0.00,0.000,6,0.101,0.022,3323,1751,1944,0,0,0,0,0,0
$GC,7767,1.14,189.7,136.3,5.8,372,7795,0.10,2.35,21.15,0.612,4,0.077,0.026,3356,3134,1856,0,0,0,0,0,0
$GC,7845,1.20,189.7,129.5,10.2,377,7849,0.00,2.38,0.00,0.000,6,0.000,0.032,3357,1731,1855,0,0,0,0,0,0
$GC,8106,1.20,189.7,106.3,8.5,397,8107,0.00,0.00,0.00,0.000,6,0.000,0.000,3356,1731,1854,0,0,0,0,0,0
$GC,8357,1.27,210.6,89.7,6.0,417,8385,0.00,2.50,19.38,0.558,4,0.000,0.047,3357,331,1770,0,0,0,0,0,0
$GC,8527,1.27,212.4,77.1,7.7,429,8532,0.00,2.28,0.00,0.000,6,0.000,0.019,3356,1756,1766,0,0,0,0,0,0
$GC,8789,1.36,212.4,54.9,8.7,449,8794,0.17,2.47,0.00,0.000,4,0.051,0.044,3409,332,1766,0,0,0,0,0,0
$GC,8902,1.23,212.4,41.4,12.4,457,8907,0.20,2.28,0.00,0.000,6,0.096,0.018,3369,1752,1765,0,0,0,0,0,0
$GC,9165,1.29,212.4,19.6,9.8,495,9172,0.00,2.45,0.00,0.000,4,0.000,0.041,3369,334,1765,0,0,0,0,0,0
$STATE,9338,end climb,SURFACE_DEPTH_REACHED
$STATE,9338,begin surface coast
$FINISH,1.5,1.023076
$STATE,9348,end surface coast,CONTROL_FINISHED_OK
$STATE,9348,begin surface
$SM_CCo,9373,111.97,0.489,0,0,957,410.14
$SM_GC,1.55,0.00,0.00,111.97,0.000,0.000,0.489,427,1724,957,-12.30,0.68,410.14
$IRIDIUM_FIX,2059.45,-15753.90,211199,222203
$TT8_MAMPS,0.028379
$HUMID,53.42
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.5,25.593
$10V_AH,10.3,20.936
$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,30.975,94.425,235.500,111.975,0.000,50.991,77.773,207.793,4.500,0.000,16.440,1065.471,6286.083,435.821,1624.372,602.067,0.000,1125.294,0.000,1612.199,0.000,29.253,0.000
$DEVICE_MAMPS,134.225,55.991,828.360,489.346,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,362.023,344.451,780.206,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,28641,537
$CAP_FILE_SIZE,103850,0
$CFSIZE,260165632,198275072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280810,005026,2105.231,-15754.302,11,2.0,11,9.8