version: 66.06
glider: 139
mission: 8
dive: 304
start: 8 29 110 7 28 52
data:
$ID,139
$MISSION,8
$DIVE,304
$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,-2157196.2
$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
$GPS1,072246,2104.683,-15754.412,14,2.4,33,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-70.6
$GPS2,072836,2104.639,-15754.471,38,1.0,47,9.8
$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,74.0,20080,-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,-64.75,0.000,2,0.000,0.000,427,1707,2806,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.9,-4.5,12,104,12.48,2.42,-1.15,0.000,4,0.134,0.052,2751,292,2870,0,0,0,0,0,0
$GC,117,-0.30,-58.4,16.3,-29.2,17,125,1.33,2.35,0.00,0.000,6,0.093,0.018,3030,1737,2871,0,0,0,0,0,0
$GC,325,-1.02,-58.4,31.1,-6.1,62,332,0.65,2.47,0.00,0.000,4,0.041,0.040,2870,289,2873,0,0,0,0,0,0
$GC,382,-1.18,-58.4,36.8,-11.1,66,387,0.12,2.22,0.00,0.000,6,0.063,0.018,2828,1713,2872,0,0,0,0,0,0
$GC,644,-1.28,-58.4,71.6,-14.9,86,648,0.00,2.47,0.00,0.000,4,0.000,0.047,2828,288,2873,0,0,0,0,0,0
$GC,704,-1.34,-58.4,81.2,-15.6,90,710,0.00,2.25,0.00,0.000,6,0.000,0.018,2828,1701,2874,0,0,0,0,0,0
$GC,964,-1.51,-58.4,107.5,-9.7,111,969,0.25,2.22,0.00,0.000,4,0.041,0.020,2750,3078,2874,0,0,0,0,0,0
$GC,992,-1.59,-58.4,110.5,-11.1,113,996,0.00,2.33,0.00,0.000,6,0.000,0.031,2750,1696,2874,0,0,0,0,0,0
$GC,1256,-1.59,-58.4,148.1,-13.3,134,1260,0.00,2.40,0.00,0.000,4,0.000,0.045,2749,295,2874,0,0,0,0,0,0
$GC,1324,-1.54,-58.4,157.9,-16.1,139,1328,0.00,2.22,0.00,0.000,6,0.000,0.018,2750,1711,2875,0,0,0,0,0,0
$GC,1589,-1.58,-58.4,192.9,-13.2,160,1590,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1716,2876,0,0,0,0,0,0
$GC,1837,-1.64,-58.4,222.4,-10.9,174,1841,0.00,2.17,0.00,0.000,4,0.000,0.022,2750,3062,2876,0,0,0,0,0,0
$GC,1864,-1.78,-58.4,225.4,-9.8,175,1869,0.17,2.30,0.00,0.000,6,0.051,0.034,2696,1698,2876,0,0,0,0,0,0
$GC,2188,-1.73,-58.4,263.2,-12.3,191,2193,0.12,2.25,0.00,0.000,4,0.108,0.025,2720,3058,2876,0,0,0,0,0,0
$GC,2269,-1.79,-58.4,272.7,-10.0,194,2273,0.00,2.28,0.00,0.000,6,0.000,0.032,2720,1690,2876,0,0,0,0,0,0
$GC,2608,-1.79,-58.4,309.3,-10.3,209,2612,0.00,2.30,0.00,0.000,4,0.000,0.025,2721,3063,2875,0,0,0,0,0,0
$GC,2760,-1.87,-58.4,324.2,-9.6,212,2765,0.12,2.30,0.00,0.000,6,0.067,0.035,2682,1701,2875,0,0,0,0,0,0
$GC,3112,-1.83,-58.4,363.1,-11.2,221,3117,0.10,2.28,0.00,0.000,4,0.118,0.028,2701,3057,2873,0,0,0,0,0,0
$GC,3238,-1.88,-58.4,376.9,-10.1,223,3242,0.00,2.30,0.00,0.000,6,0.000,0.038,2701,1697,2871,0,0,0,0,0,0
$GC,3574,-1.88,-58.4,414.8,-11.7,232,3578,0.00,2.25,0.00,0.000,4,0.000,0.029,2700,3055,2869,0,0,0,0,0,0
$GC,3717,-1.93,-58.4,430.2,-9.9,235,3721,0.00,2.30,0.00,0.000,6,0.000,0.039,2701,1701,2869,0,0,0,0,0,0
$STATE,3912,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3912,begin apogee
$GC,3919,-0.31,0.0,451.6,11.2,240,3972,1.58,0.00,48.78,0.829,6,0.080,0.000,3031,1700,2630,0,0,0,0,0,0
$STATE,3972,end apogee,CONTROL_FINISHED_OK
$STATE,3972,begin climb
$GC,3975,1.56,58.4,453.0,0.0,241,4033,1.75,2.45,50.28,0.814,4,0.029,0.031,3446,3098,2390,0,0,0,0,0,0
$GC,4061,1.40,146.0,453.4,0.0,243,4146,0.22,2.35,76.55,0.815,6,0.110,0.037,3405,1735,2034,0,0,0,0,0,0
$GC,4469,1.21,146.0,409.8,11.9,253,4474,0.20,2.50,0.00,0.000,4,0.106,0.054,3367,331,2023,0,0,0,0,0,0
$GC,4486,1.02,146.0,408.1,11.0,253,4491,0.22,2.28,0.00,0.000,6,0.103,0.027,3324,1717,2021,0,0,0,0,0,0
$GC,4836,1.02,146.0,374.0,10.1,262,4837,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1719,2019,0,0,0,0,0,0
$GC,5161,1.02,146.0,338.6,11.1,270,5162,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1719,2016,0,0,0,0,0,0
$GC,5487,1.02,146.0,306.4,9.1,278,5491,0.00,2.42,0.00,0.000,4,0.000,0.054,3324,331,2014,0,0,0,0,0,0
$GC,5511,0.95,146.0,304.2,8.5,278,5515,0.00,2.35,0.00,0.000,6,0.000,0.027,3324,1742,2013,0,0,0,0,0,0
$GC,5834,0.96,156.2,281.8,7.0,292,5846,0.00,2.40,6.03,0.591,4,0.000,0.031,3324,3130,1993,0,0,0,0,0,0
$GC,5956,1.04,161.4,272.7,7.4,297,5968,0.00,2.38,6.65,0.607,6,0.000,0.038,3324,1741,1971,0,0,0,0,0,0
$GC,6285,1.04,161.4,242.3,10.1,313,6286,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1741,1969,0,0,0,0,0,0
$GC,6595,1.13,188.3,218.1,5.5,328,6625,0.10,2.53,24.48,0.685,4,0.079,0.051,3354,328,1862,0,0,0,0,0,0
$GC,6656,1.02,188.3,213.4,9.0,330,6661,0.15,2.35,0.00,0.000,6,0.103,0.024,3326,1744,1859,0,0,0,0,0,0
$GC,6981,1.08,188.3,183.0,10.7,350,6986,0.00,2.45,0.00,0.000,4,0.000,0.048,3325,331,1857,0,0,0,0,0,0
$GC,7014,1.05,188.3,178.6,12.1,352,7021,0.00,2.35,0.00,0.000,6,0.000,0.023,3326,1748,1855,0,0,0,0,0,0
$GC,7275,1.13,188.3,149.8,8.8,373,7280,0.00,2.47,0.00,0.000,4,0.000,0.047,3325,326,1855,0,0,0,0,0,0
$GC,7371,1.13,188.3,138.7,11.9,380,7375,0.00,2.30,0.00,0.000,6,0.000,0.021,3325,1748,1853,0,0,0,0,0,0
$GC,7633,1.24,200.3,119.2,6.8,400,7651,0.20,2.55,10.80,0.547,4,0.050,0.045,3382,324,1812,0,0,0,0,0,0
$GC,7786,1.14,200.3,101.9,11.7,411,7791,0.17,2.30,0.00,0.000,6,0.098,0.020,3348,1747,1810,0,0,0,0,0,0
$GC,8052,1.27,229.2,85.0,5.3,432,8081,0.12,0.00,26.27,0.555,6,0.064,0.000,3388,1747,1694,0,0,0,0,0,0
$GC,8331,1.27,229.2,63.3,8.1,454,8335,0.00,2.45,0.00,0.000,4,0.000,0.044,3388,331,1692,0,0,0,0,0,0
$GC,8497,1.21,229.2,46.5,12.1,466,8501,0.12,2.25,0.00,0.000,6,0.105,0.018,3364,1754,1690,0,0,0,0,0,0
$GC,8760,1.27,231.5,23.9,7.7,500,8766,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,1762,1690,0,0,0,0,0,0
$GC,8964,1.36,231.5,4.6,9.8,546,8971,0.15,2.47,0.00,0.000,4,0.056,0.043,3411,333,1690,0,0,0,0,0,0
$STATE,8980,end climb,SURFACE_DEPTH_REACHED
$STATE,8981,begin surface coast
$FINISH,0.9,1.023091
$STATE,9015,end surface coast,CONTROL_FINISHED_OK
$STATE,9016,begin surface
$SM_CCo,9040,99.75,0.484,0,0,958,410.14
$SM_GC,1.55,0.00,0.00,99.75,0.000,0.000,0.484,428,1712,958,-12.30,0.34,410.14
$IRIDIUM_FIX,2059.45,-15753.90,231199,040416
$TT8_MAMPS,0.029146
$HUMID,53.26
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.70
$XPDR_PINGS,1
$24V_AH,23.5,26.558
$10V_AH,10.3,21.823
$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,32.975,93.900,249.825,99.750,0.000,28.132,27.426,142.594,4.750,0.000,47.227,1083.859,5832.202,405.087,1724.578,442.582,0.000,1127.831,0.000,1674.691,0.000,29.257,0.000
$DEVICE_MAMPS,134.225,53.690,829.127,483.977,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,375.049,369.276,865.249,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,31778,557
$CAP_FILE_SIZE,102945,0
$CFSIZE,260165632,197632000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290810,100230,2104.581,-15754.030,39,1.3,39,9.8