version: 66.06
glider: 139
mission: 8
dive: 316
start: 8 30 110 16 12 1
data:
$ID,139
$MISSION,8
$DIVE,316
$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,-2157447.8
$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,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
$GPS1,160625,2101.992,-15754.506,43,1.5,43,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-71.1
$GPS2,161144,2101.900,-15754.553,15,1.5,15,9.8
$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,60.4,21370,-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,-64.32,0.000,2,0.000,0.000,429,1688,2767,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.7,-4.5,12,110,12.48,2.45,-1.95,0.000,4,0.134,0.037,2752,3126,2872,0,0,0,0,0,0
$GC,160,-1.56,-58.4,23.2,-18.0,27,167,0.00,2.45,0.00,0.000,6,0.000,0.035,2752,1702,2874,0,0,0,0,0,0
$GC,364,-1.48,-58.4,55.2,-16.5,48,369,0.12,2.42,0.00,0.000,4,0.113,0.045,2776,296,2874,0,0,0,0,0,0
$GC,398,-1.37,-58.4,61.7,-19.9,50,404,0.08,2.33,0.00,0.000,6,0.091,0.018,2795,1737,2874,0,0,0,0,0,0
$GC,659,-1.41,-58.4,104.7,-17.4,71,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1739,2875,0,0,0,0,0,0
$GC,911,-1.49,-58.4,144.9,-15.1,91,915,0.00,2.47,0.00,0.000,4,0.000,0.043,2795,287,2876,0,0,0,0,0,0
$GC,984,-1.52,-58.4,156.3,-15.5,96,991,0.08,2.25,0.00,0.000,6,0.039,0.018,2761,1705,2876,0,0,0,0,0,0
$GC,1247,-1.58,-58.4,191.2,-11.3,117,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1711,2877,0,0,0,0,0,0
$GC,1496,-1.66,-58.4,218.0,-10.4,132,1501,0.10,2.22,0.00,0.000,4,0.076,0.025,2728,3065,2878,0,0,0,0,0,0
$GC,1557,-1.73,-58.4,225.3,-12.5,134,1562,0.00,2.28,0.00,0.000,6,0.000,0.029,2728,1687,2878,0,0,0,0,0,0
$GC,1875,-1.73,-58.4,268.2,-12.9,149,1879,0.00,2.25,0.00,0.000,4,0.000,0.023,2728,3068,2878,0,0,0,0,0,0
$GC,2013,-1.81,-58.4,283.2,-10.0,155,2018,0.10,2.28,0.00,0.000,6,0.076,0.032,2694,1702,2878,0,0,0,0,0,0
$GC,2361,-1.81,-58.4,323.8,-11.5,167,2365,0.00,2.25,0.00,0.000,4,0.000,0.025,2693,3065,2877,0,0,0,0,0,0
$GC,2514,-1.81,-58.4,341.2,-10.4,170,2518,0.00,2.30,0.00,0.000,6,0.000,0.035,2694,1695,2877,0,0,0,0,0,0
$GC,2829,-1.81,-58.4,376.3,-11.0,178,2833,0.00,2.28,0.00,0.000,4,0.000,0.028,2694,3068,2876,0,0,0,0,0,0
$GC,2857,-1.81,-58.4,379.4,-10.2,178,2861,0.00,2.33,0.00,0.000,6,0.000,0.037,2694,1700,2875,0,0,0,0,0,0
$GC,3193,-1.81,-58.4,416.5,-10.9,187,3197,0.00,2.33,0.00,0.000,4,0.000,0.031,2694,3068,2873,0,0,0,0,0,0
$GC,3337,-1.86,-58.4,431.1,-10.4,190,3342,0.00,2.35,0.00,0.000,6,0.000,0.040,2693,1700,2872,0,0,0,0,0,0
$STATE,3537,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3537,begin apogee
$GC,3544,-0.31,0.0,452.6,10.7,195,3597,1.62,0.00,49.12,0.830,6,0.083,0.000,3033,1700,2630,0,0,0,0,0,0
$STATE,3598,end apogee,CONTROL_FINISHED_OK
$STATE,3598,begin climb
$GC,3601,1.56,58.4,454.0,0.0,196,3657,1.75,0.00,50.08,0.813,6,0.030,0.000,3452,1700,2391,0,0,0,0,0,0
$GC,3972,1.33,114.7,447.8,2.8,205,4028,0.28,2.42,48.90,0.822,4,0.109,0.031,3395,3097,2161,0,0,0,0,0,0
$GC,4295,1.19,114.7,420.0,9.4,212,4300,0.17,2.35,0.00,0.000,6,0.117,0.040,3362,1744,2157,0,0,0,0,0,0
$GC,4620,1.11,127.4,396.9,6.7,220,4636,0.00,2.40,10.77,0.731,4,0.000,0.033,3362,3099,2110,0,0,0,0,0,0
$GC,4708,1.05,135.2,390.7,7.2,221,4725,0.17,2.38,8.85,0.700,6,0.115,0.040,3330,1738,2077,0,0,0,0,0,0
$GC,5048,1.05,136.2,364.8,7.8,230,5052,0.00,2.33,0.00,0.000,4,0.000,0.031,3330,3099,2073,0,0,0,0,0,0
$GC,5126,1.06,146.4,358.5,7.0,231,5143,0.00,2.38,10.48,0.719,6,0.000,0.039,3330,1732,2032,0,0,0,0,0,0
$GC,5468,1.06,146.4,330.4,9.1,240,5473,0.00,2.45,0.00,0.000,4,0.000,0.056,3330,334,2028,0,0,0,0,0,0
$GC,5529,0.96,146.4,323.6,10.8,241,5533,0.00,2.30,0.00,0.000,6,0.000,0.028,3330,1719,2026,0,0,0,0,0,0
$GC,5861,0.97,156.6,295.9,7.0,251,5872,0.00,0.00,9.50,0.680,6,0.000,0.000,3330,1719,1991,0,0,0,0,0,0
$GC,6170,0.98,158.2,272.5,7.8,266,6174,0.00,2.35,0.00,0.000,4,0.000,0.031,3330,3125,1988,0,0,0,0,0,0
$GC,6266,1.04,162.7,265.0,7.5,270,6279,0.00,2.40,6.85,0.612,6,0.000,0.038,3330,1731,1965,0,0,0,0,0,0
$GC,6597,1.04,169.9,239.6,7.3,286,6610,0.00,2.40,7.38,0.607,4,0.000,0.029,3331,3127,1937,0,0,0,0,0,0
$GC,6638,1.12,176.7,236.4,7.3,287,6651,0.00,2.40,7.97,0.612,6,0.000,0.036,3331,1731,1909,0,0,0,0,0,0
$GC,6974,1.16,176.7,200.6,12.2,304,6976,0.10,0.00,0.00,0.000,6,0.080,0.000,3360,1731,1906,0,0,0,0,0,0
$GC,7298,1.19,196.5,165.9,6.1,329,7326,0.00,2.50,18.17,0.631,4,0.000,0.048,3360,338,1827,0,0,0,0,0,0
$GC,7333,1.15,203.1,163.4,7.3,331,7345,0.00,2.30,7.32,0.543,6,0.000,0.022,3361,1748,1801,0,0,0,0,0,0
$GC,7612,1.19,203.1,143.0,8.6,353,7616,0.00,2.47,0.00,0.000,4,0.000,0.048,3360,330,1799,0,0,0,0,0,0
$GC,7777,1.14,203.1,121.2,13.9,365,7782,0.00,2.30,0.00,0.000,6,0.000,0.021,3361,1751,1796,0,0,0,0,0,0
$GC,8047,1.22,203.1,92.2,8.7,386,8048,0.00,0.00,0.00,0.000,6,0.000,0.000,3361,1750,1796,0,0,0,0,0,0
$GC,8300,1.31,222.3,74.1,6.2,406,8322,0.10,0.00,17.50,0.541,6,0.074,0.000,3394,1751,1722,0,0,0,0,0,0
$GC,8577,1.31,222.3,47.5,10.7,428,8581,0.00,2.45,0.00,0.000,4,0.000,0.044,3394,327,1721,0,0,0,0,0,0
$GC,8634,1.21,222.3,40.3,12.3,432,8639,0.15,2.25,0.00,0.000,6,0.103,0.018,3365,1751,1719,0,0,0,0,0,0
$GC,8896,1.28,222.3,15.4,8.8,478,8903,0.00,2.45,0.00,0.000,4,0.000,0.043,3365,337,1718,0,0,0,0,0,0
$STATE,9002,end climb,SURFACE_DEPTH_REACHED
$STATE,9003,begin surface coast
$FINISH,1.0,1.023204
$STATE,9035,end surface coast,CONTROL_FINISHED_OK
$STATE,9036,begin surface
$SM_CCo,9060,105.00,0.492,0,0,958,410.14
$SM_GC,1.61,0.00,0.00,105.00,0.000,0.000,0.492,427,1717,958,-12.30,0.48,410.14
$IRIDIUM_FIX,2057.14,-15753.90,241199,131311
$TT8_MAMPS,0.029146
$HUMID,53.89
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.5,27.506
$10V_AH,10.3,22.703
$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,29.800,84.700,252.900,105.000,0.000,24.438,30.105,141.200,4.500,0.000,15.300,1025.157,5960.194,407.629,1654.750,435.001,0.000,1136.377,0.000,1630.906,0.000,29.258,0.000
$DEVICE_MAMPS,134.225,55.991,829.894,491.647,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,342.235,321.659,742.074,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,28675,509
$CAP_FILE_SIZE,99535,0
$CFSIZE,260165632,197021696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300810,184558,2101.759,-15754.797,12,3.2,31,9.8